CN109925053A - Determination methods, devices and systems, the readable storage medium storing program for executing of operation pathway - Google Patents
Determination methods, devices and systems, the readable storage medium storing program for executing of operation pathway Download PDFInfo
- Publication number
- CN109925053A CN109925053A CN201910161266.7A CN201910161266A CN109925053A CN 109925053 A CN109925053 A CN 109925053A CN 201910161266 A CN201910161266 A CN 201910161266A CN 109925053 A CN109925053 A CN 109925053A
- Authority
- CN
- China
- Prior art keywords
- dimensional
- image
- emulation
- topography
- projection image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Image Processing (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The application provides determination methods, devices and systems, the readable storage medium storing program for executing of a kind of operation pathway.Method includes obtaining three-dimensional topography and the virtual route in the three-dimensional topography；Match the emulation two dimensional image obtained based on the three-dimensional projected partial image and the two-dimensional projection image obtained based on affected part；When the emulation two dimensional image and the two-dimensional projection image match, according to location information of the virtual route on the emulation two dimensional image, operation pathway corresponding with the virtual route in the two-dimensional projection image is determined.
Description
Technical field
This application involves determination methods, devices and systems of field of medical technology more particularly to a kind of operation pathway, readable
Storage medium.
Background technique
Currently, when being performed the operation by surgical instrument to affected part, it usually needs inside insertion affected part, and from body surface to target
The distance of point is located in vivo, and inserting needle can only be empirically determined in medical staff according to the X piece of shooting, to the skill requirement of medical staff
Height, and may need repeatedly to shoot X piece to confirm current inserting needle situation, increase radiation, is unfavorable for reducing patient suffering.
Summary of the invention
The application provides determination methods, devices and systems, the readable storage medium storing program for executing of a kind of operation pathway, to solve related skill
Deficiency in art.
According to the embodiment of the present application in a first aspect, providing a kind of determination method of operation pathway, comprising:
Obtain three-dimensional topography and the virtual route in the three-dimensional topography；
Match the emulation two dimensional image obtained based on the three-dimensional projected partial image and the two dimension throwing obtained based on affected part
Shadow image；
When the emulation two dimensional image and the two-dimensional projection image match, according to the virtual route in the emulation
Location information on two dimensional image determines operation pathway corresponding with the virtual route in the two-dimensional projection image.
Optionally, the matching is obtained based on the three-dimensional projected partial image emulation two dimensional image and based on part
Obtained two-dimensional projection image, comprising:
Perspective projection is carried out to the affected part and obtains the two-dimensional projection image；
The three-dimensional topography is projected to obtain the emulation two dimensional image；
The registration for obtaining the emulation two dimensional image and the two-dimensional projection image, in the registration not less than default
When threshold value, it is determined as the emulation two dimensional image and is matched with the two-dimensional projection image.
Optionally, the registration for obtaining the emulation two dimensional image and the two-dimensional projection image, comprising:
Extract the second view field in the first view field and the two-dimensional projection image of the emulation two dimensional image；
According to the edge contour matching degree calculating between first view field and second view field
Registration.
The optional registration for obtaining the emulation two dimensional image and the two-dimensional projection image, comprising:
The emulation two dimensional image and the two-dimensional projection image are split according to preset ratio along preset direction；
Each cut zone cut zone corresponding with the two-dimensional projection image of the emulation two dimensional image is carried out
Matching obtains the registration.
Optionally, further includes:
Adjust the spatial attitude of the three-dimensional topography；And/or
Projective parameter of the adjustment for the three-dimensional topography.
Optionally, the spatial attitude of the adjustment three-dimensional topography includes at least one following:
Adjust the rotation angle that the three-dimensional topography is directed at least one reference axis；
Adjust the displacement that the three-dimensional topography is directed at least one reference axis；
Optionally, the adjustment includes at least one following for the projective parameter of the three-dimensional topography:
Adjust focal length；
Adjust the position of virtual light source；
Adjust imaging resolution, the size of the projection imaging plane of the imaging resolution and the three-dimensional topography with
And the picture size of the emulation two dimensional image is related.
According to the second aspect of the embodiment of the present application, a kind of determining device of operation pathway is provided, comprising:
Module is obtained, three-dimensional topography and the virtual route in the three-dimensional topography are obtained；
Matching module is matched the emulation two dimensional image obtained based on the three-dimensional projected partial image and is obtained based on affected part
The two-dimensional projection image arrived；
Determining module, when the emulation two dimensional image and two-dimensional projection image matching, according to the virtual route
Location information on the emulation two dimensional image, determines operation corresponding with the virtual route in the two-dimensional projection image
Path.
According to the third aspect of the embodiment of the present application, a kind of computer readable storage medium is provided, is stored thereon with calculating
Machine instruction, is realized when which is executed by processor such as the step of any of the above-described embodiment the method.
According to the fourth aspect of the embodiment of the present application, provide and a kind of operation guiding system, including filming apparatus and calculating
Machine, the filming apparatus obtain two-dimensional projection image for shooting part, and the computer and the filming apparatus communicate to connect；
Wherein, the computer includes:
Display, three-dimensional topography, two-dimensional projection image and the emulation two dimensional image that the display is used to show；
Processor；
Memory for storage processor executable instruction；
Wherein, it realizes when which is executed by processor such as the step of any of the above-described embodiment the method.
The technical solution that embodiments herein provides can include the following benefits:
As can be seen from the above embodiments, the application is imitated by matching emulation two dimensional image and two-dimensional projection image, and in confirmation
In the case that true two dimensional image and two-dimensional projection image match, according to the projection of virtual route in emulation two dimensional image, determine
Routing information in two-dimensional projection image, allows medical staff to intuitively understand routing information, true with assist personnel
Entering before settled and enters needle angle at pin mark, is conducive to the accuracy for improving operation, reduces sufferer pain.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Fig. 1 is that a kind of operation pathway shown according to an exemplary embodiment determines method flow diagram.
Fig. 2 is that another operation pathway shown according to an exemplary embodiment determines method flow diagram.
Fig. 3 is that another operation pathway shown according to an exemplary embodiment determines method flow diagram.
Fig. 4 is the schematic diagram of another emulation two dimensional image shown according to an exemplary embodiment.
Fig. 5 is the schematic diagram of another two-dimensional projection image shown according to an exemplary embodiment.
Fig. 6 is a kind of structural schematic diagram of operation guiding system shown according to an exemplary embodiment.
Fig. 7 is a kind of schematic configuration diagram of the equipment provided according to an exemplary embodiment.
Fig. 8 is a kind of block diagram of the determining device of operation pathway shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
Fig. 1 is a kind of determination method flow diagram of operation pathway shown according to an exemplary embodiment.As shown in Figure 1,
The determination method may include:
In a step 101, three-dimensional topography and the virtual route in the three-dimensional topography are obtained.
In the present embodiment, affected part can be scanned by CT or MR, and affected part is carried out based on scanning information
It rebuilds, obtains three-dimensional topography.Wherein, affected part described in the present embodiment may include four limbs, vertebra, waist, chest or
The positions such as person head to this and are not limited.The virtual route can be linear type, can be directed in three-dimensional topography
The virtual route carries out the adjustment of length, width and angle, is specifically subject to the weapon's standard of implantation, and the instrument of the implantation can
To include steel nail etc..
In a step 102, the emulation two dimensional image obtained based on the three-dimensional projected partial image is matched and based on affected part
Obtained two-dimensional projection image.
In the present embodiment, affected part can be shot to obtain two dimension by C arm machine or other x-ray imaging equipment
Perspective view picture point.Emulation two dimensional image can be obtained by DRR algorithm based on three-dimensional topography and virtual route is emulating
Location information in two dimensional image.Alternatively, in other embodiments, being also possible to calculate by Siddon algorithm, Shear-Warp
The modes such as method obtain emulation two dimensional image, and the application limits not to this.It is possible to further determine two-dimensional projection image
With the registration between emulation two dimensional image, when registration is not less than preset threshold it may be considered that two-dimensional projection image and imitative
True two dimensional image matching.
It further, can be with when the registration between two-dimensional projection image and emulation two dimensional image is less than preset threshold
Think two-dimensional projection image at this time and emulate differing greatly between two dimensional image, the sky of the three-dimensional topography of adjusting can be passed through
Between posture or the projective parameter for three-dimensional topography, the emulation two dimensional image after being adjusted, and will be adjusted imitative
True two dimensional image is matched with two-dimensional projection image.Certainly, in some other embodiment, it is also possible to adjust three-dimensional simultaneously
The spatial attitude of topography and projective parameter for three-dimensional topography, the application limit not to this.
Specifically, in one embodiment, can according to the registration between emulation two dimensional image and two-dimensional projection image,
Difference between feedback emulation two dimensional image and two-dimensional projection image, to adjust three-dimensional topography again according to the registration
Spatial attitude or adjustment are directed to the projective parameter of three-dimensional topography.Certainly, in other embodiments, can also with when according to one
Determine spatial attitude or projective parameter that regular intervals are sequentially adjusted in three-dimensional topography, the application is simultaneously not limited.
The spatial attitude for adjusting three-dimensional topography, which can be, adjusts three-dimensional topography at least one reference axis
Angle is rotated, adjusts the displacement that three-dimensional topography is directed at least one reference axis alternatively, can be.Certainly, in other implementations
In example, it is also possible to that the rotation angle of any reference axis and displacement is adjusted.Throwing of the adjustment for three-dimensional topography
Shadow parameter can be the position of adjustment virtual light source, a parameter or multiple in the focal length and imaging resolution of virtual light source
Parameter.Wherein, imaging resolution is used to characterize the relationship between pixel and geometric dimension, with projecting into for three-dimensional topography
As the size of plane and the picture size of emulation two dimensional image are related.
In above-mentioned each embodiment, the registration between emulation two dimensional image and two-dimensional projection image can be passed through
Following manner is implemented:
In one embodiment, it can be through individual subscriber for two-dimensional projection image and emulation two dimensional image progress
Match, obtains registration.
In another embodiment, it can extract in the first view field and two-dimensional projection image in emulation two dimensional image
Second view field obtains registration according to the edge contour matching degree between the first view field and the second view field.
It in another embodiment, can be by emulation two dimensional image and two-dimensional projection image according to preset ratio along default side
To being split, each cut zone for emulating two dimensional image and the corresponding cut zone of two-dimensional projection image are matched,
To obtain registration.
In step 103, when the emulation two dimensional image and the two-dimensional projection image match, according to the virtual road
Location information of the diameter on the emulation two dimensional image, determines hand corresponding with the virtual route in the two-dimensional projection image
Art path.
In the present embodiment, when emulation two dimensional image is matched with two-dimensional projection image, it is believed that three-dimensional part at this time
The posture information of image can be used as the perspective position information of the perspective reference frame of the affected part based on filming apparatus, thus three-dimensional at this time
Virtual route in topography is emulating the location information in two dimensional image, can be used as operation pathway in two-dimensional projection image
Posture information, so as to obtain the operation pathway in two-dimensional projection image, be conducive to understand surgical instrument enter pin mark and
Enter needle angle.
As can be seen from the above embodiments, the application is imitated by matching emulation two dimensional image and two-dimensional projection image, and in confirmation
In the case that true two dimensional image and two-dimensional projection image match, according to the projection of virtual route in emulation two dimensional image, determine
Routing information in two-dimensional projection image, allows medical staff to intuitively understand routing information, true with assist personnel
Entering before settled and enters needle angle at pin mark, is conducive to the accuracy for improving operation, reduces sufferer pain.
Scheme in view of the above technology, it is following to be described in detail based on a specific embodiment.As shown in Fig. 2, the operation
The determination method flow in path may include following step:
In step 201, three-dimensional topography is rebuild according to scanning information.
In step 202, the virtual route being located in three-dimensional topography is obtained.
In the present embodiment, 3-D scanning information can be obtained by CT scan or MR image, may further obtained
Three-dimensional topography.It is possible to further the state in the current affected part according to shown by three-dimensional topography, for affected part plus build
Vertical virtual route.
In step 203, the spatial attitude and projective parameter of the three-dimensional topography are adjusted.
In the present embodiment, it can be rotated or be translated based on the three-dimensional topography shown, to adjust three-dimensional office
The spatial attitude of portion's image.The spatial attitude may include angulation letter between three-dimensional topography and each reference axis
Breath, location information in each reference axis etc..Projective parameter may include adjust virtual light source focal length, i.e., virtual light source with
Spacing distance between virtual projection imaging plane, the projective parameter can also include virtual light source relative to each reference axis
The size and emulation two of the projection imaging plane of location information and imaging resolution, the imaging resolution and three-dimensional topography
The picture size for tieing up image is related, and the picture size of the emulation two dimensional image can be with the picture size phase of two-dimensional projection image
Together.Such as, it is assumed that the size of projection imaging plane is 200mm × 200mm, and the picture size for emulating two dimensional image is 1000 pixels
× 1000 pixels, then the imaging resolution is 0.2mm/ pixel.For another example, when the size of projection imaging plane be 200mm ×
300mm, the picture size for emulating two dimensional image are 1000 pixels × 1000 pixels, then imaging resolution is in one direction
0.2mm/ pixel, in another direction imaging resolution are 0.3mm/ pixel.
In step 204, it is projected for three-dimensional topography, obtains emulation two dimensional image.
In the present embodiment, emulation two dimensional image and virtually can be obtained by DRR algorithm based on three-dimensional topography
Location information of the path in emulation two dimensional image.Alternatively, in other embodiments, be also possible to by Siddon algorithm,
The modes such as Shear-Warp algorithm obtain emulation two dimensional image, and the application limits not to this.
In step 205, the first view field is extracted based on the emulation two dimensional image.
In step 206, shooting affected part obtains two-dimensional projection image.
In step 207, the second view field is extracted based on two-dimensional projection image.
In the present embodiment, the region covered based on projected planar dimensions and virtual light source, the emulation two dimensional image
In other than there is region corresponding to three-dimensional topography, no doubt can also have other regions.Similar, in two-dimensional projection
In image other than the region corresponding to the lesion, no doubt there may also be other regions.So the application passes through image procossing,
Extract the second view field in the first view field and two-dimensional projection image in emulation two dimensional image.Wherein, at the image
Reason can be the affected area extracted in emulation two dimensional image in affected area and two-dimensional projection image based on gray value.
In a step 208, it is matched the edge contour of the first view field and the second view field to obtain registration.
In the present embodiment, the edge contour of the first view field and the second view field can be matched, with
Registration between two-dimensional projection image and emulation two dimensional image.It for example, can be based on the mark in the first view field
The corresponding position of note point and the mark point in the second view field, the first view field of adjustment and the second view field
Then relative position carries out side so that the mark point is essentially coincided with corresponding position of the mark point in the second view field
Edge outline.Wherein, which can be special area on affected part, such as neural identification point, bone identification point etc., this Shen
Please limited not to this.
In step 209, judge whether registration is greater than preset threshold.
In the present embodiment, it when being more than or equal to preset threshold between two-dimensional projection image and emulation two dimensional image, executes
Step 210, when being less than preset threshold between two-dimensional projection image and emulation two dimensional image, step 203 is executed.Wherein it is possible to
It is determined according to registration for three-dimensional topography's spatial attitude and for the adjustment amount and adjustment direction of projective parameter, to mention
Rise matching efficiency.
In step 210, location information of the virtual route in emulation two dimensional image is obtained.
In step 211, the location information according to virtual route in emulation two dimensional image, determines in two-dimensional projection image
Operation pathway location information.
In the present embodiment, since emulation two dimensional image and two-dimensional projection image registration have been above or it is default to be equal to
Threshold value.So the projection information based on virtual route in emulation two dimensional image, can determine operation pathway on local 2D pattern's picture
Location information, obtain into pin mark and entering needle direction.For example, can be calculated according to the imaging resolution of emulation two dimensional image
Enter the distance between pin mark and emulation two dimensional image edge on emulation two dimensional image, so that two dimension can be obtained according to this distance
The position entered where pin mark in projected image.Similar, the position letter of other positions point on operation pathway can also be obtained
Breath, this is no longer going to repeat them.
Fig. 3 is the another specific embodiment based on technical scheme.As shown in figure 3, operation pathway determines that method can
With the following steps are included:
In step 501, three-dimensional topography is rebuild according to scanning information.
In step 502, the virtual route being located in three-dimensional topography is obtained.
In step 503, the spatial attitude and projective parameter of the three-dimensional topography are adjusted.
In step 504, it is projected for three-dimensional topography, obtains emulation two dimensional image.
In the present embodiment, step 501-504 can be with reference to the step 201-204 in embodiment illustrated in fig. 2, herein no longer
It repeats one by one.
In step 505, divide emulation two dimensional image along preset direction according to preset ratio.
In step 506, shooting affected part obtains two-dimensional projection image.
In step 507, divide two-dimensional projection image along preset direction according to preset ratio.
In the present embodiment, as shown in Figure 4, Figure 5, it can embark on journey in column along direction shown in direction shown in arrow A and arrow B
, the emulation two dimensional image of Fig. 4 and the two dimensional image of Fig. 5 are split, respectively obtain N number of cut section having a size of D × D
Domain.
In step 508, by point of corresponding region in each segmented image and two-dimensional projection image that emulate two dimensional image
Image is cut to be matched.
In step 509, the registration according to matching result, between computer sim- ulation two dimensional image and two-dimensional projection image.
In the present embodiment, still with shown in Fig. 4, Fig. 5, each cut zone has corresponding area in Fig. 5 in Fig. 4
Domain, for example, being located in the tertial cut zone D1 of the second row and Fig. 5 in Fig. 4 is located at the tertial cut zone of the second row
D1 is corresponding, cut zone D1 may further be matched to obtain matching value with d1.It is similar, it can will be in Fig. 4
Other cut zone are matched with the corresponding cut zone in Fig. 5, finally obtain registration.For example, each cut zone can
With a corresponding weight coefficient, the matching degree of the matching degree of each cut zone and the product of weight coefficient and other cut zone with
The product of weight coefficient and be registration.
In step 510, judge whether registration is greater than preset threshold.
In the present embodiment, it when being more than or equal to preset threshold between two-dimensional projection image and emulation two dimensional image, executes
Step 511, when being less than preset threshold between two-dimensional projection image and emulation two dimensional image, step 503 is executed.
In step 511, location information of the virtual route in emulation two dimensional image is obtained.
In step 512, the location information according to virtual route in emulation two dimensional image, determines in two-dimensional projection image
Direction target spot operation pathway.
In the present embodiment, step 511,512 can with reference in embodiment illustrated in fig. 2 step 510,511, herein no longer
It repeats one by one.
Technical solution based on the application also provides a kind of operation guiding system, as shown in fig. 6, the navigation system can be with
Including filming apparatus 701 and computer 702, which can be used for shooting affected part to obtain two-dimensional projection image, example
Such as filming apparatus 701 may include C arm machine or other X camera shooting imaging device.Computer have 702 with filming apparatus 701 it
Between can be by wired or be wirelessly communicatively coupled.The computer 702 may also include display 7021, the display
Device 7021 can be used for showing the associated pictures such as three-dimensional topography, two-dimensional projection image and emulation two dimensional image.The computer
It can also include that processor (not shown) and the memory for storage processor executable instruction, processor are configured as
The step of for realizing any one of such as above-mentioned Fig. 1-Fig. 3 the method.
Determine that the embodiment of method is corresponding with operation pathway above-mentioned, present invention also provides operation pathway determining devices
Embodiment.
Fig. 7 is a kind of schematic configuration diagram for equipment that an exemplary embodiment provides.Referring to FIG. 7, in hardware view, it should
Equipment includes processor 802, internal bus 804, network interface 806, memory 808 and nonvolatile memory 810, is gone back certainly
It may include hardware required for other business.Processor 802 reads corresponding computer journey from nonvolatile memory 810
Then sequence is run into memory 808, the determining device 800 of operation pathway is formed on logic level.Certainly, in addition to software realization
Except mode, other implementations, such as logical device or software and hardware is not precluded in this specification one or more embodiment
In conjunction with mode etc., that is to say, that the executing subject of following process flow is not limited to each logic unit, is also possible to
Hardware or logical device.
Referring to FIG. 8, the determining device 800 of the operation pathway may include obtaining module in Software Implementation
901, matching module 902 and determining module 903；Wherein:
Module 901 is obtained, three-dimensional topography and the virtual route in the three-dimensional topography are obtained；
Matching module 902 matches the emulation two dimensional image obtained based on the three-dimensional projected partial image and based on part
Obtained two-dimensional projection image；
Determining module 903, when the emulation two dimensional image and two-dimensional projection image matching, according to the virtual road
Location information of the diameter on the emulation two dimensional image, determines hand corresponding with the virtual route in the two-dimensional projection image
Art path.
Matching module 902 includes the first projecting cell, the second projecting cell and acquiring unit, in which:
First projecting cell carries out perspective projection to the affected part and obtains the two-dimensional projection image.
Second projecting cell is projected to obtain the emulation two dimensional image to the three-dimensional topography.
Acquiring unit obtains the registration of the emulation two dimensional image and the two-dimensional projection image, in the registration
When not less than preset threshold, it is determined as the emulation two dimensional image and is matched with the two-dimensional projection image.
Acquiring unit includes extracting subelement and the first computation subunit, in which:
Subelement is extracted, the in the first view field and the two-dimensional projection image of the emulation two dimensional image is extracted
Two view fields；
Computation subunit matches journey according to the edge contour between first view field and second view field
Degree calculates the registration.
Acquiring unit includes segmentation subelement and the second computation subunit, in which:
Divide subelement, by the emulation two dimensional image and the two-dimensional projection image according to preset ratio along default side
To being split；
Second computation subunit, each cut zone of the emulation two dimensional image is corresponding with the two-dimensional projection image
Cut zone matched to obtain the registration.
The determining device 800 of operation pathway, further includes:
The first adjustment module adjusts the spatial attitude of the three-dimensional topography；And/or
Second adjustment module, projective parameter of the adjustment for the three-dimensional topography.
The first adjustment module is used for:
Adjust the rotation angle that the three-dimensional topography is directed at least one reference axis；
Adjust the displacement that the three-dimensional topography is directed at least one reference axis；
Second adjustment module is used for:
Adjust focal length；
Adjust the position of virtual light source；
Adjust imaging resolution, the size of the projection imaging plane of the imaging resolution and the three-dimensional topography with
And the picture size of the emulation is related.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize application scheme.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory 810 of instruction, above-metioned instruction can be executed by the processor 802 of electronic equipment to complete the above method.For example,
The non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk
With optical data storage devices etc..
Those skilled in the art will readily occur to its of the application after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
It should be understood that the application is not limited to the precise structure that has been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.Scope of the present application is only limited by the accompanying claims.
Claims (10)
1. a kind of determination method of operation pathway characterized by comprising
Obtain three-dimensional topography and the virtual route in the three-dimensional topography；
Match the emulation two dimensional image obtained based on the three-dimensional projected partial image and the two-dimension projection obtained based on affected part
Picture；
When the emulation two dimensional image and the two-dimensional projection image match, according to the virtual route in the emulation two dimension
Location information on image determines operation pathway corresponding with the virtual route in the two-dimensional projection image.
2. determining method according to claim 1, which is characterized in that the matching is based on the three-dimensional projected partial image
Obtained emulation two dimensional image and the two-dimensional projection image obtained based on affected part, comprising:
Perspective projection is carried out to the affected part and obtains the two-dimensional projection image；
The three-dimensional topography is projected to obtain the emulation two dimensional image；
The registration for obtaining the emulation two dimensional image and the two-dimensional projection image is not less than preset threshold in the registration
When, it is determined as the emulation two dimensional image and is matched with the two-dimensional projection image.
3. determining method according to claim 2, which is characterized in that described to obtain the emulation two dimensional image and described two
Tie up the registration of projected image, comprising:
Extract the second view field in the first view field and the two-dimensional projection image in the emulation two dimensional image；
The coincidence is calculated according to the edge contour matching degree between first view field and second view field
Degree.
4. determining method according to claim 2, which is characterized in that described to obtain the emulation two dimensional image and described two
Tie up the registration of projected image, comprising:
The emulation two dimensional image and the two-dimensional projection image are split according to preset ratio along preset direction；
Each cut zone cut zone corresponding with the two-dimensional projection image of the emulation two dimensional image is matched
Obtain the registration.
5. determining method according to claim 2, which is characterized in that further include:
Adjust the spatial attitude of the three-dimensional topography；And/or
Projective parameter of the adjustment for the three-dimensional topography.
6. determining method according to claim 5, which is characterized in that the space appearance of the adjustment three-dimensional topography
State includes at least one following:
Adjust the rotation angle that the three-dimensional topography is directed at least one reference axis；
Adjust the displacement that the three-dimensional topography is directed at least one reference axis.
7. determining method according to claim 5, which is characterized in that throwing of the adjustment for the three-dimensional topography
Shadow parameter includes at least one following:
Adjust focal length；
Adjust the position of virtual light source；
Adjust imaging resolution, size and institute of the imaging resolution with the projection imaging plane of the three-dimensional topography
The picture size for stating emulation two dimensional image is related.
8. a kind of determining device of operation pathway characterized by comprising
Module is obtained, three-dimensional topography and the virtual route in the three-dimensional topography are obtained；
Matching module is matched the emulation two dimensional image obtained based on the three-dimensional projected partial image and is obtained based on affected part
Two-dimensional projection image；
Determining module, when the emulation two dimensional image and two-dimensional projection image matching, according to the virtual route in institute
The location information on emulation two dimensional image is stated, determines operation corresponding with virtual route road in the two-dimensional projection image
Diameter.
9. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer instruction, which is held by processor
It is realized when row such as the step of any one of claim 1-7 the method.
10. a kind of operation guiding system, which is characterized in that including filming apparatus and computer, the filming apparatus is for shooting
Part obtains two-dimensional projection image, and the computer and the filming apparatus communicate to connect；
Wherein, the computer includes:
Display, three-dimensional topography, two-dimensional projection image and the emulation two dimensional image that the display is used to show；
Processor；
Memory for storage processor executable instruction；
Wherein, the step of the processor is configured to for realizing any one of such as claim 1-7 the method.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910161266.7A CN109925053B (en) | 2019-03-04 | 2019-03-04 | Method, device and system for determining surgical path and readable storage medium |
| US17/431,683 US20220133409A1 (en) | 2019-03-04 | 2020-03-04 | Method for Determining Target Spot Path |
| PCT/CN2020/077846 WO2020177725A1 (en) | 2019-03-04 | 2020-03-04 | Target path determining method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910161266.7A CN109925053B (en) | 2019-03-04 | 2019-03-04 | Method, device and system for determining surgical path and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109925053A true CN109925053A (en) | 2019-06-25 |
| CN109925053B CN109925053B (en) | 2021-06-22 |
Family
ID=66986416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910161266.7A Active CN109925053B (en) | 2019-03-04 | 2019-03-04 | Method, device and system for determining surgical path and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109925053B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177725A1 (en) * | 2019-03-04 | 2020-09-10 | 杭州三坛医疗科技有限公司 | Target path determining method |
| CN113768619A (en) * | 2020-06-10 | 2021-12-10 | 长庚大学 | Path positioning method, information display device, storage medium and integrated circuit chip |
| CN113952030A (en) * | 2021-10-28 | 2022-01-21 | 北京深睿博联科技有限责任公司 | Planning method and device for needle insertion path and ablation position of radio-frequency electrode |
| CN117576321A (en) * | 2023-12-05 | 2024-02-20 | 上海长征医院 | Auxiliary liver operation planning modeling system |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1608386A (en) * | 2001-10-24 | 2005-04-20 | 纽鲁克公司 | Projection of three-dimensional images |
| CN1883415A (en) * | 2005-06-21 | 2006-12-27 | 西门子公司 | Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional x-ray images |
| US20070183641A1 (en) * | 2006-02-09 | 2007-08-09 | Peters Gero L | Method and apparatus for tomosynthesis projection imaging for detection of radiological signs |
| CN101553182A (en) * | 2006-11-28 | 2009-10-07 | 皇家飞利浦电子股份有限公司 | Apparatus for determining a position of a first object within a second object |
| CN101903908A (en) * | 2007-12-18 | 2010-12-01 | 皇家飞利浦电子股份有限公司 | Features-based 2D/3D image registration |
| WO2014013393A2 (en) * | 2012-07-17 | 2014-01-23 | Koninklijke Philips N.V. | Imaging system and method for enabling instrument guidance |
| CN103892861A (en) * | 2012-12-28 | 2014-07-02 | 北京思创贯宇科技开发有限公司 | CT-XA-image- multi-dimensional fused-based simulation navigation system and method |
| WO2016162789A2 (en) * | 2015-04-07 | 2016-10-13 | King Abdullah University Of Science And Technology | Method, apparatus, and system for utilizing augmented reality to improve surgery |
| CN106794044A (en) * | 2015-06-05 | 2017-05-31 | 陈阶晓 | Method for tracing in art |
| US9861295B2 (en) * | 2013-05-21 | 2018-01-09 | Autonomic Technologies, Inc. | System and method for surgical planning and navigation to facilitate placement of a medical device within a target region of a patient |
| CN107679574A (en) * | 2017-09-29 | 2018-02-09 | 深圳开立生物医疗科技股份有限公司 | Ultrasonoscopy processing method and system |
| CN109195527A (en) * | 2016-03-13 | 2019-01-11 | 乌泽医疗有限公司 | Device and method for being used together with bone-operating |
-
2019
- 2019-03-04 CN CN201910161266.7A patent/CN109925053B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1608386A (en) * | 2001-10-24 | 2005-04-20 | 纽鲁克公司 | Projection of three-dimensional images |
| CN1883415A (en) * | 2005-06-21 | 2006-12-27 | 西门子公司 | Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional x-ray images |
| US20070183641A1 (en) * | 2006-02-09 | 2007-08-09 | Peters Gero L | Method and apparatus for tomosynthesis projection imaging for detection of radiological signs |
| CN101553182A (en) * | 2006-11-28 | 2009-10-07 | 皇家飞利浦电子股份有限公司 | Apparatus for determining a position of a first object within a second object |
| CN101903908A (en) * | 2007-12-18 | 2010-12-01 | 皇家飞利浦电子股份有限公司 | Features-based 2D/3D image registration |
| WO2014013393A2 (en) * | 2012-07-17 | 2014-01-23 | Koninklijke Philips N.V. | Imaging system and method for enabling instrument guidance |
| CN103892861A (en) * | 2012-12-28 | 2014-07-02 | 北京思创贯宇科技开发有限公司 | CT-XA-image- multi-dimensional fused-based simulation navigation system and method |
| US9861295B2 (en) * | 2013-05-21 | 2018-01-09 | Autonomic Technologies, Inc. | System and method for surgical planning and navigation to facilitate placement of a medical device within a target region of a patient |
| WO2016162789A2 (en) * | 2015-04-07 | 2016-10-13 | King Abdullah University Of Science And Technology | Method, apparatus, and system for utilizing augmented reality to improve surgery |
| CN106794044A (en) * | 2015-06-05 | 2017-05-31 | 陈阶晓 | Method for tracing in art |
| CN109195527A (en) * | 2016-03-13 | 2019-01-11 | 乌泽医疗有限公司 | Device and method for being used together with bone-operating |
| CN107679574A (en) * | 2017-09-29 | 2018-02-09 | 深圳开立生物医疗科技股份有限公司 | Ultrasonoscopy processing method and system |
Non-Patent Citations (1)
| Title |
|---|
| 谭建豪: "《数字图像处理与移动机器人路径规划》", 30 April 2013, 华中科技大学出版社 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177725A1 (en) * | 2019-03-04 | 2020-09-10 | 杭州三坛医疗科技有限公司 | Target path determining method |
| CN113768619A (en) * | 2020-06-10 | 2021-12-10 | 长庚大学 | Path positioning method, information display device, storage medium and integrated circuit chip |
| CN113952030A (en) * | 2021-10-28 | 2022-01-21 | 北京深睿博联科技有限责任公司 | Planning method and device for needle insertion path and ablation position of radio-frequency electrode |
| CN113952030B (en) * | 2021-10-28 | 2023-12-15 | 北京深睿博联科技有限责任公司 | Planning method and device for needle insertion path and ablation position of radio frequency electrode |
| CN117576321A (en) * | 2023-12-05 | 2024-02-20 | 上海长征医院 | Auxiliary liver operation planning modeling system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109925053B (en) | 2021-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7204663B2 (en) | Systems, apparatus, and methods for improving surgical accuracy using inertial measurement devices | |
| JP5797352B1 (en) | Method for tracking a three-dimensional object | |
| CN109993792B (en) | Projection method, device and system and readable storage medium | |
| US11123144B2 (en) | Registration of frames of reference | |
| US9750399B2 (en) | Real-time depth estimation from monocular endoscope images | |
| US9489734B2 (en) | Determination of a body part position during radiation therapy | |
| CN109925052B (en) | Target point path determination method, device and system and readable storage medium | |
| CN109925053A (en) | Determination methods, devices and systems, the readable storage medium storing program for executing of operation pathway | |
| CN109925054A (en) | Determine the householder method, device and system, readable storage medium storing program for executing in target spot path | |
| US20150115178A1 (en) | Methods and systems for guiding an emission to a target | |
| JP2017529959A (en) | Method for calibrating a patient monitoring system for use with a radiotherapy device | |
| CN112233155B (en) | 2D-3D image registration algorithm | |
| CN111627521A (en) | Enhanced utility in radiotherapy | |
| US10078906B2 (en) | Device and method for image registration, and non-transitory recording medium | |
| TW202145146A (en) | Image registration method and related model training methods, equipment and computer readable storage medium thereof | |
| TWI836493B (en) | Method and navigation system for registering two-dimensional image data set with three-dimensional image data set of body of interest | |
| ES2959430T3 (en) | Deformation correction | |
| CN107485447B (en) | Device and method for navigating pose of surgical instrument for knee cartilage grafting | |
| US10762647B2 (en) | Motion compensation in hybrid X-ray/camera interventions | |
| WO2020177725A1 (en) | Target path determining method | |
| US11406471B1 (en) | Hand-held stereovision system for image updating in surgery | |
| CN109938848B (en) | Positioning system and target positioning method | |
| KR101349275B1 (en) | System and method for matching between 2d image and 3d image using fiducial marker | |
| JP7093075B2 (en) | Medical image processing equipment, medical image processing methods, and programs | |
| JPH07302341A (en) | Device and method for detecting posture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |