CN110638523A - Method for automatically cutting edges based on circular track curve profile - Google Patents

Method for automatically cutting edges based on circular track curve profile Download PDF

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CN110638523A
CN110638523A CN201910740519.6A CN201910740519A CN110638523A CN 110638523 A CN110638523 A CN 110638523A CN 201910740519 A CN201910740519 A CN 201910740519A CN 110638523 A CN110638523 A CN 110638523A
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circle
cutting edge
cutting
plane
curve profile
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CN110638523B (en
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郑军
鲍苏苏
何永刚
施万利
于旭阳
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Jiangxi Three Plus One Technology Co., Ltd.
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Hangzhou Inkoo Medical Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions

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Abstract

The invention discloses a method for automatically cutting edges based on a circular track curve profile, which is used for obtaining a three-dimensionally reconstructed space occupying model; setting the requirement of the cutting edge boundary, and establishing a circle with the same radius as the cutting edge; projecting the occupation model to a cross section, a coronal plane and a sagittal plane respectively to form a curve on the plane; rolling the curve of each surface by using a circle, and forming a cutting edge contour line of a set cutting edge boundary by the collection of outer edge contour lines of the rolled circle; and (5) reconstructing a cutting edge contour line in a three-dimensional manner to form a curved surface required by the cutting edge. The invention can automatically form the required cutting edge, has simple and convenient operation and high accuracy, can obtain the cutting edge only by drawing the rolling track of the ball, can effectively bring convenience to an operation planner, and is beneficial to application and popularization.

Description

Method for automatically cutting edges based on circular track curve profile
Technical Field
The invention relates to the field of medical image processing, in particular to a method for automatically cutting edges based on a circular track curve contour.
Background
Often, the surgical operation requires a fixed value for the incisal margin of the tumor cut, such as the resection of a tumor in the liver, which is typically 2 cm. In the currently known computer surgery planning system, there are two methods for cutting the tumor, one is to use a curved surface (or a plane) to simulate the effect of a scalpel by adjusting the position and the curved surface shape; the other method is to adopt a simulation instrument, control a simulation scalpel through external equipment and perform simulation cutting on a three-dimensional reconstructed entity. The two methods have high difficulty and low accuracy in the actual operation process, and can not realize automatic incisal edge generation, thereby bringing inconvenience to an operation planner.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for automatically cutting edges based on a circular track curve profile, which has high accuracy and good operability and can directly generate a cutting edge with a given size outside a tumor.
In order to achieve the purpose, the invention adopts the following technical scheme:
the method for automatically cutting the edge based on the circular track curve profile comprises the following steps:
s1, acquiring the three-dimensionally reconstructed occupancy model;
s2, setting the requirement of the cutting edge boundary, and establishing a circle with the same radius as the cutting edge;
s3, projecting the occupancy model to a transverse plane, a coronal plane and a sagittal plane respectively to form a curve on the surfaces;
s4, rolling on the curves of each surface by using a circle, and forming a cutting edge contour line of the set cutting edge boundary S2 by the collection of the outer edge contour lines after the circle rolls;
and S5, three-dimensionally reconstructing the cutting edge contour line in the S4 to form a curved surface required by the cutting edge.
Further, the specific steps of obtaining the outer edge contour line after the circle is rolled in S4 are as follows:
s41, setting the function expression of the plane circle as: (x-x)0)2+(y-y0)2＝R2Where R is the radius of the circle, x0And y0Is the center of the circle. x and y are points on the circumference;
s42, setting SiIs the intersection of the placeholder model and the ith plane, from SiTaking any point as a starting point, and taking the starting point as the center (x) of the circle equation0，y0)；
S43, in the x direction [ x ]0-R，x0+R]Within the closed interval, taking a step value;
s44, calculating to obtain (x)0，y0) A circle with a point radius R;
s45, traversing the whole SiAnd (5) obtaining a set of the outer edge contour lines after the circle rolls.
Further, the cutting edge boundary is required to be 2 centimeters away from the placeholder model boundary.
Further, the step value is 1.
Further, in S44, the formula
Figure BDA0002163772780000021
Is calculated to obtain a value of (x)0，y0) A circle with a point radius R.
Further, the placeholder model comprises a tumor placeholder model.
By adopting the technical scheme of the invention, the invention has the beneficial effects that: compared with the prior art, the invention can automatically form the required cutting edge, has simple and convenient operation and high accuracy, can obtain the cutting edge only by drawing the rolling track of the ball, can effectively bring convenience to an operation planner, and is beneficial to application and popularization.
Drawings
FIG. 1 is a schematic diagram of the method for automatic edge cutting based on a circular track curve profile provided by the present invention;
FIG. 2 is a diagram of a calculation method for the outer edge contour line based on the automatic edge cutting of the circular trajectory curve contour according to the present invention.
Detailed Description
Specific embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the method for automatically cutting edges based on a circular track curve profile comprises the following steps:
s1, acquiring the three-dimensionally reconstructed occupancy model; the placeholder model may be a tumor placeholder model.
S2, setting the requirement of the cutting edge boundary, and establishing a circle with the same radius as the cutting edge;
s3, projecting the occupancy model to a transverse plane, a coronal plane and a sagittal plane respectively to form a curve on the surfaces;
s4, rolling on the curves of each surface by using a circle, and forming a cutting edge contour line of the set cutting edge boundary S2 by the collection of the outer edge contour lines after the circle rolls;
and S5, three-dimensionally reconstructing the cutting edge contour line in the S4 to form a curved surface required by the cutting edge.
In fig. 1, the middle curve passing through the plurality of circles is a projection line occupying a certain area, the plurality of circles roll around the middle curve as the center of a circle, and the outer edge forms a contour line.
As shown in fig. 2, the specific steps of obtaining the outer contour line after the circle is rolled in S4 are as follows:
s41, setting the function expression of the plane circle as: (x-x)0)2+(y-y0)2＝R2Where R is the radius of the circle, x0And y0Is the center of the circle. x and y are points on the circumference;
s42, setting SiIs the intersection of the placeholder model and the ith plane, from SiTaking any point as a starting point, and taking the starting point as the center (x) of the circle equation0，y0)；
S43, in the x direction [ x ]0-R，x0+R]Within the closed interval, taking a step value; typically the step value is 1.
S44, the formula
Figure BDA0002163772780000031
Is calculated to obtain a value of (x)0，y0) A circle with a point radius R;
s45, traversing the whole SiAnd (5) obtaining a set of the outer edge contour lines after the circle rolls.
Typically, the cutting edge boundary is required to be 2cm from the placeholder boundary, i.e. for example 2cm from the tumor.
In the present invention, occupation refers to an occupation lesion, which is a term used in medical imaging diagnostics and usually appears in examination results such as X-ray, B-ultrasound, and CT. It means that there is a "extra thing" in the examined region, which can make the surrounding tissues pressed and displaced. Space occupying lesions generally refer to tumors (benign, malignant), parasites, etc., and do not relate to the etiology of the disease.
The space occupying model is a three-dimensional stereo model established from space occupying lesions (tumors, etc.).
The incisal edges refer to the edges where the tissue of the placeholder is excised.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (6)

1. The method for automatically cutting the edge based on the circular track curve profile is characterized by comprising the following steps of:
s1, acquiring the three-dimensionally reconstructed occupancy model;
s2, setting the requirement of the cutting edge boundary, and establishing a circle with the same radius as the cutting edge;
s3, projecting the occupancy model to a transverse plane, a coronal plane and a sagittal plane respectively to form a curve on the surfaces;
s4, rolling on the curves of each surface by using a circle, and forming a cutting edge contour line of the set cutting edge boundary S2 by the collection of the outer edge contour lines after the circle rolls;
and S5, three-dimensionally reconstructing the cutting edge contour line in the S4 to form a curved surface required by the cutting edge.
2. The method for automatically cutting edges based on the circular track curve profile as claimed in claim 1, wherein the specific steps of obtaining the outer edge contour line after the circle is rolled in the step S4 are as follows:
s41, setting the function expression of the plane circle as: (x-x)0)2+(y-y0)2＝R2Where R is the radius of the circle, x0And y0Is the center of the circle. x and y are points on the circumference;
s42, S'iIs the intersection of the placeholder with the ith plane, from S'iTaking any point as a starting point, and taking the starting point as the center (x) of the circle equation0，y0)；
S43, in the x direction [ x ]0-R，x0+R]Within the closed interval, taking a step value;
s44, calculating to obtain (x)0，y0) A circle with a point radius R;
s45, traverse the whole S'iAnd (5) obtaining a set of the outer edge contour lines after the circle rolls.
3. The method for automatic rim cutting based on circular trajectory curve profile of claim 1, wherein the rim cutting boundary requirement is 2cm from the placeholder model boundary.
4. The method for automatically cutting edges based on a circular trajectory curve profile as claimed in claim 2, wherein the step value is 1.
5. The method for automatically cutting edges based on circular track curve profile as claimed in claim 2, wherein in S44, the formula is used
Figure FDA0002163772770000011
Is calculated to obtain a value of (x)0，y0) A circle with a point radius R.
6. The method of claim 1, wherein the placeholder model comprises a tumor placeholder model.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114469342A (en) * 2022-01-17 2022-05-13 四川大学华西医院 Definition method, establishment system and application of tumor margin edge field

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CN1617174A (en) * 2004-12-09 2005-05-18 上海交通大学 Human limb three-dimensional model building method based on image cutline
CN103886597A (en) * 2014-03-24 2014-06-25 武汉力成伟业科技有限公司 Circle detection method based on edge detection and fitted curve clustering
CN104089599A (en) * 2014-07-04 2014-10-08 北京工业大学 Quasi morphological filtering method for extracting two-dimensional contour in contact measuring head measurement
CN103310457B (en) * 2013-06-18 2015-09-30 哈尔滨工程大学 A kind of pulmonary parenchyma dividing method based on para-curve correction convex closure
CN105551040A (en) * 2015-12-15 2016-05-04 中国科学院自动化研究所 Method and system for automatically extracting tongue contour in NMR image sequence
CN108053477A (en) * 2017-12-20 2018-05-18 北京华航无线电测量研究所 The Numerical Methods of deformation in a kind of pipeline
CN108241784A (en) * 2018-01-08 2018-07-03 华南理工大学 The cavity multicutter method for milling that a kind of cycloidal path is combined with ring cutting track

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1617174A (en) * 2004-12-09 2005-05-18 上海交通大学 Human limb three-dimensional model building method based on image cutline
CN103310457B (en) * 2013-06-18 2015-09-30 哈尔滨工程大学 A kind of pulmonary parenchyma dividing method based on para-curve correction convex closure
CN103886597A (en) * 2014-03-24 2014-06-25 武汉力成伟业科技有限公司 Circle detection method based on edge detection and fitted curve clustering
CN104089599A (en) * 2014-07-04 2014-10-08 北京工业大学 Quasi morphological filtering method for extracting two-dimensional contour in contact measuring head measurement
CN105551040A (en) * 2015-12-15 2016-05-04 中国科学院自动化研究所 Method and system for automatically extracting tongue contour in NMR image sequence
CN108053477A (en) * 2017-12-20 2018-05-18 北京华航无线电测量研究所 The Numerical Methods of deformation in a kind of pipeline
CN108241784A (en) * 2018-01-08 2018-07-03 华南理工大学 The cavity multicutter method for milling that a kind of cycloidal path is combined with ring cutting track

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114469342A (en) * 2022-01-17 2022-05-13 四川大学华西医院 Definition method, establishment system and application of tumor margin edge field
CN114469342B (en) * 2022-01-17 2023-07-25 四川大学华西医院 Definition method, establishment system and application of tumor margin edge distance field

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