CN113516623A

CN113516623A - Puncture path checking method and device, computer equipment and readable storage medium

Info

Publication number: CN113516623A
Application number: CN202110440930.9A
Authority: CN
Inventors: 汪国强; 张旭; 方伟
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-04-23
Filing date: 2021-04-23
Publication date: 2021-10-19

Abstract

The application relates to a puncture path checking method, a puncture path checking device, computer equipment and a readable storage medium. The method comprises the steps of receiving a first operation of a user on a target medical image, responding to the first operation, and determining a puncture target point; receiving a second operation of the user on the target medical image, and outputting a puncture path based on a puncture target point; and verifying the puncture path and outputting a verification result of the puncture path. The puncture path checking method has high practicability and convenience.

Description

Puncture path checking method and device, computer equipment and readable storage medium

Technical Field

The present application relates to the field of medical technology, and in particular, to a puncture path verification method, apparatus, computer device, and readable storage medium.

Background

Puncture surgery is widely applied to various surgical scenes, such as puncture biopsy, tumor ablation and the like, and the surgery is a basic process of pathological diagnosis and treatment. Planning a puncture path based on a pre-operative CT image is very important for a puncture operation.

In the traditional technology, based on a CT image before an operation, a doctor selects a proper target point and an appropriate needle inserting point position according to richer clinical experience, and plans a puncture path. However, in the process of planning the puncture path in the conventional technology, whether the planned puncture path is effective or not cannot be prompted in real time, and the practicability is low.

Disclosure of Invention

In view of the above, it is necessary to provide a puncture path verification method, apparatus, computer device and readable storage medium for solving the above technical problems.

In a first aspect, an embodiment of the present application provides a puncture path checking method, including:

receiving a first operation of a user on a target medical image, and determining a puncture target point in response to the first operation;

receiving a second operation of the user on the target medical image, and responding to the second operation to output a puncture path based on a puncture target point;

and verifying the puncture path and outputting a verification result of the puncture path.

In one embodiment, receiving a first operation of a user on a target medical image, and determining a target puncture point in response to the first operation includes:

and determining an action point of the first operation on the target medical image, and determining a puncture target point according to the action point.

In one embodiment, receiving a second operation of the user on the target medical image, and outputting a puncture path based on the puncture target point in response to the second operation includes:

determining an action point of the second operation on the target medical image, and determining a reference point according to the action point;

determining a reference path based on the puncture target point and the reference point;

and processing the reference path according to the needle insertion point calculation algorithm to generate a puncture path.

In one embodiment, the method further comprises:

receiving a third operation of the user on the target medical image when the verification result of the puncture path is failed; the third operation is to update the reference point to determine a new reference path according to the updated reference point.

determining an action path of a second operation on the target medical image, and determining a reference path according to the action path;

In one embodiment, the method further comprises:

when the verification result of the puncture path is passed, receiving a fourth operation of the user on the target medical image; a fourth operation for confirming the reference path;

receiving a fifth operation of the user on the target medical image when the verification result of the puncture path is failed; and a fifth operation for updating the reference path based on the puncture target point to determine a new puncture path according to the updated reference path.

In one embodiment, outputting the verification result of the puncture path includes:

if the verification result of the puncture path is that the puncture path passes, displaying that the puncture path is in a first color;

and if the verification result of the puncture path is that the puncture path does not pass, displaying that the puncture path is in a second color.

In one embodiment, verifying the puncture path comprises:

judging whether the puncture path contains interference characteristics and whether the puncture parameters of the puncture path meet preset conditions;

if the puncture path does not contain the interference features and/or the puncture parameters of the puncture path meet the preset conditions, determining that the puncture path passes the verification; otherwise, determining that the puncture path fails to pass the verification.

In one embodiment, determining whether the puncture path contains an interference feature comprises:

selecting a point with a preset distance from a puncture target point in a puncture path as a check point;

acquiring a voxel pixel value of the check point in a preset neighborhood, and judging whether the voxel pixel value is equal to a preset threshold value or not;

if so, determining that the puncture path contains the interference feature;

and if not, updating the check points in the puncture path until the voxel pixel values of all the check points in the puncture path in the preset neighborhood are not equal to the preset threshold value, and determining that the puncture path does not contain the interference features.

In one embodiment, the preset condition includes a preset length threshold and a preset angle threshold, and the determining whether the puncture parameter of the puncture path satisfies the preset condition includes:

determining the puncture length and/or puncture angle of the puncture path;

judging whether the puncture length is smaller than a preset length threshold value and/or judging whether the puncture angle is smaller than or equal to a preset angle threshold value;

if the puncture length is smaller than the preset length threshold value and/or the puncture angle is smaller than or equal to the preset angle threshold value, determining that the puncture parameter of the puncture path meets the preset condition, otherwise, determining that the puncture parameter of the puncture path does not meet the preset condition.

In one embodiment, the preset angle threshold comprises: first preset angle threshold and second preset angle threshold, the angle of puncture includes first mapping angle and second mapping angle, judges whether the angle of puncture is less than or equal to and predetermines the angle threshold, include:

determining a needle entering point according to a puncture path, and taking a line segment formed after the puncture path passes through the needle entering point as a puncture needle;

taking an included angle between a projection of the puncture needle on a first plane and a preset normal line as a first mapping angle, wherein the first plane is a plane perpendicular to the preset normal line in a first direction;

judging whether the first mapping angle is smaller than or equal to a first preset angle threshold value or not;

taking an included angle between the projection of the puncture needle on a second plane and the preset normal line as a second mapping angle, wherein the second plane is a plane which is perpendicular to the preset normal line in a second direction;

and judging whether the second mapping angle is smaller than or equal to a second preset angle threshold value or not.

In a second aspect, an embodiment of the present application provides a puncture path verifying apparatus, including:

the puncture target point determining module is used for receiving a first operation of a user on the target medical image and determining a puncture target point in response to the first operation;

the puncture path determining module is used for receiving a second operation of the user on the target medical image and responding to the second operation to output a puncture path based on a puncture target point;

and the checking module is used for checking the puncture path and outputting the checking result of the puncture path.

In a third aspect, an embodiment of the present application provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method provided in the above embodiment when executing the computer program.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method provided in the above embodiment.

The embodiment of the application provides a puncture path checking method and device, computer equipment and a readable storage medium. The method comprises the steps of receiving a first operation of a user on a target medical image, responding to the first operation, and determining a puncture target point; receiving a second operation of the user on the target medical image, and outputting a puncture path based on a puncture target point; and verifying the puncture path and outputting a verification result of the puncture path. According to the puncture path verification method provided by the embodiment of the application, the interaction with the user is realized by receiving the first operation and the second operation of the user, and the interaction process is convenient and fast. And the method can check the determined puncture path in real time and output the check result, and a user can determine whether the puncture path is accurate and feasible in real time, so that the puncture path check method has higher practicability and convenience.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the description of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

fig. 2 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

fig. 3 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a puncture path provided by one embodiment of the present application as displayed in a computer device;

fig. 5 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

fig. 6 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a puncture path provided by one embodiment of the present application as displayed in a computer device;

fig. 8 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

fig. 9 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

fig. 10 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

fig. 11 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

fig. 12 is a schematic flowchart illustrating steps of a puncture path verification method according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a puncture path verifying apparatus according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

Puncture surgery is widely applied to various surgical scenes, and medical staff need plan a puncture path according to an obtained medical image before performing the puncture surgery. In the conventional technology, medical staff usually select proper puncture target points and needle insertion points according to medical images based on relatively abundant clinical experience so as to avoid important tissues in human bodies. However, such a puncture path planning method cannot determine whether the planned puncture path meets the clinical requirement for puncture path planning. Specifically, whether the planned puncture path can avoid important tissues in the human body or not, the puncture needle can reach a puncture target point and the like. And, whether the planned path is accurate and reasonable cannot be fed back in real time. In response to these problems, the present application provides a puncture path verification method.

The following describes the technical solutions of the present application and how to solve the technical problems with the technical solutions of the present application in detail with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

The puncture path checking method provided by the application can be realized through computer equipment. Computer devices include, but are not limited to, control chips, personal computers, laptops, smartphones, tablets, and portable wearable devices. The method provided by the application can be realized through JAVA software and can also be applied to other software.

Referring to fig. 1, an embodiment of the present application provides a method for verifying a puncture path, and the embodiment is described by applying the method to a computer device. The method may comprise the steps of:

step 100, receiving a first operation of a user on a target medical image, and determining a puncture target point in response to the first operation.

The computer device receives a first operation of a user on a target medical image, wherein the user refers to a worker needing to verify a puncture path, and the worker is usually a medical worker. The target medical image may be an image obtained by performing segmentation preprocessing on a magnetic resonance image or a CT image, and the like, so that the lesion position and the contour of human tissues, organs and skin can be distinguished. Specific segmentation preprocessing methods can include, but are not limited to, deep learning, active contour, region growing, manual extraction, and the like. The skin is a barrier between a human body and an external environment, the subcutaneous tissue of the human body has larger gray level difference with the external air, and the tissue of the human body and a device also have difference; then selecting a proper threshold according to the gray scale characteristics of the human tissue, and removing the background in the image after noise filtering; obtaining an initial medical image; secondly, performing maximum connected domain analysis on the initial medical image, only reserving the area where the maximum connected domain is located, and filling holes in the area where the maximum connected domain is located to obtain human subcutaneous tissues; extracting the boundary of the human subcutaneous tissue to obtain a skin contour; segmenting a focus, human tissues and organs in the target medical image by methods such as deep learning; and finally, marking the human tissues, organs and focuses of the target medical image through different marking values so as to distinguish the human tissues, organs and focuses on the target medical image. The present embodiment does not limit the way of segmenting the human tissue or organ, as long as the function thereof can be achieved.

If the display screen of the computer equipment is a touch display screen, the first operation refers to a click operation of a user on a target medical image on the touch display screen; if the display screen of the computer device is not a touch display screen, the first operation refers to a click operation of a user on the target medical image on the display screen by using a mouse. The computer device determines the target point of puncture in response to the first operation, that is, the computer device determines a position corresponding to the target medical image of the first operation as the target point of puncture according to the first operation of the user on the target medical image. The puncture target point refers to a focus position on a target medical image or other positions needing puncture operation.

And 110, receiving a second operation of the user on the target medical image, and responding to the second operation to output a puncture path based on the puncture target point.

After the puncture target point is determined, the computer device receives a second operation of the user on the target medical image, and for specific description of the user and the target medical image, reference may be made to the description in the above embodiment, which is not described herein again. If the display screen of the computer device is a touch display screen, the second operation may be a click operation of the user on the target medical image on the touch display screen, or a slide operation of the user on the target medical image on the touch display screen, or the like; if the display screen of the computer device is not a touch display screen, the second operation may be a click operation of the user on the target medical image on the display screen using the mouse, or a movement operation of the user on the target medical image on the display screen using the mouse, or the like. The embodiment does not set any limitation to the specific implementation manner of the second operation as long as the function thereof can be realized. The computer device outputs a puncture path based on the target puncture point in response to the second operation, that is, the computer device determines the puncture path according to the second operation of the user on the target medical image and the determined target puncture point. The puncture path is a path from a needle insertion point on the skin to a target puncture point (i.e., a lesion site) when a puncture operation is performed.

And 120, verifying the puncture path and outputting a verification result of the puncture path.

After obtaining the puncture path, the computer device needs to check the puncture path to determine whether the puncture path meets the clinical requirement for puncture path planning. The embodiment does not limit the specific verification process, and the user can verify the obtained puncture path according to the specific clinical requirements for puncture path planning. After the puncture path is verified, the computer equipment outputs a verification result, wherein the verification result comprises that the puncture path meets the requirement of clinical puncture path planning and the puncture path does not meet the requirement of clinical puncture path planning. In an alternative embodiment, after the computer device performs the verification, a window pops up, and the verification result of the puncture path is displayed in the window. The present embodiment does not set any limitation to the manner of outputting the result of the examination of the puncture path as long as the function thereof can be achieved.

The puncture path verification method provided by the embodiment of the application responds to the first operation by receiving the first operation of a user on a target medical image and determining a puncture target point; receiving a second operation of the user on the target medical image, and outputting a puncture path based on a puncture target point; and verifying the puncture path and outputting a verification result of the puncture path. According to the puncture path verification method provided by the embodiment of the application, the interaction with the user is realized by receiving the first operation and the second operation of the user, and the interaction process is convenient and fast. And the method can check the determined puncture path in real time and output the check result, and a user can determine whether the puncture path is accurate and feasible in real time, so that the puncture path check method has higher practicability and convenience.

In an embodiment, the receiving a first operation of the user on the target medical image, and determining the target puncture point in response to the first operation, includes:

If the display screen of the computer device is the touch display screen, the computer device determines an action point of a first operation on the target medical image after receiving the first operation of the user on the target medical image, that is, the computer device receives a position clicked by the user on the target medical image on the touch display screen, and the position is the action point, and the action point is used as a puncture target point.

If the display screen of the computer device is not the touch display screen, the computer device determines an action point of a first operation on the target medical image after receiving the first operation of the user on the target medical image, that is, the computer device receives a click operation of the user on the position of a cursor on the target medical image on the display screen by using a mouse, the position of the cursor is the action point, and the action point is used as a puncture target point.

In an alternative embodiment, after determining the target puncture point, the computer device further needs to check the target puncture point. Specifically, whether the puncture target point is at a focus position or not is judged, and if the target medical image does not have the focus position, whether the puncture target point is in human subcutaneous tissue or not is judged, so that the correctness and feasibility of the puncture target point determined by a user are ensured, and the correctness of the determined puncture path is ensured.

Referring to fig. 2, in an embodiment, the receiving a second operation of the user on the target medical image and outputting a puncture path based on the puncture target in response to the second operation includes:

and 200, determining an action point of the second operation on the target medical image, and determining a reference point according to the action point.

If the display screen of the computer device is not the touch display screen, the computer device determines an action point of a second operation on the target medical image after receiving the second operation of the user on the target medical image, that is, the computer device receives a click operation of a position of a cursor on the target medical image on the display screen by using a mouse, the position of the cursor is used as the action point, and the action point is used as a reference point. The position of the reference point is different from the position of the puncture target point. The operation principle when the display screen of the computer device is a touch screen is the same as the operation principle when the display screen of the computer device is not a touch screen, and the details are not repeated herein.

And step 210, determining a reference path based on the puncture target point and the reference point.

The computer device connects the determined reference point and the puncture target point to form a straight line, and the straight line is determined as a reference path.

Step 220, processing the reference path according to the needle insertion point calculation algorithm to generate a puncture path.

And after obtaining the reference path, the computer equipment processes the reference path according to the needle insertion point calculation algorithm to obtain a final puncture path. The needle-entering point calculation algorithm includes, but is not limited to, algorithms such as step search under voxel coordinates, skin mesh reconstruction, binary tree search based on three-dimensional space, and the like. The computer equipment can determine the needle insertion point on the skin corresponding to the reference path through the needle insertion point calculation algorithm, and the puncture path can be determined according to the needle insertion point and the puncture target point.

The puncture path refers to a path between a needle insertion point on the skin and a puncture target point, and in the embodiment, the reference path is processed through a needle insertion point calculation algorithm, so that an incorrect puncture path can be determined under the condition that the determined reference point is not the needle insertion point on the skin, and the accuracy of the determined puncture path can be improved.

Referring to fig. 3, in an embodiment, the puncture path checking method further includes:

step 130, receiving a third operation of the user on the target medical image when the verification result of the puncture path is failed; a third operation is to update the reference point to determine a new reference path from the updated reference point.

After the determined puncture path is verified, the computer device determines that the verification result of the puncture path does not pass, namely when the puncture path does not meet the requirement of clinical puncture path planning, receives the third operation of the user on the target medical image again, updates the reference point determined last time according to the third operation, and determines the reference path according to the updated reference point and the puncture target point. For the description of the third operation, reference may be made to the detailed description of the second operation in the foregoing embodiment, and details are not repeated here.

In this embodiment, when the computer device determines that the verification result of the puncture path does not pass, the reference path may be updated by receiving a third operation of the user, so as to update the puncture path, and thus, the process of updating the puncture path is simple and fast.

The method for determining the puncture path through the puncture target point and the reference point in this embodiment may be referred to as a point-point interaction method for short. The specific interaction process is as shown in fig. 4, the user performs a first operation on the target medical image, and a puncture target point T is displayed on the target medical image; the user performs the second operation on the target medical image on which the reference point E1 is displayed and the reference path (the line segment formed by T and E1) is displayed. If the reference point is in the human skin interface, the parameter path is extended to a puncture path formed by the human skin interface (a line segment formed by T and F1) and is displayed on the target medical image; if the reference point is outside the human skin interface, the intersection point of the reference path and the human skin interface is displayed on the target medical image, and the puncture path is a line segment formed by the puncture target point T and the intersection point. After the computer device verifies the puncture path (the line segment formed by the T and the F1), and determines that the puncture path does not pass the verification, the user performs a third operation on the target medical image, a new reference point E2 is displayed on the target medical image, and a new reference path (the line segment formed by the T and the E2) is displayed. If the new reference point E2 is in the human skin interface, a new puncture path (line segment formed by T and F2) formed by the extension of the parameter path to the human skin interface is also displayed on the target medical image; if the new reference point is outside the human skin interface, an intersection point of the reference path and the human skin interface is displayed on the target medical image, and the puncture path is a line segment formed by the puncture target point T and the intersection point.

In an alternative embodiment, when the user performs the third operation, the puncture path (the line segment formed by T and F1) is not displayed, that is, the puncture path that has not passed the verification is not displayed.

In another alternative embodiment, the puncture path (the line segment formed by T and F1) is also displayed when the user performs the third operation.

Referring to fig. 5, in one embodiment, receiving a second operation of the user on the target medical image, and outputting a puncture path based on the puncture target in response to the second operation includes:

and 400, determining an action path of the second operation on the target medical image, and determining a reference path according to the action path.

If the display screen of the computer device is not the touch display screen, the computer device determines an action path of a second operation on the target medical image after receiving the second operation of the user on the target medical image, that is, the computer device receives the action path of the user on the target medical image on the display screen, moves the cursor to the target position by using the mouse with the puncture target point as a starting point, a connecting line between the target position and the puncture target point is the action path, and the action path is used as a reference path. The operation principle when the display screen of the computer device is a touch screen is the same as the operation principle when the display screen of the computer device is not a touch screen, and the details are not repeated herein.

And step 410, processing the reference path according to the needle insertion point calculation algorithm to generate a puncture path.

After the computer equipment determines the reference path, the reference path is processed through a needle insertion point calculation algorithm to obtain a final puncture path. For the description of the needle entry point calculation algorithm, reference may be made to the detailed description in the above embodiments, and details are not repeated here. The computer equipment can determine the needle insertion point on the skin corresponding to the reference path according to the needle insertion point calculation algorithm, and determines the path formed by the needle insertion point and the puncture target point as the puncture path.

In the embodiment, the process of determining the puncture path through the movement of the user on the target medical image of the display screen of the computer device is fast and simple to operate.

Referring to fig. 6, in an embodiment, after the puncture path is determined according to the puncture target point and the acting path, the method for verifying the puncture path further includes:

step 500, receiving a fourth operation of the user on the target medical image when the verification result of the puncture path is passed; the fourth operation is to confirm a reference path;

the computer device checks the determined puncture path and determines whether the check result of the puncture path passes (the puncture path meets the requirements of clinic for puncture path planning) or does not pass (the puncture path does not meet the requirements of clinic for puncture path planning). And if the verification result of the puncture path is passed, the reference path determined by the computer equipment according to the second operation is the accurate reference path. At this time, the computer device receives a fourth operation of the user on the target medical image, that is, the computer device receives a click operation of the user on the target medical image of the target display screen using the mouse, and a click position of the click operation is a position of another end point of the action path except for the puncture target point. The action path may be a straight line, and the two end points of the straight line are respectively the puncture target point and the point at the click position of the click operation. The action path, i.e., the reference path, may be confirmed through the fourth operation, so that the determined reference path does not change when the user moves the cursor again using the mouse.

Step 510, receiving a fifth operation of the user on the target medical image when the verification result of the puncture path is failed; and a fifth operation for updating the reference path based on the puncture target point to determine a new puncture path according to the updated reference path.

And if the verification result of the puncture path determined by the computer equipment is failed, indicating that the reference path determined by the computer equipment according to the second operation is inaccurate. At this time, the computer device receives a fifth operation of the user on the target medical image, updates the action path determined last time according to the fifth operation, and determines the reference path according to the updated action path. The fifth operation is that the user moves the cursor again on the target medical image of the display screen using the mouse with the puncture target point as a starting point.

The method for determining the puncture path through the puncture target point and the action path in the embodiment can be referred to as a point-line interaction method for short. As shown in fig. 7, the user performs a first operation on the target medical image, and a target puncture point T is displayed on the target medical image; the user performs a second operation on the target medical image, and the action path (that is, a line segment formed by the cursor with the puncture target point as a starting point and the target position of the cursor movement as an ending point) is displayed on the target medical image. If the action path does not exceed the human skin interface, a puncture path formed by extending the action path to the human skin interface and an intersection point F1 of the puncture path and the human skin interface are also displayed on the target medical image (F2); if the action path exceeds the human skin interface, an intersection point F1(F2) of the action path and the human skin interface is displayed on the target medical image, and a line segment formed by the intersection point and the puncture target point is the puncture path. The computer device verifies the puncture path, if the puncture path is determined to pass the verification, the user performs a fourth operation on the target medical image, an operation point E2 of the fourth operation is displayed on the target medical image, and the reference path (a line segment formed by T and E2) obtained according to the acting path is confirmed, so that the puncture path (a line segment formed by T and F2) is obtained; if the puncture path (the line segment formed by T and F1) is determined not to pass the verification, the user performs a fifth operation on the target medical image, namely, moves the mouse, so that the cursor moves on the target medical image again to form a new acting path (namely, a reference path). Wherein the puncture path (line segment formed by T and F1) is no longer displayed on the target medical image when the mouse is moved.

The operation processes of confirming the reference path and updating the reference path provided by the embodiment are simple and quick.

Referring to fig. 8, in an embodiment, the outputting the verification result of the puncturing path includes:

step 600, if the verification result of the puncture path is that the puncture path passes, displaying that the puncture path is in a first color;

when the computer device determines that the puncture path passes the test result, the computer device displays the puncture path on the target medical image in a first color. In a particular embodiment, the first color is yellow.

And step 610, if the verification result of the puncture path is that the puncture path does not pass, displaying that the puncture path is in a second color.

And the computer equipment displays the puncture path on the target medical image in a second color when the verification result of the puncture path is determined to be failed. In a specific embodiment, the second color is red.

In this embodiment, the examination result of the puncture path is displayed on the target medical image in different colors, so that the user can more clearly and intuitively know the puncture path and the verification result of the puncture path.

Referring to fig. 9, in an embodiment, the verifying the puncture path includes:

step 700, judging whether the puncture path contains interference features and/or whether the puncture parameters of the puncture path meet preset conditions.

The computer equipment can check the puncture path by judging whether the puncture path contains the interference characteristic or not, can check the puncture path by judging whether the puncture parameter of the puncture path meets the preset condition or not, and can check the puncture path by judging whether the puncture path contains the interference characteristic or not and simultaneously judging whether the puncture parameter of the puncture path meets the preset condition or not. The interference characteristics refer to various tissues and organs which are not allowed to pass through of a human body, the puncture parameters comprise puncture length and puncture angle, and the preset conditions refer to conditions preset for the puncture length and the puncture angle. It is determined whether the puncture path contains an interference feature, in other words, whether the puncture path passes through various tissues and organs of the human body that are not allowed to pass through. And judging whether the puncture parameters of the puncture path meet preset conditions or not, in other words, judging whether the puncture length and the puncture angle respectively meet the preset conditions or not.

Step 710, if the puncture path does not include the interference feature and/or the puncture parameter of the puncture path meets a preset condition, determining that the puncture path passes the verification; otherwise, determining that the puncture path fails to pass the verification.

If the computer equipment checks the puncture path by judging whether the puncture path contains interference features or not, determining that the puncture path passes the check if the puncture path does not contain the interference features, namely the puncture path does not pass various tissues and organs which are not allowed to pass of the human body; if the puncture path contains interference characteristics, namely the puncture path passes through various tissues and organs of the human body which are not allowed to pass through, the puncture path is determined to be not verified.

If the computer equipment checks the puncture path by judging whether the puncture parameter of the puncture path meets the preset condition, determining that the puncture path passes the check if the puncture parameter of the puncture path meets the preset condition; and if the puncture parameters of the puncture path do not meet the preset conditions, determining that the puncture path does not pass the verification.

If the computer equipment checks the puncture path by judging whether the puncture path contains the interference characteristic or not and judging whether the puncture parameter of the puncture path meets the preset condition or not, if the puncture path contains the interference characteristic and the puncture parameter of the puncture path meets the preset condition, determining that the puncture path passes the inspection; . And if the puncture path contains interference features or the puncture parameters of the puncture path do not meet the preset conditions, determining that the puncture path does not pass the verification. The specific method for determining whether the puncture path includes the interference feature and whether the puncture parameter of the puncture path satisfies the preset condition is not limited in this embodiment, as long as the function thereof can be realized.

The specific clinical requirements for puncture path planning are addressed in this embodiment: the puncture path does not contain interference characteristics, and the puncture parameters of the puncture path meet preset conditions, so that the puncture path can be verified in a determined manner, and the accuracy and the feasibility of the obtained puncture path are improved.

In an alternative embodiment, the method of determining whether the puncture path contains an interference feature comprises: and calculating the space coordinates of tissues and organs which are not allowed to pass through of the human body, calculating the space coordinates of the puncture path, and judging whether the puncture path contains interference features or not by judging whether the space coordinates of the puncture path are in the space coordinates of the tissues and organs which are not allowed to pass through of the human body or not. If the spatial coordinates of the puncture path are in the spatial coordinates of tissues and organs which are not allowed to pass through the human body, determining that the puncture path contains interference characteristics; and if the space coordinates of the puncture path are not in the space coordinates of tissues and organs which are not allowed to pass through the human body, determining that the puncture path does not contain interference features.

Referring to fig. 10, in an embodiment, the determining whether the puncturing path includes an interference feature includes:

and 800, selecting a point with a preset distance from the puncture target point in the puncture path as a check point.

After the computer equipment determines the puncture path, a check point in the puncture path is selected, wherein the check point is a point which is a preset distance away from a puncture target point.

In a specific embodiment, assuming that the target puncture point is T, the needle insertion point is E, the connection between the T point and the E point is a puncture path, and taking the target puncture point T as a starting point, selecting a point moving a preset distance (a distance of one pixel) in a direction from the T point to the E point as a check point.

And 810, acquiring a voxel pixel value of the check point in a preset neighborhood, and judging whether the voxel pixel value is equal to a preset threshold value.

After the computer equipment determines the check point, the voxel pixel value of the check point in the preset neighborhood is obtained. The preset neighborhood may be a spherical three-dimensional region formed by taking the checkpoint as a center and taking the preset length as a radius, and the voxel pixel value is a pixel value of each point in the three-dimensional region. The specific structure of the preset neighborhood is not limited in any way, and a user can set the specific structure according to actual conditions.

After acquiring the voxel pixel value, the computer device compares the voxel pixel value with a preset threshold value, wherein the preset threshold value refers to pixel values of various tissues and organs of a human body.

And step 820, if yes, determining that the puncture path contains the interference feature.

And if the voxel pixel value acquired by the computer equipment is equal to the preset threshold value, the tissue or organ including the human body in the preset neighborhood range is represented, and the puncture path contains the interference characteristic.

Step 830, if not, updating the check points in the puncture path until the voxel pixel values of all the check points in the puncture path are not equal to the preset threshold, and determining that the puncture path does not contain the interference feature.

If the voxel pixel value obtained by the computer equipment is not equal to the preset threshold value and indicates that the tissue or organ of the human body is not included in the preset field range, updating the check point in the puncture path, and comparing the voxel pixel value in the neighborhood of the updated check point with the threshold value. And if the voxel pixel values of all check points in the puncture path are determined not to be equal to the preset threshold value, the puncture path does not pass through each tissue or organ of the human body, and the puncture path is determined not to contain interference features.

In this embodiment, the appropriate threshold value is selected by using the gray scale characteristics of various tissues and organs of the human body, and the puncture path is verified, and such a verification method is simple and easy to understand.

In an optional embodiment, the method for updating the checkpoint in the puncture path includes: and taking the last check point as a new starting point, and selecting a point which moves a preset distance (the distance of one pixel) in the direction from the puncture target point to the needle insertion point as an updated check point.

Referring to fig. 11, in an embodiment, the preset condition includes a preset length threshold and a preset angle threshold, and the determining whether the puncturing parameter of the puncturing path satisfies the preset condition includes:

and step 900, determining the puncture length and/or puncture angle of the puncture path.

And the computer equipment can determine puncture parameters of the puncture path according to the obtained puncture path. And when the puncture parameter is the puncture length, determining the puncture length according to the puncture path. The puncture length refers to the length of a puncture path, namely the length from a puncture target point to a needle inserting point. And when the puncture parameter is a puncture angle, determining the puncture angle according to the puncture path. The puncture angle is an angle between the puncture needle and a preset normal line when puncture is performed along the puncture path. And when the puncture parameters are the puncture length and the puncture angle, determining the puncture length and the puncture angle according to the puncture path.

Step 910, determining whether the puncturing length is smaller than a preset length threshold and/or whether the puncturing angle is smaller than or equal to a preset angle threshold.

If the puncture length is obtained by the computer equipment, comparing the puncture length with a preset length threshold value, and judging whether the puncture length is smaller than the preset length threshold value. If the puncture angle obtained by the computer equipment is the preset angle threshold, comparing the puncture angle with the preset angle threshold, and judging whether the puncture angle is smaller than or equal to the preset angle threshold. If the puncture angle and the puncture length are obtained by the computer equipment, the puncture angle and the puncture length are judged simultaneously,

and 920, if the puncture length is smaller than a preset length threshold and/or the puncture angle is smaller than or equal to a preset angle threshold, determining that the puncture parameters of the puncture path meet preset conditions.

And step 930, otherwise, determining that the puncture parameters of the puncture path do not meet the preset conditions.

If the computer equipment judges that the puncture length is smaller than the preset length threshold, determining that the puncture parameter meets the preset condition; and if the puncture length is greater than or equal to the preset length threshold value, determining that the puncture parameter does not meet the preset condition.

If the computer equipment judges that the puncture angle is smaller than or equal to a preset angle threshold value, determining that the puncture parameter meets a preset condition; and if the puncture angle is larger than the preset angle threshold value, determining that the puncture parameter does not meet the preset condition.

If the computer equipment judges the puncture length and the puncture angle simultaneously, if the puncture length is smaller than a preset length threshold value and the puncture angle is smaller than or equal to a preset angle threshold value, the puncture parameter is determined to meet a preset condition; and if the puncture length is greater than or equal to the preset length threshold value or the puncture angle is greater than the preset angle threshold value, determining that the puncture parameters do not meet the preset conditions. The preset length threshold and the preset angle threshold are not limited by the embodiment, and a user can set the length threshold and the angle threshold according to actual conditions.

The method for judging whether the puncture parameters of the puncture path meet the preset conditions is simple and quick.

Referring to fig. 12, in an embodiment, the preset angle threshold includes: first preset angle threshold and second preset angle threshold, the angle of puncture includes first mapping angle and second mapping angle, judges whether the angle of puncture is less than or equal to and predetermines the angle threshold, include:

step 101, determining a needle inserting point according to a puncture path, and taking a line segment formed after the puncture path passes through the needle inserting point as a puncture needle.

The computer device can determine the needle entry point, namely the intersection point of the puncture path and the skin interface, according to the puncture path. The puncture path is extended for a certain distance after passing through the needle insertion point, so that a line segment can be formed, and the line segment is simulated as a puncture needle in an actual operation.

And 102, taking an included angle between a projection of the puncture needle on a first plane and a preset normal line as a first mapping angle, wherein the first plane is a plane perpendicular to the preset normal line in the first direction.

And the computer equipment takes the included angle between the projection of the simulated puncture needle on the first plane and the preset normal line as a first mapping angle. The preset normal line refers to a line perpendicular to a plane (a plane of the bed) where the patient is located, or refers to a line perpendicular to a horizontal plane, the first plane is a plane perpendicular to the preset normal line in a first direction, and the first direction may refer to a direction from the head to the foot or from the foot to the head of the patient (a direction in which the length of the bed is longer).

Step 103, judging whether the first mapping angle is smaller than or equal to a first preset angle threshold value.

After the computer equipment determines the first mapping angle, the computer equipment compares the first mapping angle with a first preset angle threshold value, and judges whether the first mapping angle is smaller than or equal to the first preset angle threshold value, so as to determine whether the first mapping angle in the puncture angles meets a preset condition. In a specific embodiment, the first predetermined angle threshold is 5 degrees.

And 104, taking an included angle between the projection of the puncture needle on a second plane and the preset normal line as a second mapping angle, wherein the second plane is a plane which is perpendicular to the preset normal line in the second direction.

And the computer equipment takes the included angle between the projection of the simulated puncture needle on the second plane and the preset normal line as a second mapping angle. For the description of the predetermined normal line, reference may be made to the above description, which is not repeated herein. The second plane is a plane perpendicular to the predetermined normal line in the second direction. The second direction may refer to a direction from the left of the patient to the right of the patient (a direction in which the length of the bed is shorter).

And 105, judging whether the second mapping angle is smaller than or equal to a second preset angle threshold value.

After determining the second mapping angle, the computer device compares the second mapping angle with a second preset angle threshold value, and determines whether the second mapping angle in the puncture angles meets a preset condition by judging whether the second mapping angle is smaller than or equal to the second preset angle threshold value. In a specific embodiment, the second predetermined angle is 60 degrees.

The computer equipment can determine that the puncture angle of the puncture path meets the preset angle condition only after determining that the first mapping angle is smaller than or equal to the first preset angle threshold value and the second mapping angle is smaller than or equal to the second preset angle threshold value.

In this embodiment, whether the puncture angle satisfies the corresponding condition is determined by judging whether the angles of the simulated puncture needle in the two directions satisfy the corresponding condition, so that the finally obtained puncture path can better meet the clinical requirement for puncture path planning, and the correctness and feasibility of the puncture path can be improved.

In an optional embodiment, after the puncture length and the puncture angle of the puncture path are determined, the computer device displays the puncture length and the puncture angle near the corresponding puncture path on the target medical image, so that medical staff can more intuitively acquire relevant parameter information of the puncture path.

In an alternative embodiment, a puncture guide set may be determined according to the puncture path, the pre-operative target medical image may be registered with the intra-operative medical image before the puncture procedure is performed, and the pre-operative target medical image puncture guide set may be transformed into the intra-operative medical image so that the medical staff may complete the puncture according to the puncture guide set. Specifically, if the puncture target point and the needle insertion point in the puncture path are in the same slice of the non-human tissue or organ, guide points are selected at equal distance in the puncture path, and a set formed by a plurality of selected guide points is used as a puncture guide set; if the puncture target point and the needle point in the puncture path are not in the same slice layer, determining the intersection point of the puncture path and the plane where each slice layer is located, and taking the set formed by the determined intersection points as a puncture guide set.

It should be understood that, although the steps in the flowcharts in the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

Referring to fig. 13, an embodiment of the present application provides a puncture path verifying apparatus 10 including: a puncture target point determining module 11, a puncture path determining module 12 and a verifying module 13. Wherein the content of the first and second substances,

the puncture target point determining module 11 is configured to receive a first operation of a user on a target medical image, and determine a puncture target point in response to the first operation;

the puncture path determining module 12 is configured to receive a second operation of the user on the target medical image, and output a puncture path based on a puncture target point in response to the second operation;

the verification module 13 is configured to verify the puncture path and output a verification result of the puncture path.

In one embodiment, the target puncture point determining module 11 is specifically configured to determine an action point of the first operation on the target medical image, and determine the target puncture point according to the action point.

In one embodiment, the puncture path determining module 12 is specifically configured to determine an action point of the second operation on the target medical image, and determine a reference point according to the action point; determining a reference path based on the puncture target point and the reference point; and processing the reference path according to the needle insertion point calculation algorithm to generate a puncture path.

In one embodiment, the puncture path verifying apparatus 10 further includes:

the updating module is used for receiving a third operation of the user on the target medical image when the verification result of the puncture path is failed; the third operation is to update the reference point to determine a new reference path according to the updated reference point.

In one embodiment, the puncture path determining module 12 includes:

a reference path determination unit for determining a role path of the second operation on the target medical image, and determining a reference path according to the role path;

and the puncture path determining unit is used for processing the reference path according to the needle point calculation algorithm to generate a puncture path.

In one embodiment, the puncture path verifying apparatus 10 further includes:

the reference path confirmation module is used for receiving a fourth operation of the user on the target medical image when the verification result of the puncture path is passed; a fourth operation for confirming the reference path;

the reference path updating module is used for receiving a fifth operation of the user on the target medical image when the verification result of the puncture path is failed; and a fifth operation for updating the reference path based on the puncture target point to determine a new puncture path according to the updated reference path.

In one embodiment, the puncture path verifying apparatus 10 further includes:

the first display module is used for displaying that the puncture path is in a first color if the verification result of the puncture path is that the puncture path passes;

and the second display module is used for displaying that the puncture path is in a second color if the verification result of the puncture path is that the puncture path does not pass.

In one embodiment, the checking module 13 is specifically configured to determine whether the puncture path includes an interference feature and/or whether a puncture parameter of the puncture path satisfies a preset condition; if the puncture path does not contain the interference features and/or the puncture parameters of the puncture path meet the preset conditions, determining that the puncture path passes the verification; otherwise, determining that the puncture path fails to pass the verification.

In one embodiment, the verification module 13 is further configured to select a point in the puncture path, where a distance between the point and the target puncture point is a preset distance, as a verification point; acquiring a voxel pixel value of the check point in a preset neighborhood, and judging whether the voxel pixel value is equal to a preset threshold value or not; if so, determining that the puncture path contains interference features; and if not, updating the check points in the puncture path until the voxel pixel values of all the check points in the puncture path in the preset neighborhood are not equal to the preset threshold value, and determining that the puncture path does not contain the interference features.

In one embodiment, the verification module 13 is further configured to determine a puncture length and/or a puncture angle of the puncture path; judging whether the puncture length is smaller than a preset length threshold value and/or judging whether the puncture angle is smaller than or equal to a preset angle threshold value; if the puncture length is smaller than the preset length threshold value and/or the puncture angle is smaller than or equal to the preset angle threshold value, determining that the puncture parameter of the puncture path meets the preset condition, otherwise, determining that the puncture parameter of the puncture path does not meet the preset condition.

In one embodiment, the verification module 13 is further specifically configured to determine a needle insertion point according to the puncture path, and use a line segment formed after the puncture path passes through the needle insertion point as a puncture needle; taking an included angle between a projection of the puncture needle on a first plane and a preset normal line as a first mapping angle, wherein the first plane is a plane perpendicular to the preset normal line in a first direction; judging whether the first mapping angle is smaller than or equal to a first preset angle threshold value or not; taking an included angle between the projection of the puncture needle on a second plane and the preset normal line as a second mapping angle, wherein the second plane is a plane which is perpendicular to the preset normal line in a second direction; and judging whether the second mapping angle is smaller than or equal to a second preset angle threshold value or not.

For the specific limitations of the puncture path verifying apparatus 10, reference may be made to the above limitations of the puncture path verifying method, which are not described herein again. The various modules in the puncture path verifying apparatus 10 may be implemented in whole or in part by software, hardware, and combinations thereof. The above devices, modules or units may be embedded in hardware or independent from a processor in a computer device, or may be stored in a memory in the computer device in software, so that the processor can call and execute operations corresponding to the above devices or modules.

Referring to fig. 14, in one embodiment, a computer device is provided, and the computer device may be a server, and the internal structure thereof may be as shown in fig. 14. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the needle entry point calculation algorithm, the preset conditions and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer device is executed by the processor to implement a puncture path verification method.

Those skilled in the art will appreciate that the architecture shown in fig. 14 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, there is provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the following steps when executing the computer program:

In one embodiment, the processor, when executing the computer program, further performs the steps of: and determining an action point of the first operation on the target medical image, and determining a puncture target point according to the action point.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining an action point of the second operation on the target medical image, and determining a reference point according to the action point; determining a reference path based on the puncture target point and the reference point; and processing the reference path according to the needle insertion point calculation algorithm to generate a puncture path.

In one embodiment, the processor, when executing the computer program, further performs the steps of: receiving a third operation of the user on the target medical image when the verification result of the puncture path is failed; the third operation is to update the reference point to determine a new reference path according to the updated reference point.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining an action path of a second operation on the target medical image, and determining a reference path according to the action path; and processing the reference path according to the needle insertion point calculation algorithm to generate a puncture path.

In one embodiment, the processor, when executing the computer program, further performs the steps of: when the verification result of the puncture path is passed, receiving a fourth operation of the user on the target medical image; a fourth operation for confirming the reference path; receiving a fifth operation of the user on the target medical image when the verification result of the puncture path is failed; and a fifth operation for updating the reference path based on the puncture target point to determine a new puncture path according to the updated reference path.

In one embodiment, the processor, when executing the computer program, further performs the steps of: if the verification result of the puncture path is that the puncture path passes, displaying that the puncture path is in a first color; and if the verification result of the puncture path is that the puncture path does not pass, displaying that the puncture path is in a second color.

In one embodiment, the processor, when executing the computer program, further performs the steps of: judging whether the puncture path contains interference features and/or whether the puncture parameters of the puncture path meet preset conditions; if the puncture path does not contain the interference features and/or the puncture parameters of the puncture path meet the preset conditions, determining that the puncture path passes the verification; otherwise, determining that the puncture path fails to pass the verification.

In one embodiment, the processor, when executing the computer program, further performs the steps of: selecting a point with a preset distance from a puncture target point in a puncture path as a check point; acquiring a voxel pixel value of the check point in a preset neighborhood, and judging whether the voxel pixel value is equal to a preset threshold value or not; if so, determining that the puncture path contains interference features; and if not, updating the check points in the puncture path until the voxel pixel values of all the check points in the puncture path in the preset neighborhood are not equal to the preset threshold value, and determining that the puncture path does not contain the interference features.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining the puncture length and/or puncture angle of the puncture path; judging whether the puncture length is smaller than a preset length threshold value and/or judging whether the puncture angle is smaller than or equal to a preset angle threshold value; if the puncture length is smaller than the preset length threshold value and/or the puncture angle is smaller than or equal to the preset angle threshold value, determining that the puncture parameter of the puncture path meets the preset condition, otherwise, determining that the puncture parameter of the puncture path does not meet the preset condition.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a needle entering point according to the puncture path, and taking a line segment formed after the puncture path passes through the needle entering point as a puncture needle; taking an included angle between a projection of the puncture needle on a first plane and a preset normal line as a first mapping angle, wherein the first plane is a plane perpendicular to the preset normal line in a first direction; judging whether the first mapping angle is smaller than or equal to a first preset angle threshold value or not; taking an included angle between the projection of the puncture needle on a second plane and the preset normal line as a second mapping angle, wherein the second plane is a plane which is perpendicular to the preset normal line in a second direction; and judging whether the second mapping angle is smaller than or equal to a second preset angle threshold value or not.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of: and determining an action point of the first operation on the target medical image, and determining a puncture target point according to the action point.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining an action point of the second operation on the target medical image, and determining a reference point according to the action point; determining a reference path based on the puncture target point and the reference point; and processing the reference path according to the needle insertion point calculation algorithm to generate a puncture path.

In one embodiment, the computer program when executed by the processor further performs the steps of: receiving a third operation of the user on the target medical image when the verification result of the puncture path is failed; the third operation is to update the reference point to determine a new reference path according to the updated reference point.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining an action path of a second operation on the target medical image, and determining a reference path according to the action path; and processing the reference path according to the needle insertion point calculation algorithm to generate a puncture path.

In one embodiment, the computer program when executed by the processor further performs the steps of: when the verification result of the puncture path is passed, receiving a fourth operation of the user on the target medical image; a fourth operation for confirming the reference path; receiving a fifth operation of the user on the target medical image when the verification result of the puncture path is failed; and a fifth operation for updating the reference path based on the puncture target point to determine a new puncture path according to the updated reference path.

In one embodiment, the computer program when executed by the processor further performs the steps of: if the verification result of the puncture path is that the puncture path passes, displaying that the puncture path is in a first color; and if the verification result of the puncture path is that the puncture path does not pass, displaying that the puncture path is in a second color.

In one embodiment, the computer program when executed by the processor further performs the steps of: judging whether the puncture path contains interference features and/or whether the puncture parameters of the puncture path meet preset conditions; if the puncture path does not contain the interference features and/or the puncture parameters of the puncture path meet the preset conditions, determining that the puncture path passes the verification; otherwise, determining that the puncture path fails to pass the verification.

In one embodiment, the computer program when executed by the processor further performs the steps of: selecting a point with a preset distance from a puncture target point in a puncture path as a check point; acquiring a voxel pixel value of the check point in a preset neighborhood, and judging whether the voxel pixel value is equal to a preset threshold value or not; if so, determining that the puncture path contains interference features; and if not, updating the check points in the puncture path until the voxel pixel values of all the check points in the puncture path in the preset neighborhood are not equal to the preset threshold value, and determining that the puncture path does not contain the interference features.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining the puncture length and/or puncture angle of the puncture path; judging whether the puncture length is smaller than a preset length threshold value and/or judging whether the puncture angle is smaller than or equal to a preset angle threshold value; if the puncture length is smaller than the preset length threshold value and/or the puncture angle is smaller than or equal to the preset angle threshold value, determining that the puncture parameter of the puncture path meets the preset condition, otherwise, determining that the puncture parameter of the puncture path does not meet the preset condition.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining a needle entering point according to the puncture path, and taking a line segment formed after the puncture path passes through the needle entering point as a puncture needle; taking an included angle between a projection of the puncture needle on a first plane and a preset normal line as a first mapping angle, wherein the first plane is a plane perpendicular to the preset normal line in a first direction; judging whether the first mapping angle is smaller than or equal to a first preset angle threshold value or not; taking an included angle between the projection of the puncture needle on a second plane and the preset normal line as a second mapping angle, wherein the second plane is a plane which is perpendicular to the preset normal line in a second direction; and judging whether the second mapping angle is smaller than or equal to a second preset angle threshold value or not.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A puncture path verification method, comprising:

receiving a second operation of the user on the target medical image, and responding to the second operation to output a puncture path based on the puncture target point;

and verifying the puncture path, and outputting a verification result of the puncture path.

2. The puncture path verification method according to claim 1, wherein the receiving a first operation of a user on a target medical image, in response to the first operation, determining a target puncture point comprises:

and determining an action point of the first operation on the target medical image, and determining the puncture target point according to the action point.

3. The puncture path verification method according to claim 1, wherein the receiving a second operation of the user on the target medical image, and outputting the puncture path based on the puncture target in response to the second operation, comprises:

and processing the reference path according to a needle insertion point calculation algorithm to generate the puncture path.

4. The puncture path verification method according to claim 3, further comprising:

receiving a third operation of the user on the target medical image when the puncture path is checked to be failed; the third operation is to update the reference point to determine a new reference path according to the updated reference point.

5. The puncture path verification method according to claim 1, wherein the receiving a second operation of the user on the target medical image, and outputting the puncture path based on the puncture target in response to the second operation, comprises:

determining an action path of the second operation on the target medical image, and determining a reference path according to the action path;

6. The puncture path verification method according to claim 5, further comprising:

receiving a fourth operation of the user on the target medical image when the verification result of the puncture path is passed; the fourth operation is to confirm the reference path;

receiving a fifth operation of the user on the target medical image when the puncture path is checked to be failed; the fifth operation is to update the reference path based on the target puncture point, so as to determine a new puncture path according to the updated reference path.

7. The puncture path verification method according to any one of claims 1 to 6, wherein the outputting the verification result of the puncture path includes:

8. The puncture path verification method according to claim 1, wherein the verifying the puncture path includes:

judging whether the puncture path contains interference features and/or whether puncture parameters of the puncture path meet preset conditions;

if the puncture path does not contain the interference features and/or the puncture parameters of the puncture path meet preset conditions, determining that the puncture path passes verification; otherwise, determining that the puncture path fails to pass the verification.

9. The puncture path verification method according to claim 8, wherein the determining whether the puncture path includes an interference feature comprises:

selecting a point in the puncture path, the distance between which and the puncture target point is a preset distance, as a check point;

if so, determining that the puncture path contains the interference feature;

and if not, updating the check points in the puncture path until voxel pixel values of all the check points in the puncture path in a preset neighborhood are not equal to the preset threshold value, and determining that the puncture path does not contain the interference features.

10. The puncture path verification method according to claim 8 or 9, wherein the preset conditions include a preset length threshold and a preset angle threshold, and the determining whether the puncture parameters of the puncture path satisfy the preset conditions includes:

determining a puncture length and/or puncture angle of the puncture path;

judging whether the puncture length is smaller than the preset length threshold value and/or judging whether the puncture angle is smaller than or equal to the preset angle threshold value;

if the puncture length is smaller than the preset length threshold and/or the puncture angle is smaller than or equal to the preset angle threshold, determining that the puncture parameter of the puncture path meets the preset condition, otherwise, determining that the puncture parameter of the puncture path does not meet the preset condition.

11. The puncture path verification method according to claim 10, wherein the preset angle threshold comprises: the method comprises the following steps of firstly presetting an angle threshold value and a second preset angle threshold value, wherein the puncture angle comprises a first mapping angle and a second mapping angle, and judging whether the puncture angle is smaller than or equal to the preset angle threshold value or not, and the method comprises the following steps:

determining a needle inserting point according to the puncture path, and taking a line segment formed after the puncture path passes through the needle inserting point as a puncture needle;

taking an included angle between a projection of the puncture needle on a first plane and a preset normal line as the first mapping angle, wherein the first plane is a plane perpendicular to the preset normal line in a first direction;

taking an included angle between the projection of the puncture needle on a second plane and the preset normal line as the second mapping angle, wherein the second plane is a plane perpendicular to the preset normal line in a second direction;

12. A puncture path verifying apparatus, comprising:

the puncture target point determining module is used for receiving a first operation of a user on a target medical image and determining a puncture target point in response to the first operation;

the puncture path determining module is used for receiving a second operation of the user on the target medical image and responding to the second operation to output a puncture path based on the puncture target point;

and the verification module is used for verifying the puncture path and outputting the verification result of the puncture path.

13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 11 when executing the computer program.

14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 11.