CN112057165B - Path planning method, device, equipment and medium - Google Patents
Path planning method, device, equipment and medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000004927 fusion Effects 0.000 claims abstract description 39
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- 238000003384 imaging method Methods 0.000 claims description 12
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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Abstract
The embodiment of the invention discloses a path planning method, a path planning device, path planning equipment and path planning media. The method comprises the following steps: acquiring an X-ray image of a target object, and marking a focus position on the X-ray image of the target object; acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with an X-ray image marked with the focus position to obtain a fused image; and planning a path according to the focus position in the fusion image to obtain a planned path. According to the technical scheme provided by the embodiment of the invention, the problem that the information provided by a single medical image is less and an effective reference basis cannot be provided for the operation is solved, the operation instrument is implanted according to the planned path, the success rate of the operation can be improved, and the effect of complications of the operation can be reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of medical treatment, in particular to a path planning method, a path planning device, path planning equipment and path planning media.
Background
In recent years, due to the complexity of surgery, navigation for the surgical operation by means of images is required, improving the surgical accuracy.
In certain spinal minimally invasive interventional procedures and in painful surgical procedures, such as sympatholytic or needle knife therapy, the procedure is navigated clinically using either an X-ray imaging device alone or images taken using mobile ultrasound alone.
The image shot by the single X-ray imaging equipment is used for navigation, certain radiation injury can be brought to doctors and patients when the operation is carried out in a perspective mode in the whole course, the X-ray image can only see the information of human bone tissue, the blood vessel and the nerve of the human body can not be imaged, the doctors need to carry out the operation by virtue of experience, and the problems of low accuracy, high risk and the like exist when the operation time is greatly prolonged. The images shot by the mobile ultrasound are used for navigation, and as the resolution of the ultrasound images is low, doctors cannot clearly see the fine tissue structure through the ultrasound images, the field of view of the ultrasound images is small, and the similarity of some anatomical structures is high, so that focuses cannot be found accurately through the ultrasound images.
Disclosure of Invention
The embodiment of the invention provides a path planning method, a device, equipment and a medium, which solve the problem that the information provided by a single medical image is less and an effective reference basis cannot be provided for operation, and the action path of an operation instrument is planned so as to realize the effects of improving the success rate of the operation and reducing the complications of the operation.
In a first aspect, an embodiment of the present invention provides a path planning method, where the method includes:
acquiring an X-ray image of a target object, and marking a focus position on the X-ray image of the target object;
acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with an X-ray image marked with the focus position to obtain a fused image;
and planning a path according to the focus position in the fusion image to obtain a planned path.
In a second aspect, an embodiment of the present invention further provides a path planning apparatus, where the apparatus includes:
the image acquisition module is used for acquiring an X-ray image of a target object, and marking a focus position on the X-ray image of the target object;
the image fusion module is used for acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with the X-ray image marked with the focus position to obtain a fused image;
and the path planning module is used for carrying out path planning according to the focus positions in the fusion image to obtain a planned path.
In a third aspect, an embodiment of the present invention further provides an imaging apparatus, wherein the imaging apparatus includes:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the path planning method as provided by any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium having a computer program stored thereon, wherein the program when executed by a processor implements a path planning method as provided by any embodiment of the present invention.
According to the embodiment of the invention, the focus position is marked on the X-ray image of the target object by acquiring the X-ray image of the target object; acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with an X-ray image marked with the focus position to obtain a fused image; the method solves the problem that the effective reference basis can not be provided for the operation due to less information provided by a single medical image, and the surgical instrument is implanted according to the planned path, so that the success rate of the operation can be improved, and the effect of complications of the operation can be reduced.
Drawings
FIG. 1 is a flow chart of a path planning method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a path planning method in a second embodiment of the present invention;
FIG. 3 is a flow chart of a path planning method in accordance with a third embodiment of the present invention;
fig. 4 is a block diagram of a path planning apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural view of an image forming apparatus in a fifth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a path planning method according to an embodiment of the present invention, where the embodiment is applicable to a case of path planning for implantation of a surgical instrument, the method may be performed by a path planning apparatus, and specifically includes the following steps:
s110, acquiring an X-ray image of the target object, and marking the focus position on the X-ray image of the target object.
A digitized X-ray imaging device is used to take pre-operative X-ray images of the target object. By way of example, a C-arm X-ray machine, a mobile digital X-ray imaging device, or a suspended digital X-ray imaging device may be used to acquire pre-operative X-ray images of the target object. Optionally, the acquiring an X-ray image of the target object includes: acquiring X-ray images of at least two shooting angles of the target object without the surgical instrument; an X-ray image fused with an ultrasound image of the target object without the surgical instrument is determined from the sharpness of the X-ray images at least two angles and the displayed lesion position. And acquiring preoperative X-ray images of at least two angles of the target object, screening preoperative X-ray images with definition and displayed focus positions capable of meeting clinical diagnosis requirements from the preoperative X-ray images, marking focus positions in the images, and fusing the focus positions with preoperative ultrasonic images of the target object.
S120, acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with the X-ray image marked with the focus position to obtain a fused image.
The ultrasonic image can clearly display the blood vessels and nerves of the target object, and the ultrasonic probe is arranged on the affected part of the target object to obtain the preoperative ultrasonic image of the target object. And fusing the preoperative X-ray image marked with the focus position with the preoperative ultrasonic image of the target object to obtain a preoperative fused image. Optionally, the method for fusing the images includes: the method of adjacent display, direct fusion, feature selection fusion, etc. can select a proper method to fuse images according to actual conditions.
S130, planning a path according to the focus position in the fusion image to obtain a planned path.
Information such as focus position, blood vessel and nerve can be displayed simultaneously in the fusion image of the preoperative X-ray image and the preoperative ultrasonic image, a reasonable path is planned for the surgical instrument to act on the target object according to the information such as focus position, blood vessel information and nerve displayed in the preoperative fusion image, and the surgical instrument is prevented from damaging unnecessary blood vessels and nerves in the acting process, so that other diseases are caused, a reference basis is provided for the surgical instrument to act on the target object, and the implantation accuracy and success rate of the surgical instrument are improved.
According to the embodiment of the invention, the focus position is marked on the X-ray image of the target object by acquiring the X-ray image of the target object; the X-ray image can clearly display the bone tissue information of the target object, which is beneficial to marking the focus position. The ultrasonic image can clearly display blood vessels and nerves of a target object, acquire the ultrasonic image of the target object, and fuse the ultrasonic image of the target object with the X-ray image marked with the focus position to obtain a fused image; the method comprises the steps of carrying out path planning according to focus positions in the fusion image to obtain a planned path, providing more reference information for operation, solving the problem that the information provided by a single medical image is less and can not provide effective reference basis for operation, implanting surgical instruments according to the planned path, and improving the success rate of the operation and reducing the effect of complications of the operation.
Example two
Fig. 2 is a flowchart of a path planning method according to a second embodiment of the present invention, which is further optimized based on the first embodiment. Optionally, the path planning method further includes: acquiring a real-time ultrasonic image of the surgical instrument acting on the target object; the action path of the surgical instrument is determined according to the real-time ultrasonic image, and is displayed, so that correction can be performed for implantation of the surgical instrument, a reference basis is provided for subsequent implantation, and the accuracy of implantation of the surgical instrument into a focus is improved.
As shown in fig. 2, the method specifically comprises the following steps:
s210, acquiring an X-ray image of the target object, and marking the focus position on the X-ray image of the target object.
S220, acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with the X-ray image marked with the focus position to obtain a fused image.
S230, planning a path according to the focus position in the fusion image to obtain a planned path.
S240, acquiring a real-time ultrasonic image of the surgical instrument acting on the target object; and determining the action path of the surgical instrument according to the real-time ultrasonic image, and displaying the action path.
In the operation process, the ultrasonic probe moves along with the movement of the operation instrument, the ultrasonic image in the operation is acquired in real time, and the real-time action condition of the operation instrument can be displayed in the ultrasonic image in the operation. Optionally, the determining the action path of the surgical instrument according to the real-time ultrasonic image and displaying the action path include: fusing the real-time ultrasonic image with the X-ray image of the target object to obtain a real-time fused image; and displaying the action path in the real-time fusion image. The intra-operative ultrasonic image obtained in real time is fused with the preoperative X-ray image marking the focus position, and the obtained intra-operative fusion image can display the implantation position of the current surgical instrument in the target object and the relative position of the current surgical instrument and the focus. The action path of the surgical instrument is determined in real time according to the intraoperative ultrasonic image, the action path is displayed and compared with the planned path of the surgical instrument which is planned by the preoperative fusion image and acts on the target object, so that the action path of the surgical instrument can be corrected, and the surgical instrument can be accurately implanted to the focus position.
On the basis of the above embodiment, the path planning method further includes: matching the action path with the planning path to obtain a matching result; and adjusting the action path according to the matching result. Matching the real-time action path of the surgical instrument with the planned path, and if the action path of the surgical instrument is consistent with the planned path, indicating that the action path of the implanted part of the surgical instrument is accurate, and continuing the subsequent implantation. When deviation occurs between the action path of the surgical instrument and the planning path, the action path of the surgical instrument is timely adjusted to keep consistent with the planning path, the situation of error implantation position of the surgical instrument is avoided, and then the success rate of surgery is improved.
According to the embodiment of the invention, the focus position is marked on the X-ray image of the target object by acquiring the X-ray image of the target object; the X-ray image can clearly display the bone tissue information of the target object, which is beneficial to marking the focus position. The ultrasonic image can clearly display blood vessels and nerves of a target object, acquire the ultrasonic image of the target object, and fuse the ultrasonic image of the target object with the X-ray image marked with the focus position to obtain a fused image; planning a path according to the focus position in the fusion image to obtain a planned path, providing more reference information for operation, and acquiring a real-time ultrasonic image of the surgical instrument acting on the target object; the action path of the surgical instrument is determined according to the real-time ultrasonic image, the action path is displayed, deviation correction can be carried out for implantation of the surgical instrument, reference basis is provided for subsequent implantation, the accuracy of implantation of the surgical instrument into a focus is improved, the problem that information provided by a single medical image is less, an effective reference basis cannot be provided for surgery is solved, the surgical instrument is implanted according to a planned path, the success rate of surgery can be improved, and the effect of surgical complications is reduced.
Example III
Fig. 3 is a flowchart of a path planning method according to a third embodiment of the present invention, where the path planning method is further optimized based on the foregoing embodiment, and optionally the path planning method further includes: and adjusting the shooting angle of the image acquisition equipment to acquire an X-ray image reflecting the final implantation position of the surgical instrument in the target object. And confirming the final implantation position of the surgical instrument, and ensuring the implantation accuracy of the surgical instrument.
As shown in fig. 3, the method specifically comprises the following steps:
s310, acquiring an X-ray image of the target object, and marking the focus position on the X-ray image of the target object.
S320, acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with the X-ray image marked with the focus position to obtain a fused image.
S330, path planning is carried out according to the focus positions in the fusion image to obtain a planned path.
S340, adjusting the shooting angle of the image acquisition equipment to acquire an X-ray image reflecting the final implantation position of the surgical instrument in the target object.
When the operation of the surgical instrument is completed and the surgical instrument is implanted into the focus position, the shooting angle of the digital X-ray imaging equipment is adjusted, the X-ray image of the target object when the operation of the surgical instrument is completed is acquired again, whether the surgical instrument is accurately implanted into the focus position or not is displayed through the X-ray images of different angles, if the surgical instrument is not implanted into the focus position, the implantation position of the surgical instrument is adjusted in time, the implantation accuracy of the surgical instrument is ensured, and the damage to the target object caused by the implantation deviation of the surgical instrument is prevented.
According to the embodiment of the invention, the focus position is marked on the X-ray image of the target object by acquiring the X-ray image of the target object; the X-ray image can clearly display the bone tissue information of the target object, which is beneficial to marking the focus position. The ultrasonic image can clearly display blood vessels and nerves of a target object, acquire the ultrasonic image of the target object, and fuse the ultrasonic image of the target object with the X-ray image marked with the focus position to obtain a fused image; the method comprises the steps of carrying out path planning according to focus positions in the fusion image to obtain a planned path, providing more reference information for operation, adjusting the shooting angle of image acquisition equipment, obtaining an X-ray image reflecting the final implantation position of the surgical instrument in the target object, confirming the final implantation position of the surgical instrument, guaranteeing the implantation accuracy of the surgical instrument, solving the problem that the information provided by a single medical image is less and can not provide effective reference basis for operation, implanting the surgical instrument according to the planned path, and improving the success rate of the operation and reducing the effect of complications of the operation.
Example IV
Fig. 4 is a block diagram of a path planning apparatus according to a fourth embodiment of the present invention, where the path planning apparatus includes: an image acquisition module 410, an image fusion module 420, and a path planning module 430.
The image acquisition module 410 is configured to acquire an X-ray image of a target object, and mark a focus position on the X-ray image of the target object; the image fusion module 420 is configured to acquire an ultrasound image of the target object, and fuse the ultrasound image of the target object with an X-ray image marked with a focus position to obtain a fused image; and a path planning module 430, configured to perform path planning according to the lesion position in the fused image to obtain a planned path.
In the foregoing embodiment, the path planning apparatus further includes:
and the path planning module is used for planning the path of the surgical instrument acting on the target object according to the preoperative fusion image to obtain a planned path.
In the foregoing embodiment, the path planning apparatus further includes:
the real-time ultrasonic image acquisition module is used for acquiring a real-time ultrasonic image of the surgical instrument acting on the target object; and determining an action path of the surgical instrument according to the real-time ultrasonic image, and displaying the action path.
In the foregoing embodiment, the real-time ultrasound image acquisition module includes:
the image fusion unit is used for fusing the real-time ultrasonic image with the X-ray image of the target object without the implanted surgical instrument to obtain a real-time fusion image;
and the fusion image display unit is used for displaying the action path in the real-time fusion image.
In the above embodiment, the image acquisition module 410 includes:
an X-ray image acquisition unit for acquiring X-ray images of at least two shooting angles of the target object without the surgical instrument implanted;
and the image determining unit is used for determining an X-ray image fused with the ultrasonic image of the target object without the implanted surgical instrument through the definition of the X-ray images of at least two angles and the displayed focus position.
According to the embodiment of the invention, the focus position is marked on the X-ray image of the target object by acquiring the X-ray image of the target object; acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with an X-ray image marked with the focus position to obtain a fused image; the method solves the problem that the effective reference basis can not be provided for the operation due to less information provided by a single medical image, and the surgical instrument is implanted according to the planned path, so that the success rate of the operation can be improved, and the effect of complications of the operation can be reduced.
The path planning device provided by the embodiment of the invention can execute the path planning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 5 is a schematic structural diagram of an imaging apparatus according to a fifth embodiment of the present invention, as shown in fig. 5, the apparatus includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the device may be one or more, one processor 510 being taken as an example in fig. 5; the processor 510, memory 520, input means 530 and output means 540 in the device may be connected by a bus or other means, for example in fig. 5.
The memory 520 is a computer readable storage medium, and may be used to store software programs, computer executable programs, and modules, such as program instructions/modules (e.g., the image acquisition module 410, the image fusion module 420, and the path planning module 430 in the path planning apparatus) corresponding to the path planning method in the embodiment of the present invention. The processor 510 performs various functional applications of the device and data processing, i.e., implements the subject matter updating method described above, by running software programs, instructions, and modules stored in the memory 520.
Memory 520 may include primarily a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for functionality; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 520 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 520 may further include memory located remotely from processor 510, which may be connected to the device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 530 may be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the device. The output 540 may include a display device such as a display screen.
Example six
A sixth embodiment of the present invention also provides a storage medium containing computer executable instructions which, when executed by a computer processor, are for performing a path planning method, the method comprising:
acquiring an X-ray image of a target object, and marking a focus position on the X-ray image of the target object;
acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with an X-ray image marked with the focus position to obtain a fused image;
and planning a path according to the focus position in the fusion image to obtain a planned path.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the path planning method provided in any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the above-mentioned embodiment of the path planning apparatus, each unit and module included are only divided according to the functional logic, but are not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (7)
1. A path planning apparatus, comprising:
the image acquisition module is used for acquiring an X-ray image of a target object, and marking a focus position on the X-ray image of the target object;
the acquiring an X-ray image of a target object includes:
acquiring X-ray images of at least two shooting angles of a target object without surgical instruments; the X-ray image of the target object is used for displaying bone tissue information of the target object;
determining an X-ray image fused with an ultrasonic image of the target object without the surgical instrument through the definition of the X-ray images of at least two angles and the displayed focus position;
the image fusion module is used for acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with the X-ray image marked with the focus position by using an image fusion method to obtain a fused image; the ultrasonic image of the target object is used for displaying blood vessels and nerves of the target object, and the image fusion method comprises a proximity display method, a direct fusion method or a feature selection fusion method; the fusion image comprises focus positions, blood vessel information and nerve information;
the path planning module is used for carrying out path planning according to the focus positions in the fusion image to obtain a planned path;
adjusting the shooting angle of the image acquisition equipment to obtain an X-ray image reflecting the final implantation position of the surgical instrument in the target object;
the path planning device is further configured to:
acquiring a real-time ultrasonic image of the surgical instrument acting on the target object;
determining a acting path of the surgical instrument according to the real-time ultrasonic image, and displaying the acting path;
the method for determining the action path of the surgical instrument according to the real-time ultrasonic image and displaying the action path comprises the following steps:
fusing the real-time ultrasonic image with the X-ray image of the target object to obtain a real-time fused image;
displaying the action path in the real-time fusion image;
the real-time fusion image is used for displaying the implantation position of the surgical instrument in the target object and the relative position of the surgical instrument and a focus.
2. The apparatus of claim 1, further configured to:
matching the action path with the planning path to obtain a matching result;
and adjusting the action path according to the matching result.
3. The apparatus of claim 1, wherein the X-ray image of the target object is determined by a C-arm X-ray machine, a mobile digital X-ray imaging device or a suspended digital X-ray imaging device.
4. An image forming apparatus, characterized in that the image forming apparatus comprises:
one or more processors;
a storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the steps of:
acquiring an X-ray image of a target object, and marking a focus position on the X-ray image of the target object;
the acquiring an X-ray image of a target object includes:
acquiring X-ray images of at least two shooting angles of a target object without surgical instruments; the X-ray image of the target object is used for displaying bone tissue information of the target object;
determining an X-ray image fused with an ultrasonic image of the target object without the surgical instrument through the definition of the X-ray images of at least two angles and the displayed focus position;
acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with an X-ray image marked with the focus position by using an image fusion method to obtain a fused image; the ultrasonic image of the target object is used for displaying blood vessels and nerves of the target object, and the image fusion method comprises a proximity display method, a direct fusion method or a feature selection fusion method; the fusion image comprises focus positions, blood vessel information and nerve information;
planning a path according to the focus position in the fusion image to obtain a planned path;
adjusting the shooting angle of the image acquisition equipment to obtain an X-ray image reflecting the final implantation position of the surgical instrument in the target object;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to further implement the steps of:
acquiring a real-time ultrasonic image of the surgical instrument acting on the target object;
determining a acting path of the surgical instrument according to the real-time ultrasonic image, and displaying the acting path;
the method for determining the action path of the surgical instrument according to the real-time ultrasonic image and displaying the action path comprises the following steps:
fusing the real-time ultrasonic image with the X-ray image of the target object to obtain a real-time fused image;
displaying the action path in the real-time fusion image;
the real-time fusion image is used for displaying the implantation position of the surgical instrument in the target object and the relative position of the surgical instrument and a focus.
5. The imaging device of claim 4, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to further implement the steps of:
matching the action path with the planning path to obtain a matching result;
and adjusting the action path according to the matching result.
6. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor performs the steps of:
acquiring an X-ray image of a target object, and marking a focus position on the X-ray image of the target object;
the acquiring an X-ray image of a target object includes:
acquiring X-ray images of at least two shooting angles of a target object without surgical instruments; the X-ray image of the target object is used for displaying bone tissue information of the target object;
determining an X-ray image fused with an ultrasonic image of the target object without the surgical instrument through the definition of the X-ray images of at least two angles and the displayed focus position;
acquiring an ultrasonic image of the target object, and fusing the ultrasonic image of the target object with an X-ray image marked with the focus position by using an image fusion method to obtain a fused image; the ultrasonic image of the target object is used for displaying blood vessels and nerves of the target object, and the image fusion method comprises a proximity display method, a direct fusion method or a feature selection fusion method; the fusion image comprises focus positions, blood vessel information and nerve information;
planning a path according to the focus position in the fusion image to obtain a planned path;
adjusting the shooting angle of the image acquisition equipment to obtain an X-ray image reflecting the final implantation position of the surgical instrument in the target object;
the program when executed by the processor further performs the steps of:
acquiring a real-time ultrasonic image of the surgical instrument acting on the target object;
determining a acting path of the surgical instrument according to the real-time ultrasonic image, and displaying the acting path;
the method for determining the action path of the surgical instrument according to the real-time ultrasonic image and displaying the action path comprises the following steps:
fusing the real-time ultrasonic image with the X-ray image of the target object to obtain a real-time fused image;
displaying the action path in the real-time fusion image;
the real-time fusion image is used for displaying the implantation position of the surgical instrument in the target object and the relative position of the surgical instrument and a focus.
7. The computer-readable storage medium according to claim 6, wherein the program when executed by the processor further performs the steps of:
matching the action path with the planning path to obtain a matching result;
and adjusting the action path according to the matching result.
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| CN202011003191.9A CN112057165B (en) | 2020-09-22 | 2020-09-22 | Path planning method, device, equipment and medium |
| EP21863665.2A EP4193953A4 (en) | 2020-09-02 | 2021-09-02 | Path planning method, and method, apparatus and system for determining operation guidance information |
| PCT/CN2021/116258 WO2022048601A1 (en) | 2020-09-02 | 2021-09-02 | Path planning method, and method, apparatus and system for determining operation guidance information |
| US18/177,735 US20230200910A1 (en) | 2020-09-02 | 2023-03-02 | Methods for path planning, and methods, devices, and systems for determining operation guidance information |
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| CN112700551A (en) * | 2020-12-31 | 2021-04-23 | 青岛海信医疗设备股份有限公司 | Virtual choledochoscope interventional operation planning method, device, equipment and storage medium |
| CN114224508A (en) * | 2021-11-12 | 2022-03-25 | 苏州微创畅行机器人有限公司 | Medical image processing method, system, computer device and storage medium |
| WO2023216947A1 (en) * | 2022-05-07 | 2023-11-16 | 武汉联影智融医疗科技有限公司 | Medical image processing system and method for interventional operation |
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| CN116473673B (en) * | 2023-06-20 | 2024-02-27 | 浙江华诺康科技有限公司 | Path planning method, device, system and storage medium for endoscope |
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