CN115249290A

CN115249290A - Spatial data processing method, spatial positioning method and equipment for unilateral temporal bone

Info

Publication number: CN115249290A
Application number: CN202210657336.XA
Authority: CN
Inventors: 尹红霞; 王振常; 施铸倩; 秦亚亭; 李晓光; 卓力; 张婷婷; 任鹏玲; 赵鹏飞; 吕晗
Original assignee: Beijing University of Technology; Beijing Friendship Hospital
Current assignee: Beijing University of Technology; Beijing Friendship Hospital
Priority date: 2022-06-10
Filing date: 2022-06-10
Publication date: 2022-10-28
Anticipated expiration: 2042-06-10
Also published as: CN115249290B

Abstract

The embodiment of the application provides a spatial data processing method, a spatial positioning method and spatial positioning equipment for a unilateral temporal bone. According to the scheme, after a reference line face angle is determined based on a bilaterally symmetrical outer semi-diameter tube bone tube model in a first three-dimensional reconstruction model, and a first transverse axis face is determined based on voxel point information of a single-side outer semi-diameter tube bone tube model in a second three-dimensional reconstruction model, a coordinate origin and a first sagittal plane on one side of the single-side outer semi-diameter tube bone tube model can be determined according to a first perpendicular point, a first transverse axis face and the reference line face angle of an end point of a first central line of the single-side outer semi-diameter tube bone tube model on the first transverse axis face; furthermore, the coronal plane can be determined according to the first transverse axis plane and the first sagittal plane, so that a unilateral temporal bone space coordinate system can be established based on the coordinate origin, the first transverse axis plane, the first sagittal plane and the coronal plane, and the coordinate of one point in the unilateral temporal bone image can be more accurately calibrated by referring to the unilateral temporal bone space coordinate system to be displayed to a user.

Description

Spatial data processing method, spatial positioning method and equipment for unilateral temporal bone

Technical Field

The application relates to the technical field of computers, in particular to a spatial data processing method, a spatial positioning method and spatial positioning equipment for unilateral temporal bones.

Background

The skull is an important part of a human body and contains two temples which are paired and positioned on the left side and the right side of the skull, namely a left temple bone and a right temple bone. The temporal bone is the bone structure with the finest structure and function and the most complex in human skeleton, and contains the fine structures such as the important auditory system, blood vessels, arteries and the like. In the related surgical procedure, the physician is often required to not only have a great deal of surgical experience and skill, but must also have a comprehensive and thorough understanding of the temporal bone anatomy in order to avoid damaging the delicate nodule structures within the temporal bone during surgery. Currently, physicians mainly improve the understanding of the temporal bone and the related surgical skills through a three-dimensional reconstruction model of the temporal bone. In the process of studying the three-dimensional model of the temporal bone, the absolute positioning problem of the temporal bone structure or the spatial point is often required to be analyzed according to a spatial coordinate system.

In the prior art, the establishment of a bilateral symmetry temporal bone (namely, a left temporal bone and a right temporal bone are symmetrically distributed in the head intracranial) space coordinate system is researched more, and the establishment research of a unilateral symmetry temporal bone space coordinate system is lacked.

Disclosure of Invention

In view of the above, the present application provides a spatial data processing method, a spatial localization method and a device for a unilateral temporal bone, which solve the above problems or at least partially solve the above problems.

In one embodiment of the present application, a spatial data processing method for a unilateral temporal bone is provided. The method comprises the following steps:

determining a reference line face angle based on a bilateral symmetric outer semi-diameter tube bone tube model in the first three-dimensional reconstruction model;

acquiring voxel point information of a unilateral external semi-gauge tube bone tube model in a second three-dimensional reconstruction model, and determining a first transverse axial plane based on the voxel point information;

determining a first vertical point of an endpoint of a first central line of the unilateral external semicircular canal bone tube model on a first transverse axial plane;

determining a first sagittal plane and a coordinate origin according to the first vertical point, the first transverse axis plane and the reference line plane angle; wherein the first sagittal plane is on one side of the unilateral external semi-gauge tubular bone model;

determining a coronal plane from the first transverse axis plane and the first sagittal plane;

and establishing a unilateral temporal bone space coordinate system based on the coordinate origin, the first transverse axis plane, the first sagittal plane and the coronal plane so as to conveniently mark the coordinate of one point in the unilateral temporal bone image by referring to the unilateral temporal bone space coordinate system for displaying to a user.

In another embodiment of the present application, a spatial localization method is provided. The method comprises the following steps:

acquiring and displaying a unilateral temporal bone image;

responding to an acquisition request triggered by a user for a point to be calibrated in the unilateral temporal bone image map, and determining a coordinate value of the point to be calibrated by utilizing the unilateral temporal bone space coordinate system; the unilateral temporal bone space coordinate system is a coordinate system established by the unilateral temporal bone space data processing method provided by the embodiment of the application;

and in the unilateral temporal bone image map, displaying the coordinate values and the point to be calibrated in a correlation manner, so that a user can execute the operation related to the point to be calibrated based on the coordinate values.

In one embodiment of the present application, an electronic device is provided. The electronic device includes: a memory and a processor, wherein the memory is configured to store one or more computer programs; the processor, coupled to the memory, is configured to execute the one or more computer programs stored in the memory, so as to implement the steps in the spatial data processing method for a unilateral temporal bone or the steps in the spatial localization method provided in the embodiment of the present application.

According to the technical scheme provided by each embodiment of the application, on the basis that a reference line face angle is determined based on a bilaterally symmetrical outer semi-diameter tube bone tube model in a first three-dimensional reconstruction model and a first transverse axis face is determined based on voxel point information of a single-side outer semi-diameter tube bone tube model in a second three-dimensional reconstruction model, a coordinate origin and a first sagittal plane on one side of the single-side outer semi-diameter tube bone tube model can be determined according to a first perpendicular point, a first transverse axis face and the reference line face angle of an end point of a first central line of the single-side outer semi-diameter tube bone tube model on the first transverse axis face; further, the coronal plane can be determined according to the first transverse axis plane and the first sagittal plane, so that a unilateral temporal bone space coordinate system can be established based on the coordinate origin, the first transverse axis plane, the first sagittal plane and the coronal plane, so that a coordinate of a point in the unilateral temporal bone image can be more accurately calibrated with reference to the unilateral temporal bone space coordinate system to be displayed to a user (such as a clinician), that is, in other words, after the user triggers an acquisition request for a certain point to be calibrated in the unilateral temporal bone image, the unilateral temporal bone space coordinate system can be automatically utilized to determine a coordinate value of the point to be calibrated, and the coordinate value and the point to be calibrated in the unilateral temporal bone image are associated and displayed, so that the user can visually see the accurate position of the point to be calibrated, which provides a good basis for subsequent medical research. In conclusion, the single temporal bone space coordinate system established by the scheme can effectively solve the absolute positioning problem of the single temporal bone structure or space point, so as to establish a foundation for researching the temporal bone space position.

Drawings

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

Fig. 1 is a schematic structural diagram of a temporal bone model including a semi-tubular bone model according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of three corresponding sagittal, transverse and coronal planes in human anatomy according to an embodiment of the present application;

fig. 3 is a schematic flowchart of a spatial data processing method for a unilateral temporal bone according to an embodiment of the present application;

FIG. 4 illustrates a computed tomography system according to an embodiment of the present application;

FIG. 5 is a schematic view of the structure of the center line of the bilateral semicircular canal model according to an embodiment of the present application;

FIG. 6 provides a top view of a bilateral semi-tubular bone model including a centerline, a second transverse axis and a second sagittal plane, respectively, according to one embodiment of the present application;

FIG. 7 is a two-dimensional cross-sectional scanning image of a bone tube structure including a unilateral semi-radial tube according to an embodiment of the present disclosure;

FIG. 8 provides a first top view including a first centerline of a unilateral semi-tubular bone canal model with a first transverse axial plane and a first sagittal plane according to one embodiment of the present application;

fig. 9 is a schematic flowchart of a spatial positioning method according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a spatial data processing apparatus for a unilateral temporal bone according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a spatial positioning apparatus according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Before the technical solutions provided by the embodiments of the present application are described, a brief description of specific terms in this document will be provided.

Temporal bone: belongs to one of paired cranial bones in the skull, is positioned at the left and right sides of the skull, is arranged between a sphenoid bone, a parietal bone and a occipital bone, has small volume and irregular shape, has complex internal structure and adjacent relation, is internally provided with a position sensor, an auditory organ, a facial nerve, a vestibular cochlear nerve and an internal carotid artery, and is the finest and most complex structure in the skull.

Semicircular canal bone: is a component of the bone labyrinth and is composed of three mutually perpendicular semicircular canaliculi. Referring to fig. 1, the temporal bone includes three semicircular canals 01, wherein the semicircular canal at the highest position is called anterior semicircular canal 011, the semicircular canal at the back position is called posterior semicircular canal 012, and the semicircular canal at the horizontal position is called lateral semicircular canal 013. Each semicircular canal bone canal has a single bone foot and a ampulla bone foot, the latter is called bone ampulla in the expansion near atrium 02, and the single bone feet of the front semicircular canal bone canal and the rear semicircular canal bone canal are combined into a total bone foot.

The sagittal plane, transverse axis plane and coronal plane are anatomical terms, and their associated definitions can be seen specifically in the structural diagrams of the sagittal plane, transverse axis plane and coronal plane in the human anatomy shown in fig. 2. As shown in fig. 2, the sagittal plane 11 is a cross section obtained by longitudinally cutting the human body into left and right halves in the front-rear direction, wherein the cross section obtained by dividing the human body into left and right halves is referred to as a median sagittal plane; the transverse axis plane 12 (also called horizontal plane) is parallel to the ground plane and divides the human body into an upper plane and a lower plane; the coronal plane 13 (also called frontal plane) is a cross section obtained by longitudinally cutting the human body into front and rear parts in the left and right directions. The sagittal plane 11, the transverse axis plane 12 and the coronal plane 13 intersect each other two by two and are perpendicular to each other.

In order to make the technical solution better understood by those skilled in the art, the technical solution in the embodiment of the present application will be clearly and completely described below with reference to the attached drawings in the embodiment of the present application.

In some of the flows described in the specification, claims, and above-described figures of the present application, a number of operations are included that occur in a particular order, which operations may be performed out of order or in parallel as they occur herein. The sequence numbers of the operations, e.g., 101, 102, etc., are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. In this application, the term "or/and" is only one kind of association relationship describing the associated object, and means that three relationships may exist, for example: a or/and B, which means that A can exist independently, A and B exist simultaneously, and B exists independently; the "/" character in this application generally indicates that the objects associated with each other are in an "or" relationship. It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising one of \ 8230; \8230;" 8230; "does not exclude the presence of additional identical elements in the article or system in which the element is comprised. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

Fig. 3 shows a schematic flow chart of a spatial data processing method for a unilateral temporal bone according to an embodiment of the present application. The execution main body of the method provided by the embodiment of the present application may be an apparatus, and the apparatus may be, but is not limited to, an apparatus integrated on any terminal device such as a smart phone, a tablet computer, a PDA (Personal Digital Assistant), a smart television, a laptop portable computer, a desktop computer, and an intelligent wearable device. As shown in fig. 3, the spatial data processing method for a unilateral temporal bone includes the following steps:

101. determining a reference line face angle based on a bilateral symmetric outer semi-diameter tube bone tube model in the first three-dimensional reconstruction model;

102. acquiring voxel point information of a unilateral external semi-gauge tube bone tube model in a second three-dimensional reconstruction model, and determining a first transverse axial plane based on the voxel point information;

103. determining a first plumb point of an end point of a centerline of the unilateral external hemi-tubular bone tube model on the first transverse axial plane;

104. determining a first sagittal plane and a coordinate origin according to the first vertical point, the first transverse axis plane and the reference line plane angle; wherein the first sagittal plane is on one side of the unilateral external semi-gauge tubular bone model;

105. determining a coronal plane from the first transverse axis plane and the first sagittal plane;

106. and establishing a unilateral temporal bone space coordinate system based on the coordinate origin, the first transverse axis plane, the first sagittal plane and the coronal plane so as to conveniently mark the coordinate of one point in the unilateral temporal bone image by referring to the unilateral temporal bone space coordinate system for displaying to a user.

In the above 101, the first three-dimensional reconstruction model may be obtained by performing correlation processing on a plurality of two-dimensional cross-sectional image maps by using an existing three-dimensional reconstruction technology (e.g. a 3D printer, a three-dimensional reconstruction software) based on a series of two-dimensional tomographic images acquired from different angles for the bilaterally symmetric outer semicircular canals. Specifically, it can be obtained by the following relevant processing steps:

001. acquiring a plurality of images acquired aiming at bilaterally symmetrical outer semicircular canal bone canal;

002. performing image recognition on the plurality of images to obtain three-dimensional modeling parameters of the bilaterally symmetric outer semicircular canal bone canal;

003. and constructing the first three-dimensional reconstruction model based on the three-dimensional modeling parameters.

In a specific implementation, the plurality of images may be a plurality of first tomographic images of the bilaterally symmetric external semicircular canal, and the first tomographic images may be obtained from basic data for medical research stored in an archive database. In specific implementation, the plurality of first tomographic images may be executed by importing the external device into the method provided by this embodiment, where the importing of the external device may be, but is not limited to: a server storing archived data, a storage medium (such as a usb flash disk, a removable hard disk, etc.), and a scanning device (such as the CT scanning device 10 shown in fig. 4). Further, after obtaining the plurality of tomographic images, the first three-dimensional reconstruction model may be constructed based on the three-dimensional modeling parameters by performing image recognition on the plurality of tomographic images to obtain corresponding three-dimensional modeling parameters in an artificial intelligence manner, such as a pre-trained machine learning model (e.g., a neural network model). Based on the above, the scheme described in the above steps 001 to 003 can be further characterized by the following steps:

004. and receiving a plurality of first tomography images imported by an external device and required for reconstructing the first three-dimensional model.

005. Processing the plurality of first tomography images by using a pre-trained machine learning model to obtain three-dimensional modeling parameters;

006. and constructing the first three-dimensional reconstruction model based on the three-dimensional modeling parameters.

In particular implementations, the machine learning model can be, but is not limited to, a neural network model, such as a deep learning neural network model, a recurrent neural network model, and the like. The obtained three-dimensional modeling parameters may be the size (e.g., length, radius, angle), position, orientation, shape, etc. of the three-dimensional geometric elements. When the first three-dimensional reconstruction model is constructed, corresponding modeling software (such as CAD) can be called, and modeling is carried out manually in a three-dimensional modeling interaction space provided by the modeling software according to three-dimensional modeling parameters; alternatively, the developed modeling program may be directly called, and the three-dimensional modeling parameters may be used as input of the modeling program, so that the modeling program is executed to perform automatic modeling, which is not limited herein.

An example is given in connection with fig. 4. Referring to the computed tomography system (i.e. CT system) shown in fig. 4, a user (e.g. a scanning device operator) can set scanning parameters of the CT scanning device 10, such as a layer thickness, a scanning manner, a matrix, a tube current amount, etc., through a terminal device 20 (which may also be referred to as a computer operation console), so as to control the CT scanning device to scan a volunteer, and acquire data information of a plurality of cross sections acquired by aiming at the bilateral external semicircular canal bone. Then, the CT scanning device will send the data information to the terminal device 20, and the terminal device 20 processes the data information to obtain a plurality of corresponding tomographic images; the plurality of tomographic images may be displayed on a display of the terminal device 20, or may be photographed and printed by the printing device 30 or transmitted to other display terminals via a network for further analysis and processing by other persons. In addition, the user may also use the machine learning model in his or her meaning to identify a plurality of tomographic images through an application (e.g., three-dimensional reconstruction software) on the terminal device 20 to obtain corresponding three-dimensional modeling parameters, so as to automatically construct the first three-dimensional reconstruction model based on the three-dimensional modeling parameters.

In an achievable technical solution, the step 101 of determining the reference line plane angle based on the bilaterally symmetric outer semi-diameter tubular bone tube model in the first three-dimensional reconstruction model may specifically include:

1011. determining a second sagittal plane and a second transverse axis plane based on the bilateral symmetrical outer semi-radial tube bone tube model; wherein, the outer semi-diameter pipe bone tube model of bilateral symmetry includes: the second sagittal plane is a median plane which passes through the midpoint of a connecting line of the outermost point corresponding to the left-side external semicircular canal model and the outermost point corresponding to the right-side external semicircular canal model and is perpendicular to the connecting line; the second transverse axis plane is perpendicular to the second sagittal plane, and the sum of the distances from all somatotype points on the bilaterally symmetrical outer semi-tubular bone tube model to the second transverse axis plane is minimum;

1012. determining two second left perpendicular points of two second left end points of a second center line of the left outer semicircular tubular bone tube model on the second transverse axial plane and two second right perpendicular points of two second right end points of a third center line of the right outer semicircular tubular bone tube model on the second transverse axial plane;

1013. acquiring a first line angle between the connecting line of the two second left vertical points and the second sagittal plane, and a second line angle between the two second right vertical points and the second sagittal plane;

1014. taking the first or second line face angle as the reference line face angle; wherein the first and second line angles are equal in magnitude.

In the foregoing 101, in a specific embodiment, the outermost points corresponding to the left outer semi-tubular bone model and the right outer semi-tubular bone model may be determined based on, but not limited to, the center lines corresponding to the left outer semi-tubular bone model and the right outer semi-tubular bone model, and specifically, the following steps may be adopted to determine:

1010. acquiring a second central line of the left outer semicircular canal bone tube model and a third central line of the right outer semicircular canal bone tube model;

1011. acquiring a left side point on the second central line;

1012. acquiring a right side point on the third central line;

1013. determining a reference surface based on the left side point and the right side point;

1014. on the second central line, a point farthest from the reference surface is searched as the left side point;

1015. on the third central line, a point farthest away from the reference surface is searched as the right side point;

1016. re-determining the reference surface based on the left point found in step 1014 and the right point found in step 1015;

1017. repeating the steps 1014-1016 until finding the optimal left side point and right side point;

1018. respectively taking the optimal left side point and the optimal right side point as the outermost side points corresponding to the bilateral external semi-diameter tube bone tube models; wherein the optimal left side point is the left outermost point corresponding to the left outer semicircular canal model; the optimal right side point is the right outermost side point corresponding to the right outer semicircular canal skeleton model.

In the above 1010, since the bilateral external semicircular canal bone tube model is a semicircular small tube, it can be regarded as a semicircular pipeline formed by rolling a hemisphere with a fixed radius along a certain curve (i.e. a central line). Therefore, when obtaining the center line corresponding to each of the bilateral external semi-gauge tubular bone models, it is possible to obtain the center line based on a plurality of cross sections corresponding to each of the two side external semi-gauge tubular bone models. That is, in a practical implementation, the above 1010 "obtaining the second centerline of the left external semi-radius tubular bone model" may specifically adopt the following manners:

10101. acquiring coordinates of central points of a plurality of cross sections of the left outer semicircular canal skeleton model;

10102. generating a second central line corresponding to the left outer semi-gauge tubular bone model based on the coordinates of the central points of the plurality of cross sections;

in specific implementation, the center point coordinates may be obtained by sampling the center points of the plurality of cross sections, wherein the sampling frequency may be flexibly set according to actual conditions, which is not limited herein. And fitting a second central line corresponding to the left lateral external semicircular canal bone tube model based on the central point coordinates. Wherein, the second central line is close to the semicircular arc because the left outer semicircular tube bone tube model is a semicircular tubule.

Similarly, the specific implementation of "obtaining the third center line of the right outer semi-diameter tubular bone tube model" in the above 1010 can refer to the above steps 10101 and 10102, and details are not repeated here.

A second centerline 22 corresponding to the left lateral external hemi-tubular bone model and a third centerline 23 corresponding to the right lateral external hemi-tubular bone model are shown in fig. 5.

Referring to fig. 5, based on the description of the above steps 1011 to 10108, a specific example will be given to describe the determination process of the outermost points corresponding to the left outer semi-tubular bone model and the right outer semi-tubular bone model. In particular, the amount of the solvent to be used,

assuming that the outermost points corresponding to the bilateral outer semicircular canal models respectively exist, taking any point a1 on the second central line 22 as a left point and taking any point b1 on the third central line 23 as a right point respectively shown in fig. 5; then, a plane alpha 1 perpendicular to the connection line of the left side point a1 and the right side point b1 is made through a central point O1 of the connection line of the left side point a1 and the right side point b1, and the plane alpha 1 is made to be a reference plane; next, the vertical distances from the points a2 and a3 (not shown) adjacent to the left point a1 and the points b2 and b3 (not shown) adjacent to the right point b1 to the plane α 1 are obtained, and the point with the longest vertical distance is used as the new left point and right point. If the vertical distances between the points a2 and b2 and the plane α 1 are longest, the point a2 is used as the new left-side point, and the point b2 is used as the new right-side point. The number of the adjacent points may be 2, 4 or more, which is not limited herein. Continuously passing through the new central point of the connecting line of the left side point a2 and the right side point b2, and re-determining the reference surface; repeating the steps 1014-1016 until finding the optimal left and right points (such as points L and R in FIG. 5); and respectively taking the optimal left side point and the optimal right side point as the left outermost side point and the right outermost side point which respectively correspond to the bilateral external semicircular canal skeleton pipe model. That is, the optimal left side point is the left outermost side point corresponding to the left outer semicircular canal model, and the optimal right side point is the right outermost side point corresponding to the right outer semicircular canal model. It should be noted that, since the central lines corresponding to the double-sided outer semi-gauge models are close to the semi-circular arcs, in the process of "repeating steps 1014 to 1016 until finding the optimal left-side point and right-side point", only the distances from the points corresponding to the middle arc segments on the central lines (for example, the middle arc segment L1L2 on the second central line 22 and the middle arc segment R1R2 on the third central line 23 in fig. 5) to the reference plane may be searched.

After determining the respective outermost points corresponding to the bilateral external hemi-tubular models, as shown in fig. 5, a median plane α 2 (also called median sagittal plane) passing through a midpoint O2 of a line LR between the left outermost point L corresponding to the left lateral hemi-tubular model and the right outermost point R corresponding to the right lateral hemi-tubular model and perpendicular to the line LR is the second sagittal plane 112.

Based on the determined second sagittal plane, a transverse plane (e.g., a plane β shown in fig. 5) perpendicular to the second sagittal plane may be fitted to the outermost points corresponding to the left outer semi-tubular bone model and the right outer semi-tubular bone model by using, for example, a least square method according to the voxel point information corresponding to the left outer semi-tubular bone model and the voxel point information corresponding to the right outer semi-tubular bone model as the second transverse plane 122; wherein the sum of the distances of all voxel points on the bilateral outer semicircular canal bone tube model from the second transverse axis plane 122 is the smallest.

Considering that the first three-dimensional reconstruction model generally includes, in addition to the bilaterally symmetric external semi-radial conduit skeletal model, other models, such as bilaterally symmetric vestibular models corresponding to the bilaterally symmetric external semi-radial conduit skeletal models, specifically, a left vestibular model corresponding to the left lateral external semi-radial conduit skeletal model and a right vestibular model corresponding to the right lateral external semi-radial conduit skeletal model); the left outer semi-tubular bone model is intersected with the left vestibule model, the right outer semi-tubular bone model is intersected with the right vestibule model, and accordingly the second center line of the left outer semi-tubular bone model can be intersected with the left vestibule model, and the third center line of the right outer semi-tubular bone model can be intersected with the right vestibule model. Based on this, in the above 1012, two end points of the respective center lines of the bilateral outer semicircular canal bone tube models can be obtained based on intersection points of the center lines of the bilateral outer semicircular canal bone tube models and the respective corresponding vestibule models, so that the perpendicular points of the two end points of the respective center lines of the bilateral outer semicircular canal bone tube models on the second transverse axial plane are determined in a manner that the end points guide the perpendicular line to the second transverse axial plane. That is, in a specific embodiment, the step 1012 of determining two second left perpendicular points of the second end points of the second center line of the left outer semicircular canal model on the second transverse axial plane and two second right perpendicular points of the second end points of the third center line of the right outer semicircular canal model on the second transverse axial plane may be specifically implemented by the following steps:

10121. acquiring two intersection points of the second central line and the corresponding left vestibular model as two second left end points of the second central line;

10122. and respectively leading left vertical lines to the second transverse axial plane through the two second left end points so as to obtain two second left vertical points of the two second left end points on the second transverse axial plane according to the intersection point of the left vertical line and the second transverse axial plane.

10123. Acquiring two intersection points of the third center line and the corresponding right atrium model as two second right end points of the third center line;

10124. and respectively passing through the two second right end points to lead right vertical lines to the second transverse axial plane so as to obtain two second right vertical points of the two second right end points on the second transverse axial plane according to the intersection point of the right vertical line and the second transverse axial plane.

In a specific implementation, an intersection point of the left perpendicular line and the second transverse axis plane is a second left perpendicular point of the second left endpoint on the second transverse axis plane, and an intersection point of the right perpendicular line and the second transverse axis plane is a second right perpendicular point of the second right endpoint on the second transverse axis plane. In the above steps 10122 and 10124, when a left perpendicular line is drawn to the second transverse axial plane for the second left end point to obtain a corresponding second left perpendicular point, and a right perpendicular line is drawn to the second transverse axial plane for the second right end point to obtain a corresponding second right perpendicular point, the operations may be implemented by using, but not limited to, a vertical projection manner; the vertical projection refers to projecting a point on the second transverse axis plane along a vertical line, so as to obtain the position of the point on the second transverse axis plane.

FIG. 6 illustrates a top view that includes the respective centerlines (i.e., second centerline 22, third centerline 23) of the bilateral lateral semi-gauge tubular model, as well as the second sagittal plane 112 and the second transverse axial plane 122. In FIG. 6, point a' ₁₀ And a' ₁₁ Namely, the two second left end points (i.e., points a) of the second centerline 22 ₁₀ And point a ₁₁ ) Two second left vertical points on the second transverse plane 122, and point b' ₁₀ And b' ₁₁ Namely the two second right end points (i.e., points b) of the third center line 23 ₁₀ And point b ₁₁ ) Two second right plumb points on the second transverse axis plane 122.

In 1013 and 1014, the first line angle is an angle formed by a connection line of two second left vertical points and the projection of the connection line in a plane. For example, the first line face angle is line segment a 'as shown in FIG. 6' ₁₀ a' ₁₁ With line segment a' ₁₀ a” ₁₁ When the angle θ 1 is formed, the angle θ 1 can be obtained by, but not limited to, solving a geometric triangle. Similarly, referring to the manner of obtaining the first line surface angle, the second line surface angle (angle θ 2 shown in fig. 6) may also be obtained. The second and third centerlines are symmetric about the second sagittal plane, so that the magnitude of the calculated first line angle will be generally equal to the magnitude of the second line angle, or there will be a negligible minimal difference between the first and second line angles, so that either of the first and second line angles can be used as a reference line angle to be used in the determination of the first sagittal plane to be described in detail below.

In the above 102, the second three-dimensional reconstruction model may be obtained by performing correlation processing on a plurality of two-dimensional cross-sectional maps by using a three-dimensional reconstruction technique (e.g., a 3D printer, three-dimensional reconstruction software) based on a series of two-dimensional cross-sectional images (e.g., images shown in fig. 7) acquired from different angles with respect to a unilateral external semicircular canal. The specific process for obtaining the second three-dimensional reconstruction model may refer to the process for obtaining the first three-dimensional reconstruction model described above, and details are not repeated here.

Based on the obtained second three-dimensional reconstruction model, voxel point information corresponding to the unilateral outer semicircular canal bone model in the second three-dimensional reconstruction model can be obtained, and further, a fitting model obtained based on a least square method can be used for fitting the voxel point information corresponding to the unilateral outer semicircular canal bone model to form a transverse plane, the sum of distances from all voxel points on the unilateral outer semicircular canal bone model to the plane is minimized, and the plane is used as a first transverse axis surface, such as the first transverse axis surface 121 shown in fig. 8. In other words, the first transverse axial plane is parallel to the layer having the largest area of the transverse cutting plane through the unilateral external semicircular canal model. Based on this, in a specific embodiment, the "determining the first transverse axial plane based on the voxel point information" in the foregoing 102 may specifically include:

1021. fitting a transverse plane according to the voxel point information;

1022. taking the plane as the first transverse axial plane; wherein the sum of distances of all voxel points on the unilateral external semi-gauge tubular bone model from the first transverse axial plane is minimum.

Further, a specific implementable technical solution of the aforementioned 1021 "fitting a transverse plane according to the voxel point information" is:

10211. obtaining a fitting model;

10212. and fitting the voxel point information by using the fitting model to fit a transverse plane.

In specific implementation, a transverse plane can be represented by a equation f (x, y, z), then the voxel point information is fitted by using a fitting model to obtain a plane parameter of the plane, and the fitted transverse plane is determined according to the plane parameter. The fitting model may be obtained based on other algorithms besides the least square algorithm, and is not limited herein.

The second three-dimensional reconstruction model comprises a unilateral vestibule model corresponding to the unilateral external semi-radial cannula model besides the unilateral external semi-radial cannula model, wherein two ends of the unilateral external semi-radial cannula model are intersected with the unilateral vestibule model corresponding to the unilateral external semi-radial cannula model, and correspondingly, two end points of a first central line of the unilateral external semi-radial cannula model are also intersected with the corresponding unilateral vestibule model. Based on this, in an achievable technical solution, the step 103 "determining a first perpendicular point of the end point of the centerline of the unilateral external semicircular canal bone tube model on the first transverse axial plane" may specifically include:

1031. acquiring two intersection points of the first central line and the unilateral vestibular model as two first end points of the first central line;

1032. respectively pass through the two first endpoints to draw the perpendicular line to the first cross-axis surface, so as to obtain two first vertical points of the two first endpoints on the first cross-axis surface according to the intersection point of the perpendicular line and the first cross-axis surface.

For specific implementation of the foregoing steps 1031 to 1032, reference may be made to the content described above in connection with the foregoing step 1012, and details are not described here.

Fig. 8 shows a top view including the first centerline 21 and the first transverse axial surface 121. In FIG. 8, point a' ₂₀ And a' ₂₁ These two points, i.e., the two first end points expressed as the first center line (i.e., point a) ₂₀ And point a ₂₁ ) Two first vertical points on the first transverse axis surface 121.

In the above 104, since the transverse axis plane and the sagittal plane have a vertical relationship, a plane which is perpendicular to the first transverse axis plane and which is connected to the two first perpendicular points may be defined as a first sagittal plane; in determining the origin of coordinates, one vertical point may be selected from two first vertical points according to the first sagittal plane. That is, the step 104 "determining a first sagittal plane and an origin of coordinates based on the first perpendicular point, the first transverse axis plane, and the reference line plane angle" may specifically include the steps of:

1041. a plane which is perpendicular to the first transverse axis plane and is connected with the two first vertical points is taken as the reference line plane angle and is taken as the first sagittal plane;

1042. selecting one vertical point from the two first vertical points as a target vertical point according to the first sagittal plane;

1043. and determining the coordinate origin according to the target vertical point.

In 1041, for example, referring to fig. 8, following the example in 103, the line face angle θ is taken as reference, and the determined two first perpendiculars (i.e., points a' ₂₀ And a' ₂₁ ) The plane with the line angle theta of the connecting line is a plane g ₁ Then plane g ₁ I.e., a first sagittal plane 111.

Based on the determined first sagittal plane 111, a vertical point can be selected from the two first vertical points as a target vertical point according to the respective distances from the two vertical points to the first sagittal plane, so as to determine the coordinate origin according to the target vertical point in the following. For example, the vertical point farthest from the first sagittal plane may be taken as the target vertical point. Based on this, in a specific implementation technical solution, the aforementioned 1042 "selecting one of the two first vertical points as a target vertical point according to the first sagittal plane" may be implemented by specifically adopting the following steps:

10421. determining a distance of each of the two first vertical points from the first sagittal plane;

10422. and selecting one vertical point which is farthest from the first sagittal plane from the two first vertical points as the target vertical point according to the distance.

For example, with continued reference to FIG. 8, two first vertical points (i.e., points a' ₂₀ And a' ₂₁ ) InDot a' ₂₀ Distance from the first sagittal plane 111 is greater than point a' ₂₁ Distance from the first sagittal plane 111, then point a' ₂₀ Namely the target vertical point.

1043, determining the origin of coordinates according to the target vertical point, includes:

10431. taking a plane which passes through the target vertical point and is parallel to the first sagittal plane as a reference plane;

10432. and searching a point farthest from the reference surface as the origin of coordinates in a point set corresponding to the unilateral external semi-gauge tube skeleton model.

The point O shown in FIG. 8 is the distance g from the reference surface found by the point set corresponding to the unilateral external semicircular canal bone tube model ₂ The farthest point, i.e., point O, is the origin of coordinates.

In the above 105, as shown in fig. 2, since the transverse axis plane, the sagittal plane, and the coronal plane have a perpendicular relationship of two to two, the coronal plane can be determined by combining the normal vectors of the first transverse axis plane and the first sagittal plane and determining the normal vector of the coronal plane by the right-hand screw rule. That is, in the above 105, "determining the coronal plane based on the first transverse axis plane and the first sagittal plane" may specifically be: acquiring respective corresponding normal vectors of the first transverse axis plane and the first sagittal plane; determining normal vectors corresponding to the coronal plane by using a right-handed screw rule according to the normal vectors corresponding to the first transverse axis plane and the first sagittal plane respectively; and determining the coronal plane based on the corresponding normal vector of the coronal plane.

Furthermore, as can be seen from fig. 2, the sagittal plane, the transverse axis plane and the coronal plane intersect with each other in pairs and are perpendicular to each other, and a spatial coordinate system can be formed by using the intersecting lines. Based on this, in the technical solution provided in this embodiment, the aforementioned 106 may construct the unilateral temporal bone space coordinate system based on the coordinate origin and a parallel straight line parallel to an intersection line formed by two-by-two intersections of the first sagittal plane, the first transverse axis plane, and the coronal plane. That is, in an implementation solution, the aforementioned 106 "establishing a unilateral temporal bone space coordinate system based on the coordinate origin, the first transverse axis plane, the first sagittal plane, and the coronal plane" may specifically include the following steps:

1061. acquiring a first straight line which passes through the coordinate origin and is parallel to a straight line formed by the intersection of the coronal plane and the first transverse axis plane, and taking the first straight line as an X axis;

1062. acquiring a second straight line which passes through the coordinate origin and is parallel to a straight line formed by the intersection of the first sagittal plane and the coronal plane, and taking the second straight line as a Y axis;

1062. and acquiring a third straight line which passes through the coordinate origin and is parallel to a straight line formed by the intersection of the first transverse axis plane and the first sagittal plane, and taking the third straight line as a Z axis.

The above step 106 is described with reference to a practical application scenario. Referring to the relevant axial directions in the anatomy shown in fig. 2 in combination with fig. 8, a first straight line which passes through the origin of coordinates O and is parallel to a straight line formed by the intersection of the coronal plane (not shown in fig. 8) and the first transverse axis plane may be taken as the X-axis, and the positive direction of the coronal axis (i.e., the right-side direction, or the normal vector direction of the first sagittal plane) in the anatomy may be taken as the positive direction of the X-axis; then, taking a second straight line which passes through the coordinate origin O and is parallel to a straight line formed by the intersection of the first sagittal plane and the coronal plane as a Y axis, and taking the positive direction of a vertical axis in anatomy (namely the upper or head direction, or the normal vector direction of the first transverse axis plane) as the positive direction of the Y axis; finally, a third straight line which passes through the coordinate origin O and is parallel to a straight line formed by the intersection of the first transverse axis plane and the first sagittal plane is taken as a Z-axis, and the positive direction of the sagittal axis (namely, the direction of the front, or the normal vector of the coronal plane) in the anatomy is taken as the positive direction of the Z-axis.

The embodiment provides the technical scheme that on the basis that a reference line plane angle is determined based on a bilaterally symmetrical outer semi-tubular bone model in a first three-dimensional reconstruction model and a first transverse axis plane is determined based on voxel point information of a unilateral outer semi-tubular bone model in a second three-dimensional reconstruction model, a coordinate origin and a first sagittal plane on one side of the unilateral outer semi-tubular bone model can be determined according to a first perpendicular point, a first transverse axis plane and the reference line plane angle of an end point of a first central line of the unilateral outer semi-tubular bone model on the first transverse axis plane; furthermore, the coronal plane can be determined according to the first transverse axis plane and the first sagittal plane, so that a unilateral temporal bone spatial coordinate system can be established based on the coordinate origin, the first transverse axis plane, the first sagittal plane and the coronal plane, so that the coordinate of a point in a unilateral temporal bone image can be more accurately calibrated by referring to the unilateral temporal bone spatial coordinate system to be displayed to a user (such as a clinician), that is, in other words, after the user triggers an acquisition request for a certain point to be calibrated in the unilateral temporal bone image, the coordinate value of the point to be calibrated can be automatically determined by using the unilateral temporal bone spatial coordinate system, and the coordinate value and the point to be calibrated in the unilateral temporal bone image are associated and displayed, so that the user can visually see the accurate position of the point to be calibrated, which provides a good basis for subsequent medical research. In conclusion, the unilateral temporal bone space coordinate system established by the scheme can effectively solve the absolute positioning problem of unilateral temporal bone structures or space points, so as to establish a foundation for researching the temporal bone space position.

Further, the method provided by this embodiment may further include the following steps:

107. acquiring and displaying a unilateral temporal bone image;

108. responding to an acquisition request triggered by a user for a point to be calibrated in the unilateral temporal bone image map, and determining a coordinate value of the point to be calibrated by utilizing the unilateral temporal bone space coordinate system;

109. and in the unilateral temporal bone image map, the coordinate values and the points to be calibrated are displayed in a correlation manner, so that a user can execute operations related to the points to be calibrated based on the coordinate values.

In specific implementation, the point to be calibrated and the coordinate value corresponding to the point to be calibrated can be displayed in a single temporal bone image in a relevant and prominent manner. The highlighting manner may be, but is not limited to, color highlighting or thickening of the point to be marked and the corresponding coordinate value. The coordinate values may be displayed in the form of (x, y, z). The operation performed by the user based on the coordinate values may be a statistical operation, a labeling operation, or the like performed for scientific research, and is not limited herein.

Based on the above content, an embodiment of the present application further provides a schematic flow chart of the spatial positioning method. Specifically, as shown in fig. 9, a flow chart of a spatial positioning method is illustrated, and the method includes the following steps:

201. acquiring and displaying a unilateral temporal bone image;

202. responding to an acquisition request triggered by a user aiming at a point to be calibrated in the unilateral temporal bone image map, and determining a coordinate value of the point to be calibrated by utilizing the unilateral temporal bone space coordinate system; the unilateral temporal bone spatial coordinate system is a coordinate system established by a spatial data processing method for the unilateral temporal bone as shown in fig. 3;

203. and in the unilateral temporal bone image map, displaying the coordinate values and the point to be calibrated in a correlation manner, so that a user can execute the operation related to the point to be calibrated based on the coordinate values.

For the above detailed description of 201 to 203, reference may be made to the relevant contents in the above embodiments.

Fig. 10 shows a schematic structural diagram of a spatial data processing apparatus for a unilateral temporal bone according to an embodiment of the present application. As shown in fig. 10, the spatial data processing apparatus for a unilateral temporal bone includes: a determining module 31, an obtaining determining module 32 and an establishing module 33; wherein,

the determining module 31 is configured to determine a reference line surface angle based on a bilaterally symmetric outer semi-radial tubular bone tube model in the first three-dimensional reconstruction model;

an obtaining and determining module 32, configured to obtain voxel point information of a unilateral external semi-tubular bone model in the second three-dimensional reconstruction model, so as to determine a first transverse axial plane based on the voxel point information;

the determining module 31 is further used for determining a first perpendicular point of an endpoint of a first central line of the unilateral external semi-gauge tubular bone pipe model on a first transverse axial plane; determining a first sagittal plane and a coordinate origin according to the first vertical point, the first transverse axis plane and the reference line plane angle; wherein the first sagittal plane is on one side of the unilateral external semi-gauge tubular bone model; determining a coronal plane from the first transverse axis plane and the first sagittal plane;

the establishing module 33 is configured to establish a unilateral temporal bone space coordinate system based on the origin of coordinates, the first transverse axis plane, the first sagittal plane, and the coronal plane, so as to calibrate coordinates of a point in a unilateral temporal bone image map with reference to the unilateral temporal bone space coordinate system, and display the coordinates to a user.

Further, the second three-dimensional reconstruction model includes a unilateral vestibular model corresponding to the unilateral external semicircular canal bone tube model; and the determining module 31, when configured to determine a first perpendicular point of the end point of the first centerline of the unilateral external semicircular canal bone tube model on the first transverse axial plane, is specifically configured to: acquiring two intersection points of the first central line and the unilateral vestibular model as two first end points of the first central line; respectively cross the two first end points to lead a perpendicular line to the first transverse axial plane so as to obtain two first vertical points of the two first end points on the first transverse axial plane according to the perpendicular line and the intersection point of the first transverse axial plane.

Further, the determining module 31, when configured to determine a first sagittal plane and an origin of coordinates according to the first perpendicular point, the first transverse axis plane and the reference line plane angle, is specifically configured to: a plane which is perpendicular to the first transverse axial plane and is connected with the two first vertical points is taken as the reference line plane angle, and the first sagittal plane is taken as the plane; according to the first sagittal plane, selecting one vertical point from the two first vertical points as a target vertical point; and determining the coordinate origin according to the target vertical point.

Further, when the determining module 31 is configured to select one vertical point from the two first vertical points according to the first sagittal plane as the target vertical point, specifically, the determining module is configured to: determining a distance of each of the two first vertical points from the first sagittal plane; and selecting a vertical point which is farthest from the first sagittal plane from the two first vertical points as the target vertical point according to the distance.

Further, the determining module 31, when configured to determine the origin of coordinates according to the target vertical point, is specifically configured to: taking a plane which passes through the target vertical point and is parallel to the first sagittal plane as a reference plane; and searching a point farthest from the reference surface in a point set corresponding to the unilateral external semi-diameter tube bone tube model to serve as the origin of coordinates.

Further, the above-mentioned obtaining determining module 32, when configured to determine the first transverse axis based on the voxel point information, is specifically configured to: fitting a transverse plane according to the voxel point information; taking the plane as the first transverse plane; wherein the sum of distances of all voxel points on the unilateral external semi-gauge tubular bone model from the first transverse axial plane is minimum.

Further, the obtaining and determining module 32, when configured to fit a transverse plane according to the voxel point information, is specifically configured to: obtaining a fitting model; and fitting the voxel point information by using the fitting model to fit a transverse plane.

Further, the determining module 31, when configured to determine a coronal plane according to the first transverse axis plane and the first sagittal plane, is specifically configured to: acquiring respective corresponding normal vectors of the first transverse axis plane and the first sagittal plane; determining a normal vector corresponding to the coronal plane by using a right-handed screw rule according to normal vectors corresponding to the first transverse axis plane and the first sagittal plane respectively; and determining the coronal plane based on the corresponding normal vector of the coronal plane.

Further, the establishing module 33, when configured to establish a unilateral temporal bone space coordinate system based on the origin of coordinates, the first transverse axis plane, the first sagittal plane, and the coronal plane, is specifically configured to: acquiring a first straight line which passes through the origin of coordinates and is parallel to a straight line formed by the intersection of the coronal plane and the first transverse axis plane, and taking the first straight line as an X axis; acquiring a second straight line which passes through the coordinate origin and is parallel to a straight line formed by the intersection of the first sagittal plane and the coronal plane, and taking the second straight line as a Y axis; and acquiring a third straight line which passes through the coordinate origin and is parallel to a straight line formed by the intersection of the first transverse axis plane and the first sagittal plane, and taking the third straight line as a Z axis.

Further, the determining module 31, when configured to determine the reference line face angle based on the bilaterally symmetric outer semi-tubular bone tube model in the first three-dimensional reconstruction model, is specifically configured to:

determining a second sagittal plane and a second transverse axis plane based on the bilateral symmetrical outer semi-radial tube bone tube model; wherein, the bilateral symmetry outer semi-diameter pipe bone pipe model includes: the second sagittal plane is a median plane which passes through the midpoint of a connecting line of the outermost point corresponding to the left lateral external semicircular canal bone pipe model and the outermost point corresponding to the right lateral external semicircular canal bone pipe model and is perpendicular to the connecting line; the second transverse axis plane is perpendicular to the second sagittal plane, and the sum of the distances from all somatotype points on the bilaterally symmetrical outer semi-tubular bone tube model to the second transverse axis plane is minimum;

determining two second left perpendicular points of two second left end points of a second centerline of the left outer semicircular tubular bone model on the second transverse axial plane and two second right perpendicular points of two second right end points of a third centerline of the right outer semicircular tubular bone model on the second transverse axial plane;

acquiring a first line angle between the connecting line of the two second left vertical points and the second sagittal plane, and a second line angle between the two second right vertical points and the second sagittal plane;

taking the first or second line face angle as the reference line face angle; wherein the first and second line angles are equal in magnitude.

Further, the apparatus provided in this embodiment further includes:

the acquisition and display module is used for acquiring and displaying a unilateral temporal bone image map;

the response module is used for responding to an acquisition request triggered by a user aiming at a point to be calibrated in the unilateral temporal bone image map, and determining the coordinate value of the point to be calibrated by utilizing the unilateral temporal bone space coordinate system;

and the association display module is used for performing association display on the coordinate values and the points to be calibrated in the unilateral temporal bone image map so as to allow a user to execute operations related to the points to be calibrated based on the coordinate values.

Here, it should be noted that: the spatial data processing apparatus for a unilateral temporal bone provided in the foregoing embodiment may implement the technical solution described in the foregoing embodiment of the spatial data processing method for a unilateral temporal bone illustrated in fig. 3, and the specific implementation principle of each module or unit may refer to the corresponding content in the foregoing embodiment of the spatial data processing method for a unilateral temporal bone illustrated in fig. 3, and is not described here again.

Fig. 11 shows a schematic structural diagram of a spatial positioning apparatus provided in an embodiment of the present application. As shown in fig. 11, the spatial locating device includes: an acquisition display module 41, a response module 42 and an association display module 43; wherein,

the acquisition and display module 41 is used for acquiring and displaying a unilateral temporal bone image;

a response module 42, configured to determine, by using the unilateral temporal bone space coordinate system, a coordinate value of a point to be calibrated in response to an acquisition request triggered by a user for the point to be calibrated in the unilateral temporal bone image; wherein the unilateral temporal bone spatial coordinate system is a coordinate system established by a spatial data processing method for the unilateral temporal bone as shown in fig. 3;

and the association display module 43 is configured to perform association display on the coordinate values and the to-be-calibrated point in the unilateral temporal bone image map, so that a user performs an operation related to the to-be-calibrated point based on the coordinate values.

Here, it should be noted that: the spatial positioning device provided in the foregoing embodiment may implement the technical solution described in the spatial positioning method embodiment shown in fig. 9, and the specific implementation principle of each module or unit may refer to the corresponding content in the spatial positioning method embodiment shown in fig. 9, which is not described herein again.

Fig. 12 shows a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device includes a processor 52 and a memory 51. Wherein the memory 51 is configured to store one or more computer instructions; the processor 52 is coupled to the memory 51 for one or more computer instructions (e.g., computer instructions implementing data storage logic) to implement the steps in the above-described embodiment of the spatial data processing method for the unilateral temporal bone shown in fig. 3, or the steps in the above-described embodiment of the spatial localization method shown in fig. 9.

The memory 51 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

Further, as shown in fig. 12, the electronic apparatus further includes: communication components 53, power components 55, and a display 54. Only some of the components are schematically shown in fig. 12, and the electronic device is not meant to include only the components shown in fig. 12.

Yet another embodiment of the present application provides a computer program product. The computer program product comprises a computer program or instructions which, when executed by a processor, causes the processor to carry out the steps of the above-described method embodiments.

Accordingly, the present application further provides a computer-readable storage medium storing a computer program, where the computer program can implement the method steps or functions provided by the foregoing embodiments when executed by a computer.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A spatial data processing method for a unilateral temporal bone, comprising:

determining a reference line face angle based on a bilateral symmetrical outer semicircular canal bone tube model in the first three-dimensional reconstruction model;

determining a first sagittal plane and a coordinate origin according to the first vertical point, the first transverse axis plane and the reference line plane angle; wherein the first sagittal plane is on one side of the unilateral external semi-radial canal model;

based on the origin of coordinates, the first transverse axis plane, the first sagittal plane and the coronal plane, a unilateral temporal bone space coordinate system is established so as to mark the coordinates of a point in the unilateral temporal bone image by referring to the unilateral temporal bone space coordinate system for displaying to a user.

2. The method according to claim 1, wherein the second three-dimensional reconstruction model comprises a unilateral vestibular model corresponding to the unilateral external semi-tubular bone model; and

determining a first plumb point of an endpoint of a first centerline of the unilateral external hemi-tubular bone tube model on the first transverse axial plane, comprising:

acquiring two intersection points of the first central line and the unilateral vestibular model as two first end points of the first central line;

respectively pass through the two first endpoints to draw the perpendicular line to the first cross-axis surface, so as to obtain two first vertical points of the two first endpoints on the first cross-axis surface according to the intersection point of the perpendicular line and the first cross-axis surface.

3. The method of claim 2, wherein determining a first sagittal plane and origin of coordinates from the first perpendicular point, the first transverse axis plane, and the reference line plane angle comprises:

a plane which is perpendicular to the first transverse axial plane and is connected with the two first vertical points is taken as the reference line plane angle, and the first sagittal plane is taken as the plane;

selecting one vertical point from the two first vertical points as a target vertical point according to the first sagittal plane;

and determining the coordinate origin according to the target vertical point.

4. The method of claim 3, wherein selecting one of the two first vertical points as a target vertical point according to the first sagittal plane comprises:

determining a distance of each of the two first vertical points from the first sagittal plane;

and selecting one vertical point farthest from the first sagittal plane from the two first vertical points as the target vertical point according to the distance.

5. The method of claim 4, wherein determining the origin of coordinates from the target vertical point comprises:

taking a plane which passes through the target vertical point and is parallel to the first sagittal plane as a reference plane;

and searching a point farthest from the reference surface as the origin of coordinates in a point set corresponding to the unilateral external semi-gauge tube skeleton model.

6. The method of any one of claims 1 to 5, wherein determining a first transverse axis plane based on the voxel point information comprises:

fitting a transverse plane according to the voxel point information;

taking the plane as the first transverse axial plane; wherein the sum of distances of all voxel points on the unilateral external semi-gauge tubular bone model from the first transverse axial plane is minimum.

7. The method of claim 6, wherein fitting a transverse plane based on the voxel point information comprises:

obtaining a fitting model;

and fitting the voxel point information by using the fitting model to fit a transverse plane.

8. The method of claim 6, wherein determining a coronal plane from the first transverse axis plane and the first sagittal plane comprises:

acquiring normal vectors corresponding to the first transverse axis plane and the first sagittal plane respectively;

determining a normal vector corresponding to the coronal plane by using a right-handed screw rule according to normal vectors corresponding to the first transverse axis plane and the first sagittal plane respectively;

and determining the coronal plane based on the corresponding normal vector of the coronal plane.

9. The method of claim 8, wherein establishing a unilateral temporal bone space coordinate system based on the origin of coordinates, the first transverse axis plane, the first sagittal plane, and the coronal plane comprises:

acquiring a first straight line which passes through the coordinate origin and is parallel to a straight line formed by the intersection of the coronal plane and the first transverse axis plane, and taking the first straight line as an X axis;

acquiring a second straight line which passes through the coordinate origin and is parallel to a straight line formed by the intersection of the first sagittal plane and the coronal plane, and taking the second straight line as a Y axis;

and acquiring a third straight line which passes through the coordinate origin and is parallel to a straight line formed by the intersection of the first transverse axis plane and the first sagittal plane, and taking the third straight line as a Z axis.

10. The method of any one of claims 1 to 5, wherein determining a reference line face angle based on a bilaterally symmetric outer semi-gauge tubular bone model in the first three-dimensional reconstructed model comprises:

determining a second sagittal plane and a second transverse axis plane based on the bilaterally symmetric outer semi-radial tubular bone tube model; wherein, the bilateral symmetry outer semi-diameter pipe bone pipe model includes: the second sagittal plane is a median plane which passes through the midpoint of a connecting line of the outermost point corresponding to the left-side external semicircular canal model and the outermost point corresponding to the right-side external semicircular canal model and is perpendicular to the connecting line; the second transverse axis plane is perpendicular to the second sagittal plane, and the sum of the distances from all somatotype points on the bilaterally symmetrical outer semi-tubular bone tube model to the second transverse axis plane is minimum;

determining two second left perpendicular points of two second left end points of a second center line of the left outer semicircular tubular bone tube model on the second transverse axial plane and two second right perpendicular points of two second right end points of a third center line of the right outer semicircular tubular bone tube model on the second transverse axial plane;

11. The method of any one of claims 1 to 5, further comprising:

acquiring and displaying a unilateral temporal bone image;

responding to an acquisition request triggered by a user aiming at a point to be calibrated in the unilateral temporal bone image map, and determining a coordinate value of the point to be calibrated by utilizing the unilateral temporal bone space coordinate system;

and in the unilateral temporal bone image map, the coordinate values and the points to be calibrated are displayed in a correlation manner, so that a user can execute operations related to the points to be calibrated based on the coordinate values.

12. A spatial localization method, comprising:

acquiring and displaying a unilateral temporal bone image;

responding to an acquisition request triggered by a user aiming at a point to be calibrated in the unilateral temporal bone image map, and determining a coordinate value of the point to be calibrated by utilizing the unilateral temporal bone space coordinate system; wherein the unilateral temporal bone spatial coordinate system is a coordinate system established by the spatial data processing method for the unilateral temporal bone according to any one of claims 1 to 11;

and in the unilateral temporal bone image map, displaying the coordinate values and the point to be calibrated in a correlation manner so that a user can execute the operation related to the point to be calibrated based on the coordinate values.

13. An electronic device, comprising: a memory and a processor, wherein,

the memory for storing one or more computer programs;

the processor, coupled with the memory, configured to execute the one or more computer programs stored in the memory to implement the steps of the method of any of claims 1-11, or the steps of the method of claim 12.