CN113903233A - Simulated operation guiding method, device, equipment and storage medium of heart model - Google Patents
Simulated operation guiding method, device, equipment and storage medium of heart model Download PDFInfo
- Publication number
- CN113903233A CN113903233A CN202111247205.6A CN202111247205A CN113903233A CN 113903233 A CN113903233 A CN 113903233A CN 202111247205 A CN202111247205 A CN 202111247205A CN 113903233 A CN113903233 A CN 113903233A
- Authority
- CN
- China
- Prior art keywords
- incision
- heart
- simulated
- boundary
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/286—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for scanning or photography techniques, e.g. X-rays, ultrasonics
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/288—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for artificial respiration or heart massage
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Medical Informatics (AREA)
- Medicinal Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Algebra (AREA)
- Computational Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Educational Technology (AREA)
- General Health & Medical Sciences (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a simulated operation guidance method based on a heart three-dimensional model, and relates to the field of medical teaching. The animal heart is used as a simulation material of the operation, a three-dimensional heart virtual model is constructed, the boundary of the operation incision is rapidly determined by combining an image processing technology according to the operation requirement, parameters such as the maximum diameter and the minimum diameter of the operation incision are obtained, reference is provided for subsequent installation and entry of auxiliary instruments, and the success rate of operation is improved. The embodiment of the invention also provides a corresponding simulated operation guiding device, equipment and a storage medium, which can provide effective operation assistance for the cardiac operation, improve the safety and the intuition of the operation teaching process and contribute to improving the teaching effect of the cardiac operation teaching.
Description
Technical Field
The invention relates to the field of medical teaching assistance, in particular to a simulated operation guidance method, a simulated operation guidance device, simulated operation guidance equipment and a storage medium based on a three-dimensional model of a heart.
Background
In medical practice, surgery typically requires a degree of experience from the operator. In medical teaching, due to the lack of effective teaching auxiliary tools, students who lack surgical experience cannot be effectively guided to perform surgery, and the surgical operation is difficult to obtain a good teaching effect.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
1. the existing heart simulation surgery is generally directly performed on the animal heart, and under the condition that the surgical experience of an operator is insufficient, the incision position required to be realized by the surgery is difficult to be quickly determined, so that the surgery teaching effect is poor, and the waste of the simulated heart is easily caused;
2. the teaching of the existing cardiac surgery is generally carried out by oral teaching or on-site observation and video watching, so that the teaching method is poor in intuition for learners, and is difficult to form guidance for surgical practice, thereby resulting in poor teaching effect of the surgery.
Disclosure of Invention
The embodiment of the invention provides a simulated operation guiding method, a simulated operation guiding device and a simulated operation guiding storage medium based on a heart three-dimensional model, which can provide effective operation assistance for a heart operation, improve the safety and the intuition of an operation teaching process and contribute to improving the teaching effect of the heart operation teaching.
The invention provides a simulated operation guiding method based on a heart three-dimensional model, which comprises the following steps:
acquiring an animal heart simulating a human heart and acquiring a scan image of the animal heart;
constructing a three-dimensional virtual model of the animal heart according to the scanning image;
marking the position of a required incision on the three-dimensional virtual model according to the operation requirement to obtain N incision points; wherein N is greater than or equal to 3;
determining a notch plane according to the notch point; the notch plane satisfies the following relationship:
Pn＝(xn,yn,zn)n＝1,2,···,N
wherein, PnCoordinates representing the nth notch point; ax + By + z + C-0 represents the incision plane;
determining the boundary and the center of the operation incision by adopting a region growing algorithm according to the incision plane and the targeted cardiac structure of the operation;
calculating the maximum diameter and the minimum diameter of the incision according to the surgical incision boundary and the incision center;
identifying the surgical incision boundary in the three-dimensional virtual model and displaying the maximum diameter and the minimum diameter.
As an improvement of the above, the calculating of the maximum diameter and the minimum diameter of the incision based on the surgical incision boundary and the incision center includes the steps of:
determining an incision diameter according to the surgical incision boundary and the incision center;
and determining the maximum diameter and the minimum diameter of all the incision diameters.
As an improvement of the above, said determining a diameter of the incision based on said surgical incision boundary and said incision center comprises:
optionally selecting two points on the boundary of the operation incision as a first point to be measured and a second point to be measured;
calculating the slope of a first line segment formed by the first point to be measured and the center of the cut;
calculating the slope of a second line segment formed by the second point to be measured and the incision center;
and if the slope of the first line segment is equal to the slope of the second line segment, determining a line segment taking the first point to be measured and the second point to be measured as end points as the cut diameter.
As an improvement to the above, the process of determining the center of the incision comprises:
averaging the position coordinates of the image points of the target cardiac structure located on the incision plane to obtain the position coordinates of the incision center.
As an improvement of the above, the target cardiac structure includes at least one of a left atrium, a right atrium, a left ventricle, and a right ventricle.
As an improvement of the scheme, the method further comprises the following steps:
acquiring a scanned image of an animal heart after the operation is finished so as to construct a post-operation three-dimensional virtual model;
marking the operation incision boundary on the three-dimensional virtual model after the operation.
The simulated operation guiding device based on the three-dimensional heart model is used for executing the simulated operation guiding method based on the three-dimensional heart model; the method comprises the following steps:
the system comprises an image acquisition module, a data acquisition module and a data processing module, wherein the image acquisition module is used for acquiring an animal heart for simulating a human heart and acquiring a scanning image of the animal heart;
the model construction module is used for constructing a three-dimensional virtual model of the animal heart according to the scanning image;
the incision operation module is used for marking the position needing incision on the three-dimensional virtual model according to the operation requirement to obtain N incision points; wherein N is greater than or equal to 3;
the incision operation module is also used for determining an incision plane according to the incision point; the notch plane satisfies the following relationship:
Pn＝(xn,yn,zn)n＝1,2,···,N
wherein, PnCoordinates representing the nth notch point; ax + By + z + C-0 represents the incision plane;
the incision operation module is also used for determining the incision boundary and the incision center of the operation by adopting a region growing algorithm according to the incision plane and the targeted cardiac structure of the operation; calculating the maximum diameter and the minimum diameter of the incision according to the surgical incision boundary and the incision center; identifying the surgical incision boundary in the three-dimensional virtual model and displaying the maximum diameter and the minimum diameter.
A third embodiment of the present invention provides a simulated surgery guidance apparatus based on a three-dimensional model of a heart, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the simulated surgery guidance method based on the three-dimensional model of the heart as described in any one of the above.
A fourth embodiment of the present invention provides a computer-readable storage medium including a stored computer program; wherein the computer program controls the device on which the computer readable storage medium is located to implement the simulated operation guidance method based on the three-dimensional model of the heart as described in any one of the above items when the computer program runs.
According to the simulated operation guidance method, the simulated operation guidance device, the simulated operation guidance equipment and the storage medium based on the heart three-dimensional model, provided by the embodiment of the invention, when the heart operation practice is carried out by adopting an animal heart, the heart is simulated to be modeled by combining a three-dimensional modeling technology, the position and the shape of an operation incision to be realized are rapidly determined by combining an image processing technology and are displayed in the three-dimensional model, visual operation reference is provided for personnel carrying out the operation practice, effective operation assistance is provided for the heart operation, the safety and the intuition of an operation teaching process are improved, and the teaching effect of the heart operation teaching is improved.
Drawings
Fig. 1 is a schematic flow chart of a simulated surgery guidance method based on a three-dimensional model of a heart according to a first embodiment of the invention.
Fig. 2 is a schematic structural diagram of a simulated operation guidance device based on a three-dimensional model of a heart according to a second embodiment of the invention.
Fig. 3 is a schematic structural diagram of a simulated surgery guidance device based on a three-dimensional model of a heart according to a third embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a simulation operation guiding method based on a heart three-dimensional model. Referring to fig. 1, the simulated surgery guidance method may include steps S110 to S170, and preferably, may further include steps S180 to S190.
S110, an animal heart simulating a human heart is obtained, and a scanning image of the animal heart is obtained.
And S120, constructing a three-dimensional virtual model of the animal heart according to the scanning image.
Specifically, the animal heart may be scanned by a CT scan to obtain the scan image, and a three-dimensional model is obtained according to the scan image to obtain the three-dimensional virtual model.
S130, marking positions needing incisions on the three-dimensional virtual model according to operation requirements to obtain N incision points; wherein N is greater than or equal to 3.
Specifically, the surgery requires determining a position where a surgical operation is required, and fitting according to the determined position, so as to obtain a plane where an incision required to be operated is located.
And S140, determining a notch plane according to the notch point. The notch plane satisfies the following relationship:
Pn＝(xn,yn,zn)n＝1,2,···,N
wherein, PnTo representCoordinates of the nth notch point; ax + By + z + C-0 denotes the incision plane.
Fitting is performed based on a plurality of the incision points determined according to the surgical requirements, resulting in the incision plane.
S150, determining the incision boundary and the incision center of the operation by adopting a region growing algorithm according to the incision plane and the targeted cardiac structure of the operation.
In particular, the target cardiac structure includes at least one of a left atrium, a right atrium, a left ventricle, and a right ventricle. For example, the three-dimensional virtual model may be labeled in advance to determine the cardiac structure to which each position in the three-dimensional virtual model belongs. It can be understood that other structure identification means can be used to determine the cardiac structure of each position in the three-dimensional virtual model, without affecting the beneficial effects of the present invention.
More specifically, based on the determined notch plane Ax + By + z + C being 0, there is an amount of orientation
(Vector)
Sum vector
Two by two are vertical. Normalizing the vector to obtain the vector
Sum vector
Base vector of
And
wherein
And the base vector
And
all located in the incision plane and can be used to determine a new coordinate plane and perform the operation of the region growing algorithm in the new plane with any point of the target cardiac structure as a seed point.
Traversing all points in the incision plane with a point belonging to a target cardiac structure as a growth criterion, e.g., a point belonging to the right atrium as a growth criterion. When a point belongs to the target cardiac structure and none of the four points adjacent to the point belong to the target cardiac structure, it can be determined that the point is located on the surgical incision boundary. In order to find the incision center, the coordinates of all points belonging to the target cardiac structure determined in the traversal process may be averaged in combination with the traversal process described above, so as to obtain the centroid of the incision as the incision center.
And S160, calculating the maximum diameter and the minimum diameter of the incision according to the surgical incision boundary and the incision center.
Specifically, the calculation process of the maximum diameter and the minimum diameter may include steps S161 to S162.
S161, determining the incision diameter according to the operation incision boundary and the incision center.
Wherein the determination process of the incision diameter may include steps S161a to S161 d.
S161a, and optionally selecting two points on the boundary of the operation incision as a first point to be measured and a second point to be measured.
S161b, calculating the slope of a first line segment formed by the first point to be measured and the cut center.
S161c, calculating the slope of a second line segment formed by the second point to be measured and the cut center.
S161d, if the slope of the first line segment is equal to the slope of the second line segment, determining a line segment with the first point to be measured and the second point to be measured as end points as the incision diameter.
When the first point to be measured and the second point to be measured are respectively connected with the center of the incision, the obtained slope of the connection is the same or the error is smaller than a preset error threshold value, for example, the difference is smaller than 1%, it can be determined that the first point to be measured and the second point to be measured are respectively located at two sides of the center of the incision, that is, the connection line between the first point to be measured and the second point to be measured can be approximately determined as the diameter of the incision for operation. By the method, all diameters of the surgical incision can be quickly searched, so that the operation efficiency of analyzing the surgical incision is improved.
And S162, determining the maximum value and the minimum value in all the incision diameters to obtain the maximum diameter and the minimum diameter.
S170, identifying the surgical incision boundary in the three-dimensional virtual model, and displaying the maximum diameter and the minimum diameter.
Further, after step S170, the method for guiding a simulated surgery may further include steps S180 to S190 for performing a verification of the operation effect, thereby further improving the teaching effect.
And S180, acquiring a scanned image of the animal heart after the operation is finished so as to construct a post-operation three-dimensional virtual model.
And S190, marking the operation incision boundary on the post-operation three-dimensional virtual model.
By comparing the postoperative three-dimensional virtual model with the operation incision boundary determined for guiding the operation, the difference between the actual effect and the expected effect of the operation can be determined more intuitively, and referential feedback information is provided for operators.
The simulated operation guidance method based on the three-dimensional model of the heart, provided by the first embodiment of the invention, combines the three-dimensional modeling technology to simulate the heart for modeling while adopting the animal heart to carry out heart operation practice, combines the image processing technology to quickly determine the position and the shape of an operation incision to be realized, and displays the position and the shape in the three-dimensional model, so that visual operation reference is provided for personnel carrying out operation practice, effective operation assistance is provided for the heart operation, the safety and the intuition of an operation teaching process are improved, and the teaching effect of the heart operation teaching is improved.
The second embodiment of the invention provides a simulated operation guiding device based on the three-dimensional model of the heart, which is used for executing the simulated operation guiding method based on the three-dimensional model of the heart as described in the first embodiment. Referring to fig. 2, the simulated surgical guidance apparatus 20 based on a three-dimensional model of the heart includes:
an image acquisition module 21, configured to acquire an animal heart simulating a human heart and acquire a scan image of the animal heart;
a model construction module 22, configured to construct a three-dimensional virtual model of the animal heart according to the scan image;
the incision operation module 23 is configured to mark a position to be incised on the three-dimensional virtual model according to an operation requirement, so as to obtain N incision points; wherein N is greater than or equal to 3;
the incision operation module 23 is further configured to determine an incision plane according to the incision point; the notch plane satisfies the following relationship:
Pn＝(xn,yn,zn)n＝1,2,···,N
wherein, PnCoordinates representing the nth notch point; ax + By + z + C-0 represents the incision plane;
the incision operation module 23 is further configured to determine a surgical incision boundary and an incision center by using a region growing algorithm according to the incision plane and a target cardiac structure targeted by a surgical target; calculating the maximum diameter and the minimum diameter of the incision according to the surgical incision boundary and the incision center; identifying the surgical incision boundary in the three-dimensional virtual model and displaying the maximum diameter and the minimum diameter.
The working process of the simulated operation guiding apparatus 20 based on the three-dimensional model of the heart is the simulated operation guiding method based on the three-dimensional model of the heart according to the first embodiment, which is not described herein again.
The second embodiment of the invention provides a simulated operation guiding device based on a heart three-dimensional model, which is used for simulating a heart to perform modeling by combining a three-dimensional modeling technology while performing heart operation practice on an animal heart, rapidly determining the position and the shape of an operation incision to be realized by combining an image processing technology, and displaying the position and the shape in the three-dimensional model, thereby providing intuitive operation reference for personnel performing the operation practice, providing effective operation assistance for the heart operation, improving the safety and the intuition of an operation teaching process, and improving the teaching effect of the heart operation teaching.
Referring to fig. 3, a third embodiment of the present invention provides a simulated surgical guidance apparatus 30 based on a three-dimensional model of the heart. The simulated surgical guidance apparatus 30 based on a three-dimensional model of the heart includes: a processor 31, a memory 32 and a computer program stored in said memory and executable on said processor, such as a simulated surgical guidance program based on a three-dimensional model of the heart. The processor, when executing the computer program, implements the steps of the above-described embodiment of the simulated surgical guiding method based on a three-dimensional model of the heart, such as the steps of the simulated surgical guiding method based on a three-dimensional model of the heart shown in fig. 2. Alternatively, the processor, when executing the computer program, implements the functions of the modules of the above-described embodiments of the apparatus, for example, the functions of the modules of the simulated surgery guidance apparatus based on the three-dimensional model of the heart according to the second embodiment.
Illustratively, the computer program may be divided into one or more modules, which are stored in the memory 32 and executed by the processor 31 to accomplish the present invention. The one or more modules may be a series of instruction segments of a computer program capable of performing specific functions, which are used for describing the execution process of the computer program in the simulated operation guidance terminal device based on the three-dimensional model of the heart. For example, the system comprises an image acquisition module, a model construction module and a cut operation module. The functions of the modules are as follows: the system comprises an image acquisition module, a data acquisition module and a data processing module, wherein the image acquisition module is used for acquiring an animal heart for simulating a human heart and acquiring a scanning image of the animal heart; the model construction module is used for constructing a three-dimensional virtual model of the animal heart according to the scanning image; the incision operation module is used for marking the position needing incision on the three-dimensional virtual model according to the operation requirement to obtain N incision points; wherein N is greater than or equal to 3; the incision operation module is also used for determining an incision plane according to the incision point; the notch plane satisfies the following relationship:
Pn＝(xn,yn,zn)n＝1,2,···,N
wherein, PnCoordinates representing the nth notch point; ax + By + z + C-0 represents the incision plane; the incision operation module is also used for determining the incision boundary and the incision center of the operation by adopting a region growing algorithm according to the incision plane and the targeted cardiac structure of the operation; calculating the maximum diameter and the minimum diameter of the incision according to the surgical incision boundary and the incision center; identifying the surgical incision boundary in the three-dimensional virtual model and displaying the maximum diameter and the minimum diameter.
The simulated operation guidance device 30 based on the heart three-dimensional model may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The simulated surgical guidance device 30 based on a three-dimensional model of the heart may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a simulated surgical guidance device 30 based on a three-dimensional model of the heart and does not constitute a limitation of the simulated surgical guidance device 30 based on a three-dimensional model of the heart and may include more or fewer components than shown, or combine certain components, or different components, e.g., the simulated surgical guidance device 30 based on a three-dimensional model of the heart may also include input-output devices, network access devices, buses, etc.
The Processor 31 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor 31 is a control center of the cardiac three-dimensional model-based simulated surgery guidance apparatus 30, and various interfaces and lines are used to connect various parts of the whole cardiac three-dimensional model-based simulated surgery guidance terminal apparatus.
The memory 32 can be used for storing the computer program or module, and the processor 31 can realize various functions of the simulated operation guidance terminal device based on the three-dimensional model of the heart by operating or executing the computer program or module stored in the memory and calling the data stored in the memory. The memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein the integrated modules or units of the simulated surgical guidance device 30 based on the three-dimensional model of the heart, if implemented in the form of software functional units and sold or used as separate products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
The third embodiment of the invention provides simulated operation guiding equipment and a storage medium based on a heart three-dimensional model, which are used for simulating a heart to perform modeling by combining a three-dimensional modeling technology while performing heart operation practice by adopting an animal heart, rapidly determining the position and the shape of an operation incision to be realized by combining an image processing technology, and displaying in the three-dimensional model, thereby providing intuitive operation reference for personnel performing the operation practice, providing effective operation assistance for the heart operation, improving the safety and the intuition of an operation teaching process, and improving the teaching effect of the heart operation teaching.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. A simulated operation guidance method based on a heart three-dimensional model is characterized by comprising the following steps:
acquiring an animal heart simulating a human heart and acquiring a scan image of the animal heart;
constructing a three-dimensional virtual model of the animal heart according to the scanning image;
marking the position of a required incision on the three-dimensional virtual model according to the operation requirement to obtain N incision points; wherein N is greater than or equal to 3;
determining a notch plane according to the notch point; the notch plane satisfies the following relationship:
Pn＝(xn，yn，zn)n＝1，2，…，N
wherein, PnCoordinates representing the nth notch point; ax + By + z + C-0 represents the incision plane;
determining the boundary and the center of the operation incision by adopting a region growing algorithm according to the incision plane and the targeted cardiac structure of the operation;
calculating the maximum diameter and the minimum diameter of the incision according to the surgical incision boundary and the incision center;
identifying the surgical incision boundary in the three-dimensional virtual model and displaying the maximum diameter and the minimum diameter.
2. The method for guiding a simulated operation based on a three-dimensional model of a heart as claimed in claim 1, wherein the step of calculating the maximum diameter and the minimum diameter of the incision according to the boundary of the operation incision and the center of the incision comprises the steps of:
determining an incision diameter according to the surgical incision boundary and the incision center;
and determining the maximum diameter and the minimum diameter of all the incision diameters.
3. The method for guiding a simulated operation based on a three-dimensional model of a heart as claimed in claim 2, wherein the determining an incision diameter according to the boundary of the operation incision and the incision center comprises:
optionally selecting two points on the boundary of the operation incision as a first point to be measured and a second point to be measured;
calculating the slope of a first line segment formed by the first point to be measured and the center of the cut;
calculating the slope of a second line segment formed by the second point to be measured and the incision center;
and if the slope of the first line segment is equal to the slope of the second line segment, determining a line segment taking the first point to be measured and the second point to be measured as end points as the cut diameter.
4. The method for guiding simulated surgery based on three-dimensional model of heart according to any one of claims 1 to 3, wherein the process of determining the center of the incision comprises:
averaging the position coordinates of the image points of the target cardiac structure located on the incision plane to obtain the position coordinates of the incision center.
5. The three-dimensional model cardiac-based simulated surgical guidance method of claim 1, wherein the target cardiac structure comprises at least one of a left atrium, a right atrium, a left ventricle, and a right ventricle.
6. The method for guiding a simulated surgery based on a three-dimensional model of a heart as claimed in claim 1, further comprising the steps of:
acquiring a scanned image of an animal heart after the operation is finished so as to construct a post-operation three-dimensional virtual model;
marking the operation incision boundary on the three-dimensional virtual model after the operation.
7. A simulated operation guiding device based on a heart three-dimensional model is characterized in that the device is used for executing the simulated operation guiding method based on the heart three-dimensional model according to any one of claims 1-6; the method comprises the following steps:
the system comprises an image acquisition module, a data acquisition module and a data processing module, wherein the image acquisition module is used for acquiring an animal heart for simulating a human heart and acquiring a scanning image of the animal heart;
the model construction module is used for constructing a three-dimensional virtual model of the animal heart according to the scanning image;
the incision operation module is used for marking the position needing incision on the three-dimensional virtual model according to the operation requirement to obtain N incision points; wherein N is greater than or equal to 3;
the incision operation module is also used for determining an incision plane according to the incision point; the notch plane satisfies the following relationship:
Pn＝(xn，yn，zn)n＝1，2，…，N
wherein, PnCoordinates representing the nth notch point; ax + By + z + C-0 represents the incision plane;
the incision operation module is also used for determining the incision boundary and the incision center of the operation by adopting a region growing algorithm according to the incision plane and the targeted cardiac structure of the operation; calculating the maximum diameter and the minimum diameter of the incision according to the surgical incision boundary and the incision center; identifying the surgical incision boundary in the three-dimensional virtual model and displaying the maximum diameter and the minimum diameter.
8. A simulated surgery guidance device based on a three-dimensional model of a heart, characterized by comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the simulated surgery guidance method based on a three-dimensional model of a heart as claimed in any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program; wherein the computer program controls the apparatus on which the computer readable storage medium is executed to implement the method for guiding a simulated surgery based on a three-dimensional model of a heart according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111247205.6A CN113903233B (en) | 2021-10-26 | 2021-10-26 | Simulated operation guiding method, device, equipment and storage medium of heart model |
| PCT/CN2022/127679 WO2023072144A1 (en) | 2021-10-26 | 2022-10-26 | Simulated surgery guidance method, apparatus and device of heart model, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111247205.6A CN113903233B (en) | 2021-10-26 | 2021-10-26 | Simulated operation guiding method, device, equipment and storage medium of heart model |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113903233A true CN113903233A (en) | 2022-01-07 |
| CN113903233B CN113903233B (en) | 2022-10-28 |
Family
ID=79026243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111247205.6A Active CN113903233B (en) | 2021-10-26 | 2021-10-26 | Simulated operation guiding method, device, equipment and storage medium of heart model |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113903233B (en) |
| WO (1) | WO2023072144A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023072144A1 (en) * | 2021-10-26 | 2023-05-04 | 暨南大学 | Simulated surgery guidance method, apparatus and device of heart model, and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002021483A1 (en) * | 2000-09-06 | 2002-03-14 | The Chamberlain Group | A cardiac surgical trainer and method for making same |
| CN101477706A (en) * | 2008-12-19 | 2009-07-08 | 天津工业大学 | Simulated operation planning method based on medical image |
| CN102117378A (en) * | 2009-12-31 | 2011-07-06 | 苏州瑞派宁科技有限公司 | Hepatic tumor comprehensive surgical planning analogy method and system thereof based on three-dimensional multimode images |
| CN102895031A (en) * | 2012-09-19 | 2013-01-30 | 深圳市旭东数字医学影像技术有限公司 | Kidney virtual surgical method and system |
| US20170206686A1 (en) * | 2014-06-25 | 2017-07-20 | William Beaumont Hospital | Simulated Cardiac Model |
| CN207602115U (en) * | 2017-09-30 | 2018-07-10 | 曲靖医学高等专科学校 | A kind of echocardiogram corresponds to each folding composition cardiac module |
| CN108765430A (en) * | 2018-05-24 | 2018-11-06 | 西安思源学院 | A kind of heart left chamber region segmentation method based on cardiac CT image and machine learning |
| CN112017517A (en) * | 2020-10-10 | 2020-12-01 | 北京博医时代教育科技有限公司 | Organ model body, preparation method thereof and application thereof in preparation of resectoscope resection training model |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4070751A1 (en) * | 2015-06-12 | 2022-10-12 | The Trustees of Dartmouth College | Systems and methods for guiding tissue resection |
| CN105147362B (en) * | 2015-07-17 | 2017-09-08 | 哈尔滨工程大学 | A kind of brain tumor procedures otch and approach planing method |
| WO2021188757A1 (en) * | 2020-03-20 | 2021-09-23 | The Johns Hopkins University | Augmented reality based surgical navigation system |
| CN113274129A (en) * | 2021-05-11 | 2021-08-20 | 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） | Cardiothoracic surgery auxiliary control system based on virtual reality |
| CN113903233B (en) * | 2021-10-26 | 2022-10-28 | 暨南大学 | Simulated operation guiding method, device, equipment and storage medium of heart model |
-
2021
- 2021-10-26 CN CN202111247205.6A patent/CN113903233B/en active Active
-
2022
- 2022-10-26 WO PCT/CN2022/127679 patent/WO2023072144A1/en unknown
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002021483A1 (en) * | 2000-09-06 | 2002-03-14 | The Chamberlain Group | A cardiac surgical trainer and method for making same |
| CN101477706A (en) * | 2008-12-19 | 2009-07-08 | 天津工业大学 | Simulated operation planning method based on medical image |
| CN102117378A (en) * | 2009-12-31 | 2011-07-06 | 苏州瑞派宁科技有限公司 | Hepatic tumor comprehensive surgical planning analogy method and system thereof based on three-dimensional multimode images |
| CN102895031A (en) * | 2012-09-19 | 2013-01-30 | 深圳市旭东数字医学影像技术有限公司 | Kidney virtual surgical method and system |
| US20170206686A1 (en) * | 2014-06-25 | 2017-07-20 | William Beaumont Hospital | Simulated Cardiac Model |
| CN207602115U (en) * | 2017-09-30 | 2018-07-10 | 曲靖医学高等专科学校 | A kind of echocardiogram corresponds to each folding composition cardiac module |
| CN108765430A (en) * | 2018-05-24 | 2018-11-06 | 西安思源学院 | A kind of heart left chamber region segmentation method based on cardiac CT image and machine learning |
| CN112017517A (en) * | 2020-10-10 | 2020-12-01 | 北京博医时代教育科技有限公司 | Organ model body, preparation method thereof and application thereof in preparation of resectoscope resection training model |
Non-Patent Citations (1)
| Title |
|---|
| 刘尚平 等: ""基于医学图像的三维模拟手术"", 《中国医学影像技术》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023072144A1 (en) * | 2021-10-26 | 2023-05-04 | 暨南大学 | Simulated surgery guidance method, apparatus and device of heart model, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113903233B (en) | 2022-10-28 |
| WO2023072144A1 (en) | 2023-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR20190100011A (en) | Method and apparatus for providing surgical information using surgical video | |
| US20190188909A1 (en) | Marking a computerized model of a cardiac surface | |
| US10176630B2 (en) | Updating an electroanatomical map | |
| CN103345568A (en) | Method and system for surgical planning based on three-dimensional model | |
| CN113903233B (en) | Simulated operation guiding method, device, equipment and storage medium of heart model | |
| JP2013090799A (en) | Image processing device, method and program | |
| JP2015513945A (en) | Tooth graph cut based interactive segmentation method in 3D CT solid data | |
| JP2015513945A6 (en) | Tooth graph cut-based interactive segmentation method in 3D CT volumetric data | |
| CN116370076A (en) | Path navigation method, path navigation device, computer equipment, storage medium and program product | |
| CN113240661A (en) | Deep learning-based lumbar vertebra analysis method, device, equipment and storage medium | |
| CN112862955B (en) | Method, apparatus, device, storage medium and program product for establishing three-dimensional model | |
| CN115689971A (en) | Pedicle screw implantation channel planning method and device based on deep learning | |
| CN106725564A (en) | Image processing apparatus and image processing method | |
| CN115954096A (en) | Cavity mirror VR imaging system based on image data processing | |
| Hassan et al. | Evaluation of software tools for segmentation of temporal bone anatomy | |
| CN113961122B (en) | Human body model display method and device | |
| KR20190133423A (en) | Program and method for generating surgical simulation information | |
| CN114170215A (en) | Bone tumor dangerous area rapid generation system | |
| KR102320223B1 (en) | Apparatus and method for recommending operation route | |
| CN117503344B (en) | Method and device for confirming power of multiple puncture needles, electronic equipment and storage medium | |
| CN113069206B (en) | Image guiding method and system based on electromagnetic navigation | |
| CN102609622A (en) | Ablation image guiding equipment with image measuring device | |
| CN114587584B (en) | Navigation system visualization method and system for improving safety of orthopedic nail setting operation | |
| CN117994346B (en) | Digital twinning-based puncture instrument detection method, system and storage medium | |
| CN102609621A (en) | Ablation image guiding equipment with image registration device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |