CN110192911A - Target point piercing method, device, storage medium and computer equipment - Google Patents
Target point piercing method, device, storage medium and computer equipment Download PDFInfo
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- CN110192911A CN110192911A CN201910384314.9A CN201910384314A CN110192911A CN 110192911 A CN110192911 A CN 110192911A CN 201910384314 A CN201910384314 A CN 201910384314A CN 110192911 A CN110192911 A CN 110192911A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
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Abstract
This application involves a kind of target point piercing method, device, storage medium and computer equipments, obtain the positioning image of target object, and determine the spatial positional information of target point in positioning image；In puncture process, the current puncture position information of puncture needle is obtained, and according to the current puncture position information of the spatial positional information of target point and puncture needle, the display situation of the corresponding analog image of puncture needle in more new definition image.In puncture process, it is updated by the display situation of the analog image to puncture needle, so as to understand current puncture situation in real time, determine whether to be punctured to target point tissue without carrying out X-ray exposure again, while improving puncture accuracy, operating procedure can be reduced, the time is saved, improves working efficiency.In addition, due to without carrying out X-ray exposure to patient again, and then the amount of radiation that patient is subject to can be reduced.
Description
Technical field
This application involves field of medical technology, more particularly to a kind of target point piercing method, device, storage medium and meter
Calculate machine equipment.
Background technique
Mammary gland disease is a kind of important diseases for seriously threatening women's health, in recent years, with the hair of medical imaging techniques
Exhibition, the checkout and diagnosis accuracy rate of mammary gland disease are also being gradually increased.Wherein, breast puncture detection is a kind of more common detection
The mode of mammary gland disease.
In the breast puncture workflow of the prior art, in order to improve puncture precision, doctor needs after completing breast puncture
Patient is exposed again, to determine whether to be punctured to lesion tissue.However, the process needs to grasp by X-ray exposure
It realizes, thus will increase the amount of radiation that patient is subject to, so that the health to patient affects, and due to
Work step is increased, can be lengthened working hours, working efficiency is reduced.
Summary of the invention
Based on this, it is necessary to aiming at the problems existing in the prior art, provide a kind of X-ray spoke that can reduce patient
Target point piercing method, device, storage medium and the computer equipment penetrate, improved efficiency.
A kind of target point piercing method, comprising:
The positioning image of target object is obtained, and determines the spatial positional information of target point in the positioning image；
In puncture process, the current puncture position information of puncture needle is obtained, and according to the spatial position of the target point
The current puncture position information of information and the puncture needle updates the corresponding simulation drawing of puncture needle described in the positioning image
The display situation of picture.
The positioning image includes at least the first projected image and the second projected image in one of the embodiments,
First projected image is equal with the absolute value of shooting angle of second projected image；
Determine the spatial positional information of target point in the positioning image, comprising:
Target point is determined according to first projected image and second projected image；
According to first location information of the target point in first projected image and the target point described
Second location information in second projected image determines the spatial positional information of the target point.
Determine that execution is worn in the positioning image after the spatial positional information of target point in one of the embodiments,
Before thorn operation, further includes:
Obtain the initial position message of puncture needle；
According to the initial position message of the spatial positional information of the target point and the puncture needle, the puncture is determined
Corresponding position of the needle in the positioning image, and the corresponding analog image of the puncture needle is added in the corresponding position.
It is worn in one of the embodiments, according to the spatial positional information of the target point and the current of the puncture needle
Location information is pierced, the display situation of the corresponding analog image of puncture needle described in the positioning image is updated, comprising:
According to the spatial positional information of the target point, the current puncture position information of the puncture needle, system parameter with
And image exposure information, update the display situation of the corresponding analog image of puncture needle described in the positioning image.
The system parameter includes at least one in gantry rotation angle and radius of turn in one of the embodiments,
?；
Described image exposure information include in bulb exposure angle, bulb physical coordinates and image cropping size at least
One.
In one of the embodiments, according to the current puncture of the spatial positional information of the target point, the puncture needle
Location information, system parameter and image exposure information update the corresponding analog image of puncture needle described in the positioning image
Display situation, comprising:
According to the spatial positional information of the target point, the current puncture position information of the puncture needle, system parameter with
And image exposure information, update corresponding position information of the puncture needle in the positioning image；
According to the update status of the corresponding position information, the display position of the analog image is updated.
The display feelings of the corresponding analog image of puncture needle described in the positioning image are updated in one of the embodiments,
When condition, display mode includes that 2D is shown and at least one of 3D display.
A kind of target point sting device, comprising:
Image collection module for obtaining the positioning image of target object, and determines target point in the positioning image
Spatial positional information；
Analog module is punctured, for obtaining the current puncture position information of puncture needle, and according to described in puncture process
The current puncture position information of the spatial positional information of target point and the puncture needle is updated and is worn described in the positioning image
The display situation of the corresponding analog image of pricker.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the processing
The step of device realizes the above method when executing the computer program.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The step of above-mentioned method is realized when row.
Above-mentioned target point piercing method, device, storage medium and computer equipment obtain the positioning image of target object,
And determine the spatial positional information of target point in positioning image；In puncture process, the current puncture position letter of puncture needle is obtained
Breath, and according to the current puncture position information of the spatial positional information of target point and puncture needle, it is punctured in more new definition image
The display situation of the corresponding analog image of needle.In puncture process, carried out by the display situation of the analog image to puncture needle
It updates, so as to understand current puncture situation in real time, determines whether to be punctured to target point without carrying out X-ray exposure again
Tissue, while improving puncture accuracy, it is possible to reduce operating procedure saves the time, improves working efficiency.In addition, due to
Without carrying out X-ray exposure to patient again, and then the amount of radiation that patient is subject to can be reduced.
Detailed description of the invention
Fig. 1 is the flow diagram of target point piercing method in one embodiment；
Fig. 2 is the schematic diagram that corresponding position information of the puncture needle in positioning image is calculated in one embodiment；
Fig. 3 is the flow diagram of target point piercing method in another embodiment；
Fig. 4 is the structural schematic diagram of target point sting device in one embodiment；
Fig. 5 is the internal structure chart of computer equipment in one embodiment.
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, not
For limiting the application.
In each embodiment of the application, target point can indicate lesions position or suspected abnormality position, and target point is applicable in
In puncture or biopsy.For example, target point can be generation when the technical solution in the application is applied to diagnosis of breast disease
The breast structure of lesion or the doubtful breast structure that lesion occurs can carry out the patient when diagnosing to patient
Breast puncture is to realize diagnosis of breast disease.It is appreciated that also not only limitation is breast structure to target point, it is also possible to other
It can carry out the structure position of puncture diagnosis.
In one embodiment, as shown in Figure 1, providing a kind of target point piercing method, method includes the following steps:
Step S100 obtains the positioning image of target object, and determines the spatial positional information of target point in positioning image.
The positioning image of positioning image, that is, patient target point of target object punctures it carrying out target point to patient
Before, the positioning image of patient is obtained first, may thereby determine that whether the target point of patient is puncturing in range.When determining target
Point determines the spatial positional information of target point according to the positioning image after puncturing range.
Step S200 obtains the current puncture position information of puncture needle, and according to the space of target point in puncture process
The current puncture position information of location information and puncture needle, the display of the corresponding analog image of puncture needle in more new definition image
Situation.
After determining the spatial positional information of target point, i.e., executable puncture procedure.In puncture process, obtain in real time
The current puncture position information of puncture needle, in order to make it easy to understand, current puncture position information may be considered puncture needle head
Location information.After the current puncture position information for obtaining puncture needle in real time, according to the spatial positional information of target point and
The current puncture position information of puncture needle, the display situation of the corresponding analog image of puncture needle in more new definition image, that is, pass through
Position the current puncture situation of image simulative display puncture needle in real time, consequently facilitating doctor can by observe understand puncture into
Degree and puncture position improve and puncture accuracy.
Further, by simulating the puncture situation of puncture needle in real time, doctor can determine whether puncture needle is punctured to mesh
Punctuate tissue, without to patient's progress X-ray exposure, simplifying puncture process flow again, reducing and puncture the processing time,
While improving target point puncture efficiency, it helps reduce the influence to patient body health.
The present embodiment provides a kind of target point piercing methods, in puncture process, pass through the analog image to puncture needle
Display situation is updated, and so as to understand current puncture situation in real time, is determined whether without carrying out X-ray exposure again
It is punctured to target point tissue, be conducive to improve puncture accuracy and punctures efficiency.In addition, due to without being carried out again to patient
X-ray exposure, and then the amount of radiation that patient is subject to can be reduced.
In one embodiment, positioning image includes at least the first projected image and the second projected image, the first projection
Image is equal with the absolute value of the shooting angle of the second projected image.Positioning image specifically can be to be exposed by stereoscopic localized
It arrives, positioning image can be two dimensional image.
Based on X-ray along straightline propagation and path principle of reversibility, radiographic source and detector image-forming space of planes position are being determined
Under conditions of, a width projected image can determine the straight line where a target point, several projected images can determine a plurality of straight
Line, and the intersection point of these straight lines is exactly position of the target point in space.Theoretically, two straight lines of two width projected images offer are
It can determine the spatial position of target point；And determine that the spatial position of target point can be improved to target point sky with several projected images
Between position position accuracy and stability, but will increase subject receiving dosage therefore can specifically be adopted in the present embodiment
Collect the projected image that two width include target point, i.e. the first projected image and the second projected image.It is appreciated that projected image
Quantity is also possible to be greater than 2.
In addition, for the shooting angle of two width projected images of acquisition, with two width of different shooting angle acquisitions
Projected image can obtain the spatial position of target point, but the different corresponding target point spatial positioning accuracies of angle configurations is not
Together.Usually, when the absolute value of the shooting angle of the two images of acquisition is identical, the sterically defined precision of target point compared with
Height, therefore, the first projected image is equal with the absolute value of the shooting angle of the second projected image in the present embodiment.For example, first
The shooting angle of projected image is+15 °, and the shooting angle of the second projected image is -15 °.
In the present embodiment, determine positioning image in target point spatial positional information, comprising: according to the first projected image with
And second projected image determine target point；According to first location information and target point of the target point in the first projected image
Second location information in the second projected image determines the spatial positional information of target point.
Specifically, when determining target point, it can be after doctor's manually identifying target point, receive corresponding target point
Determine information；It is also possible to automatically determine target point by image processing algorithm, neural network model etc.；It is also possible to automatic true
After setting the goal a little, then desk checking carried out by doctor.
After determining target point, it can determine that target point is being thrown with the second projected image according to the first projected image of acquisition
Position in shadow image, and then determine that target point projects to the spatial position in detector image-forming face, pass through ray known to system
Source and detector relative tertiary location, it can determine target point in the position in space.
Further, after determining target point, when being shown to target point, it can be selection 2D and show that 2D is aobvious
Showing is advantageous in that and can amplify to image so that image is clearer, also, help to be better achieved to away from
From control.Display mode is also possible to 3D display, and 3D display, which is advantageous in that, can provide better stereoscopic visual effect.It can
To understand, it is also possible to 2D and 3D switching and shows, can also be while carrying out 2D and 3D display.
In one embodiment, determine positioning image in target point spatial positional information after, execute puncture procedure it
Before, further includes: obtain the initial position message of puncture needle；According to the initial bit of the spatial positional information of target point and puncture needle
Confidence breath determines corresponding position of the puncture needle in positioning image, and in the corresponding analog image of corresponding position addition puncture needle.
Specifically, the initial position message of puncture needle refers to the location information of mounted puncture needle.The master of the application
Wanting thinking is the puncture position that puncture needle is simulated in positioning image, it is therefore desirable to add puncture needle in positioning image first
Analog image then executes the operating procedure that the display situation to the analog image is updated.Puncture needle is being added for the first time
When analog image, it can be and the analog image of puncture needle is added to positioning image after puncture needle installs, therefore, according to
The spatial positional information of target point and the initial position message of puncture needle determine correspondence position of the puncture needle in positioning image
It sets, and in the corresponding analog image of corresponding position addition puncture needle.
It is appreciated that it also may include it that it includes puncture needle that analog image, which can be not only, in actual process
His piercing assembly.
Further, it after the corresponding analog image of corresponding position addition puncture needle, is shown to positioning image
When, it can be selection 2D and show, 2D, which is shown, to be advantageous in that and can amplify to positioning image, so that image is more clear
Chu, also, help that the control adjusted the distance is better achieved, to help to improve puncture precision.Display mode is also possible to
3D display, 3D display, which is advantageous in that, can provide better stereoscopic visual effect, so as to more intuitively show puncture needle
Three-dimensional position.It is shown it is appreciated that being also possible to 2D and 3D switching, can also be while carrying out 2D and 3D display.
In one embodiment, it determines in positioning image after the spatial positional information of target point, is obtaining puncture needle
Before initial position message, further includes: determine that puncture needle type, the initial of puncture needle are worn according to the spatial positional information of target point
Position is pierced, and corresponding puncture needle is installed.
After the spatial position of target point has been determined, then the first of puncture needle can be determined according to the spatial position of target point
Beginning puncture position.Specifically, the initial penetration position of puncture needle can be determined according to the position of target dot center.Practical application
The initial penetration position of middle puncture needle can be a certain position in certain neighborhood of the position at target point center, as long as ensuring
The initial penetration position, puncture needle can extract target point tissue.Puncture needle type can be according in the prior art
Determine that method determines.Puncture needle usually arrange in pairs or groups piercing assembly co-operation, piercing assembly generally include puncture bracket and puncture chamber,
Puncture needle be set to puncture it is intracavitary, piercing assembly is moved to initial penetration position by being configured at the piercing mechanism of mammography system
It sets, after piercing assembly is moved to scheduled initial penetration position, puncture needle can reach just along the inserting needle track punctured in chamber
Beginning puncture position determines that puncture needle is installed, at this point, acquisition can be executed when puncture needle reaches initial penetration position
The initial position message of puncture needle；According to the initial position message of the spatial positional information of target point and puncture needle, determination is worn
Corresponding position of the pricker in positioning image, and the corresponding position addition puncture needle corresponding analog image the step of.
In one embodiment, according to the current puncture position information of the spatial positional information of target point and puncture needle,
The display situation of the corresponding analog image of puncture needle in more new definition image, comprising: according to the spatial positional information of target point, wear
Current puncture position information, system parameter and the image exposure information of pricker, the corresponding mould of puncture needle in more new definition image
The display situation of quasi- image.
Specifically, display situation includes the relative tertiary location relationship of analog image and target point, analog image and target
The relative tertiary location relationship of point is to characterize the practical relative tertiary location relationship of puncture needle and target point.Further, it is also possible to aobvious
Show that other puncture information, comprising: current to puncture distance, currently puncture speed, current puncture the time, remaining puncture distance, puncture
It is recommended that speed, expected residual puncture time etc., to help more accurately to carry out puncture working.
When the display situation to the corresponding analog image of puncture needle is updated, in addition to the space bit confidence of target point
It ceases, outside the current puncture position information of puncture needle, it is also necessary to obtain the system parameter of lancing system and position the image of image
Exposure information more accurately passes through so as to more accurately determine the situation of change for puncturing pin position in puncture process
The puncture position situation of change that image simulation shows puncture needle is positioned, improves and punctures accuracy.
In one embodiment, system parameter include in gantry rotation angle and radius of turn at least one of；Image
Exposure information includes at least one in bulb exposure angle, bulb physical coordinates and image cropping size.It is appreciated that being
Raising computational accuracy, calculating process can use above-mentioned all parameters and information simultaneously.
In one embodiment, according to current puncture position information, the system of the spatial positional information of target point, puncture needle
Parameter and image exposure information, the display situation of the corresponding analog image of puncture needle in more new definition image, comprising: according to mesh
Current puncture position information, system parameter and the image exposure information of the spatial positional information of punctuate, puncture needle are updated and are punctured
Corresponding position information of the needle in positioning image；According to the update status of corresponding position information, the display position of analog image is updated
It sets.
As shown in Fig. 2, P is to puncture in figure to calculate the schematic diagram of corresponding position information of the puncture needle in positioning image
The current puncture position of needle, B, C are bulb, for positioning image and include the first projected image and the second projected image, are worn
Corresponding position of the pricker in the first projected image is P1, and corresponding position of the puncture needle in the second projected image is P2, then counts
Calculation process the following steps are included:
Coordinate (the x of bulb B, C are determined according to system parameterb,yb,zb)、(xc,yc,zc), obtain the current puncture of puncture needle
Position coordinates (xp,yp,zp), and the coordinate for defining P1 is (xp1,yp1,zp1), the coordinate of P2 is (xp2,yp2,zp2), according to two
The theory of straight line intersection, can be in the hope of the coordinate of P1 and P2, specifically:
By the straight line of P and B are as follows:
By the straight line of P and C are as follows:
Due to being imaged on plate, Z=0 is taken, then passing through calculating can be in the hope of the coordinate of P1 are as follows:
The coordinate of P2 are as follows:
In one embodiment, as shown in figure 3, providing a kind of target point piercing method, method includes the following steps:
(1) the positioning image of target object is obtained, and determines the spatial positional information of target point in positioning image；
(2) the initial penetration position of puncture needle type, puncture needle is determined according to the spatial positional information of target point, and is installed
Corresponding puncture needle；
(3) initial position message of puncture needle is obtained；According to the initial of the spatial positional information of target point and puncture needle
Location information determines corresponding position of the puncture needle in positioning image, and in the corresponding simulation drawing of corresponding position addition puncture needle
Picture；
(4) in puncture process, the current puncture position information of puncture needle is obtained, according to the space bit confidence of target point
Current puncture position information, system parameter and the image exposure information of breath, puncture needle update puncture needle in positioning image
Corresponding position information；According to the update status of corresponding position information, the display position of analog image is updated；
(5) when the determining pin puncture that punctures of the display situation according to the corresponding analog image of puncture needle in positioning image is to target
When point position, puncture needle continues to puncture to obtain target point tissue；
(6) after obtaining target point tissue, puncture needle is exited out of target object body.
It should be appreciated that although each step in the flow chart that each embodiment is related to above is according to arrow under reasonable terms
Instruction successively show that but these steps are not that the inevitable sequence according to arrow instruction successively executes.Unless having herein
Explicitly stated, there is no stringent sequences to limit for the execution of these steps, these steps can execute in other order.And
And at least part step in each flow chart may include multiple sub-steps perhaps these sub-steps of multiple stages or rank
Section is not necessarily to execute completion in synchronization, but can execute at different times, these sub-steps or stage
Execution sequence is also not necessarily and successively carries out, but can be with the sub-step or stage of other steps or other steps extremely
Few a part executes in turn or alternately.
In one embodiment, as shown in figure 4, providing a kind of target point sting device, which includes: that image obtains mould
Block 100 and puncture analog module 200.
Image collection module 100 is used to obtain the positioning image of target object, and determines the sky of target point in positioning image
Between location information；
It punctures analog module 200 to be used in puncture process, obtains the current puncture position information of puncture needle, and according to mesh
The spatial positional information of punctuate and the current puncture position information of puncture needle, the corresponding simulation of puncture needle in more new definition image
The display situation of image.
In one embodiment, image collection module is also used to: true according to the first projected image and the second projected image
It sets the goal a little；According to target point in the first projected image first location information and target point in the second projected image
Second location information, determine the spatial positional information of target point.
In one embodiment, it punctures analog module to be also used to: obtaining the initial position message of puncture needle；According to target point
Spatial positional information and puncture needle initial position message, determine puncture needle positioning image in corresponding position, and
Corresponding position adds the corresponding analog image of puncture needle.
In one embodiment, it punctures analog module to be also used to: be worked as according to the spatial positional information of target point, puncture needle
Preceding puncture position information, system parameter and image exposure information, the corresponding analog image of puncture needle in more new definition image
Show situation.
In one embodiment, it punctures analog module to be also used to: be worked as according to the spatial positional information of target point, puncture needle
Preceding puncture position information, system parameter and image exposure information update corresponding position information of the puncture needle in positioning image；
According to the update status of corresponding position information, the display position of analog image is updated.
Specific about target point sting device limits the restriction that may refer to above for target point piercing method,
This is repeated no more.Modules in above-mentioned target point sting device can come fully or partially through software, hardware and combinations thereof
It realizes.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be with software
Form is stored in the memory in computer equipment, executes the corresponding operation of the above modules in order to which processor calls.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, which performs the steps of the positioning image for obtaining target object when executing computer program, and determines
Position the spatial positional information of target point in image；In puncture process, the current puncture position information of puncture needle, and root are obtained
According to the spatial positional information of target point and the current puncture position information of puncture needle, puncture needle is corresponding in more new definition image
The display situation of analog image.
In one embodiment, it also performs the steps of when processor executes computer program according to the first projected image
And second projected image determine target point；According to first location information and target of the target point in the first projected image
Second location information o'clock in the second projected image, determines the spatial positional information of target point.
In one embodiment, it is also performed the steps of when processor executes computer program and obtains the initial of puncture needle
Location information；According to the initial position message of the spatial positional information of target point and puncture needle, determine puncture needle in positioning figure
Corresponding position as in, and in the corresponding analog image of corresponding position addition puncture needle.
In one embodiment, the space according to target point is also performed the steps of when processor executes computer program
Current puncture position information, system parameter and the image exposure information of location information, puncture needle puncture in more new definition image
The display situation of the corresponding analog image of needle.
In one embodiment, the space according to target point is also performed the steps of when processor executes computer program
Current puncture position information, system parameter and the image exposure information of location information, puncture needle update puncture needle and scheme in positioning
Corresponding position information as in；According to the update status of corresponding position information, the display position of analog image is updated.
Fig. 5 shows the internal structure chart of computer equipment in one embodiment.The computer equipment specifically can be end
It holds (or server).As shown in figure 5, it includes the processing connected by system bus that the computer equipment, which includes the computer equipment,
Device, memory, network interface, input unit and display screen.Wherein, memory includes non-volatile memory medium and interior storage
Device.The non-volatile memory medium of the computer equipment is stored with operating system, can also be stored with computer program, the computer
When program is executed by processor, processor may make to realize video code rate control method and video transcoding method.The interior storage
Computer program can also be stored in device, when which is executed by processor, processor may make to execute video code rate
Control method and video transcoding method.The display screen of computer equipment can be liquid crystal display or electric ink is shown
Screen, the input unit of computer equipment can be the touch layer covered on display screen, be also possible to set on computer equipment shell
Key, trace ball or the Trackpad set can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Fig. 5, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of the positioning image for obtaining target object when being executed by processor, and determines target in positioning image
The spatial positional information of point；In puncture process, the current puncture position information of puncture needle is obtained, and according to the space of target point
The current puncture position information of location information and puncture needle, the display of the corresponding analog image of puncture needle in more new definition image
Situation.
In one embodiment, it also performs the steps of when computer program is executed by processor according to the first perspective view
Picture and the second projected image determine target point；According to first location information and mesh of the target point in the first projected image
Second location information of the punctuate in the second projected image, determines the spatial positional information of target point.
In one embodiment, it is also performed the steps of when computer program is executed by processor and obtains the first of puncture needle
Beginning location information；According to the initial position message of the spatial positional information of target point and puncture needle, determine that puncture needle is positioning
Corresponding position in image, and in the corresponding analog image of corresponding position addition puncture needle.
In one embodiment, the sky according to target point is also performed the steps of when computer program is executed by processor
Between location information, puncture needle current puncture position information, system parameter and image exposure information, wear in more new definition image
The display situation of the corresponding analog image of pricker.
In one embodiment, the sky according to target point is also performed the steps of when computer program is executed by processor
Between location information, puncture needle current puncture position information, system parameter and image exposure information, update puncture needle positioning
Corresponding position information in image；According to the update status of corresponding position information, the display position of analog image is updated.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, computer program can be stored in a non-volatile computer and can be read
In storage medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the application
To any reference of memory, storage, database or other media used in provided each embodiment, may each comprise non-
Volatibility and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM (PROM),
Electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include arbitrary access
Memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms, such as static
RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhanced SDRAM
(ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) directly RAM (RDRAM), straight
Connect memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) 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 embodiments described above only express several embodiments of the present invention, and 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 inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of target point piercing method characterized by comprising
The positioning image of target object is obtained, and determines the spatial positional information of target point in the positioning image；
In puncture process, the current puncture position information of puncture needle is obtained, and according to the spatial positional information of the target point
And the current puncture position information of the puncture needle, update the corresponding analog image of puncture needle described in the positioning image
Show situation.
2. the method according to claim 1, wherein the positioning image include at least the first projected image and
Second projected image, first projected image are equal with the absolute value of shooting angle of second projected image；
Determine the spatial positional information of target point in the positioning image, comprising:
Target point is determined according to first projected image and second projected image；
According to first location information of the target point in first projected image and the target point described second
Second location information in projected image determines the spatial positional information of the target point.
3. the method according to claim 1, wherein determining the space bit confidence of target point in the positioning image
After breath, before execution puncture procedure, further includes:
Obtain the initial position message of puncture needle；
According to the initial position message of the spatial positional information of the target point and the puncture needle, determine that the puncture needle exists
Corresponding position in the positioning image, and the corresponding analog image of the puncture needle is added in the corresponding position.
4. the method according to claim 1, wherein according to the spatial positional information of the target point and described
The current puncture position information of puncture needle updates the display feelings of the corresponding analog image of puncture needle described in the positioning image
Condition, comprising:
According to the spatial positional information of the target point, current puncture position information, system parameter and the figure of the puncture needle
As exposure information, the display situation of the corresponding analog image of puncture needle described in the positioning image is updated.
5. according to the method described in claim 4, it is characterized in that, the system parameter includes gantry rotation angle and rotation
At least one of in radius；
Described image exposure information includes at least one in bulb exposure angle, bulb physical coordinates and image cropping size
?.
6. according to the method described in claim 4, it is characterized in that, according to the spatial positional information of the target point, described wearing
Current puncture position information, system parameter and the image exposure information of pricker update puncture needle described in the positioning image
The display situation of corresponding analog image, comprising:
According to the spatial positional information of the target point, current puncture position information, system parameter and the figure of the puncture needle
As exposure information, corresponding position information of the puncture needle in the positioning image is updated；
According to the update status of the corresponding position information, the display position of the analog image is updated.
7. the method according to claim 1, wherein updating the corresponding mould of puncture needle described in the positioning image
When the display situation of quasi- image, display mode includes that 2D is shown and at least one of 3D display.
8. a kind of target point sting device characterized by comprising
Image collection module for obtaining the positioning image of target object, and determines the space of target point in the positioning image
Location information；
Analog module is punctured, for obtaining the current puncture position information of puncture needle, and according to the target in puncture process
The spatial positional information of point and the current puncture position information of the puncture needle, update puncture needle described in the positioning image
The display situation of corresponding analog image.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 7 the method when executing the computer program.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 7 is realized when being executed by processor.
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