CN113160383B - Method for constructing internal organization model and terminal equipment - Google Patents
Method for constructing internal organization model and terminal equipment Download PDFInfo
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- CN113160383B CN113160383B CN202110332055.2A CN202110332055A CN113160383B CN 113160383 B CN113160383 B CN 113160383B CN 202110332055 A CN202110332055 A CN 202110332055A CN 113160383 B CN113160383 B CN 113160383B
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Abstract
The invention is suitable for the technical field of virtual simulation, and provides a method and equipment for constructing an internal organization model, wherein the method comprises the following steps: acquiring scan data regarding an internal tissue of a target object and generating a three-dimensional model of the internal tissue based on the scan data; respectively constructing a tissue mechanics model for each three-dimensional tissue model; determining a plurality of groups of model groups with adjacent relation based on the three-dimensional model, and establishing contact force functions corresponding to the model groups; and generating an internal tissue model corresponding to the internal tissue according to the three-dimensional model, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model and the contact force function corresponding to all the model groups. The internal organization model constructed by the method can not only carry out simulation reduction on the internal organization in a three-dimensional form, but also enable the constructed virtual model to respond to interactive operation, thereby improving the simulation degree of the model.
Description
Technical Field
The invention belongs to the technical field of virtual simulation, and particularly relates to a method for constructing an internal organization model and terminal equipment.
Background
With the development of computer technology, the field of virtual simulation technology application is more and more extensive, for example, the application in the field of virtual surgery provides important guiding significance for the actual surgical process. Therefore, how to build a virtual scene that fits the actual situation, for example, building a corresponding visualization model for a real object in a simulation environment, becomes the key point of the virtual simulation technology.
In the process of performing simulation on internal tissues, the fidelity of stress deformation of the built internal tissue model in the process of responding to interactive operation, such as responding to pressing, puncturing, suturing and the like, can directly influence the accuracy of virtual simulation, and particularly can influence the quality of virtual operation in the application of virtual operation. However, the existing model construction technology only relates to the construction of a three-dimensional model of an internal organization, and when the three-dimensional model is interacted, the three-dimensional model cannot respond based on interactive operation, so that the reality of virtual simulation is greatly reduced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method for constructing an internal organization model and a terminal device, so as to solve the problems that the existing model construction technology only relates to the construction of a three-dimensional model of an internal organization, when the three-dimensional model is interacted, the three-dimensional model cannot respond based on an interaction operation, and the reality of virtual simulation is low.
A first aspect of an embodiment of the present invention provides a method for constructing an internal organization model, including:
acquiring scan data regarding an internal tissue of a target object and generating a three-dimensional model of the internal tissue based on the scan data; the three-dimensional model includes a plurality of three-dimensional tissue models in one-to-one correspondence with a plurality of different types of tissue in the internal tissue;
respectively constructing a tissue mechanics model for each three-dimensional tissue model;
determining a plurality of groups of model groups with adjacent relation based on the three-dimensional model, and establishing contact force functions corresponding to the model groups; at least two different types of the three-dimensional tissue models are contained within the model set;
and generating an internal tissue model corresponding to the internal tissue according to the three-dimensional model, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model and the contact force function corresponding to all the model groups.
A second aspect of an embodiment of the present invention provides a terminal device, including:
a three-dimensional model construction unit for acquiring scan data regarding an internal tissue of a target object and generating a three-dimensional model of the internal tissue based on the scan data; the three-dimensional model includes a plurality of three-dimensional tissue models in one-to-one correspondence with a plurality of different types of tissue in the internal tissue;
the tissue mechanics model building unit is used for building tissue mechanics models for the three-dimensional tissue models respectively;
the contact force function establishing unit is used for determining a plurality of groups of model groups with adjacent relation based on the three-dimensional model and establishing contact force functions corresponding to the model groups; at least two different types of the three-dimensional tissue models are contained within the model set;
and the internal tissue model generating unit is used for generating the internal tissue model corresponding to the internal tissue according to the three-dimensional model, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model and the contact force function corresponding to all the model groups.
A third aspect of embodiments of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the first aspect.
The construction method of the internal organization model and the terminal equipment provided by the embodiment of the invention have the following beneficial effects:
in the embodiment of the invention, when an internal tissue model is constructed, a three-dimensional model corresponding to an internal tissue is established through scanning data of the internal tissue, and as one internal tissue may contain a plurality of different types of tissues, for example, a heart tissue contains vein tissues, artery tissues, blood tissues, muscle tissues and the like, and the feedback of the different types of tissues is different when the different types of tissues are stressed, in order to improve the accuracy of the internal tissue model, after the three-dimensional model is constructed, corresponding tissue mechanical models are respectively constructed based on the different types of three-dimensional tissue models in the three-dimensional model, and are divided into a plurality of model groups according to whether the different three-dimensional tissue models have adjacent relations or not, corresponding contact force functions are established for the different model groups, so that the effect of force transfer among the different types of tissues can be considered, and based on the three-dimensional model, the tissue mechanical model and the contact force function, the internal tissue model is generated, so that the internal tissue can be simulated and restored in a three-dimensional form, the constructed virtual model can respond to interactive operation, and the simulation degree of the model is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart illustrating an implementation of a method for constructing an internal organizational model according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal organizational model provided in accordance with an embodiment of the invention;
fig. 3 is a flowchart illustrating a specific implementation of the method S102 for constructing an internal organization model according to the second embodiment of the present invention;
fig. 4 is a flowchart illustrating a specific implementation of the method S103 for constructing an internal organization model according to the third embodiment of the present invention;
fig. 5 is a flowchart illustrating a specific implementation of the method S103 for constructing an internal organization model according to a fourth embodiment of the present invention;
FIG. 6 is a flowchart illustrating a method for constructing an internal organizational model according to a fifth embodiment of the present invention;
FIG. 7 is a block diagram of an internal organization model building apparatus according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiment of the invention, when an internal tissue model is constructed, a three-dimensional model corresponding to an internal tissue is established through scanning data of the internal tissue, and as one internal tissue may contain a plurality of different types of tissues, for example, a heart tissue contains vein tissues, artery tissues, blood tissues, muscle tissues and the like, and the feedback of the different types of tissues is different when the different types of tissues are stressed, in order to improve the accuracy of the internal tissue model, after the three-dimensional model is constructed, corresponding tissue mechanical models are respectively constructed based on the different types of three-dimensional tissue models in the three-dimensional model, and are divided into a plurality of model groups according to whether the different three-dimensional tissue models have adjacent relations or not, corresponding contact force functions are established for the different model groups, so that the effect of force transfer among the different types of tissues can be considered, and based on the three-dimensional model, the tissue mechanical model and the contact force function, the method has the advantages that the internal organization model is generated, and the problems that the existing model construction technology only relates to the construction of the three-dimensional model of the internal organization, when the three-dimensional model is interacted, the three-dimensional model cannot respond based on interactive operation, and the reality of virtual simulation is low are solved.
In the embodiment of the present invention, the main execution body of the process is a terminal device, and the terminal device includes but is not limited to: the terminal device comprises a display module, and the rendered internal organization model can be output through the display module. Fig. 1 shows a flowchart of an implementation of the method for constructing an internal organization model according to the first embodiment of the present invention, which is detailed as follows:
in S101, acquiring scan data about an internal tissue of a target object, and generating a three-dimensional model of the internal tissue based on the scan data; the three-dimensional model includes a plurality of three-dimensional tissue models in one-to-one correspondence with a plurality of different types of tissue in the internal tissue.
In this embodiment, before a virtual model of an internal tissue of a target object needs to be constructed, scan data corresponding to the internal tissue may be acquired. The scan data is specifically Computed Tomography (CT) data, which can reflect data of the internal structure of the internal tissue. The scan data may be a frame of CT image, or a plurality of frames of CT images acquired at preset acquisition intervals in continuous time, and of course, if the scan data determines the internal structure of the internal tissue by using other acquisition methods, the scan data is not limited to the CT image, and may also be data in other formats.
The target object may be a physical object such as a human body or an animal; correspondingly, according to the difference of the target objects, the internal organization may also select any one or more internal organizations from the organizations contained in the target objects as the internal organization for constructing the virtual model. For example, if the target object is a human body, the internal tissue may specifically be a heart tissue, a liver tissue, a pancreas tissue, or the like, and the internal tissue model constructed accordingly may specifically be a heart model, a liver model, a pancreas model, or the like.
In a possible implementation manner, the terminal device is externally connected with a scanning device, when a virtual model of an internal organization of a target object needs to be constructed, an area where the internal organization of the target object is located can be scanned through the externally connected scanning device, so that the scanning data is obtained, and the scanning data is transmitted to the terminal device through the established communication connection between the scanning device and the terminal device.
In a possible implementation manner, the user may store the scan data of the internal organization of the virtual model (i.e., the internal organization model) to be constructed in the external memory or the cloud server, in which case, the terminal device may retrieve the scan data corresponding to the internal organization to be constructed from the external memory and the cloud server by establishing a communication connection with the external memory and the cloud server. The terminal device can search corresponding scanning data from an external memory or a cloud server through the data number and retrieve the scanning data to a local memory. Of course, if the terminal device and the scanning device are connected in a communication manner, the scanning device may directly send the scanning data to the terminal device through the established communication link.
In this embodiment, one internal tissue includes different types of tissues, which is described by taking a liver tissue as an example, the liver tissue may include a tissue, a blood vessel tissue, and a blood tissue based on liver cells, and if the internal tissue is a diseased tissue, the internal tissue may further include a stone tissue, a tumor tissue, and the like, the terminal device may determine a plurality of different types of tissues included in the internal tissue through scanning data, construct corresponding three-dimensional tissue models for the different tissues, and then combine and generate the three-dimensional tissue model corresponding to the internal tissue according to a mutual position relationship between the three-dimensional tissue models.
In a possible implementation manner, the terminal device may determine, according to the scan data, size and contour feature data of different types of tissues in the internal tissue, and then the terminal device imports the size and contour feature data into a preset three-dimensional model generation algorithm, so as to output a three-dimensional tissue model corresponding to the type of tissue, and determine a mutual position relationship between different types of tissues from the scan data, so as to combine the three-dimensional tissue models, thereby generating the three-dimensional model corresponding to the internal tissue.
In a possible implementation manner, before S101, the method for constructing the internal organization model may further include: the method comprises the steps that terminal equipment receives a model building instruction initiated by a user; the model building instruction contains the type of the model to be built; if the model type is an interactive model type, executing the operations from S101 to S104; and if the model type is the non-interactive model type, acquiring scanning data about the internal organization of the target object, and generating an internal organization model based on the scanning data without acquiring a related mechanical model.
In S102, a tissue mechanics model is constructed for each of the three-dimensional tissue models.
In this embodiment, since the cells, water content, and the like contained in different types of tissues are different, the difference also exists when the force is applied, for example, muscle tissue is elastic and deformable, the shape changes when the force is applied, and the muscle tissue can be restored to the original state after the force is applied; since bone tissue is not elastic, it is difficult to be deformed when receiving a force, and when deformed, it cannot be restored to its original state, and is likely to be cracked. Based on this, in order to improve the accuracy of the whole internal tissue model in response to the interactive operation, namely, to better fit the actual condition of the visceral tissues and improve the accuracy of the simulation, the terminal device can construct corresponding tissue mechanical models for different types of internal tissues according to the characteristics of the tissue types.
In a possible implementation manner, the terminal device may store mechanical parameters of different tissue types, obtain the mechanical parameters associated with the tissue types from the database according to the tissue types included in the internal tissue, and import the mechanical parameters to a preset native mechanical model, thereby generating a tissue mechanical model corresponding to the tissue types.
For example, if the internal tissue is liver tissue, and the liver tissue may include tissue composed of liver cells, vascular tissue, blood tissue, and tumor tissue, the terminal device may establish a first mechanical model for the tissue composed of liver cells, a second mechanical model for the vascular tissue, a third mechanical model for the blood tissue, and a fourth mechanical model for the tumor tissue.
In a possible implementation manner, different tissue types may be associated with different tissue mechanics templates, and the terminal device may obtain the associated tissue mechanics template according to the tissue type, and introduce the mechanics parameters associated with the tissue type into the tissue mechanics template to generate a corresponding tissue mechanics model. For example, for a blood tissue type belonging to a non-newtonian fluid, the tissue of the type may correspond to one tissue mechanics template, for a tumor tissue type belonging to an elastic tissue type, the tissue of the type may correspond to another tissue mechanics template, and for a bone tissue type belonging to an inelastic tissue type, the tissue of the type may correspond to another tissue mechanics template, so that when the terminal device generates a tissue mechanics model corresponding to a three-dimensional tissue model, the terminal device may obtain the tissue mechanics template corresponding to the three-dimensional tissue model, and introduce the associated mechanical parameters into the tissue mechanics template to generate the tissue mechanics model.
In S103, determining a plurality of groups of model groups with adjacent relation based on the three-dimensional model, and establishing a contact force function corresponding to each model group; at least two different types of the three-dimensional tissue models are contained within the model set.
In this embodiment, the terminal device may divide the three-dimensional tissue models having an adjacent relationship into the same model group according to the mutual position relationship of the respective three-dimensional tissue models in the three-dimensional model, so that all the three-dimensional tissue models included in all the three-dimensional models can be divided into a plurality of model groups, that is, two or more three-dimensional tissue models having an adjacent relationship are included in one model group. It should be noted that, since any three-dimensional tissue model can have a neighboring relationship with a plurality of other different three-dimensional tissue models, in this case, a three-dimensional tissue model may be included in different model groups, for example, if the liver tissue includes three types of tissues, which are liver cell tissue, blood vessel tissue and blood tissue, wherein the blood vessel tissue is adjacent to the blood tissue, so that the above-mentioned two types of three-dimensional tissue models can be divided into a first model group, and the vascular tissue is adjacent to the liver cell tissue, the two types of three-dimensional tissue models can be divided into a second model group, therefore, the first model group and the second model group both comprise three-dimensional tissue models corresponding to the vascular tissues, that is, one three-dimensional tissue model may appear in a plurality of model groups at the same time, and is determined according to the corresponding adjacent relationship.
In some existing internal tissue model construction technologies, when an internal tissue model is constructed, taking a liver tissue model as an example, three-dimensional tissue models including a liver tissue parenchyma, a blood vessel and an envelope are established, then deformation characteristics of the three parts are combined to form a composite deformation model of a liver of a target object, for mechanical properties of the liver tissue parenchyma, a co-rotation finite element modeling method is adopted for analysis modeling, but viscoelasticity characteristics of organ tissues are ignored, and similarly, the blood vessel and the liver envelope are also established by the co-rotation finite element modeling method, so that the existing construction technologies do not consider the effect of coupling force between tissues of different types.
In other existing internal tissue model construction technologies, in the aspect of liver soft tissue deformation modeling, a construction method of a liver grid and grid-free mixed model is provided aiming at the problem that the simulation calculation amount is large and the real-time requirement is difficult to achieve. However, this method only uses a unified mechanical model for the whole liver, and does not clearly determine the anisotropy of different tissues in the liver, however, the mechanical models of different tissue types often have differences and can be generalized. A finite element analysis modeling method is carried out on the liver soft tissue, a super-viscoelasticity model of the liver tissue is established by combining the characteristics of super-elasticity and a viscoelasticity model, the stress characteristic of the liver is simulated, and a mass spring method reflecting the non-linear viscoelasticity characteristic of the liver soft tissue based on a liver puncture operation and a soft tissue deformation modeling method based on the combination of position dynamics are provided. The methods ignore the complex biomechanical characteristics of different tissues of the liver to a certain extent, thereby reducing the simulation degree of the model.
In this embodiment, since the established tissue mechanics model only considers the performance of the model itself when being stressed, and there is a force effect between different types of tissues in one internal tissue, the coupling acting force between different types of tissues needs to be considered, so that the simulation degree of the model can be further improved.
In a possible implementation manner, the terminal device may store a contact force database, in which contact force functions between different types of tissues may be stored, and the terminal device may search, according to the type of the three-dimensional tissue model included in the model group, the contact force function corresponding to the contact force function from the contact force database, and use the contact force function as the contact force function corresponding to the model group.
In a possible implementation manner, the terminal device may also obtain mechanical parameters corresponding to each type of tissue of the target object, and determine a contact force function between different types of tissues based on the mechanical parameters, and use the contact force function as the contact force function corresponding to the model group.
In S104, an internal tissue model corresponding to the internal tissue is generated according to the three-dimensional model, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model, and the contact force function corresponding to all the model groups.
In this embodiment, after determining the three-dimensional model corresponding to the internal tissue, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model, and the contact force function corresponding to the model group, the terminal device may fuse and combine the three types of data to form an internal tissue model that can change the state of the model based on the interactive operation.
In a possible implementation manner, the internal tissue model can change the shape of the internal tissue model according to the interaction operation, and can also automatically change the shape of the internal tissue model according to the internal force, for example, food enters the stomach tissue when the stomach tissue model simulates the digestion process, and the stomach tissue performs corresponding movement during the digestion process, so that the stomach tissue model can also change the shape of the stomach tissue model according to a preset tissue mechanics model and a contact force function between different types of tissues to simulate the change of the stomach tissue during the digestion process, and of course, for the heart tissue model, the change of the beating heart can also be simulated in the above manner.
Illustratively, fig. 2 shows a schematic diagram of an internal organizational model provided by an embodiment of the present application. Referring to fig. 2 (a) - (c), the internal tissue model is specifically a liver tissue model, and fig. 2 (a) - (c) specifically show the change of the liver tissue model when external force is applied, and the change range and the change speed of the appearance of the liver tissue model are determined according to the tissue mechanics model and the contact force function.
In a possible implementation manner, after S104, the terminal device may construct an operation script related to the internal organization, where the operation script includes at least one preset event, and the internal organization model may dynamically adjust a form of the internal organization model based on a corresponding preset event in the operation script, where the adjusted form is determined according to a preset tissue mechanical model and a contact force function. As described above, the preset event may be an event corresponding to different configurations of internal tissues, such as a heart tissue, a heartbeat event, a digestion event, and the like; of course, if it is required to observe the state of the internal tissue when encountering an abnormal event, the preset event may also be a corresponding abnormal event, for example, for a cardiac tissue, the abnormal event may be an atrial fibrillation event, that is, a heart tissue model is used to simulate a beating change of a heart when a user encounters an atrial fibrillation event.
As can be seen from the above, when the internal tissue model is constructed, the three-dimensional model corresponding to the internal tissue is constructed according to the scan data of the internal tissue, since one internal tissue may include a plurality of different types of tissues, for example, the cardiac tissue includes venous tissue, arterial tissue, blood tissue, muscle tissue, etc., and the feedback of the different types of tissues is different when the different types of tissues are stressed, in order to improve the accuracy of the internal tissue model, after the three-dimensional model is constructed, the corresponding tissue mechanical models are constructed respectively based on the different types of three-dimensional tissue models in the three-dimensional model, and are divided into a plurality of model groups according to whether the different three-dimensional tissue models have adjacent relations, the corresponding contact force functions are established for the different model groups, and the effect of force transfer between the different types of tissues can be considered, the internal tissue model is generated based on the three-dimensional model, the tissue mechanics model and the contact force function, so that the internal tissue can be simulated and restored in a three-dimensional form, the constructed virtual model can respond to interactive operation, and the simulation degree of the model is improved.
Fig. 3 is a flowchart illustrating a specific implementation of the internal organization model building method S102 according to the second embodiment of the present invention. Referring to fig. 3, with respect to the embodiment described in fig. 1, in the method for constructing an internal tissue model provided in this embodiment, S102 includes: s1021 to S1023 are described in detail as follows:
further, the constructing a tissue mechanics model for each of the three-dimensional tissue models respectively includes:
in S1021, if the type of the three-dimensional tissue model is a non-blood type, constructing a first tissue mechanics model of the three-dimensional tissue model of the non-blood type based on a preset finite element equation; the first mechanical model is specifically as follows:
MU″+DU′+K(U)U＝R
wherein U is a node displacement vector; u' is the first derivative of the node displacement vector; u' is the second derivative of the node displacement vector; m is a quality matrix; d is a damping matrix; k is a rigidity matrix which is nonlinearly related to deformation; r is the node force vector.
In this embodiment, the terminal device may configure corresponding mechanical templates for different types of three-dimensional tissue models, so as to construct corresponding tissue mechanical models. Specifically, the three-dimensional tissue model can be divided into two different types, i.e., a three-dimensional tissue model of a blood tissue type and a three-dimensional tissue model of a non-blood tissue type, depending on whether it is a blood type or not. If the three-dimensional tissue model is of a blood tissue type, the three-dimensional tissue model is a non-Newtonian fluid and is in a non-solid shape, and the mechanical relationship of the model cannot be determined by a finite element segmentation method, so that a mechanical template of one type is required to be adopted to construct a tissue mechanical model; if the three-dimensional tissue model is of a non-blood type, the three-dimensional tissue model is specifically of a solid shape, and the mechanical relationship of the model can be determined by a finite element segmentation method, so that another type of mechanical template can be adopted to construct the tissue mechanical model, on the basis, the terminal device can firstly judge whether the three-dimensional tissue model is of a blood type, and if not, the operation of S1021 is executed; if yes, the operation of S1022 is performed.
In this embodiment, if the terminal device detects that any three-dimensional tissue model is a non-blood type, the tissue mechanical model corresponding to the three-dimensional tissue model may be constructed by using a finite element equation, wherein the terminal device may obtain related physical parameters, such as a mass parameter, an elastic parameter, a damping parameter, and a stiffness parameter corresponding to the three-dimensional tissue model, and determine a deformation magnitude (i.e., related to the displacement vector) corresponding to the applied force, a deformation response rate (i.e., related to a first derivative of the displacement vector, where the first derivative of the displacement vector is a velocity), and a deformation response acceleration (i.e., related to a second derivative of the displacement vector) corresponding to the applied force, and of course, the terminal device may also construct the damping matrix by obtaining a damping parameter corresponding to the internal tissue, and construct the stiffness parameter according to the internal tissue, and constructing a rigidity matrix and the like of the internal tissues, constructing to obtain a corresponding matrix based on the physical parameters of the internal tissues, introducing the matrix into the finite element equation, and taking the finite element equation obtained by construction as a first tissue mechanical model corresponding to the three-dimensional tissue model.
In a possible implementation manner, the terminal device may obtain elastic image data corresponding to the internal tissue through an elastography principle, and obtain physical parameters corresponding to the internal tissue based on the elastic image data, where the physical parameters include the above-mentioned various parameters, and may further include an elastic modulus, a poisson's ratio, and the like.
In S1022, if the type of the three-dimensional tissue model is a blood type, constructing a second tissue mechanics model of the three-dimensional tissue model of the blood type based on a preset fluid mechanics constitutive equation; the second mechanical model is specifically as follows:
wherein u is the velocity of the blood in the axial direction; r is the displacement vector of the blood in the axial direction; tau iscK is the viscosity coefficient of the non-Newtonian fluid for pressure.
In this embodiment, if the terminal device detects that any three-dimensional tissue model is of a blood type, a tissue mechanical model corresponding to the three-dimensional tissue model, that is, a second tissue mechanical model, may be constructed through a fluid mechanical constitutive equation. The terminal device can obtain the viscosity of blood so as to determine the viscosity coefficient of the non-Newtonian fluid, determine the flow velocity of the blood in the blood vessel, namely the axial velocity, by obtaining a blood pressure index, and determine a displacement vector, and the pressure can also be determined by the blood pressure and the viscosity coefficient, so that a second tissue mechanics model of a three-dimensional tissue model related to the blood type is constructed.
In a possible implementation manner, the terminal device may store a parameter library, the parameter library may record a mechanical parameter list corresponding to different types of tissues, the mechanical parameter list may include mechanical parameters of different object types, for example, the mechanical parameter list may record mechanical parameters corresponding to the same type of tissue for different ages, sexes, weights, and heights, and form a mechanical parameter list related to the type of tissue. The mechanical parameters can be obtained by collecting a large number of object samples, the terminal device can obtain object information of the target object, inquire the mechanical parameters related to the object information from the mechanical parameter list based on the object information, and construct and obtain the corresponding tissue mechanical model based on the mechanical parameters.
In a possible implementation manner, the terminal device may further construct, in a big data learning manner, corresponding mechanical parameter calculation functions for different types of tissues, and in this case, the terminal device may import the object information of the target object into the mechanical parameter calculation functions, and may output the mechanical parameters of the type of tissues related to the object information. The object information may include information such as an age, a weight, a height, and a sex of the object.
In the embodiment of the application, the corresponding tissue mechanics models are constructed by adopting different equations according to different types of the three-dimensional tissue models, so that the accuracy of the construction of the tissue mechanics models can be improved, and the simulation degree of the subsequent visceral tissue models is further improved.
Fig. 4 shows a flowchart of a specific implementation of the method S103 for constructing an internal organization model according to the third embodiment of the present invention. Referring to fig. 4, with respect to the embodiment shown in fig. 1, the method S103 for constructing an internal tissue model provided in this embodiment includes S401 to S402, which are detailed as follows:
further, the determining a plurality of sets of models having an adjacent relationship based on the three-dimensional model and establishing a contact force function corresponding to each of the sets of models includes:
in S401, if the model group includes a blood tissue model and a blood vessel tissue model, a mechanical physical parameter corresponding to the blood vessel tissue model and a distance value between the blood vessel tissue model and the blood tissue model are obtained.
In this embodiment, if the terminal device detects that the three-dimensional tissue models included in a certain model group are blood tissue models and blood vessel tissue models, it may obtain the mechanical physical parameters corresponding to the blood vessel tissue models and the distance values between the blood and the blood vessels, where, because there may be substances such as blood vessel walls and blood vessel membranes between the blood and the blood vessels, that is, there may be a certain distance between the blood and the blood vessel tissues, and the magnitude of the contact force may also be different according to the difference in the distance, the terminal device may determine the distance values between the blood tissue models and the blood vessel tissue models through the three-dimensional models of the internal tissues.
It should be noted that, if the parameters are already obtained when the tissue mechanical model is constructed, only the relevant parameters need to be directly extracted in S401, and re-obtaining is not needed; on the contrary, if the relevant parameters (i.e., the mechanical physical parameters and the viscosity system) are not obtained when the tissue mechanical model is constructed, the parameters can be determined by the elasticity image data obtained based on the elasticity imaging principle and the three-dimensional model constructed in S101.
In S402, constructing a first contact force function between the blood tissue model and the vascular tissue model based on the mechanical physical parameter and the distance value;
wherein, the first and the second end of the pipe are connected with each other,
a first contact force between the blood tissue model and the blood vessel tissue model; gamma is a preset penalty factor; k is the mechanical physical parameter corresponding to the blood vessel tissue model; δ is the distance value between the blood tissue model and the blood vessel tissue model; and r is the displacement vector of the blood in the axial direction.
In this embodiment, since the blood vessel tissue model is a model constructed based on finite element segmentation, and the blood tissue model is a model constructed based on infinite elements, the interaction force between the finite elements and the infinite elements can determine the contact force therebetween through a penalty function, and the mechanical physical parameters corresponding to the blood vessel tissue model and the acquired distance values are introduced into the penalty function, so that a calculation function of the contact force between blood and the blood vessel, i.e., the first contact force function, can be constructed. Wherein e is a natural constant.
In the embodiment of the application, the contact force function between the solid tissue and the fluid tissue is determined through the penalty function, so that the interaction force between the solid tissue and the fluid tissue can be more accurately described, the accuracy of description of the coupling force between different types of tissues is improved, and the simulation degree of a subsequent constructed model is further improved.
Fig. 5 is a flowchart illustrating a specific implementation of the method S103 for constructing an internal organization model according to a fourth embodiment of the present invention. Referring to fig. 5, with respect to the embodiment shown in fig. 1, the method S103 for constructing an internal tissue model provided in this embodiment includes: S501-S504 are detailed as follows:
further, the determining a plurality of sets of models having an adjacent relationship based on the three-dimensional model and establishing a contact force function corresponding to each of the sets of models includes:
in S501, if the three-dimensional tissue models included in the model group are all non-blood tissue models, the elasticity imaging data corresponding to the three-dimensional tissue models of different types are respectively obtained.
In this embodiment, if the terminal device identifies that all three-dimensional tissue models in the model group are non-blood tissue models, that is, all three-dimensional tissue models are solid-state tissues, in this case, the elastography data corresponding to all three-dimensional tissue models may be acquired. It should be noted that the above-mentioned elastography data may be acquired in advance, that is, when acquiring the scan data of the internal tissue, the elastography data of the internal tissue may be acquired through the elastography program module, and when needing to construct the internal tissue model of the target object, the scan data and the elastography data are sent to the terminal device. Of course, the scan data and the elastography data may be acquired non-simultaneously, and the timing of acquiring the elastography data is not limited herein.
In one possible implementation, the elastography data of different types of three-dimensional tissue models may be acquired simultaneously, i.e. corresponding to the same elastography image. In this case, the terminal device may divide the elastography image into a plurality of data blocks according to a display area corresponding to each three-dimensional tissue model in the elastography image, and use the data blocks obtained from the elastography image as the elastography data corresponding to the three-dimensional tissue model.
In S502, a corresponding mechanical physical parameter of the three-dimensional tissue model is determined based on the elastography data.
In this embodiment, the terminal device may analyze the elastography data, so as to extract the corresponding mechanical and physical parameters of the three-dimensional tissue model. The mechanical physical parameters may include: elasticity parameters, poisson's ratio, etc.
In S503, a plurality of consecutive frames of the scan data of the internal tissue are obtained, and coupling parameters between different types of the three-dimensional tissue models are determined.
In this embodiment, the terminal device needs to determine the mechanical physical parameters related to each three-dimensional tissue model itself, and also needs to determine the coupling parameters therebetween, and the coupling parameters therebetween can be determined and obtained through the continuous scan data.
Further, as another embodiment of the present application, the step S503 may specifically include the following two steps, respectively:
s5031, determining tissue section data corresponding to the three-dimensional tissue models including different types in the model group from the scan data.
S5032, obtaining the coupling parameter based on the tissue section data in the continuous multiframe scanning data.
In this embodiment, as the scanning data specifically corresponds to the whole internal tissue, when it is required to determine the contact force functions corresponding to different types of three-dimensional tissue models corresponding to the model group, the scanning data may be extracted to only include tissue section data corresponding to the three-dimensional tissue model related to the model group, and for multiple frames of scanning data, the tissue section data is extracted in the same manner, so that the coupling parameters corresponding to different three-dimensional tissue models in the model group may be determined according to the tissue section data of consecutive multiple frames.
In S504, a second contact force function corresponding to the model set is constructed based on the mechanical physical parameter and the coupling action parameter.
In this embodiment, after determining the mechanical and physical parameters of the three-dimensional tissue models of different types and the coupling parameters therebetween, the terminal device may import a preset contact force template between solid tissues, so as to generate the second contact force function.
In the embodiment of the application, the second contact force function corresponding to the model group is constructed and obtained by acquiring the mechanical physical parameters related to the three-dimensional tissue model and the coupling parameters of the three-dimensional tissue models among different types, so that the characteristics of the tissues and the mutual adhesive force can be considered, the description accuracy of the second contact force function is improved, and the simulation degree of the constructed model is further improved.
Fig. 6 is a flowchart illustrating a specific implementation of a method for constructing an internal tissue model according to a fifth embodiment of the present invention. Referring to fig. 6, with respect to any one of the embodiments in fig. 1 to 5, the method for constructing an internal tissue model according to this embodiment further includes, after the generating an internal tissue model corresponding to the internal tissue according to the three-dimensional model, a tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model, and the contact force function corresponding to all the model groups: s601 to S602 are specifically described as follows:
after the generating an internal tissue model corresponding to the internal tissue according to the three-dimensional model, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model, and the contact force function corresponding to all the model groups, the method further includes:
in S601, surgical procedure information about the internal tissue is acquired, and a surgical simulation script corresponding to the surgical procedure information is generated.
In this embodiment, after the terminal device generates the internal tissue model corresponding to the internal tissue, the terminal device may perform an operation of surgery simulation, that is, simulate a change condition of the internal tissue during a surgery, so as to achieve a purpose of surgery simulation. Based on this, the user can configure corresponding operation flow information in advance, and the operation flow information can determine each step required to be executed in the operation process, the interaction position of each step, the magnitude of the interaction force, the magnitude of the basal plane between internal tissues and the like.
In this embodiment, after obtaining the surgical procedure information created by the user, the terminal device may convert the procedure information into a corresponding surgical simulation script, so as to simulate the surgical procedure.
In S602, a surgery simulation environment is constructed based on the internal tissue model, and the surgery simulation script is run in the surgery simulation environment to generate a simulation result report.
In this embodiment, the terminal device may build a corresponding operation simulation environment based on the built internal tissue model, and run the operation simulation script in the operation simulation environment, so as to perform simulation on the operation process and generate a simulation result report corresponding to the whole operation process, so that the user can clearly determine the whole operation effect.
In a possible implementation manner, the terminal device may construct a corresponding surgical simulation environment based on the internal tissue model, receive an initiated interactive operation of the user, and change the state of the internal tissue model in the surgical simulation environment based on the interactive operation, so as to achieve the purpose of simulating the surgery in real time.
In the embodiment of the application, the operation simulation environment is constructed through the constructed interactive internal tissue model, the operation simulation can be realized, the corresponding simulation result report is output, the operation simulation can be conveniently performed before the operation by a user, and the simulation degree of the operation simulation is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 7 is a block diagram illustrating a structure of an internal organization model building apparatus according to an embodiment of the present invention, where the terminal device includes units for performing the steps in the corresponding embodiment of fig. 1. Please refer to fig. 1 and fig. 1 for the corresponding description of the embodiment. For convenience of explanation, only the portions related to the present embodiment are shown.
Referring to fig. 7, the internal tissue model constructing apparatus includes:
a three-dimensional model construction unit 71 for acquiring scan data on an internal tissue of a target object and generating a three-dimensional model of the internal tissue based on the scan data; the three-dimensional model includes a plurality of three-dimensional tissue models in one-to-one correspondence with a plurality of different types of tissue in the internal tissue;
a tissue mechanics model constructing unit 72, configured to construct a tissue mechanics model for each of the three-dimensional tissue models, respectively;
a contact force function establishing unit 73, configured to determine multiple groups of model groups having an adjacent relationship based on the three-dimensional model, and establish a contact force function corresponding to each of the model groups; at least two different types of the three-dimensional tissue models are contained within the model set;
an internal tissue model generating unit 74, configured to generate an internal tissue model corresponding to the internal tissue according to the three-dimensional model, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model, and the contact force function corresponding to all the model groups.
Optionally, the tissue mechanics model building unit 72 includes:
the non-blood type mechanical model building unit is used for building a first tissue mechanical model of the non-blood type three-dimensional tissue model based on a preset finite element equation if the type of the three-dimensional tissue model is a non-blood type; the first mechanical model is specifically as follows:
MU″+DU′+K(U)U＝R
wherein U is a node displacement vector; u' is the first derivative of the node displacement vector; u' is the second derivative of the node displacement vector; m is a quality matrix; d is a damping matrix; k is a rigidity matrix which is nonlinearly related to deformation; r is a node force vector;
the blood type mechanical model building unit is used for building a second tissue mechanical model of the three-dimensional tissue model of the blood type based on a preset fluid mechanics constitutive equation if the type of the three-dimensional tissue model is the blood type; the second mechanical model is specifically as follows:
wherein u is the velocity of the blood in the axial direction; r is the displacement vector of the blood in the axial direction; tau iscK is the viscosity coefficient of the non-Newtonian fluid for pressure.
Optionally, the contact force function establishing unit 73 includes:
the blood vessel parameter acquisition unit is used for acquiring mechanical physical parameters corresponding to the blood vessel tissue model and acquiring a distance value between the blood vessel tissue model and the blood vessel tissue model if the model group contains the blood tissue model and the blood vessel tissue model;
a first contact force function establishing unit for establishing a first contact force function between the blood tissue model and the vascular tissue model based on the mechanical physical parameter and the distance value;
wherein the content of the first and second substances,
a first contact force between the blood tissue model and the blood vessel tissue model; gamma is a preset penalty factor; k is the mechanical physical parameter corresponding to the blood vessel tissue model; delta is between the blood tissue model and the blood vessel tissue modelThe distance value of (a); and r is the displacement vector of the blood in the axial direction.
Optionally, the contact force function establishing unit 73 includes:
the elastic imaging data acquisition unit is used for respectively acquiring elastic imaging data corresponding to different types of three-dimensional tissue models if the three-dimensional tissue models contained in the model group are non-blood tissue models;
the mechanical physical parameter acquisition unit is used for determining the mechanical physical parameters corresponding to the three-dimensional tissue model based on the elastic imaging data;
the coupling action parameter determining unit is used for acquiring continuous multi-frame scanning data of the internal tissue and determining coupling action parameters among the three-dimensional tissue models of different types;
and the second contact force function construction unit is used for constructing a second contact force function corresponding to the model group based on the mechanical physical parameters and the coupling action parameters.
Optionally, the coupling action parameter determining unit includes:
a tissue section data acquisition unit, configured to determine tissue section data corresponding to the three-dimensional tissue models of different types in the model group from the scan data;
and the coupling action parameter extraction unit is used for obtaining the coupling action parameter based on the tissue section data in the continuous multiframe scanning data.
Optionally, the internal tissue model building apparatus further includes:
the surgical simulation script generating unit is used for acquiring surgical procedure information about the internal tissues and generating a surgical simulation script corresponding to the surgical procedure information;
and the operation simulation execution unit is used for constructing an operation simulation environment based on the internal tissue model, running the operation simulation script in the operation simulation environment and generating a simulation result report.
Optionally, the internal organization comprises: liver tissue and/or heart tissue.
Therefore, the terminal device provided by the embodiment of the present invention may also establish a three-dimensional model corresponding to an internal tissue by scanning data of the internal tissue when constructing the internal tissue model, since one internal tissue may include a plurality of different types of tissues, for example, a cardiac tissue includes a vein tissue, an artery tissue, a blood tissue, a muscle tissue, etc., and different types of tissues have different feedbacks when being subjected to a force, in order to improve the accuracy of the internal tissue model, after constructing the three-dimensional model, corresponding tissue mechanical models are respectively constructed based on the different types of three-dimensional tissue models in the three-dimensional model, and are divided into a plurality of model groups according to whether the different three-dimensional tissue models have an adjacent relationship, corresponding contact force functions are established for the different model groups, and the effect of force transfer between the different types of tissues can be considered, the internal tissue model is generated based on the three-dimensional model, the tissue mechanics model and the contact force function, so that the internal tissue can be simulated and restored in a three-dimensional form, the constructed virtual model can respond to interactive operation, and the simulation degree of the model is improved.
Fig. 8 is a schematic diagram of a terminal device according to another embodiment of the present invention. As shown in fig. 8, the terminal device 8 of this embodiment includes: a processor 80, a memory 81 and a computer program 82, such as a building program of an internal organizational model, stored in said memory 81 and executable on said processor 80. The processor 80, when executing the computer program 82, implements the steps in the above-described embodiments of the method for constructing an internal tissue model, for example, S101 to S104 shown in fig. 1. Alternatively, the processor 80, when executing the computer program 82, implements the functions of the units in the device embodiments described above, such as the functions of the modules 71 to 74 shown in fig. 7.
Illustratively, the computer program 82 may be divided into one or more units, which are stored in the memory 81 and executed by the processor 80 to accomplish the present invention. The unit or units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 82 in the terminal device 8. For example, the computer program 82 may be divided into a three-dimensional model building unit, a tissue mechanics model building unit, a contact force function building unit, and an internal tissue model generation unit, each of which functions as described above.
The terminal device may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of a terminal device 8 and does not constitute a limitation of terminal device 8 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 81 may be an internal storage unit of the terminal device 8, such as a hard disk or a memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the terminal device 8. The memory 81 is used for storing the computer program and other programs and data required by the terminal device. The memory 81 may also be used to temporarily store data that has been output or is to be output.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method for constructing an internal tissue model, comprising:
acquiring scan data regarding an internal tissue of a target object and generating a three-dimensional model of the internal tissue based on the scan data; the three-dimensional model includes a plurality of three-dimensional tissue models in one-to-one correspondence with a plurality of different types of tissue in the internal tissue;
respectively constructing a tissue mechanics model for each three-dimensional tissue model;
determining a plurality of groups of model groups with adjacent relation based on the three-dimensional model, and establishing contact force functions corresponding to the model groups; at least two different types of the three-dimensional tissue models are contained within the model set;
and generating an internal tissue model corresponding to the internal tissue according to the three-dimensional model, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model and the contact force function corresponding to all the model groups.
2. The construction method according to claim 1, wherein the constructing a tissue mechanics model for each of the three-dimensional tissue models comprises:
if the type of the three-dimensional tissue model is a non-blood type, constructing a first tissue mechanics model of the three-dimensional tissue model of the non-blood type based on a preset finite element equation; the first tissue mechanics model is specifically:
MU″+DU′+K(U)U＝R
wherein U is a node displacement vector; u' is the first derivative of the node displacement vector; u' is the second derivative of the node displacement vector; m is a quality matrix; d is a damping matrix; k is a rigidity matrix which is nonlinearly related to deformation; r is a node force vector;
if the type of the three-dimensional tissue model is a blood type, constructing a second tissue mechanics model of the three-dimensional tissue model of the blood type based on a preset fluid mechanics constitutive equation; the second tissue mechanics model is specifically as follows:
wherein u is the velocity of the blood in the axial direction; r is the displacement vector of the blood in the axial direction; tau iscK is the viscosity coefficient of the non-Newtonian fluid for pressure.
3. The construction method according to claim 1, wherein the determining multiple sets of model sets having adjacent relations based on the three-dimensional model and establishing a contact force function corresponding to each model set comprises:
if the model group comprises a blood tissue model and a blood vessel tissue model, acquiring mechanical physical parameters corresponding to the blood vessel tissue model and acquiring a distance value between the blood vessel tissue model and the blood tissue model;
constructing a first contact force function between the blood tissue model and the vascular tissue model based on the mechanical physical parameter and the distance value;
fe d＝γk'r1/2‖δ‖3/2e
wherein，fe dA first contact force between the blood tissue model and the blood vessel tissue model; gamma is a preset penalty factor; k' is the mechanical physical parameter corresponding to the vascular tissue model; δ is the distance value between the blood tissue model and the blood vessel tissue model; and r is the displacement vector of the blood in the axial direction.
4. The construction method according to claim 1, wherein the determining multiple sets of model sets having adjacent relations based on the three-dimensional model and establishing a contact force function corresponding to each model set comprises:
if the three-dimensional tissue models contained in the model group are non-blood tissue models, respectively acquiring elastic imaging data corresponding to the three-dimensional tissue models of different types;
determining mechanical physical parameters corresponding to the three-dimensional tissue model based on the elastography data;
acquiring continuous multiframe scanning data of the internal tissue, and determining coupling action parameters among different types of three-dimensional tissue models;
and constructing a second contact force function corresponding to the model set based on the mechanical physical parameters and the coupling action parameters.
5. The method for constructing according to claim 4, wherein obtaining the plurality of consecutive frames of the scan data of the internal tissue and determining the coupling parameters between the three-dimensional tissue models of different types comprises:
determining tissue section data corresponding to the three-dimensional tissue models containing different types in the model group from the scanning data;
and obtaining the coupling action parameter based on the tissue section data in the continuous multi-frame scanning data.
6. The method of constructing according to any one of claims 1-5, further comprising, after the generating the internal tissue model corresponding to the internal tissue according to the three-dimensional model, the tissue mechanical model corresponding to each of the three-dimensional tissue models in the three-dimensional model, and the contact force function corresponding to all the model groups:
acquiring surgical procedure information about the internal tissue and generating a surgical simulation script corresponding to the surgical procedure information;
and constructing an operation simulation environment based on the internal tissue model, operating the operation simulation script in the operation simulation environment, and generating a simulation result report.
7. The construction method according to any one of claims 1 to 3, wherein the internal organization comprises: liver tissue and/or heart tissue.
8. An internal tissue model construction device, comprising:
a three-dimensional model construction unit for acquiring scan data regarding an internal tissue of a target object and generating a three-dimensional model of the internal tissue based on the scan data; the three-dimensional model includes a plurality of three-dimensional tissue models in one-to-one correspondence with a plurality of different types of tissue in the internal tissue;
the tissue mechanics model building unit is used for building tissue mechanics models for the three-dimensional tissue models respectively;
the contact force function establishing unit is used for determining a plurality of groups of model groups with adjacent relation based on the three-dimensional model and establishing contact force functions corresponding to the model groups; at least two different types of the three-dimensional tissue models are contained within the model set;
and the internal tissue model generating unit is used for generating the internal tissue model corresponding to the internal tissue according to the three-dimensional model, the tissue mechanical model corresponding to each three-dimensional tissue model in the three-dimensional model and the contact force function corresponding to all the model groups.
9. A terminal device, characterized in that the terminal device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executing the computer program with the steps of the method according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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