CN106097325B - A kind of positioning instruction generation method and device based on three-dimensional reconstruction image - Google Patents
A kind of positioning instruction generation method and device based on three-dimensional reconstruction image Download PDFInfo
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Abstract
The present invention relates to field of computer technology, more particularly to a kind of positioning instruction generation method and device based on three-dimensional reconstruction image, it include: the mark information for receiving user and being inputted in the first object two-dimensional medical images of target object, according to location information of the mark information in first object two-dimensional medical images, determine location information of the mark information on the three-dimensional reconstruction image of target object, according to the location information of preset positioning instruction create-rule and mark information on three-dimensional reconstruction image, determine positioning instruction of the target object on three-dimensional reconstruction image, and it is shown in three-dimensional reconstruction image.The method achieve pass through the input marking information in two-dimensional medical images, obtain location information of the mark information on three-dimensional reconstruction image, and according to the location information and preset positioning instruction create-rule on three-dimensional reconstruction image, it generates positioning and indicates and be shown in three-dimensional reconstruction image, consequently facilitating doctor carries out reference in preoperative observation and art according to positioning instruction.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of positioning based on three-dimensional reconstruction image to indicate generation side
Method and device.
Background technique
Largely operation is built upon on the basis of accurate Anatomical orientation in clinical position at present, and such as various punctures are grasped
Make, many anatomical structure positioning are still manually to be completed by doctor up to now.Position inaccurate thus is caused, causes certain hand
Art risk.
With the development of computer technology, occurs the method for the various visual images for generating target object at present, such as
Various visual Three-dimensional Displays, at present clinically also gradually apply three-dimensional visualization software, as 3DSlicer,
Some three-dimensional reconstruction softwares of ImageJ etc. or navigation system special configuration, using these softwares to the mesh on patient body
It marks object (such as head, various organs) and carries out three-dimensional reconstruction, generate three-dimensional reconstruction image, facilitate doctor to a certain extent
Implement preoperative preoperative observation, so that doctor can be with the situation of accurate judgement body area.
It but the above method has the following problems: the three-dimensional reconstruction image of building is only used for observing, but still cannot be doctor
It is raw that further surgical guidance is provided, for example instruct how doctor implements to perform the operation according to three-dimensional reconstruction image to target object
Deng.
In conclusion three-dimensional reconstruction image in the prior art cannot instruct doctor to implement operation well.
Summary of the invention
The present invention provides a kind of positioning instruction generation method and device based on three-dimensional reconstruction image, to solve existing skill
The technical issues of three-dimensional reconstruction image present in art cannot instruct doctor to implement operation well.
On the one hand, the embodiment of the present invention provides a kind of positioning instruction generation method based on three-dimensional reconstruction image, comprising:
Receive the mark information that user inputs in the first object two-dimensional medical images of target object, the first object
Two-dimensional medical images are at least one two-dimensional medical images in the two-dimensional medical images of the target object；
According to location information of the mark information in the first object two-dimensional medical images, the label letter is determined
The location information on the three-dimensional reconstruction image of the target object is ceased, the three-dimensional reconstruction image is according to the target object
Two-dimensional medical images generate；
According to the position letter of preset positioning instruction create-rule and the mark information on the three-dimensional reconstruction image
Breath determines positioning instruction of the target object on the three-dimensional reconstruction image, and by positioning instruction display described
Three-dimensional reconstruction image.
Method provided in an embodiment of the present invention receives user and inputs in the first object two-dimensional medical images of target object
Mark information, the first object two-dimensional medical images are at least one of two-dimensional medical images two of the target object
It ties up medical image and the mark is determined according to location information of the mark information in the first object two-dimensional medical images
Remember location information of the information on the three-dimensional reconstruction image of the target object, the three-dimensional reconstruction image is according to the target
What the two-dimensional medical images of object generated, indicate create-rule and the mark information in the Three-dimensional Gravity according to preset positioning
The location information on image is built, determines positioning instruction of the target object on the three-dimensional reconstruction image, and will be described fixed
Position instruction is shown in the three-dimensional reconstruction image.The method achieve pass through the input marking in first object two-dimensional medical images
Information to obtain location information of the mark information on three-dimensional reconstruction image, and is believed according to the position on three-dimensional reconstruction image
Breath and preset positioning indicate create-rule, generate positioning and indicate and be shown on three-dimensional reconstruction image, consequently facilitating doctor's root
Reference in preoperative observation and art is carried out according to positioning instruction, it is thus possible to doctor be instructed to implement operation well.
Optionally, it is described receive the mark information that is inputted in the first object two-dimensional medical images of target object of user it
Afterwards, further includes:
According to location information of the mark information in the first object two-dimensional medical images, the label letter is determined
Breath in the location information in the second target two-dimensional medical images and is shown in the second target two-dimensional medical images, and described the
Two target two-dimensional medical images be the target object two-dimensional medical images in the first object two-dimensional medical images
The different two-dimensional medical images in orientation.
Optionally, it location information of the determination mark information in the second target two-dimensional medical images and is shown in
After in the second target two-dimensional medical images, further includes:
User is received in the second target two-dimensional medical images to the adjustment instruction of the mark information, according to described
Adjustment instruction updates location information of the mark information in the second target two-dimensional medical images；
According to location information of the mark information in the second target two-dimensional medical images, the label letter is determined
Cease the location information on the three-dimensional reconstruction image of the target object；
According to the preset positioning instruction create-rule and the mark information of determination in the three-dimensional reconstruction image
On location information, determine the target object on the three-dimensional reconstruction image positioning instruction, and by the positioning instruction
It is shown in the three-dimensional reconstruction image.
Optionally, the target object is head, and the first object two-dimensional medical images are multiple in first orientation
Any of two-dimensional medical images, the second target two-dimensional medical images are multiple two-dimensional medical images in second orientation
Any of, in multiple two-dimensional medical images in the first orientation with multiple two-dimensional medical figures in the second orientation
As corresponding, the two-dimensional medical images are axle position medical image, Coronal medical image or sagittal plain medical image.
Optionally, the target object is head, and the location information of the mark information in the three-dimensional reconstruction image includes
Nasal fossa point, forehead center point, hindbrain central point, the left point of puncture of encephalic and the right point of puncture of encephalic；
According to the position letter of preset positioning instruction create-rule and the mark information on the three-dimensional reconstruction image
Breath determines positioning instruction of the target object on the three-dimensional reconstruction image, comprising:
According to the nasal fossa point, forehead center point and the hindbrain central point, determine that first refers to tangent plane；
The position in tangent plane along the upward first distance of the head will be referred to from the nasal fossa point described first, really
It is set to first object point；
By from the first object o'clock second with reference in tangent plane along the position of head second distance to the right, really
It is set to the second target point；According to second target point and the right point of puncture of the encephalic, the first Needle localization line is determined；It will be described
First Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image, and second reference is cut
Plane is vertical with first reference tangent plane plane at the first object point；And/or
By from the first object point described second with reference in tangent plane along the position of head second distance to the left
It sets, is determined as third target point；According to the third target point and the left point of puncture of the encephalic, the second Needle localization line is determined；
The second Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image.
It is optionally, described to show positioning instruction after the three-dimensional reconstruction image, further includes:
The three-dimensional reconstruction image comprising the positioning instruction is sent to generic display device, so that described general aobvious
Show that equipment shows the three-dimensional reconstruction image comprising the positioning instruction.
On the other hand, the embodiment of the present invention provides a kind of positioning instruction generating device based on three-dimensional reconstruction image, comprising:
Receiving unit, the label letter inputted in the first object two-dimensional medical images of target object for receiving user
Breath, the first object two-dimensional medical images are at least one two-dimensional medical figure in the two-dimensional medical images of the target object
Picture；
Location information determination unit, for the position according to the mark information in the first object two-dimensional medical images
Confidence breath, determines location information of the mark information on the three-dimensional reconstruction image of the target object, the three-dimensional reconstruction
Image is generated according to the two-dimensional medical images of the target object；
Positioning instruction determination unit, for indicating create-rule and the mark information described three according to preset positioning
The location information in reconstruction image is tieed up, determines positioning instruction of the target object on the three-dimensional reconstruction image；
Display unit, for showing positioning instruction in the three-dimensional reconstruction image.
Optionally, the location information determination unit, is also used to:
According to location information of the mark information in the first object two-dimensional medical images, the label letter is determined
Breath in the location information in the second target two-dimensional medical images and is shown in the second target two-dimensional medical images, and described the
Two target two-dimensional medical images be the target object two-dimensional medical images in the first object two-dimensional medical images
The different two-dimensional medical images in orientation.
Optionally, the receiving unit is also used to receive user in the second target two-dimensional medical images to described
The adjustment instruction of mark information；
The location information determination unit is also used to update the mark information described second according to the adjustment instruction
Location information in target two-dimensional medical images；According to position of the mark information in the second target two-dimensional medical images
Confidence breath, determines location information of the mark information on the three-dimensional reconstruction image of the target object；
The positioning indicates determination unit, is also used to according to the preset positioning instruction create-rule and determination
Location information of the mark information on the three-dimensional reconstruction image determines the target object on the three-dimensional reconstruction image
Positioning instruction；
The display unit is also used to indicate display in the three-dimensional reconstruction image positioning.
Optionally, the target object is head, and the first object two-dimensional medical images are multiple in first orientation
Any of two-dimensional medical images, the second target two-dimensional medical images are multiple two-dimensional medical images in second orientation
Any of, in multiple two-dimensional medical images in the first orientation with multiple two-dimensional medical figures in the second orientation
As corresponding, the two-dimensional medical images are axle position medical image, Coronal medical image or sagittal plain medical image.
Optionally, the target object is head, and the location information of the mark information in the three-dimensional reconstruction image includes
Nasal fossa point, forehead center point, hindbrain central point, the left point of puncture of encephalic and the right point of puncture of encephalic；
The positioning indicates determination unit, is specifically used for:
According to the nasal fossa point, forehead center point and the hindbrain central point, determine that first refers to tangent plane；
The position in tangent plane along the upward first distance of the head will be referred to from the nasal fossa point described first, really
It is set to first object point；
By from the first object o'clock second with reference in tangent plane along the position of head second distance to the right, really
It is set to the second target point；According to second target point and the right point of puncture of the encephalic, the first Needle localization line is determined；It will be described
First Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image, and second reference is cut
Plane is vertical with first reference tangent plane plane at the first object point；And/or
By from the first object point described second with reference in tangent plane along the position of head second distance to the left
It sets, is determined as third target point；According to the third target point and the left point of puncture of the encephalic, the second Needle localization line is determined；
The second Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image.
Optionally, the positioning instruction generating device further includes transmission unit, for that will include the institute of the positioning instruction
It states three-dimensional reconstruction image and is sent to generic display device, so that the generic display device shows that described includes that the positioning indicates
The three-dimensional reconstruction image.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is that a kind of positioning based on three-dimensional reconstruction image provided in an embodiment of the present invention indicates generation method flow chart；
Fig. 2 is that a kind of positioning based on three-dimensional reconstruction image provided in an embodiment of the present invention indicates generation method schematic diagram；
Fig. 3 is that a kind of positioning based on three-dimensional reconstruction image provided in an embodiment of the present invention indicates generation method schematic diagram；
Fig. 4 is that AR glasses provided in an embodiment of the present invention show the three-dimensional reconstruction image schematic diagram with positioning instruction；
Fig. 5 is that a kind of positioning based on three-dimensional reconstruction image provided in an embodiment of the present invention indicates generation method detailed process
Figure；
Fig. 6 is a kind of positioning instruction generating device schematic diagram based on three-dimensional reconstruction image provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
The embodiment of the present invention is described in further detail with reference to the accompanying drawings of the specification.
As shown in Figure 1, a kind of positioning based on three-dimensional reconstruction image provided in an embodiment of the present invention indicates generation method, packet
It includes:
Step 101 receives the mark information that user inputs in the first object two-dimensional medical images of target object, described
First object two-dimensional medical images are at least one two-dimensional medical images in the two-dimensional medical images of the target object；
Step 102, the location information according to the mark information in the first object two-dimensional medical images, determine institute
Location information of the mark information on the three-dimensional reconstruction image of the target object is stated, the three-dimensional reconstruction image is according to
What the two-dimensional medical images of target object generated；
Step 103 indicates create-rule and the mark information on the three-dimensional reconstruction image according to preset positioning
Location information, determine the target object on the three-dimensional reconstruction image positioning instruction, and by the positioning instruction show
Show in the three-dimensional reconstruction image.
In embodiments of the present invention, target object refers to some body part (such as head of patient either patient itself
Cranium, arm, upper part of the body position etc.), three-dimensional reconstruction image is generated according to the two-dimensional medical images of target object, such as can be with
According to the two-dimensional medical images of the target object with patient, (can be CT, (Computed Tomography, i.e. electronics are calculated
Machine tomoscan), MRI (Magnetic ResonanceImaging, magnetic resonance imaging), PET (Positron Emission
Computed Tomography, positron e mission computed tomography) etc. two-dimensional medical images) carry out three-dimensional reconstruction, from
And obtain the three-dimensional reconstruction image of target object.
Wherein, target two-dimensional medical images refer to one or more two-dimensional medicals in the two-dimensional medical images of target object
Image.It is provided in an embodiment of the present invention a kind of based on three-dimensional reconstruction figure referring to Fig. 2 so that target object is a head as an example
The positioning of picture indicates generation method schematic diagram, wherein three-dimensional reconstruction A refers to the three-dimensional reconstruction image of a head, it is root
According to the building of multiple two-dimensional medical images, and include multiple two-dimensional medicals in three orientation in the multiple two-dimensional medical images
Image, in medical image, three orientation are referred to as sagittal plain, Coronal and axle position, therefore a head three-dimensional reconstruction figure
Seeming to be established according to a large amount of sagittal plain, Coronal and axle position, for how to establish a three-dimensional reconstruction image, having at present
A variety of technologies may be implemented, and the present invention does not do emphasis description, based on reconstructed good three-dimensional reconstruction image, correspond to more
Group two-dimensional medical images, by taking Fig. 2 as an example, it is assumed that three-dimensional reconstruction image A is built upon on 3-D walls and floor, and sagittal plain B is YZ
The two-dimensional medical images of plane, Coronal C are the two-dimensional medical images of XZ plane, and axle position D is the two-dimensional medical images of X/Y plane,
Then one group of two-dimensional medical images then includes the sagittal plain B of a YZ plane, the Coronal C of XZ plane, X/Y plane
Axle position D.And in embodiments of the present invention, three-dimensional reconstruction image and target 2-d reconstruction image (sagittal plain B, hat in such as Fig. 2
Shape position C or axle position D) it is linkage, it illustrates, it is assumed that a mark point b1 is added in sagittal plain B, then in three-dimensional reconstruction
A corresponding mark point a1 can be automatically generated in image A, and a corresponding mark point c1 can be automatically generated in Coronal C,
A corresponding mark point d1, and the shifting of any one mark point in a1, b1, c1 or d1 can be automatically generated on axle position D
It is dynamic, it can all cause other three mark points to be moved accordingly, i.e., be linkage between four.
The embodiment of the present invention is based on the above premise, gives a kind of positioning instruction generation based on three-dimensional reconstruction image
Method is described in detail below.
It should be noted that target object can be any position with patient in our embodiment, it is also possible to
Patient itself, the present invention is for convenience of description, subsequent to be illustrated by taking target object as an example, for side provided in an embodiment of the present invention
Method is applied to the specific implementation step of other physical feelings, can be with reference to the specific implementation step applied to head.
In above-mentioned steps 101, the label that user inputs in the first object two-dimensional medical images of target object is received
Information, wherein the first object two-dimensional medical images are at least one of two-dimensional medical images of the target object two
Medical image is tieed up, by taking Fig. 2 as an example, first object two-dimensional medical images can be sagittal plain B Coronal C or axis
Position D, for convenience of description, the embodiment of the present invention is subsequent to be illustrated so that first object two-dimensional medical images are sagittal plain B as an example.And
And first object two-dimensional medical images can be a two-dimensional medical images, be also possible to multiple two-dimensional medical images, due to arrow
Shape position B is the two-dimensional medical images of YZ plane, therefore when first object two-dimensional medical images are multiple two-dimensional medical images, institute
It is different for stating the coordinate of the X-axis between multiple two-dimensional medical images, for example, first object two-dimensional medical images can be with
It is to be made of the lamination of the different sagittal plain B of multiple X axis coordinates that can be had an X-rayed, i.e., is packet in fact in sagittal plain B in Fig. 2
Containing multiple two-dimensional medical images, the X axis coordinate between two-dimensional medical images is different.
The mark information inputted in first object two-dimensional medical images can be dot, lines, and arrow etc. marks, specifically
Mark information be which kind of form, depending on actual needs depending on, in embodiments of the present invention, by mark information be dot for carry out
Explanation.
Referring to Fig. 2, on first object two-dimensional medical images (i.e. sagittal plain B in Fig. 2), (such as can be cured by user
It is raw) by input modes such as mouse or keyboards, it is manually entered mark information, such as the b1 point in Fig. 2, b2 point, b3 point, b4 point,
B5 point etc., and the position of these mark informations is transportable, it can change the position of these mark points, or deletes
Mark information etc., in addition, these mark informations can be in the same two-dimensional medical images, such as on the same sagittal plain B,
It is also possible in multiple two-dimensional medical images, and two-dimensional medical images are the two-dimensional medical images in the same orientation, such as b1
It is on the sagittal plain B that x coordinate is 2, b2 is on the sagittal plain B that x coordinate is 4, and b3 is also the sagittal plain B for being 4 in x coordinate
On, b4 is on the sagittal plain B that x coordinate is 6, and b5 is in x coordinate on 8 sagittal plain B etc..
In above-mentioned steps 102, believed according to position of the mark information in the first object two-dimensional medical images
Breath, determines location information of the mark information on the three-dimensional reconstruction image of the target object, wherein the three-dimensional reconstruction
Image is generated according to the two-dimensional medical images of the target object.
It for example, can be according to the mark information b1 point in first object two-dimensional medical images, b2 point, b3 referring to Fig. 2
Point, b4 point, b5 point obtain location information of these mark informations on 3 d medical images, such as respectively a1 point, a2 point,
A3 point, a4 point, a5 point, wherein a1 point is obtained according to b1 point, and a2 point is obtained according to b2 point, and a3 point is obtained according to b3 point
It arrives, a4 point is obtained according to b4 point, and a5 point is obtained according to b5 point.
In above-mentioned steps 103, after having obtained the mark information on three-dimensional reconstruction image, then according to preset fixed
The location information of position instruction create-rule and the mark information on the three-dimensional reconstruction image, determines that the target object exists
Positioning instruction on the three-dimensional reconstruction image, and by positioning instruction display in the three-dimensional reconstruction image, such as illustrate
For, with reference to Fig. 3, for a kind of positioning instruction generation method signal based on three-dimensional reconstruction image provided in an embodiment of the present invention
Figure, wherein arrow E and F is that final positioning indicates, is used to indicate puncture angle and paracentesis depth when doctor does puncturing operation,
It such as wherein also include to puncture angle in puncture path E comprising two puncture paths, respectively E and F in obtained positioning instruction
Degree is 60 degree and paracentesis depth is 10cm, and in puncture path F be also 45 degree comprising puncture angle and paracentesis depth is
10cm, thus these are positioned into instruction display on three-dimensional reconstruction image, facilitate doctor according to the three-dimensional with positioning instruction
Reconstruction image preferably carries out preoperative observation and instructs to be operated in art, such as doctor is made to obtain implementing to puncture hand
Need puncture how deep when art, and with which kind of angle puncture etc..
It should be noted that above-mentioned be only illustrated so that positioning is designated as puncture path as an example, and in practical application, positioning
Instruction refers not only to puncture path, can also be other information, such as tumor-localizing instruction, the positioning instruction of cancer cell range of scatter
Lamp, specifically, positioning instruction is to be subject to practical application.
Below by taking target object is head as an example, detailed Jie is done to positioning provided in an embodiment of the present invention instruction generation method
It continues.
It is that mark information is determined according to the location information in first object two-dimensional medical images in above-mentioned steps 102
Location information on the three-dimensional reconstruction image of the target object, but in practical application, since first object two dimension is cured
Learning image is a two-dimensional medical images, is a flat image, when doctor is watched by eyes, can not show another dimension
It is whether accurate on degree, therefore the mark information of input is caused to may not be very accurate, for example, referring to Fig. 2, doctor is first
Target two-dimensional medical images (in the embodiment of the present invention by taking first object two-dimensional medical images are sagittal plain B as an example) input b1 point,
Since sagittal plain B is the image in a YZ plane, thus can not learn its direction of X-axis be it is specific need to adjust why
Value, therefore lead to the a1 generated in three-dimensional reconstruction image A point, it may not be very accurately, for this purpose, of the invention in the direction of the x axis
A kind of method of the location information of determining mark information on three-dimensional reconstruction image is also provided, specifically: user is being received in mesh
After marking the mark information inputted in the first object two-dimensional medical images of object, according to the mark information in first mesh
The location information in two-dimensional medical images is marked, determines location information of the mark information in the second target two-dimensional medical images
And be shown in the second target two-dimensional medical images, the second target two-dimensional medical images are the two of the target object
Tie up two-dimensional medical images different from the orientation of the first object two-dimensional medical images in medical image；User is received described
To the adjustment instruction of the mark information in second target two-dimensional medical images, the label is updated according to the adjustment instruction and is believed
Cease the location information in the second target two-dimensional medical images；It is cured according to the mark information in the second target two dimension
The location information on image is learned, determines location information of the mark information on the three-dimensional reconstruction image of the target object；
According to the position of the preset positioning instruction create-rule and the mark information of determination on the three-dimensional reconstruction image
Information determines positioning instruction of the target object on the three-dimensional reconstruction image, and by positioning instruction display in institute
State three-dimensional reconstruction image.
For example, referring to Fig. 2, it is assumed that first object two-dimensional medical images are sagittal plain B, then the second target two-dimensional medical
Image can be Coronal C or axle position D, when user has sequentially input mark point b1 point in first object two-dimensional medical images,
B2 point, b3 point, b4 point after b5 point, according to these mark point information, obtain the mark information in the second target two-dimensional medical
Location information on image is simultaneously shown in the second target two-dimensional medical images, such as respectively c1, c2, c3, c4, c5,
And d1, d2, d3, d4, d5, adjustment instruction then is inputted in the second target two-dimensional medical images by user, such as pass through mouse
Target operation generates adjustment instruction or the operation of keyboard generates adjustment instruction, it is assumed that doctor observes the position letter of c1 point
Breath is not very accurately, to need to finely tune, be then adjusted by mouse or keyboard in Coronal C, is generated after adjustment
Then adjustment order is ordered the new position obtained c1 in the second target two-dimensional medical images according to adjustment and is shown, so
Location information according to the mark information in the second target two-dimensional medical images (i.e. the second target two-dimensional medical figure afterwards
As the location information of upper mark point adjusted), determine the mark information on the three-dimensional reconstruction image of the target object
Location information；And according to preset positioning instruction create-rule and the mark information of determination in the three-dimensional reconstruction figure
As upper location information, positioning instruction of the target object on the three-dimensional reconstruction image is determined, and the positioning is referred to
Show and is shown in the three-dimensional reconstruction image.
Thus the above method, which realizes, to carry out more the mark information of input by the second target two-dimensional medical images
Add accurate adjustment so that finally the location information of the mark information in three-dimensional reconstruction image A be very accurately, with
More accurately positioning instruction can be generated.
The example of head puncture path is designated as below for positioning to illustrate how to generate according to positioning instruction rule
Positioning instruction.
Specifically, target object is head, wherein the first object two-dimensional medical images are multiple in first orientation
Any of two-dimensional medical images, the second target two-dimensional medical images are multiple two-dimensional medical images in second orientation
Any of, in multiple two-dimensional medical images in the first orientation with multiple two-dimensional medical figures in the second orientation
As corresponding, the two-dimensional medical images are axle position medical image, Coronal medical image or sagittal plain medical image.
In following example, using first object two-dimensional medical images as sagittal plain medical image, the second target two-dimensional medical
Image be axle position medical image for, and the location information of the mark information in the three-dimensional reconstruction image include nasal fossa point a5,
Forehead center point a4, hindbrain central point a1, the left point of puncture a2 of encephalic and the right point of puncture a3 of encephalic are then indicated according to preset positioning
The location information of create-rule and the mark information on the three-dimensional reconstruction image determines the target object described three
The positioning instruction in reconstruction image is tieed up, is specifically included:
Step 1, according to the nasal fossa point a5, forehead center point a4 and the hindbrain central point a1, determine the first ginseng
Examine tangent plane；
A plane is determined by three points, and in this step, first determined is with reference to where tangent plane is encephalic central axes
Plane, it can by three-dimensional reconstruction image cutting be the two-part plane in left and right.
Step 2 will refer in tangent plane from the nasal fossa point a5 described first along the upward first distance of the head
Position, be determined as first object point；
Referring to Fig. 3, a5 point moves up first distance the first mesh of arrival along head with reference in tangent plane from described first
Punctuate, during the determination of head puncture path, first distance is generally typically chosen in 11cm by medical field, i.e., from nasal fossa point
A5 moves up 11cm and reaches first object point.
Step 3, by from the first object o'clock second with reference in tangent plane along head second distance to the right
Position is determined as the second target point, and/or, it will refer in tangent plane from the first object o'clock second along the head
The position of second distance to the left is determined as third target point；It is described second with reference to tangent plane be at the first object point with
Described first plane vertical with reference to tangent plane；
In this step, it is with reference to the position of the second distance to the right of verifying head in tangent plane from first object o'clock second
Second target point, i.e. A point in Fig. 3, and/or, from first object o'clock second with reference to verifying head in tangent plane to the left second
The position of distance is third target point, i.e. B point in Fig. 3, and in medical field, being typically chosen second distance is 2.5cm.
If only expecting right puncture path, only need to obtain the second target point A, if only expecting left puncture road
Diameter then only needs to obtain third target point B, if it is desired to obtaining right puncture path and left puncture path simultaneously, then needs to obtain simultaneously
To the second target point A and third target point B.
Step 4, according to second target point and the right point of puncture a3 of the encephalic, determine the first Needle localization line；With/
Or, determining the second Needle localization line according to the third target point and the left point of puncture a2 of the encephalic；
Referring to Fig. 3, the first Needle localization line E on the extended line of the second target point and the line of the right point of puncture a3 of encephalic,
Second Needle localization line F on the extended line of third target point and the line of the left point of puncture a2 of encephalic, the first Needle localization line E and
Second Needle localization line F had both contained puncture angle information, also included paracentesis depth information, so as to do puncture hand for doctor
Art provides reference.
The first Needle localization line and/or the second Needle localization line are determined as the target object and exist by step 5
Positioning instruction on the three-dimensional reconstruction image.
Optionally, after above-mentioned steps 5, the three-dimensional reconstruction image comprising the positioning instruction can also be sent
To generic display device, so that the generic display device shows the three-dimensional reconstruction figure comprising the positioning instruction
Picture.
Wherein, the generic display device can be AR (Augmented Reality, augmented reality)/VR (Virtual
Reality, virtual reality) display equipment, AR/VR glasses, AR/VR wearable device and 2D (2Dimensions)/3D
(3Dimensions) shows equipment etc., and generic display device can be used for more clear or convenient viewing and include positioning instruction
Three-dimensional reconstruction image.
It for example, is AR glasses provided in an embodiment of the present invention referring to Fig. 4 when generic display device is AR glasses
Three-dimensional reconstruction image schematic diagram of the display with positioning instruction can show to include positioning when doctor puts on AR glasses above
The three-dimensional reconstruction image of instruction, when patient lies on operating table, due to AR glasses be it is transparent, doctor can both penetrate AR glasses
See patient itself, while it can also be seen that three-dimensional reconstruction image on glasses；Doctor implements to put on AR in surgical procedure
Then mirror finds suitable erect-position, so that the three-dimensional reconstruction image on AR glasses is overlapped with target object, by taking head as an example, when
When doctor wears AR glasses, it can see that head three-dimensional reconstruction image makes then by finding suitable erect-position on AR glasses
The head for the patient that must be observed is overlapped with the head three-dimensional reconstruction image on AR glasses, so that doctor be facilitated to pass through viewing AR
Three-dimensional reconstruction image on mirror observes the head internal structure of patient, so as to be referred to by the positioning in viewing AR glasses
Show, puncturing operation is implemented to patient's head, improves the accuracy and safety of puncturing operation.
Method provided in an embodiment of the present invention receives user and inputs in the first object two-dimensional medical images of target object
Mark information, the first object two-dimensional medical images are at least one of two-dimensional medical images two of the target object
It ties up medical image and the mark is determined according to location information of the mark information in the first object two-dimensional medical images
Remember location information of the information on the three-dimensional reconstruction image of the target object, the three-dimensional reconstruction image is according to the target
What the two-dimensional medical images of object generated, indicate create-rule and the mark information in the Three-dimensional Gravity according to preset positioning
The location information on image is built, determines positioning instruction of the target object on the three-dimensional reconstruction image, and will be described fixed
Position instruction is shown in the three-dimensional reconstruction image.The method achieve pass through the input marking in first object two-dimensional medical images
Information to obtain location information of the mark information on three-dimensional reconstruction image, and is believed according to the position on three-dimensional reconstruction image
Breath and preset positioning indicate create-rule, generate positioning and indicate and be shown on three-dimensional reconstruction image, consequently facilitating doctor's root
Reference in preoperative observation and art is carried out according to positioning instruction, it is thus possible to doctor be instructed to implement operation well.
Below to it is provided in an embodiment of the present invention it is a kind of based on three-dimensional reconstruction image positioning instruction generation method do in detail
Description, as shown in figure 5, detailed for a kind of positioning instruction generation method based on three-dimensional reconstruction image provided in an embodiment of the present invention
Flow chart, comprising:
Step 501 receives the mark information that user inputs in the first object two-dimensional medical images of target object, described
First object two-dimensional medical images are at least one two-dimensional medical images in the two-dimensional medical images of the target object；
Step 502, the location information according to the mark information in the first object two-dimensional medical images, determine institute
It states location information of the mark information in the second target two-dimensional medical images and is shown in the second target two-dimensional medical images
In, the second target two-dimensional medical images are to cure in the two-dimensional medical images of the target object with the first object two dimension
Learn the different two-dimensional medical images in the orientation of image；
Step 503 receives user in the second target two-dimensional medical images to the adjustment instruction of the mark information,
Location information of the mark information in the second target two-dimensional medical images is updated according to the adjustment instruction；
Step 504, the location information according to the mark information in the second target two-dimensional medical images, determine institute
State location information of the mark information on the three-dimensional reconstruction image of the target object；
Step 505, according to it is preset positioning instruction create-rule and determination the mark information in the three-dimensional reconstruction
Location information on image determines positioning instruction of the target object on the three-dimensional reconstruction image, and by the positioning
Instruction is shown in the three-dimensional reconstruction image.
Method provided in an embodiment of the present invention receives user and inputs in the first object two-dimensional medical images of target object
Mark information, the first object two-dimensional medical images are at least one of two-dimensional medical images two of the target object
It ties up medical image and the mark is determined according to location information of the mark information in the first object two-dimensional medical images
Remember location information of the information on the three-dimensional reconstruction image of the target object, the three-dimensional reconstruction image is according to the target
What the two-dimensional medical images of object generated, indicate create-rule and the mark information in the Three-dimensional Gravity according to preset positioning
The location information on image is built, determines positioning instruction of the target object on the three-dimensional reconstruction image, and will be described fixed
Position instruction is shown in the three-dimensional reconstruction image.The method achieve pass through the input marking in first object two-dimensional medical images
Information to obtain location information of the mark information on three-dimensional reconstruction image, and is believed according to the position on three-dimensional reconstruction image
Breath and preset positioning indicate create-rule, generate positioning and indicate and be shown on three-dimensional reconstruction image, consequently facilitating doctor's root
Reference in preoperative observation and art is carried out according to positioning instruction, it is thus possible to doctor be instructed to implement operation well.
Based on the same technical idea, the embodiment of the present invention also provides a kind of positioning instruction life based on three-dimensional reconstruction image
It is as shown in Figure 6 at device, comprising:
Receiving unit 601, the label inputted in the first object two-dimensional medical images of target object for receiving user
Information, the first object two-dimensional medical images are at least one two-dimensional medical in the two-dimensional medical images of the target object
Image；
Location information determination unit 602 is used for according to the mark information in the first object two-dimensional medical images
Location information, determine location information of the mark information on the three-dimensional reconstruction image of the target object, the three-dimensional
Reconstruction image is generated according to the two-dimensional medical images of the target object；
Positioning instruction determination unit 603, for indicating create-rule and the mark information in institute according to preset positioning
The location information on three-dimensional reconstruction image is stated, determines positioning instruction of the target object on the three-dimensional reconstruction image；
Display unit 604, for showing positioning instruction in the three-dimensional reconstruction image.
Optionally, the location information determination unit 602, is also used to:
According to location information of the mark information in the first object two-dimensional medical images, the label letter is determined
Breath in the location information in the second target two-dimensional medical images and is shown in the second target two-dimensional medical images, and described the
Two target two-dimensional medical images be the target object two-dimensional medical images in the first object two-dimensional medical images
The different two-dimensional medical images in orientation.
Optionally, the receiving unit 601 is also used to receive user in the second target two-dimensional medical images to institute
State the adjustment instruction of mark information；
The location information determination unit 602 is also used to update the mark information described according to the adjustment instruction
Location information in second target two-dimensional medical images；According to the mark information in the second target two-dimensional medical images
Location information, determine location information of the mark information on the three-dimensional reconstruction image of the target object；
The positioning indicates determination unit 603, is also used to according to the preset positioning instruction create-rule and determination
Location information of the mark information on the three-dimensional reconstruction image determines the target object in the three-dimensional reconstruction image
On positioning instruction；
The display unit 604 is also used to indicate display in the three-dimensional reconstruction image positioning.
Optionally, the target object is head, and the first object two-dimensional medical images are multiple in first orientation
Any of two-dimensional medical images, the second target two-dimensional medical images are multiple two-dimensional medical images in second orientation
Any of, in multiple two-dimensional medical images in the first orientation with multiple two-dimensional medical figures in the second orientation
As corresponding, the two-dimensional medical images are axle position medical image, Coronal medical image or sagittal plain medical image.
Optionally, the target object is head, and the location information of the mark information in the three-dimensional reconstruction image includes
Nasal fossa point, forehead center point, hindbrain central point, the left point of puncture of encephalic and the right point of puncture of encephalic；
The positioning indicates determination unit 603, is specifically used for:
According to the nasal fossa point, forehead center point and the hindbrain central point, determine that first refers to tangent plane；
The position in tangent plane along the upward first distance of the head will be referred to from the nasal fossa point described first, really
It is set to first object point；
By from the first object o'clock second with reference in tangent plane along the position of head second distance to the right, really
It is set to the second target point；According to second target point and the right point of puncture of the encephalic, the first Needle localization line is determined；It will be described
First Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image, and second reference is cut
Plane is vertical with first reference tangent plane plane at the first object point；And/or
By from the first object point described second with reference in tangent plane along the position of head second distance to the left
It sets, is determined as third target point；According to the third target point and the left point of puncture of the encephalic, the second Needle localization line is determined；
The second Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image.
Optionally, the positioning instruction generating device further includes transmission unit 605, for that will include the positioning instruction
The three-dimensional reconstruction image is sent to generic display device, so that the generic display device shows that described includes that the positioning refers to
The three-dimensional reconstruction image shown.
The embodiment of the present invention receives the label letter that user inputs in the first object two-dimensional medical images of target object
Breath, the first object two-dimensional medical images are at least one two-dimensional medical figure in the two-dimensional medical images of the target object
Picture determines that the mark information exists according to location information of the mark information in the first object two-dimensional medical images
Location information on the three-dimensional reconstruction image of the target object, the three-dimensional reconstruction image are two according to the target object
It ties up what medical image generated, indicates create-rule and the mark information on the three-dimensional reconstruction image according to preset positioning
Location information, determine the target object on the three-dimensional reconstruction image positioning instruction, and by the positioning instruction show
Show in the three-dimensional reconstruction image.The embodiment of the present invention realize by first object two-dimensional medical images input marking believe
Breath, to obtain location information of the mark information on three-dimensional reconstruction image, and according to the location information on three-dimensional reconstruction image
And preset positioning indicates create-rule, generates positioning and indicates simultaneously to be shown on three-dimensional reconstruction image, consequently facilitating doctor according to
Positioning instruction carries out reference in preoperative observation and art, it is thus possible to doctor be instructed to implement operation well.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of positioning based on three-dimensional reconstruction image indicates generation method characterized by comprising
Receive the mark information that user inputs in the first object two-dimensional medical images of target object, the first object two dimension
Medical image is at least one two-dimensional medical images in the two-dimensional medical images of the target object；
According to location information of the mark information in the first object two-dimensional medical images, determine that the mark information exists
Location information on the three-dimensional reconstruction image of the target object, the three-dimensional reconstruction image are two according to the target object
Tie up what medical image generated；
According to the location information of preset positioning instruction create-rule and the mark information on the three-dimensional reconstruction image, really
Positioning instruction of the fixed target object on the three-dimensional reconstruction image, and by positioning instruction display in the Three-dimensional Gravity
Build image；
The target object is head, and the location information of the mark information in the three-dimensional reconstruction image includes nasal fossa point, forehead
Central point, hindbrain central point, the left point of puncture of encephalic and the right point of puncture of encephalic；
According to the location information of preset positioning instruction create-rule and the mark information on the three-dimensional reconstruction image, really
Positioning instruction of the fixed target object on the three-dimensional reconstruction image, comprising:
According to the nasal fossa point, forehead center point and the hindbrain central point, determine that first refers to tangent plane；
The position in tangent plane along the upward first distance of the head will be referred to from the nasal fossa point described first, is determined as
First object point；
By from the first object o'clock second with reference to along the position of head second distance to the right, being determined as in tangent plane
Second target point；According to second target point and the right point of puncture of the encephalic, the first Needle localization line is determined；By described first
Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image, and described second refers to tangent plane
For vertical with first reference tangent plane plane at the first object point；And/or
By from the first object point described second with reference in tangent plane along the position of head second distance to the left, really
It is set to third target point；According to the third target point and the left point of puncture of the encephalic, the second Needle localization line is determined；It will be described
Second Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image.
2. the method as described in claim 1, which is characterized in that described to receive user in the first object two dimension doctor of target object
After the mark information inputted on image, further includes:
According to location information of the mark information in the first object two-dimensional medical images, determine that the mark information exists
Location information in second target two-dimensional medical images is simultaneously shown in the second target two-dimensional medical images, second mesh
Mark the orientation in the two-dimensional medical images that two-dimensional medical images are the target object with the first object two-dimensional medical images
Different two-dimensional medical images.
3. method according to claim 2, which is characterized in that the determination mark information is in the second target two-dimensional medical
Location information on image and after being shown in the second target two-dimensional medical images, further includes:
User is received in the second target two-dimensional medical images to the adjustment instruction of the mark information, according to the adjustment
Instruction updates location information of the mark information in the second target two-dimensional medical images；
According to location information of the mark information in the second target two-dimensional medical images, determine that the mark information exists
Location information on the three-dimensional reconstruction image of the target object；
According to the preset positioning instruction create-rule and the mark information of determination on the three-dimensional reconstruction image
Location information determines positioning instruction of the target object on the three-dimensional reconstruction image, and the positioning is indicated to show
In the three-dimensional reconstruction image.
4. method according to any one of claims 1 to 3, which is characterized in that the target object be head, described first
Target two-dimensional medical images are any of multiple two-dimensional medical images in first orientation, the second target two-dimensional medical
Image is any of multiple two-dimensional medical images in second orientation, multiple two-dimensional medical images in the first orientation
In in the second orientation multiple two-dimensional medical images correspond, the two-dimensional medical images be axle position medical image,
Coronal medical image or sagittal plain medical image.
5. method according to any one of claims 1 to 3, which is characterized in that described to show positioning instruction in institute
After stating three-dimensional reconstruction image, further includes:
The three-dimensional reconstruction image comprising the positioning instruction is sent to generic display device, so that the universal display is set
The standby display three-dimensional reconstruction image comprising the positioning instruction.
6. a kind of positioning instruction generating device based on three-dimensional reconstruction image characterized by comprising
Receiving unit, the mark information inputted in the first object two-dimensional medical images of target object for receiving user, institute
State at least one two-dimensional medical images in the two-dimensional medical images that first object two-dimensional medical images are the target object；
Location information determination unit, for being believed according to position of the mark information in the first object two-dimensional medical images
Breath, determines location information of the mark information on the three-dimensional reconstruction image of the target object, the three-dimensional reconstruction image
It is to be generated according to the two-dimensional medical images of the target object；
Positioning instruction determination unit, for indicating create-rule and the mark information in the Three-dimensional Gravity according to preset positioning
The location information on image is built, determines positioning instruction of the target object on the three-dimensional reconstruction image；
Display unit, for showing positioning instruction in the three-dimensional reconstruction image；
The target object is head, and the location information of the mark information in the three-dimensional reconstruction image includes nasal fossa point, forehead
Central point, hindbrain central point, the left point of puncture of encephalic and the right point of puncture of encephalic；
The positioning indicates determination unit, is specifically used for:
According to the nasal fossa point, forehead center point and the hindbrain central point, determine that first refers to tangent plane；
The position in tangent plane along the upward first distance of the head will be referred to from the nasal fossa point described first, is determined as
First object point；
By from the first object o'clock second with reference to along the position of head second distance to the right, being determined as in tangent plane
Second target point；According to second target point and the right point of puncture of the encephalic, the first Needle localization line is determined；By described first
Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image, and described second refers to tangent plane
For vertical with first reference tangent plane plane at the first object point；And/or
By from the first object point described second with reference in tangent plane along the position of head second distance to the left, really
It is set to third target point；According to the third target point and the left point of puncture of the encephalic, the second Needle localization line is determined；It will be described
Second Needle localization line is determined as positioning instruction of the target object on the three-dimensional reconstruction image.
7. positioning instruction generating device as claimed in claim 6, which is characterized in that the location information determination unit is also used
In:
According to location information of the mark information in the first object two-dimensional medical images, determine that the mark information exists
Location information in second target two-dimensional medical images is simultaneously shown in the second target two-dimensional medical images, second mesh
Mark the orientation in the two-dimensional medical images that two-dimensional medical images are the target object with the first object two-dimensional medical images
Different two-dimensional medical images.
8. positioning instruction generating device as claimed in claim 7, which is characterized in that the receiving unit is also used to receive use
Family is in the second target two-dimensional medical images to the adjustment instruction of the mark information；
The location information determination unit is also used to update the mark information in second target according to the adjustment instruction
Location information in two-dimensional medical images；According to position letter of the mark information in the second target two-dimensional medical images
Breath, determines location information of the mark information on the three-dimensional reconstruction image of the target object；
The positioning indicates determination unit, is also used to the label according to the preset positioning instruction create-rule and determination
Location information of the information on the three-dimensional reconstruction image determines positioning of the target object on the three-dimensional reconstruction image
Instruction；
The display unit is also used to indicate display in the three-dimensional reconstruction image positioning.
9. the positioning instruction generating device as described in any one of claim 6 to 8, which is characterized in that the target object is
Head, the first object two-dimensional medical images are any of multiple two-dimensional medical images in first orientation, described the
Two target two-dimensional medical images are any of multiple two-dimensional medical images in second orientation, more in the first orientation
It is corresponded in a two-dimensional medical images with multiple two-dimensional medical images in the second orientation, the two-dimensional medical images are
Axle position medical image, Coronal medical image or sagittal plain medical image.
10. the positioning instruction generating device as described in any one of claim 6 to 8, which is characterized in that the positioning instruction life
It further include transmission unit at device, the three-dimensional reconstruction image for that will include the positioning instruction is sent to universal display and sets
It is standby, so that the generic display device shows the three-dimensional reconstruction image comprising the positioning instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610396478.XA CN106097325B (en) | 2016-06-06 | A kind of positioning instruction generation method and device based on three-dimensional reconstruction image |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610396478.XA CN106097325B (en) | 2016-06-06 | A kind of positioning instruction generation method and device based on three-dimensional reconstruction image |
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| CN106097325B true CN106097325B (en) | 2019-07-16 |
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