CN112386333B

CN112386333B - Method and system for generating argon-helium lung scalpel operation path data

Info

Publication number: CN112386333B
Application number: CN202011211929.0A
Authority: CN
Inventors: 黄建红; 方烈
Original assignee: Zhejiang Saihong Zhongzhi Network Technology Co ltd
Current assignee: Zhejiang Saihong Zhongzhi Network Technology Co ltd
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2022-04-19
Anticipated expiration: 2040-11-03
Also published as: CN112386333A

Abstract

The invention provides a method for generating argon-helium cryosurgical path data of a lung, which comprises the following steps: an initial three-dimensional model of the patient's chest is generated from the chest DICOM digital imaging and communications in medicine file of the patient's chest. Marking a position mark to be treated in the initial three-dimensional model according to the set three-dimensional position of the marked focus. In the initial three-dimensional model, a position to be treated is marked as a scattering origin, the puncture length of one surgical cutter is used as a scattering radius, and the diameter of the surgical cutter is used as a ray width to obtain a plurality of scattering paths of a plurality of surgical cutters to the external surface. One or more non-junction paths are obtained. And acquiring puncture path data of one or more surgical tools according to one or more non-intersection paths. The operation path is simulated through the simulated human body three-dimensional model, and the operation path which is high in safety and suitable for being implemented by an actual operation cutter is obtained. The wound area is reduced, and the safety of the operation is ensured. The invention also provides a system for generating the path data of the argon-helium cryosurgical operation for the lung.

Description

Method and system for generating argon-helium lung scalpel operation path data

Technical Field

The invention relates to the field of adjuvant medicine. Is applied to minimally invasive surgery. The invention particularly relates to a method and a system for generating path data of a lung argon-helium scalpel operation.

Background

During the operation of lung nodules or lung tumors, minimally invasive surgery can be used for treatment according to the condition of a patient. In the implementation process of the minimally invasive surgery, early-stage patient imaging acquisition is adopted, the position of a focus is determined, the early-stage imaging and endoscope equipment are combined in the surgery to realize the visualization of the surgery, and the surgery is implemented on the focus. Because the lung nodule or the lung tumor focus is adjacent to the main trachea, the artery and the heart area, and the focus imaging of the patient in the previous period can change along with the posture of the patient, the operation risk is high. The operation wound is large due to the use of the endoscope.

Disclosure of Invention

The invention aims to provide a method for generating lung argon-helium scalpel operation path data, which simulates an operation path through a simulated human body three-dimensional model and obtains an operation path which is high in safety and suitable for being implemented by an actual operation cutter. The wound area is reduced, and the safety of the operation is ensured.

The invention aims to provide a system for generating argon-helium-knife surgical path data of a lung, which can quickly acquire a surgical path of a pulmonary nodule or a lung tumor according to human body scanning image data. The wound area is reduced, and the reliability and the safety of the operation are ensured.

In one embodiment of the present invention, a method for generating pulmonary argon-helium surgical path data is provided, which includes:

step S101, generating an initial three-dimensional model of the patient 'S chest from the chest DICOM digital imaging and communications file of the patient' S chest. Chest DICOM digital medical imaging and communications files are obtained by scanning a patient's chest with a radiological or imaging device.

The chest radiation or imaging data includes a lung region of the patient. The outer face of the initial three-dimensional model corresponds to a chest body surface of the patient. The initial three-dimensional model comprises: double lung model, skeleton model and thoracic organ model. The thoracic organ model comprises a plurality of tracheas, artery tissues, vein tissue models and organ models positioned between two lungs in the thoracic cavity.

And step S102, marking a position mark to be treated in the initial three-dimensional model according to the three-dimensional position of the set marked focus.

Step S103, in the initial three-dimensional model, the position mark to be treated is used as a scattering origin, the puncture length of one surgical knife is used as a scattering radius, and the diameter of the surgical knife is used as a ray width to obtain a plurality of scattering paths of a plurality of surgical knives to the external surface.

And step S104, acquiring the intersection points of the multiple scattering paths, the bone model and the thoracic organ model on the single scattering path. And removing the scattering paths with the junction points from the plurality of scattering paths to obtain one or more paths without the junction points.

Step S105, acquiring puncture path data of one or more surgical tools according to one or more non-junction paths.

In another embodiment of the present invention, in step S101, the chest DICOM digital imaging and communications in medicine file has a topogram image information. And acquiring the position information of the positioning sheet according to the image information of the positioning sheet. After the locating piece is worn on the chest of the patient, the chest DICOM medical digital imaging and communication file is obtained by scanning the chest of the patient through a radiation or imaging device. The locating plate is located in the middle of the two lung parts.

In another embodiment of the present invention, step S101 further includes:

step S201, reading a chest DICOM medical digital imaging and communication file, and acquiring DICOM TAG file header information and corresponding data set information. And analyzing Series TAG unit data in the DICOM TAG header information to acquire position information and image sequence information of a plurality of image information arranged in one axial direction. The data set information is parsed to obtain a series of images associated with the image sequence information.

Step S202, a transverse plane, a coronal plane and a sagittal plane are obtained according to the position information of the plurality of image information and the image sequence information corresponding series images. The coronal plane is perpendicular and intersects the sagittal plane. The transverse planes are perpendicular and intersect the coronal plane perpendicular to the sagittal plane.

In step S203, an initial three-dimensional model is generated from the transverse plane, coronal plane, and sagittal plane.

In another embodiment of the present invention, step S202 includes:

in step S301, a series of images corresponding to the position information and the image sequence information of the plurality of pieces of image information are acquired.

Step S302, acquiring a thoracic organ series image from the series image according to the gray scale corresponding to the thoracic organ in the CT image.

And acquiring a skeleton series image from the series images according to the gray scale corresponding to the skeleton in the CT image.

And acquiring a series of images of the lung from the series of images according to the gray level corresponding to the lung in the CT image.

In step S303, an organ transverse plane, an organ coronal plane, and an organ sagittal plane are generated by superimposing the thoracic organ series images and the corresponding position information and image series information in one set axial direction. The coronal plane of the viscera is perpendicular to and intersects the sagittal plane of the viscera. The organ transverse section plane is vertical and is intersected with the organ coronal plane and is vertical to the organ sagittal plane.

And according to the lung series images and the corresponding position information and image sequence information thereof, generating a lung transverse plane, a lung coronal plane and a lung sagittal plane by setting axial superposition. The coronal plane of the lung is perpendicular and intersects the sagittal plane of the lung. The transverse plane of the lung is vertical and is intersected with the coronal plane of the lung and is vertical to the sagittal plane of the lung.

And generating a bone transverse plane, a bone coronal plane and a bone sagittal plane by setting axial superposition according to the bone series images and the corresponding position information and image sequence information thereof. The coronal plane of the bone is perpendicular and intersects the sagittal plane of the bone. The bone transverse plane is vertical and is intersected with the bone coronal plane and is vertical to the bone sagittal plane.

In step S304, an initial organ three-dimensional model is generated from the organ transverse plane, the organ coronal plane, and the organ sagittal plane. And superposing the locating plate image to the initial organ three-dimensional model according to the locating plate position information and generating a locating plate mark in the initial organ three-dimensional model.

And generating an initial lung three-dimensional model according to the lung transverse plane, the lung coronal plane and the lung sagittal plane. And generating a positioning sheet mark in the initial lung three-dimensional model according to the positioning sheet position information.

And generating an initial skeleton three-dimensional model according to the skeleton transverse plane, the skeleton coronal plane and the skeleton sagittal plane. And generating a locating piece mark in the initial bone three-dimensional model according to the locating piece position information.

And S305, superposing the initial organ three-dimensional model, the lung three-dimensional model and the initial skeleton three-dimensional model according to the positioning sheet mark to obtain an initial three-dimensional model.

In another embodiment of the present invention, step S102 further includes: and acquiring the three-dimensional relative position of the positioning sheet and the focus according to the three-dimensional position of the set marked focus and the position information of the positioning sheet.

In another embodiment of the present invention, step S103 includes: the surgical knife can be provided as a variety of surgical knives. A variety of surgical knives have corresponding puncture lengths. The puncture length is the length of the straight cold knife of the argon-helium knife, the length of the right-angle cold knife and the length of the knife bar of the temperature probe. The diameter of the operation knife is the diameter of the straight cold knife of the argon-helium knife, the diameter of the right-angle cold knife and the diameter of the knife rod of the temperature measuring probe.

In another embodiment of the present invention, step S105 includes:

step S401, when the puncture path data of a surgical knife is obtained, a group of puncture starting three-dimensional positions and a focus three-dimensional position are obtained.

Step S402, according to the three-dimensional relative position of the positioning sheet and the focus, a group of puncture starting three-dimensional positions and the three-dimensional position of the reached focus, the three-dimensional relative position of the focus and the puncture starting three-dimensional position and the positioning sheet are obtained.

In another embodiment of the present invention, step S401 further includes: marked in the initial three-dimensional model at the puncture start position.

In another embodiment of the present invention, step S105 includes:

step S501, when puncture path data of a plurality of surgical tools are obtained, the number of adjacent bone models and thoracic organ models of the plurality of puncture paths is respectively obtained.

Step S502, a puncture path with the least adjacent number in the number of the adjacent bone models and thoracic organ models of the puncture path is obtained, and the puncture path is determined as the puncture path.

Meanwhile, in another aspect of the present invention, a system for generating data of a surgical path of a pulmonary argon-helium surgical tool is further provided, wherein the system comprises: the three-dimensional model generating device comprises an initial three-dimensional model generating unit, an identification unit, a scattering path generating unit, a non-intersection point path generating unit and a puncture path acquiring unit.

An initial three-dimensional model generation unit configured to generate an initial three-dimensional model of the patient's chest from the chest DICOM digital imaging and communications file of the patient's chest. Chest DICOM digital medical imaging and communications files are obtained by scanning a patient's chest with a radiological or imaging device. The chest radiation or imaging data includes a lung region of the patient.

The outer face of the initial three-dimensional model corresponds to a chest body surface of the patient. The initial three-dimensional model comprises: double lung model, skeleton model and thoracic organ model. The thoracic organ model comprises a plurality of tracheas, artery tissues, vein tissue models and organ models positioned between two lungs in the thoracic cavity.

And the identification unit is configured to mark a position identification to be treated in the initial three-dimensional model according to the three-dimensional position of the set identification focus.

And a scattering path generating unit configured to acquire a plurality of scattering paths of the plurality of surgical tools to the external face in the initial three-dimensional model by using the position to be treated as a scattering origin, the puncture length of one surgical tool as a scattering radius and the diameter of the surgical tool as a ray width.

And the non-intersection point path generating unit is configured to acquire intersection points of the plurality of scattering paths, the bone model and the thoracic organ model on the scattering paths. And removing the scattering paths with the junction points from the plurality of scattering paths to obtain one or more paths without the junction points.

A puncture path acquiring unit configured to acquire puncture path data of one or more surgical tools according to one or more non-intersection paths.

The characteristics, technical features, advantages and implementation of the method and system for generating surgical path data of argon-helium pulmonary surgery will be further described in a clear and understandable way by combining the attached drawings.

Drawings

FIG. 1 is a flow diagram illustrating a method for generating pulmonary argon-helium surgical path data in one embodiment of the present invention.

FIG. 2 is a schematic flow chart for illustrating a method of generating pulmonary argon-helium surgical path data in another embodiment of the present invention.

FIG. 3 is a flow chart for illustrating a method of generating pulmonary argon-helium surgical path data in yet another embodiment of the present invention.

FIG. 4 is a schematic flow chart for explaining a method of generating pulmonary argon-helium surgical path data according to still another embodiment of the present invention.

FIG. 5 is a schematic flow chart for explaining a method of generating pulmonary argon-helium surgical path data according to still another embodiment of the present invention.

FIG. 6 is a schematic diagram showing the system components of a system for generating pulmonary argon-helium surgical path data in accordance with yet another embodiment of the present invention.

Fig. 7 is a schematic diagram illustrating an initial three-dimensional model of a patient's chest in accordance with the present invention.

FIG. 8 is a schematic view for explaining the configuration of the argon-helium knife in the present invention.

Fig. 9 is a schematic diagram for explaining a plurality of scattering paths in the present invention.

FIG. 10 is a schematic diagram illustrating the positions of the transverse, coronal and sagittal planes of the present invention.

Detailed Description

In order to more clearly understand the technical features, objects and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals indicate the same or structurally similar but functionally identical elements.

"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative. For the sake of simplicity, the drawings only schematically show the parts relevant to the present exemplary embodiment, and they do not represent the actual structure and the true scale of the product.

In one embodiment of the present invention, a method for generating pulmonary argon-helium surgical path data is provided, as shown in fig. 1, including:

step S101, an initial three-dimensional model is generated.

In this step, an initial three-dimensional model of the patient's chest is generated from the patient's chest DICOM digital imaging and communications file. Chest DICOM digital medical imaging and communications files are obtained by scanning a patient's chest with a radiological or imaging device.

The chest radiation or imaging data includes a lung region of the patient. The outer face of the initial three-dimensional model corresponds to a chest body surface of the patient. As shown in fig. 7, the initial three-dimensional model includes: a double lung model 10, 11, a bone model 20, and a thoracic organ model 30. The thoracic organ model includes a plurality of tracheas, artery tissues, vein tissue models (not shown in the figure), and organ models located between the two lungs in the thoracic cavity. The organ model includes: liver model, gallbladder model, spleen model, diaphragm model and stomach model.

Step S102, marking the position mark to be treated.

In this step, as shown in fig. 7, a to-be-treated position marker 90 is marked in the initial three-dimensional model according to the set three-dimensional position of the marked lesion. The three-dimensional location of the identified lesion is determined by medical examination, and the location is in a three-dimensional space of the initial three-dimensional model and has (x, y, z) three-dimensional coordinate data.

Step S103, a plurality of scattering paths are obtained.

In this step, as shown in fig. 7, in the initial three-dimensional model, a plurality of scattering paths of the plurality of surgical tools to the external surface are obtained by using the mark 90 of the position to be treated as a scattering origin, using the puncture length of one surgical tool as a scattering radius, and using the diameter of the surgical tool as a radial width.

The surgical knife is an argon-helium knife that can be used for pulmonary surgery. As shown in FIG. 8, the argon helium knife has a cutting head 80 and a handle 81 to which an argon helium instrument is attached. The argon-helium knife has a variety of dimensions and the length and diameter of the cutting tip can be selected from a variety of specifications, with the cutting tip 80 being the effective piercing length. As shown in fig. 9, the scattering

paths

71, 72, 73, 74, and 75 are obtained with the diameter of the tool tip 80 as the width of the scattering path as the width of the ray.

Step S104, one or more paths without junction points are obtained.

In the step, the intersection points of the multiple scattering paths, the bone model and the thoracic organ model on the single scattering path are obtained. And removing the scattering paths with the junction points from the plurality of scattering paths to obtain one or more paths without the junction points.

As shown in fig. 9, the

scatter paths

71, 73 having their intersection points with the bone model are obtained from the

scatter paths

71, 72, 73, 74 and 75. The intersection point of the scatter paths 71 is 61. The convergence point of the scatter path 73 is 62. The intersection of the scatter path 75 and the thoracic organ model is 63. So that the

scatter paths

72 and 74 are junction-free paths.

In step S105, puncture path data is acquired.

In this step, puncture path data of one or more surgical tools is obtained according to one or more non-intersection paths. As shown in fig. 9, the data of the scatter path 72 having the shortest puncture path is selected from the

scatter paths

72 and 74 as the final puncture path data. The puncture path data includes start point three-dimensional data (skin penetration point) and end point three-dimensional data (overlapping with the position of the position mark to be treated) and inclination angle data obtained according to the start point three-dimensional data and the end point three-dimensional data.

According to the method for generating the lung argon-helium scalpel operation path data, the simulation model of the breast tissue of the patient is generated through the breast DICOM medical digital imaging and communication file of the breast of the patient. And taking the lung nodule or the lung tumor affected area as a scattering center and the puncture length of the surgical knife as a scattering radius to obtain a scattering path which does not intersect with the bone and the chest viscera of the patient. Thereby obtaining the puncture path of the surgical knife for the pulmonary nodule or the pulmonary tumor.

Because the three-dimensional model is modeled by the chest DICOM medical digital imaging and communication file in the path generation process, the chest tissue of the patient can be completely simulated. The actual internal length of the interventional body and the actual surgical knife is adopted as the scattering radius, the breast tissue structure of a patient during treatment and the relative position of the patient and the surgical knife can be effectively reduced, and the scattering radius of an intersection point with the breast tissue is eliminated, so that the loss of the surgical path to other tissues and organs of the breast is further avoided, and the obtained actual wound surface of the puncture path of the pulmonary nodule or the pulmonary tumor is small and has safety.

Thereby facilitating the ability to have an effective position reference for subsequent use of the initial three-dimensional model.

In another embodiment of the present invention, in the method for generating the pulmonary argon-helium surgical path data according to the present invention, as shown in fig. 2, the step S101 further includes:

step S201, acquiring header information and corresponding data set information.

In this step, the chest DICOM medical digital imaging and communication file is read, and the head information of the DICOM TAG file and the corresponding data set information are obtained. And analyzing Series TAG unit data in the DICOM TAG header information to acquire position information and image sequence information of a plurality of image information arranged in one axial direction. The data set information is parsed to obtain a series of images associated with the image sequence information.

In step S202, a transverse plane, a coronal plane, and a sagittal plane are obtained.

In this step, as shown in fig. 10, one transverse plane 51, one coronal plane 52, and one sagittal plane 53 are acquired from the image sequence information correspondence series of the plurality of image information. The coronal plane is perpendicular and intersects the sagittal plane. The transverse planes are perpendicular and intersect the coronal plane perpendicular to the sagittal plane.

Step S203, an initial three-dimensional model is generated.

In this step, an initial three-dimensional model is generated from the transverse plane, coronal plane, and sagittal plane.

In another embodiment of the present invention, in the method for generating the surgical path data of argon-helium pulmonary surgery according to the present invention, as shown in fig. 3, step S202 includes:

in step S301, a series of images is acquired.

In this step, a series of images corresponding to the position information and the image sequence information of the plurality of pieces of image information are acquired.

Step S302, obtaining images of the thoracic organs, bones and lungs.

In this step, a thoracic organ series image is acquired from the series image based on the gradation corresponding to the thoracic organ in the CT image.

Step S304, acquiring the mark of the positioning sheet.

In this step, an initial organ three-dimensional model is generated from the organ transverse plane, the organ coronal plane, and the organ sagittal plane. And superposing the locating plate image to the initial organ three-dimensional model according to the locating plate position information and generating a locating plate mark in the initial organ three-dimensional model.

And S305, superposing and taking an initial three-dimensional model according to the position of the positioning sheet.

In the step, the initial three-dimensional model of the viscera, the three-dimensional model of the lung and the three-dimensional model of the initial skeleton are superposed according to the mark of the positioning sheet to obtain the initial three-dimensional model.

The CT image is used for respectively establishing models for bones, lungs and visceral organs, so that the accuracy of generating the three-dimensional model is improved. By setting the 'locating plate' in the model, the 'locating plate' can be aligned with the locating plate on the patient body in the operation, and the accuracy of the operation implementation position is improved.

In another embodiment of the present invention, in the method for generating the surgical path data of argon-helium pulmonary surgery according to the present invention, as shown in fig. 4, step S105 includes:

step S401, a group of puncture starting three-dimensional positions and a group of three-dimensional positions of the reached focus are obtained.

In this step, when the puncture path data of one surgical knife is obtained, a set of puncture start three-dimensional positions and a set of three-dimensional positions of the focus of infection are obtained.

Step S402, acquiring the three-dimensional relative positions of the focus and the puncture starting three-dimensional position and the positioning sheet.

In the step, the three-dimensional relative position of the focus and the puncture starting three-dimensional position and the positioning sheet is obtained according to the three-dimensional relative position of the positioning sheet and the focus, a group of puncture starting three-dimensional positions and the three-dimensional position of the reached focus.

In another embodiment of the present invention, in the method for generating the surgical path data of argon-helium pulmonary surgery according to the present invention, as shown in fig. 5, step S105 includes:

step S501, the number of adjacent bone models and thoracic organ models of a plurality of puncture paths is obtained.

In this step, when the puncture path data of the plurality of surgical tools is obtained, the number of the bone models and the number of the thoracic organ models adjacent to the plurality of puncture paths are obtained.

Step S502, determining as a puncture path.

In this step, a puncture path having the smallest number of adjacent puncture paths among the number of adjacent bone models and thoracic organ models of the puncture paths is obtained, and the puncture path is determined as a puncture path.

Meanwhile, in another aspect of the present invention, there is provided a system for generating data of a surgical path of a pulmonary argon-helium surgical tool, as shown in fig. 6, wherein the system comprises: an initial three-dimensional model generating unit 101, an identification unit 201, a scatter path generating unit 301, a non-junction path generating unit 401 and a puncture path acquiring unit 501.

An initial three-dimensional model generation unit 101 configured to generate an initial three-dimensional model of a patient's chest from chest DICOM digital imaging and communications files of the patient's chest. Chest DICOM digital medical imaging and communications files are obtained by scanning a patient's chest with a radiological or imaging device. The chest radiation or imaging data includes a lung region of the patient.

An identification unit 201 configured to mark a to-be-treated position identification in the initial three-dimensional model according to the set identification lesion three-dimensional position.

A scattering path generating unit 301 configured to acquire a plurality of scattering paths of the plurality of surgical tools to the external face in the initial three-dimensional model with the position to be treated identified as a scattering origin, with the puncture length of one surgical tool as a scattering radius, and with the diameter of the surgical tool as a radial width.

And an intersection-point-free path generating unit 401 configured to acquire intersection points of the plurality of scattering paths and the bone model and the thoracic organ model on the plurality of scattering paths. And removing the scattering paths with the junction points from the plurality of scattering paths to obtain one or more paths without the junction points.

A puncture path obtaining unit 501 configured to obtain puncture path data of one or more surgical tools according to one or more non-intersection paths.

It should be understood that although the present description is described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein as a whole may be suitably combined to form other embodiments as will be appreciated by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims

1. A system for generating pulmonary argon-helium surgical path data, comprising: the system comprises an initial three-dimensional model generating unit, an identification unit, a scattering path generating unit, a non-intersection point path generating unit and a puncture path acquiring unit;

the initial three-dimensional model generating unit is configured to generate an initial three-dimensional model of the patient chest according to the chest DICOM medical digital imaging and communication file of the patient chest; scanning a patient's chest with a radiological or imaging device to obtain the chest DICOM digital imaging and communications in medicine file; the chest radiological or imaging data includes a lung region of the patient;

the outer face of the initial three-dimensional model corresponds to a chest body surface of the patient; the initial three-dimensional model comprises: double lung model, skeleton model and thoracic organ model; the thoracic organ model comprises a plurality of tracheas, artery tissues, vein tissue models and organ models which are positioned between two lungs in the thoracic cavity;

the identification unit is configured to mark a position identification to be treated in the initial three-dimensional model according to a set identification focus three-dimensional position;

the scattering path generating unit is configured to acquire a plurality of scattering paths of a plurality of surgical tools to the external surface in the initial three-dimensional model by taking the position to be treated as a scattering origin, the puncture length of one surgical tool as a scattering radius and the diameter of the surgical tool as a ray width;

the non-intersection point path generating unit is configured to acquire intersection points of the plurality of scattering paths, the bone model and the thoracic organ model on the scattering paths; removing scattering paths with junction points from the multiple scattering paths to obtain one or multiple paths without junction points;

the puncture path acquiring unit is configured to acquire puncture path data of the one or more surgical tools according to the one or more non-junction paths;

the chest DICOM digital imaging and communications in medicine file has a topogram image information; acquiring the position information of the positioning sheet according to the image information of the positioning sheet; after the chest part of the patient wears the locating piece, scanning the chest of the patient through a radiation or imaging device to obtain the chest DICOM medical digital imaging and communication file; the positioning sheet is positioned in the middle of the two lung areas;

reading the chest DICOM medical digital imaging and communication file, and acquiring DICOM TAG file header information and corresponding data set information; analyzing Series TAG unit data in the DICOM TAG file header information to acquire position information and image sequence information of a plurality of pieces of image information which are arranged in an axial direction; analyzing the data set information to obtain a series of images of the image sequence information;

acquiring a transverse plane, a coronal plane and a sagittal plane according to the serial images corresponding to the position information and the image sequence information of the plurality of image information; the coronal plane is perpendicular and intersects the sagittal plane; the transverse plane is perpendicular to the sagittal plane and intersects the coronal plane perpendicular to the sagittal plane;

generating the initial three-dimensional model from the transverse plane, coronal plane, and sagittal plane;

acquiring the series of images corresponding to the position information and the image sequence information of the plurality of image information;

acquiring a thoracic organ series image from the series of images according to the gray scale corresponding to the thoracic organ in the CT image;

acquiring a skeleton series of images from the series of images according to the gray level corresponding to the skeleton in the CT image;

acquiring a series of images of the lung from the series of images according to the gray level corresponding to the lung in the CT image;

according to the thoracic organ series images and the corresponding position information and image sequence information thereof, generating an organ transverse plane, an organ coronal plane and an organ sagittal plane in a set axial direction in an overlapping manner; the visceral organ coronal plane is vertical and intersects with the visceral organ sagittal plane; the organ transverse plane is vertical and is intersected with the organ coronal plane and is vertical to the organ sagittal plane;

according to the lung series images and the corresponding position information and image sequence information thereof, generating a lung transverse plane, a lung coronal plane and a lung sagittal plane by the set axial superposition; the lung coronal plane is perpendicular to and intersects the lung sagittal plane; the lung transverse plane is vertical and intersects with the lung coronal plane and is vertical to the lung sagittal plane;

according to the bone series images and the corresponding position information and image sequence information thereof, generating a bone transverse plane, a bone coronal plane and a bone sagittal plane by the set axial superposition; the bone coronal plane is perpendicular to and intersects the bone sagittal plane; the bone transverse plane is vertical and intersects the bone coronal plane and is vertical to the bone sagittal plane;

generating an initial organ three-dimensional model according to the organ transverse plane, the organ coronal plane and the organ sagittal plane; superimposing the locating plate image to the initial organ three-dimensional model according to the locating plate position information and generating a locating plate mark in the initial organ three-dimensional model;

generating an initial lung three-dimensional model according to the lung transverse plane, the lung coronal plane and the lung sagittal plane; generating a positioning sheet mark in the initial lung three-dimensional model according to the positioning sheet position information;

generating an initial skeleton three-dimensional model according to the skeleton transverse plane, the skeleton coronal plane and the skeleton sagittal plane; generating a positioning sheet mark in the initial skeleton three-dimensional model according to the positioning sheet position information;