CN109464194A - Display methods, device, medical supply and the computer storage medium of medical image - Google Patents
Display methods, device, medical supply and the computer storage medium of medical image Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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Abstract
This application involves a kind of display methods of medical image, device, medical supply and computer storage medium, a kind of display methods of medical image, comprising: to the scan data reconstruction at the position to be processed of target object to obtain 3-D image；Augmented reality processing is carried out to the 3-D image, to obtain augmented reality image；The sites corresponding to the position to be processed show the augmented reality image.The above method carries out augmented reality processing by treating the 3-D image for the treatment of site, and it is shown in the corresponding position of target object body surface, so that doctor or operator see the three-dimensional image information of part interior institutional framework to be processed in body surface, simultaneously it can be seen that medical instrument and ambient enviroment in reality, operation more intuitive and convenient, and the use that can reduce fluoroscopic apparatus during processing, reduces radiation risk.
Description
Technical field
The present invention relates to medical instruments fields, more particularly to a kind of display methods of medical image, device, medical supply
And computer storage medium.
Background technique
During some medical treatments, such as puncture or Minimally Invasive Surgery etc., doctor is it needs to be determined that incision site and inserting needle
Direction, and kept during processing by medical image to the observation inside treatment site.
The display methods of traditional such medical image is usually used puncture positioning device and is positioned, and is then performing the operation
It is operated in the process by fluoroscopic apparatus, but this can make troubles to the operation of doctor, lasting perspective also brings along radiation
The excessive risk of dosage.
Summary of the invention
Based on this, it is necessary to which in view of the above technical problems, display methods, device, the medicine for providing a kind of medical image are set
Standby and computer storage medium can show the fluoroscopic image at position to be processed in the sites of target object, be convenient for doctor
Operation.
A kind of display methods of medical image, comprising:
To the scan data reconstruction at the position to be processed of target object to obtain 3-D image；
Augmented reality processing is carried out to the 3-D image, to obtain augmented reality image；
The sites corresponding to the position to be processed show the augmented reality image.
The display methods of above-mentioned medical image, the 3-D image by treating treatment site carry out augmented reality processing, and
It is shown in the corresponding position of target object body surface, so that doctor or operator see part interior group to be processed in body surface
Knit the three-dimensional image information of structure, while it can be seen that medical instrument and ambient enviroment in reality, operation more intuitive and convenient,
And the use that can reduce fluoroscopic apparatus during processing, reduces radiation risk.
In one of the embodiments, the method also includes:
Display is distinguished to each institutional framework in the 3-D image.
The differentiation display includes that color is distinguished, in gray scale differentiation and texture differentiation in one of the embodiments,
It is at least one.
It is described in one of the embodiments, that augmented reality processing is carried out to the 3-D image, to obtain augmented reality
Image includes:
Obtain the space coordinate of each institutional framework in the 3-D image；
The 3-D image is adjusted in real time based on the space coordinate；
The sites of 3-D image adjusted and the target object are aligned to obtain the augmented reality shadow
Picture.
In one of the embodiments, the method also includes:
In the sites display instruction information of the target object.
In one of the embodiments, the instruction information include incision site, inserting needle direction, default puncture path and
Puncture at least one of pin position.
A kind of display device of medical image, comprising:
Module is rebuild, the scan data reconstruction for the position to be processed to target object is to obtain 3-D image；
Augmented reality module, for carrying out augmented reality processing to the 3-D image, to obtain augmented reality image；
Display module shows the augmented reality image for the sites corresponding to the position to be processed.
The device of above-mentioned acquisition scan protocols, the 3-D image by treating treatment site carry out augmented reality processing, and
It is shown in the corresponding position of target object body surface, so that doctor or operator see part interior group to be processed in body surface
Knit the three-dimensional image information of structure, while it can be seen that medical instrument and ambient enviroment in reality, operation more intuitive and convenient,
And the use that can reduce fluoroscopic apparatus during processing, reduces radiation risk.
The display device of the medical image further includes that C-arm equipment, positron emission are disconnected in one of the embodiments,
Layer scanning device, ct apparatus, magnetic resonance equipment, X-ray equipment, Ultrasonic imaging equipments and multi-modal fusion
At least one of imaging device is used to obtain the scan data at the position to be processed of the target object.
The display module includes wear-type optical device and/or projection device in one of the embodiments,.
Described device in one of the embodiments, further include:
Processing module, for carrying out medical treatment to the position to be processed.
The processing module includes mechanical arm and the behaviour for being connected to the mechanical arm tail end in one of the embodiments,
Make element.
The operating element includes scalpel and/or puncture needle in one of the embodiments,.
A kind of medical supply including memory, processor and stores the meter that can be run on a memory and on a processor
The step of calculation machine program, the processor realizes the above method when executing described program.
A kind of computer readable storage medium, is stored thereon with computer program, realization when which is executed by processor
The step of above method.
Detailed description of the invention
Fig. 1 is the flow diagram of the display methods of one embodiment traditional Chinese medicine image；
Fig. 2 is the flow diagram of step S140 in the display methods of one embodiment traditional Chinese medicine image；
Fig. 3 is the flow diagram of the display methods of another embodiment traditional Chinese medicine image；
Fig. 4 is the structural schematic diagram of the display device of one embodiment traditional Chinese medicine image；
Fig. 5 is the structural schematic diagram of the display device of another embodiment traditional Chinese medicine image.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
Fig. 1 is the flow diagram of the display methods of one embodiment traditional Chinese medicine image, as shown in Figure 1, a kind of medicine figure
The display methods of picture, comprising:
Step S120: to the scan data reconstruction at the position to be processed of target object to obtain 3-D image.
Specifically, the medical image for first having to obtain the part interior to be processed of target object, can pass through medical imaging
Equipment is scanned imaging to target object, and is 3-D image based on scan data reconstruction.It can be differentiated in the 3-D image
The form and positional relationship of the institutional frameworks such as the internal organs of part interior to be processed, muscle, bone and blood vessel out is obtaining three
After tieing up image, can be reduced to the greatest extent in subsequent processes and carry out continuing perspective, thus radiation when reducing scanning to doctor and
The injury of target object.
Further, the type of above-mentioned medical image can be determined according to the actual demand of medical treatment.For example, scanning number
According to medical imaging devices can be set for C-arm equipment, computed tomography (Computed Tomography, abbreviation CT)
Standby, Positron emission computed tomography (Positron Emission Computed Tomography, abbreviation PET) is set
Standby, magnetic resonance (Magnetic Resonance, abbreviation MR) equipment, X-ray equipment, ultrasonic device (Ultrasonic, abbreviation
US) and all kinds of medical supplies such as multi-modal fusion equipment, correspondingly, available pyramidal CT image, computerized tomography
Scan (Computed Tomography, abbreviation CT) image, Positron emission computed tomography (Positron
Emission Computed Tomography, abbreviation PET) image, magnetic resonance (Magnetic Resonance, abbreviation MR) figure
All kinds of medical images such as picture, radioscopic image, ultrasound image (Ultrasonic, abbreviation US) and multi-modal fusion image.One
In a optional embodiment, cone-beam CT scan can be carried out by C-arm equipment, and rebuild and obtain required position to be processed
3-D image, C-arm equipment can carry out real time scan during medical treatment, avoid patient's position in scanning imagery
Or physical condition is inconsistent, so as to preferably guarantee to rebuild the precision of 3-D image, convenient at subsequent augmented reality
The observation of reason and doctor.
Step S140: augmented reality processing is carried out to 3-D image, to obtain augmented reality image.
Specifically, after the 3-D image for obtaining position to be processed, pass through augmented reality (Augmented Reality, letter
Claiming AR) technology handles 3-D image, to obtain the augmented reality image at position to be processed.Include in augmented reality image
The institutional frameworks such as internal organs, muscle, bone and blood vessel in position to be processed, and with the intracorporal actual positional relationship of target object
It is consistent, and can show that equipment position is adjusted in real time according to the body position and augmented reality of target object
It is whole, and show that equipment makes doctor or operator at various locations and can obtain position standard to be processed with angle by augmented reality
True augmented reality image can carry out subsequent medical treatment behaviour according to the augmented reality image convenient for doctor or operator
Make.
Step S160: the sites corresponding to position to be processed show augmented reality image.
It specifically, can be in the body surface corresponding position of target object after obtaining the augmented reality image at position to be processed
It shows the augmented reality image, can specifically be realized by wearing optical device or augmented reality projection device.Such as doctor or
Operator can wear AR glasses or the AR helmet, show at sites corresponding to position to be processed on light transmission display screen
Augmented reality image, or can also be by AR projection device directly by above-mentioned augmented reality image projecting to position institute to be processed
At corresponding sites.Doctor or operator can see on the skin of target object body surface in augmented reality image to
The three-dimensional image information of each institutional framework in treatment site, while it can be seen that medical instrument and ambient enviroment in reality, after
The continuous treatment site that can also treat carries out the medical treatments such as notch, puncture and operation.
The display methods of above-mentioned medical image, the 3-D image by treating treatment site carry out augmented reality processing, and
It is shown in the corresponding position of target object body surface, so that doctor or operator see part interior group to be processed in body surface
Knit the three-dimensional image information of structure, while it can be seen that medical instrument and ambient enviroment in reality, operation more intuitive and convenient,
And the use that can reduce fluoroscopic apparatus during processing, reduces radiation risk.
The flow diagram that Fig. 2 is step S140 in the display methods of above-mentioned medical image in one embodiment, such as Fig. 2 institute
Show, in one embodiment, step S140 can specifically include:
Step S142: the space coordinate of each institutional framework in 3-D image is obtained.
Specifically, after the 3-D image for obtaining position to be processed, the available each institutional framework in position to be processed exists
Space coordinate in the environment of place can specifically choose the position for being not susceptible to displacement or deformation in position to be processed and being easy to differentiate
Mark point is installed, obtains these space coordinates of mark point in real space, and according to its practical space coordinate in three-dimensional
Also corresponding mark point is mapped out in image.Relative positional relationship based on these mark points handles 3-D image, can
In the form of obtaining each institutional framework in position to be processed and positional relationship.
Step S144: 3-D image is adjusted based on space coordinate in real time.
Specifically, when doctor or operator change position during carrying out medical treatment, acquisition can be passed through
It shows the real time position of equipment etc., and passes through the relative position of the space coordinate of the real time position and each mark space of points coordinate
Relationship adjusts the form and positional relationship of each institutional framework in position to be processed in 3-D image, in real time to be accorded with
Close the three-dimensional image information of doctor or the operator part interior to be processed of real visual angle in different location.
Step S146: the sites of 3-D image adjusted and target object are aligned to obtain augmented reality shadow
Picture.
Specifically, after the three-dimensional image information for obtaining meeting real-time viewing location, it is also necessary to by the three-dimensional image information
It is aligned with the corresponding position of the body surface of target object, so that doctor or operator can observe on the skin of target object
To the three-dimensional image information at internal position to be processed.Specific alignment can be according to the practical real feelings of augmented reality equipment
Condition determines, if such as wear optical device by AR glasses etc. and shown, can be by the methods of image detection in light transmission
The position that display augmented reality image is determined on display screen, makes its skin surface corresponding with position to be processed coincide；If logical
It crosses AR projection device to be shown, then projection can be adjusted by the space coordinate of skin surface corresponding to position to be processed
The parameters such as the focal length and projection angle of camera lens, so that the augmented reality image of projection is accurately incident upon on the skin surface at this.
Fig. 3 is the flow diagram of the display methods of another embodiment traditional Chinese medicine image, as shown in figure 3, wherein step
S220, S240 and S260 can be identical as the corresponding steps difference in above embodiments.The medical image of the embodiment is shown
Showing method can also include:
Step S230: display is distinguished to each institutional framework in 3-D image.
It specifically, can be by carrying out the modes such as three-dimensional rendering, by portion to be processed in the 3-D image at position to be processed
The different tissues structure of position distinguishes display, such as adjacent internal organs, muscle, bone and blood vessel carry out to there are visual differences
Different rendering is also possible to prevent so that doctor can more easily distinguish each institutional framework in augmented reality image
Institutional framework, which forward laps, in three-dimensional image information is difficult to the case where differentiating.
Further, above-mentioned differentiation is shown including at least one of color differentiation, gray scale differentiation and texture differentiation.It is right
Different modes can be used in different institutional frameworks to distinguish, such as can be by the way that different institutional frameworks to be rendered to
Different contrastive colours distinguish, and the positions such as important organ therein are shown as the more apparent color such as red.In addition to
The rendering for carrying out different colours is distinguished, can also be by carrying out the modes such as different gray scales or different texture to different institutional frameworks
It distinguishes.
In one embodiment, the above method further include:
Step S270: in the sites display instruction information of target object.
It specifically, can also be in target object when carrying out the medical treatments such as puncture or Minimally Invasive Surgery to target object
Instruction information is shown in the augmented reality image of skin surface, to assist the processing operation of doctor or operator.Wherein indicate
The content and type of information can determines according to actual conditions, such as may include incision site, inserting needle direction, default puncture road
At least one of diameter and puncture pin position.The instruction of above-mentioned incision site, inserting needle direction and default puncture path can be with
It is shown in after being set by doctor or operator in augmented reality image, or according to the scan image of target object
It is indicated etc. the suggestion for being calculated automatically from and being shown to doctor or operator；About the physical location of puncture needle, can pass through
The position sensor being arranged in puncture needle equipment obtains its spatial position in real time and is shown.
Further, incision site and inserting needle direction etc. are shown to the body surface in target object in augmented reality image
The corresponding position of skin keeps the processing of doctor or operator more convenient, also improves the comfort of target object.And lead to
It crosses paired observation and presets puncture path and practical puncture pin position, it can be with real-time judge puncture needle whether according to preset path
It is punctured, so as to stop puncturing in time when puncture needle deviates or make amendment, to further increase safety
Property.
Fig. 4 is the structural schematic diagram of the display device of one embodiment traditional Chinese medicine image, as shown in figure 4, implementing at one
In example, the display device 500 of medical image includes: to rebuild module 520, the scanning number for the position to be processed to target object
According to reconstruction to obtain 3-D image；Augmented reality module 540, for carrying out augmented reality processing to 3-D image, to be increased
Strong reality imagery；Display module 560 shows augmented reality image for the sites corresponding to position to be processed.
Specifically, it rebuilds module 520 and 3-D image is obtained to the scan data reconstruction at the position to be processed of target object, it will
Obtained 3-D image is sent to augmented reality module 540；Augmented reality module 540 enhances the 3-D image received
Reality processing, obtain include the three-dimensional image information of each institutional framework in position to be processed augmented reality image, and general
Augmented reality image is sent to display module 560；Display module 560 shows the augmented reality image received in target object
At sites corresponding to position to be processed, so that doctor can be according to three-dimensional figure shown in augmented reality image
As information carries out medical treatment to target object.
Further, above-mentioned reconstruction module 520 can specifically include scan data (such as multiple X-Y schemes for obtaining scanning
Picture) be redeveloped into 3-D image needed for computer hardware and computer program.The computer hardware includes but is not limited to store
Device and the processor for having image-capable, the computer program such as can be three-dimensional image reconstruction software, Ke Yili
Solution, either computer hardware or computer program are all for the those of ordinary skill of field of medical image processing
It is well known.The reconstruction module can be used as a part of scanning device or can be used as individual work station a part or
Cloud and a part as image-capable can be located at.
In addition, scan data above-mentioned be acquired by following equipment, such as C-arm equipment, PET device, CT equipment,
MR equipment, X-ray equipment, Ultrasonic imaging equipments and multi-modal fusion imaging device etc..In an alternative embodiment, should
Scan data can be acquired by C-arm equipment, treated reconstruction after treatment site carries out cone-beam CT scan and obtained 3-D image, C
Arm equipment can carry out real time scan during medical treatment, avoid patient and operate in scanning imagery with actual treatment
Position or physical condition are inconsistent when (such as puncture), so as to preferably guarantee to rebuild the precision of 3-D image, are convenient for
Subsequent augmented reality processing and the observation of doctor.It can also be by by each institutional framework three-dimensional rendering in 3-D image
It is distinguished at different colours, the different modes such as gray scale or different texture, in order to which doctor or operator differentiate viewing
In one embodiment, above-mentioned display module 560 includes wear-type optical device and/or projection device.Doctor or
Operator can watch augmented reality image by wearing optical device, such as wear AR glasses or the AR helmet, in AR glasses
Or on the light transmission display screen of the AR helmet, identifies sites corresponding to position to be processed and show augmented reality image.And
And wear optical device by AR glasses etc., additional occupancy will not be generated to spaces such as operating rooms, to processing environment require compared with
It is low.Display module 560 can also be AR projection device, directly will be corresponding to above-mentioned augmented reality image projecting to position to be processed
Sites at, doctor or operator can be made more intuitively to observe the three-dimensional image information at position to be processed, image is aobvious
Show more stable, it is not easy to generate the adverse effects such as visual fatigue.
The display device 500 of above-mentioned medical image, the 3-D image by treating treatment site carry out augmented reality processing,
And shown in the corresponding position of target object body surface, so that doctor or operator see part interior to be processed in body surface
The three-dimensional image information of institutional framework, while it can be seen that medical instrument and ambient enviroment in reality, the more intuitive side of operation
Just, and the use of fluoroscopic apparatus during processing can be reduced, reduces radiation risk.
Fig. 5 is the structural schematic diagram of the display device of another embodiment traditional Chinese medicine image, as shown in figure 5, in medicine figure
In the display device 600 of picture, rebuilding module 620, augmented reality module 640 and display module 660 can be with above embodiments
In corresponding construction difference it is identical.The display device of the medical image of the embodiment can also include:
Processing module 680 carries out medical treatment for treating treatment site according to augmented reality image.
It specifically, can also include processing module 680, when display module 660 in the display device of medical image 600
After the body surface of target object shows the augmented reality image at position to be processed, doctor or operator can control processing module
680 pairs of target objects carry out respective handling operation, which can be notch, puncture or operation etc., and processing module 680 can
Think that doctor or operator control manually, or the devices such as mechanical arm or operating robot are automatic by computer
It is controlled.The type and quantity of processing module 680 can be determined according to the actual demand of medical treatment, can simultaneously include more
Kind medical instrument is to realize wider medical treatment function.
Further, in one embodiment, processing module 680 includes mechanical arm and the behaviour for being connected to mechanical arm tail end
Make element；Selectively, operating element may include scalpel and/or puncture needle.It can be according to target object position to be processed
Scan image cook up puncture or operation pathway, and control signal is issued to mechanical arm, so that mechanical arm be made to drive end
The elements such as puncture needle or scalpel carry out puncture or surgical procedure to target object.When by processing module 680 to target object
When carrying out processing operation, doctor or operator can also the incision site according to reality module 660, inserting needle direction,
The instruction information such as default puncture path and puncture pin position is observed and is monitored to treatment process.
In one embodiment, a kind of medical supply is provided, including memory, processor and storage are on a memory and can
With the computer program run on a processor, following steps can be executed when processor executes the program: to target object
The scan data reconstruction at position to be processed is to obtain 3-D image；Augmented reality processing is carried out to 3-D image, to be enhanced
Reality imagery；The sites corresponding to position to be processed show augmented reality image.
In one embodiment, a kind of computer readable storage medium is provided, is deposited on the computer readable storage medium
Computer program is contained, processor can be made to execute following steps when which is executed by processor: to target pair
The scan data reconstruction at the position to be processed of elephant is to obtain 3-D image；Augmented reality processing is carried out to 3-D image, to obtain
Augmented reality image；The sites corresponding to position to be processed show augmented reality image.
It is above-mentioned that the computer-readable restriction for depositing storage medium and computer equipment may refer to above for method
Specific restriction, details are not described herein.
It should be noted that those of ordinary skill in the art will appreciate that realizing all or part of stream in the above method
Journey is relevant hardware can be instructed to complete by computer program, which can be stored in one and computer-readable deposit
In storage media；Above-mentioned program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, above-mentioned storage is situated between
Matter can be magnetic disk, CD, read-only memory (Read-Only Memory, abbreviation ROM) or random access memory
(Random Access Memory, abbreviation RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (14)
1. a kind of display methods of medical image characterized by comprising
To the scan data reconstruction at the position to be processed of target object to obtain 3-D image；
Augmented reality processing is carried out to the 3-D image, to obtain augmented reality image；
The sites corresponding to the position to be processed show the augmented reality image.
2. the method according to claim 1, wherein the method also includes:
Display is distinguished to each institutional framework in the 3-D image.
3. according to the method described in claim 2, it is characterized in that, the differentiation display include color distinguish, gray scale distinguish with
And at least one of texture differentiation.
4. the method according to claim 1, wherein it is described to the 3-D image carry out augmented reality processing,
Include: to obtain augmented reality image
Obtain the space coordinate of each institutional framework in the 3-D image；
The 3-D image is adjusted in real time based on the space coordinate；
The sites of 3-D image adjusted and the target object are aligned to obtain the augmented reality image.
5. the method according to claim 1, wherein the method also includes:
In the sites display instruction information of the target object.
6. according to the method described in claim 5, it is characterized in that, the instruction information include incision site, it is inserting needle direction, pre-
If at least one of puncture path and puncture pin position.
7. a kind of display device of medical image characterized by comprising
Module is rebuild, the scan data reconstruction for the position to be processed to target object is to obtain 3-D image；
Augmented reality module, for carrying out augmented reality processing to the 3-D image, to obtain augmented reality image；
Display module shows the augmented reality image for the sites corresponding to the position to be processed.
8. device according to claim 7, which is characterized in that further include that C-arm equipment, positron emission computerized tomography are set
Standby, ct apparatus, magnetic resonance equipment, X-ray equipment, Ultrasonic imaging equipments and multi-modal fusion imaging device
At least one of, it is used to obtain the scan data at the position to be processed of the target object.
9. device according to claim 7, which is characterized in that the display module include wear-type optical device and/or
Projection device.
10. device according to claim 7, which is characterized in that described device further include:
Processing module, for carrying out medical treatment to the position to be processed.
11. device according to claim 10, which is characterized in that the processing module includes mechanical arm and is connected to institute
State the operating element of mechanical arm tail end.
12. device according to claim 11, which is characterized in that the operating element includes scalpel and/or puncture needle.
13. a kind of medical supply including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor realizes any one of claim 1 to 6 the method when executing described program
The step of.
14. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of any one of claim 1 to 6 the method is realized when execution.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811641080.3A CN109464194A (en) | 2018-12-29 | 2018-12-29 | Display methods, device, medical supply and the computer storage medium of medical image |
| EP19893374.9A EP3840684A4 (en) | 2018-12-07 | 2019-12-07 | Systems and methods for subject positioning and image-guided surgery |
| PCT/CN2019/123838 WO2020114511A1 (en) | 2018-12-07 | 2019-12-07 | Systems and methods for subject positioning and image-guided surgery |
| US17/190,375 US20210196402A1 (en) | 2018-12-07 | 2021-03-02 | Systems and methods for subject positioning and image-guided surgery |
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|---|---|---|---|
| CN201811641080.3A CN109464194A (en) | 2018-12-29 | 2018-12-29 | Display methods, device, medical supply and the computer storage medium of medical image |
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| CN201811641080.3A Pending CN109464194A (en) | 2018-12-07 | 2018-12-29 | Display methods, device, medical supply and the computer storage medium of medical image |
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| CN109785447A (en) * | 2019-03-29 | 2019-05-21 | 北京博雅君益健康管理有限公司 | A kind of medical specimen methods of exhibiting and device |
| CN110169821A (en) * | 2019-04-29 | 2019-08-27 | 博瑞生物医疗科技(深圳)有限公司 | A kind of image processing method, apparatus and system |
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| CN111558174A (en) * | 2020-04-24 | 2020-08-21 | 长春理工大学 | Positioning device for radiotherapy body surface optical tracking |
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| CN116096313A (en) * | 2021-12-17 | 2023-05-09 | 上海卓昕医疗科技有限公司 | Puncture positioning system and control method thereof |
| CN116096313B (en) * | 2021-12-17 | 2023-10-31 | 上海卓昕医疗科技有限公司 | Puncture positioning system and control method thereof |
| CN114224512A (en) * | 2021-12-30 | 2022-03-25 | 上海微创医疗机器人（集团）股份有限公司 | Collision detection method, device, apparatus, readable storage medium, and program product |
| CN114224512B (en) * | 2021-12-30 | 2023-09-19 | 上海微创医疗机器人（集团）股份有限公司 | Collision detection method, apparatus, device, readable storage medium, and program product |
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| CN114288567B (en) * | 2022-01-05 | 2022-08-30 | 北京邮电大学 | Robot system capable of performing physical action on biological body surface and tissues below biological body surface |
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