CN110192911B - Target point puncturing method and device, storage medium and computer equipment - Google Patents
Target point puncturing method and device, storage medium and computer equipment Download PDFInfo
- Publication number
- CN110192911B CN110192911B CN201910384314.9A CN201910384314A CN110192911B CN 110192911 B CN110192911 B CN 110192911B CN 201910384314 A CN201910384314 A CN 201910384314A CN 110192911 B CN110192911 B CN 110192911B
- Authority
- CN
- China
- Prior art keywords
- position information
- puncture
- image
- puncture needle
- target point
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Gynecology & Obstetrics (AREA)
- Radiology & Medical Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The application relates to a target point puncture method, a target point puncture device, a storage medium and computer equipment, wherein a positioning image of a target object is obtained, and spatial position information of a target point in the positioning image is determined; and in the puncture process, acquiring the current puncture position information of the puncture needle, and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle. In the puncture process, the display condition of the simulated image of the puncture needle is updated, so that the current puncture condition can be known in real time, the X-ray exposure is not required to be carried out again to determine whether the target point tissue is punctured, the puncture accuracy is improved, meanwhile, the operation steps can be reduced, the time is saved, and the work efficiency is improved. In addition, since the patient does not need to be exposed to X-rays again, the amount of radiation to which the patient is exposed can be reduced.
Description
Technical Field
The present application relates to the field of medical technology, and in particular, to a method, an apparatus, a storage medium, and a computer device for target point puncture.
Background
The breast disease is an important disease seriously threatening the health of women, and in recent years, with the development of medical imaging technology, the detection and diagnosis accuracy of the breast disease is gradually improved. Among them, the breast puncture detection is a more common way to detect breast diseases.
In the breast puncturing workflow of the prior art, in order to improve the puncturing accuracy, after the completion of the breast puncturing, the doctor needs to expose the patient again to determine whether the lesion tissue is punctured. However, this process needs to be performed by an X-ray exposure operation, which increases the amount of radiation to which the patient is exposed, thereby having a certain influence on the physical health of the patient, and increases the working time and reduces the working efficiency due to the addition of working steps.
Disclosure of Invention
In view of the above, it is necessary to provide a target point puncturing method, apparatus, storage medium, and computer device that can reduce X-ray radiation from a patient and improve efficiency, in view of the problems in the prior art.
A method of target point penetration, comprising:
acquiring a positioning image of a target object, and determining spatial position information of a target point in the positioning image;
and in the puncture process, acquiring the current puncture position information of the puncture needle, and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle.
In one embodiment, the positioning image at least comprises a first projection image and a second projection image, and the absolute value of the shooting angle of the first projection image is equal to that of the shooting angle of the second projection image;
determining spatial position information of a target point in the positioning image, including:
determining a target point according to the first projection image and the second projection image;
and determining the spatial position information of the target point according to the first position information of the target point in the first projection image and the second position information of the target point in the second projection image.
In one embodiment, after determining the spatial position information of the target point in the positioning image and before performing the puncturing operation, the method further includes:
acquiring initial position information of the puncture needle;
and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
In one embodiment, updating the display condition of the simulated image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle includes:
and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information.
In one embodiment, the system parameters include at least one of gantry rotation angle and radius of rotation;
the image exposure information comprises at least one item of bulb tube exposure angle, bulb tube physical coordinates and image cutting size.
In one embodiment, updating the display condition of the simulated image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter, and the image exposure information includes:
updating the corresponding position information of the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, system parameters and image exposure information;
and updating the display position of the simulation image according to the updating condition of the corresponding position information.
In one embodiment, when the display condition of the simulated image corresponding to the puncture needle in the positioning image is updated, the display mode includes at least one of 2D display and 3D display.
A target point puncturing device, comprising:
the image acquisition module is used for acquiring a positioning image of a target object and determining the spatial position information of a target point in the positioning image;
and the puncture simulation module is used for acquiring the current puncture position information of the puncture needle in the puncture process, and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the above method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The target point puncture method, the target point puncture device, the storage medium and the computer equipment are used for acquiring the positioning image of the target object and determining the spatial position information of the target point in the positioning image; and in the puncture process, acquiring the current puncture position information of the puncture needle, and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle. In the puncture process, the display condition of the simulated image of the puncture needle is updated, so that the current puncture condition can be known in real time, the X-ray exposure is not required to be carried out again to determine whether the target point tissue is punctured, the puncture accuracy is improved, meanwhile, the operation steps can be reduced, the time is saved, and the work efficiency is improved. In addition, since the patient does not need to be exposed to X-rays again, the amount of radiation to which the patient is exposed can be reduced.
Drawings
FIG. 1 is a schematic flow chart of a method for target point penetration in one embodiment;
FIG. 2 is a diagram illustrating the calculation of corresponding location information of a needle in a scout image according to one embodiment;
FIG. 3 is a schematic flow chart of a method for target point penetration in another embodiment;
FIG. 4 is a schematic view of the structure of a target point puncturing device in one embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In embodiments of the present application, the target point may represent a lesion site or a suspected lesion site, the target point being suitable for use in a puncture or biopsy. For example, when the technical solution in the present application is applied to diagnosis of a breast disease, the target point may be a breast structure with a lesion or a breast structure suspected of having a lesion, and when a patient is diagnosed, breast puncture may be performed on the patient to realize diagnosis of a breast disease. It is understood that the target site is not limited to breast structures, and may be other structural sites where a puncture diagnosis can be made.
In one embodiment, as shown in FIG. 1, a method of target point penetration is provided, the method comprising the steps of:
step S100, acquiring a positioning image of the target object, and determining spatial position information of a target point in the positioning image.
Before a target point puncture is performed on a patient, a positioning image of the patient, i.e., a positioning image of a target point of the patient, is acquired, so that it can be determined whether the target point of the patient is within a puncture range. And after the target point is determined to be in the puncture range, determining the spatial position information of the target point according to the positioning image.
And step S200, acquiring the current puncture position information of the puncture needle in the puncture process, and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle.
After the spatial position information of the target point is determined, the puncturing operation can be performed. In the puncture process, the current puncture position information of the puncture needle is obtained in real time, and for the convenience of understanding, the current puncture position information can be regarded as the position information of the needle head of the puncture needle. After the current puncture position information of the puncture needle is acquired in real time, the display condition of the simulation image corresponding to the puncture needle in the positioning image is updated according to the spatial position information of the target point and the current puncture position information of the puncture needle, namely, the current puncture condition of the puncture needle is simulated and displayed in real time through the positioning image, so that a doctor can know the puncture progress and the puncture position through observation, and the puncture accuracy is improved.
Furthermore, by simulating the puncture condition of the puncture needle in real time, a doctor can determine whether the puncture needle punctures the target point tissue, so that the X-ray exposure to the patient is not needed again, the puncture processing flow is simplified, the puncture processing time is reduced, the puncture efficiency of the target point is improved, and the influence on the body health of the patient is reduced.
The embodiment provides a target point puncture method, and in the puncture process, the display condition of the simulation image of the puncture needle is updated, so that the current puncture condition can be known in real time, the X-ray exposure is not required to be carried out again to determine whether the target point tissue is punctured, and the puncture accuracy and the puncture efficiency are favorably improved. In addition, since the patient does not need to be exposed to X-rays again, the amount of radiation to which the patient is exposed can be reduced.
In one embodiment, the positioning image includes at least a first projection image and a second projection image, and the absolute values of the shooting angles of the first projection image and the second projection image are equal. The positioning image may be obtained by stereotactic exposure, and the positioning image may be a two-dimensional image.
Based on the principle that X-rays propagate along straight lines and the path is reversible, under the condition that the space position of a ray source and an imaging surface of a detector is determined, a straight line where a target point is located can be determined by one projection image, a plurality of projection images can determine a plurality of straight lines, and the intersection point of the straight lines is the position of the target point in the space. Theoretically, the spatial position of the target point can be determined by two straight lines provided by the two projection images; determining the spatial position of the target point by using a plurality of projection images can improve the accuracy and stability of positioning the spatial position of the target point, but increase the dose received by the subject, so that two projection images including the target point, that is, the first projection image and the second projection image, can be collected in this embodiment. It will be appreciated that the number of projection images may also be greater than 2.
In addition, for the shooting angles of the two collected projection images, the two collected projection images at different shooting angles can obtain the spatial position of the target point, but the spatial positioning accuracy of the target point corresponding to different angle configurations is different. Generally speaking, when the absolute values of the shooting angles of the two acquired images are the same, the accuracy of the spatial location of the target point is higher, and therefore, the absolute values of the shooting angles of the first projection image and the second projection image are equal in the embodiment. For example, the shooting angle of the first projection image is +15 °, and the shooting angle of the second projection image is-15 °.
In this embodiment, determining spatial position information of a target point in a positioning image includes: determining a target point according to the first projection image and the second projection image; and determining the spatial position information of the target point according to the first position information of the target point in the first projection image and the second position information of the target point in the second projection image.
Specifically, when determining the target point, the corresponding target point determination information may be received after the doctor manually determines the target point; or automatically determining a target point through an image processing algorithm, a neural network model and the like; or after the target point is automatically determined, the doctor can manually check the target point.
After the target point is determined, the position of the target point in the projection image can be determined according to the collected first projection image and the second projection image, the space position of the target point projected to the imaging surface of the detector is further determined, and the position of the target point in the space can be determined through the known space position of the ray source and the detector.
Further, after the target point is determined, when the target point is displayed, a 2D display may be selected, and the 2D display has the advantages that the image can be enlarged, so that the image is clearer, and the control of the distance is better realized. The display mode can also be 3D display, and the 3D display has the advantage of providing better stereoscopic vision effect. It is understood that 2D and 3D display may be switched, or 2D and 3D display may be performed simultaneously.
In one embodiment, after determining the spatial position information of the target point in the positioning image and before performing the puncturing operation, the method further comprises: acquiring initial position information of the puncture needle; and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
Specifically, the initial position information of the puncture needle refers to the position information of the puncture needle that has been mounted. The main idea of the present application is to simulate the puncture position of the puncture needle in the positioning image, so that the simulation image of the puncture needle needs to be added to the positioning image first, and then the operation step of updating the display condition of the simulation image is executed. When the analog image of the puncture needle is added for the first time, the analog image of the puncture needle can be added to the positioning image after the puncture needle is installed, so that the corresponding position of the puncture needle in the positioning image is determined according to the spatial position information of the target point and the initial position information of the puncture needle, and the analog image corresponding to the puncture needle is added at the corresponding position.
It is understood that the simulated image may include not only the puncture needle, but also other puncture assemblies during the actual processing.
Further, after the analog image corresponding to the puncture needle is added at the corresponding position, when the positioning image is displayed, 2D display can be selected, and the 2D display has the advantages that the positioning image can be enlarged, so that the image is clearer, and the control of the distance can be better realized, so that the puncture precision is improved. The display mode can also be 3D display, and the 3D display has the advantage of providing better stereoscopic vision effect, so that the stereoscopic position of the puncture needle can be displayed more intuitively. It is understood that 2D and 3D display may be switched, or 2D and 3D display may be performed simultaneously.
In one embodiment, after determining the spatial position information of the target point in the positioning image, before acquiring the initial position information of the puncture needle, the method further comprises the following steps: and determining the type of the puncture needle and the initial puncture position of the puncture needle according to the spatial position information of the target point, and installing the corresponding puncture needle.
After the spatial position of the target point is determined, the initial puncture position of the puncture needle can be determined according to the spatial position of the target point. Specifically, the initial puncture position of the puncture needle can be determined from the position of the center of the target point. In practical application, the initial puncture position of the puncture needle can be a certain position in a certain neighborhood of the center of the target point, and the puncture needle can be extracted to the target point tissue only by ensuring the initial puncture position. The type of needle can be determined according to the determination methods in the prior art. The puncture needle usually cooperates with a puncture assembly to work together, the puncture assembly usually comprises a puncture bracket and a puncture cavity, the puncture needle is arranged in the puncture cavity, the puncture assembly moves to an initial puncture position through a puncture mechanism arranged in the mammography system, after the puncture assembly moves to a preset initial puncture position, the puncture needle can reach the initial puncture position along a needle feeding track in the puncture cavity, when the puncture needle reaches the initial puncture position, the installation of the puncture needle is determined to be finished, and at the moment, the acquisition of the initial position information of the puncture needle can be executed; and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
In one embodiment, updating the display of the simulated image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle includes: and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information.
Specifically, the display condition includes a relative spatial position relationship between the simulated image and the target point, and the relative spatial position relationship between the simulated image and the target point represents an actual relative spatial position relationship between the puncture needle and the target point. In addition, other puncture information may also be displayed, including: current puncture distance, current puncture speed, current puncture time, remaining puncture distance, puncture suggested speed, predicted remaining puncture time, and the like, thereby contributing to more accurate puncture work.
When the display condition of the simulated image corresponding to the puncture needle is updated, besides the spatial position information of the target point and the current puncture position information of the puncture needle, the system parameters of the puncture system and the image exposure information of the positioning image are also required to be acquired, so that the change condition of the puncture needle position in the puncture process can be more accurately determined, the change condition of the puncture position of the puncture needle is more accurately simulated and displayed through the positioning image, and the puncture accuracy is improved.
In one embodiment, the system parameters include at least one of gantry rotation angle and radius of rotation; the image exposure information includes at least one of a bulb exposure angle, a bulb physical coordinate, and an image cropping size. It is understood that all of the above parameters and information may be used simultaneously in the calculation process in order to improve the calculation accuracy.
In one embodiment, updating the display of the simulated image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameters and the image exposure information comprises: updating the corresponding position information of the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information; and updating the display position of the analog image according to the updating condition of the corresponding position information.
As shown in fig. 2, in order to calculate the information of the corresponding position of the puncture needle in the positioning image, where P is the current puncture position of the puncture needle, B, C is the bulb, and taking the positioning image including the first projection image and the second projection image as an example, the corresponding position of the puncture needle in the first projection image is P1, and the corresponding position of the puncture needle in the second projection image is P2, the calculation process includes the following steps:
determining coordinates (x) of the bulb B, C based on system parametersb,yb,zb)、(xc,yc,zc) Obtaining the current puncture position coordinate (x) of the puncture needlep,yp,zp) And defines the coordinates of P1 as (x)p1,yp1,zp1) The coordinate of P2 is (x)p2,yp2,zp2) According to the theory of intersection of two straight lines, the coordinates of P1 and P2 can be found, specifically:
the straight line through P and B is:
the straight line through P and C is:
since the image is formed on the flat plate, if Z is 0, the coordinates of P1 can be obtained by calculation as:
the coordinates of P2 are:
in one embodiment, as shown in FIG. 3, a method of target point penetration is provided, the method comprising the steps of:
(1) acquiring a positioning image of a target object, and determining spatial position information of a target point in the positioning image;
(2) determining the type of the puncture needle and the initial puncture position of the puncture needle according to the spatial position information of the target point, and installing the corresponding puncture needle;
(3) acquiring initial position information of the puncture needle; determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position;
(4) in the puncture process, acquiring the current puncture position information of the puncture needle, and updating the corresponding position information of the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information; updating the display position of the analog image according to the updating condition of the corresponding position information;
(5) when the puncture needle is determined to puncture to the position of the target point according to the display condition of the simulation image corresponding to the puncture needle in the positioning image, the puncture needle continues to puncture to obtain the tissue of the target point;
(6) after the target point tissue is obtained, the puncture needle is withdrawn from the target object.
It should be understood that, under reasonable circumstances, although the steps in the flowcharts referred to in the foregoing embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in each flowchart may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in FIG. 4, there is provided a target site puncturing device, comprising: an image acquisition module 100 and a puncture simulation module 200.
The image obtaining module 100 is configured to obtain a positioning image of a target object, and determine spatial position information of a target point in the positioning image;
the puncture simulation module 200 is configured to obtain current puncture position information of the puncture needle during a puncture process, and update a display condition of a simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle.
In one embodiment, the image acquisition module is further configured to: determining a target point according to the first projection image and the second projection image; and determining the spatial position information of the target point according to the first position information of the target point in the first projection image and the second position information of the target point in the second projection image.
In one embodiment, the puncture simulation module is further configured to: acquiring initial position information of the puncture needle; and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
In one embodiment, the puncture simulation module is further configured to: and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information.
In one embodiment, the puncture simulation module is further configured to: updating the corresponding position information of the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information; and updating the display position of the analog image according to the updating condition of the corresponding position information.
For a specific definition of the target point puncturing device, reference may be made to the definition of the target point puncturing method described above, which is not described in detail here. The respective modules in the above-described target point puncturing device may be realized in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring a positioning image of a target object, and determining spatial position information of a target point in the positioning image; and in the puncture process, acquiring the current puncture position information of the puncture needle, and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a target point according to the first projection image and the second projection image; and determining the spatial position information of the target point according to the first position information of the target point in the first projection image and the second position information of the target point in the second projection image.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring initial position information of the puncture needle; and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information.
In one embodiment, the processor, when executing the computer program, further performs the steps of: updating the corresponding position information of the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information; and updating the display position of the analog image according to the updating condition of the corresponding position information.
FIG. 5 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be a terminal (or server). As shown in fig. 5, the computer apparatus includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement a video bitrate control method and a video transcoding method. The internal memory may also store a computer program, which when executed by the processor, causes the processor to perform a video bitrate control method and a video transcoding method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring a positioning image of a target object, and determining spatial position information of a target point in the positioning image; and in the puncture process, acquiring the current puncture position information of the puncture needle, and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a target point according to the first projection image and the second projection image; and determining the spatial position information of the target point according to the first position information of the target point in the first projection image and the second position information of the target point in the second projection image.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring initial position information of the puncture needle; and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
In one embodiment, the computer program when executed by the processor further performs the steps of: and updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information.
In one embodiment, the computer program when executed by the processor further performs the steps of: updating the corresponding position information of the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information; and updating the display position of the analog image according to the updating condition of the corresponding position information.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, the computer program can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A target point puncturing device, comprising:
the image acquisition module is used for acquiring a positioning image of a target object and determining the spatial position information of a target point in the positioning image;
the puncture simulation module is used for acquiring the current puncture position information of a puncture needle in the puncture process, and updating the display condition of a simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point and the current puncture position information of the puncture needle; the current puncture position information comprises position information of a puncture needle head;
the puncture simulation module is further configured to: updating the display condition of the simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameter and the image exposure information; the system parameters include at least one of gantry rotation angle and radius of rotation; the image exposure information comprises at least one item of a bulb tube exposure angle, a bulb tube physical coordinate and an image cutting size; the positioning image at least comprises a first projection image and a second projection image, and the absolute values of the shooting angles of the first projection image and the second projection image are equal;
the puncture simulation module is further configured to: acquiring the system parameters to determine the space coordinates of the first bulb and the second bulb and the space coordinate corresponding to the current puncture position of the puncture needle; and determining the space coordinate of the corresponding position P1 of the puncture needle in the first projection image and the space coordinate of the corresponding position P2 of the puncture needle in the second projection image according to the space coordinates of the first bulb and the second bulb and the space coordinate corresponding to the current puncture position.
2. The apparatus of claim 1, wherein:
the image acquisition module is further configured to: determining a target point according to the first projection image and the second projection image; and determining the spatial position information of the target point according to the first position information of the target point in the first projection image and the second position information of the target point in the second projection image.
3. The device of claim 1, wherein the puncture simulation module is further configured to: acquiring initial position information of the puncture needle; and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
4. The device of claim 1, wherein the puncture simulation module is further configured to: updating the corresponding position information of the puncture needle in a positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, the system parameters and the image exposure information; and updating the display position of the simulation image according to the updating condition of the corresponding position information.
5. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of:
acquiring a positioning image of a target object, and determining spatial position information of a target point in the positioning image;
in the puncture process, acquiring current puncture position information of a puncture needle, and updating the display condition of a simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, system parameters and image exposure information; the current puncture position information comprises position information of a puncture needle head; the system parameters include at least one of gantry rotation angle and radius of rotation; the image exposure information comprises at least one item of a bulb tube exposure angle, a bulb tube physical coordinate and an image cutting size; the positioning image at least comprises a first projection image and a second projection image, and the absolute values of the shooting angles of the first projection image and the second projection image are equal;
acquiring the system parameters to determine the space coordinates of the first bulb and the second bulb and the space coordinate corresponding to the current puncture position of the puncture needle; and determining the space coordinate of the corresponding position P1 of the puncture needle in the first projection image and the space coordinate of the corresponding position P2 of the puncture needle in the second projection image according to the space coordinates of the first bulb and the second bulb and the space coordinate corresponding to the current puncture position.
6. The computer device according to claim 5, wherein the positioning image includes at least a first projection image and a second projection image, and an absolute value of a shooting angle of the first projection image and an absolute value of a shooting angle of the second projection image are equal;
the processor, when executing the computer program, further implements the steps of:
determining a target point according to the first projection image and the second projection image;
and determining the spatial position information of the target point according to the first position information of the target point in the first projection image and the second position information of the target point in the second projection image.
7. The computer device of claim 5, wherein the processor, when executing the computer program, further performs the steps of:
acquiring initial position information of the puncture needle;
and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
8. The computer device of claim 5, wherein the processor, when executing the computer program, further performs the steps of:
updating the corresponding position information of the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, system parameters and image exposure information;
and updating the display position of the simulation image according to the updating condition of the corresponding position information.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of:
acquiring a positioning image of a target object, and determining spatial position information of a target point in the positioning image;
in the puncture process, acquiring current puncture position information of a puncture needle, and updating the display condition of a simulation image corresponding to the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, system parameters and image exposure information; the current puncture position information comprises position information of a puncture needle head; the system parameters include at least one of gantry rotation angle and radius of rotation; the image exposure information comprises at least one item of a bulb tube exposure angle, a bulb tube physical coordinate and an image cutting size; the positioning image at least comprises a first projection image and a second projection image, and the absolute values of the shooting angles of the first projection image and the second projection image are equal;
acquiring the system parameters to determine the space coordinates of the first bulb and the second bulb and the space coordinate corresponding to the current puncture position of the puncture needle; and determining the space coordinate of the corresponding position P1 of the puncture needle in the first projection image and the space coordinate of the corresponding position P2 of the puncture needle in the second projection image according to the space coordinates of the first bulb and the second bulb and the space coordinate corresponding to the current puncture position.
10. The computer-readable storage medium of claim 9, wherein the positioning image includes at least a first projection image and a second projection image, and an absolute value of a shooting angle of the first projection image is equal to an absolute value of a shooting angle of the second projection image;
the computer program when executed by a processor further realizes the steps of:
determining a target point according to the first projection image and the second projection image;
and determining the spatial position information of the target point according to the first position information of the target point in the first projection image and the second position information of the target point in the second projection image.
11. The computer-readable storage medium according to claim 9, wherein the computer program when executed by a processor further performs the steps of:
acquiring initial position information of the puncture needle;
and determining the corresponding position of the puncture needle in the positioning image according to the spatial position information of the target point and the initial position information of the puncture needle, and adding a simulation image corresponding to the puncture needle at the corresponding position.
12. The computer-readable storage medium according to claim 9, wherein the computer program when executed by a processor further performs the steps of:
updating the corresponding position information of the puncture needle in the positioning image according to the spatial position information of the target point, the current puncture position information of the puncture needle, system parameters and image exposure information;
and updating the display position of the simulation image according to the updating condition of the corresponding position information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910384314.9A CN110192911B (en) | 2019-05-09 | 2019-05-09 | Target point puncturing method and device, storage medium and computer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910384314.9A CN110192911B (en) | 2019-05-09 | 2019-05-09 | Target point puncturing method and device, storage medium and computer equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110192911A CN110192911A (en) | 2019-09-03 |
| CN110192911B true CN110192911B (en) | 2021-03-16 |
Family
ID=67752592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910384314.9A Active CN110192911B (en) | 2019-05-09 | 2019-05-09 | Target point puncturing method and device, storage medium and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110192911B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112043359B (en) * | 2020-09-28 | 2023-02-28 | 上海联影医疗科技股份有限公司 | Mammary gland puncture method, device, equipment and storage medium |
| CN112674873A (en) * | 2020-12-24 | 2021-04-20 | 宁波市第六医院 | Method, device and system for simulating puncture surgery |
| CN115171464B (en) * | 2022-08-26 | 2024-05-03 | 首都医科大学宣武医院 | Visual puncture mould |
| CN115998425B (en) * | 2022-12-27 | 2023-10-03 | 东莞市人民医院 | Puncture navigation method and device under CT guidance and terminal equipment |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4454244B2 (en) * | 2003-04-01 | 2010-04-21 | 株式会社日立メディコ | X-ray CT system |
| CN103340646A (en) * | 2013-07-23 | 2013-10-09 | 奚岩 | Method for calculating, displaying and storing radiation dosages of CT image formation |
| CN106852697B (en) * | 2014-09-28 | 2020-12-18 | 上海联影医疗科技股份有限公司 | X-ray image acquisition method and device |
| US9436993B1 (en) * | 2015-04-17 | 2016-09-06 | Clear Guide Medical, Inc | System and method for fused image based navigation with late marker placement |
| CN109549689A (en) * | 2018-08-21 | 2019-04-02 | 池嘉昌 | A kind of puncture auxiliary guide device, system and method |
| CN109009187A (en) * | 2018-08-27 | 2018-12-18 | 上海联影医疗科技有限公司 | Determine the method for target point and the positioning system of mammary gland X ray photographing system |
| CN109522985B (en) * | 2018-11-13 | 2022-04-01 | 深圳钮迈科技有限公司 | Puncture needle management method, puncture needle management device, puncture needle management system, computer device, and storage medium |
-
2019
- 2019-05-09 CN CN201910384314.9A patent/CN110192911B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110192911A (en) | 2019-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110192911B (en) | Target point puncturing method and device, storage medium and computer equipment | |
| US9782134B2 (en) | Lesion imaging optimization using a tomosynthesis/biopsy system | |
| CN105101879B (en) | X ray CT device and CT image display method | |
| US8929624B2 (en) | Systems and methods for comparing different medical images to analyze a structure-of-interest | |
| KR20130109838A (en) | Apparatus and method for supporting lesion diagnosis | |
| US11090508B2 (en) | System and method for biological treatment planning and decision support | |
| CN110473226B (en) | Training method of image processing network, computer device and readable storage medium | |
| EP3871603B1 (en) | Methods and systems for digital mammography imaging | |
| CN113100939A (en) | Orthopedic surgery navigation method, device, computer equipment, system and storage medium | |
| CN108846830A (en) | The method, apparatus and storage medium be automatically positioned to lumbar vertebrae in CT | |
| CN108805933B (en) | Method for determining target point and positioning system of mammary gland X-ray photographic system | |
| US8907949B2 (en) | Image display apparatus, method and program | |
| CN112043359B (en) | Mammary gland puncture method, device, equipment and storage medium | |
| CN113662594A (en) | Breast puncture positioning/biopsy method, device, computer device and storage medium | |
| CN114092475A (en) | Focal length determining method, image labeling method, device and computer equipment | |
| CN113516623A (en) | Puncture path checking method and device, computer equipment and readable storage medium | |
| CN113662573A (en) | Mammary gland focus positioning method, device, computer equipment and storage medium | |
| CN115526929A (en) | Image-based registration method and device | |
| CN113796960B (en) | Catheter navigation device, apparatus and storage medium | |
| CN117717369A (en) | Method for determining a target point and positioning system for a mammography system | |
| CN116350958A (en) | Method, device, equipment, medium and program product for setting radiotherapy plan parameters | |
| CN112150485B (en) | Image segmentation method, device, computer equipment and storage medium | |
| CN111161369B (en) | Image reconstruction storage method, device, computer equipment and storage medium | |
| CN108601512B (en) | System and method for providing surgical assistance in the presence of tissue deformation | |
| WO2022229916A1 (en) | Method and device for generating an uncertainty map for guided percutaneous procedures |
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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Applicant after: Shanghai Lianying Medical Technology Co., Ltd Address before: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Applicant before: SHANGHAI UNITED IMAGING HEALTHCARE Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |