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

Abstract

Embodiments of the present application provide a spatial data processing method, a spatial positioning method, and a device for a unilateral temporal bone. In this solution, the reference plane angle is determined based on the bilateral symmetric lateral semicircular canal bone canal model in the first three-dimensional reconstruction model, and the first lateral surface angle is determined based on the voxel point information of the unilateral lateral semicircular canal bone canal model in the second three-dimensional reconstruction model. After the axial plane, the origin of the coordinates and the angle of the reference line can be determined according to the first vertical point of the end point of the first center line of the bone canal model of the unilateral lateral semicircular canal on the first transverse plane, the first transverse plane and the plane angle of the reference line. The first sagittal plane on one side of the unilateral lateral semicircular canal bone canal model; further, the coronal plane can be determined according to the first transverse plane and the first sagittal plane, so that the origin of the coordinates and the first transverse plane can also be determined. , The first sagittal plane and coronal plane establish a unilateral temporal bone spatial coordinate system, so that the coordinates of a point in the unilateral temporal bone image map can be more accurately calibrated with reference to the unilateral temporal bone spatial coordinate system to display to the user.

Description

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

technical field

The present application relates to the field of computer technology, in particular to a spatial data processing method, spatial positioning method and equipment for unilateral temporal bone.

Background technique

The skull is an important part of the human body, which contains a pair of two temporal bones located on the left and right sides of the skull, namely the left temporal bone and the right temporal bone. The temporal bone is the most delicate and complex bone structure in terms of structure and function in human bones, and contains important fine structures such as the auditory system, blood vessels, and arteries. In the relevant surgical procedures, doctors are usually required not only to have rich surgical experience and skills, but also to have a comprehensive and thorough understanding of the anatomy of the temporal bone, so as to avoid damage to the fine structure inside the temporal bone during the operation. At present, doctors mainly use the three-dimensional reconstruction model of the temporal bone to improve their understanding of the temporal bone and its related surgical skills. In the process of studying the three-dimensional model of the temporal bone, it is often necessary to analyze the absolute positioning of the temporal bone structure or spatial points based on a spatial coordinate system.

In the prior art, much research has been done on the establishment of a spatial coordinate system for bilaterally symmetrical temporal bones (ie, the left and right temporal bones are symmetrically distributed in the skull), but there is a lack of research on the establishment of a spatial coordinate system for unilateral temporal bones.

SUMMARY OF THE INVENTION

In view of the above problems, the present application provides a spatial data processing method, spatial positioning method and equipment for unilateral temporal bone that 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 unilateral temporal bone is provided. The method includes:

Based on the bone canal model of the bilaterally symmetrical outer semicircular canal in the first three-dimensional reconstruction model, determine the plane angle of the reference line;

Obtaining voxel point information of the unilateral lateral semicircular canal bone canal model in the second three-dimensional reconstruction model, so as to determine the first transverse axis plane based on the voxel point information;

determining the first perpendicular point of the end point of the first centerline of the unilateral lateral semicircular canal bone canal model on the first transverse plane;

According to the first vertical point, the first transverse plane and the angle of the reference line, determine the first sagittal plane and the coordinate origin; wherein, the first sagittal plane is located in the unilateral outer semicircular canal bone pipe model side;

determining a coronal plane according to the first transverse plane and the first sagittal plane;

Establish a unilateral temporal bone spatial coordinate system based on the coordinate origin, the first transverse axis plane, the first sagittal plane, and the coronal plane, so as to calibrate the unilateral temporal bone with reference to the unilateral temporal bone spatial coordinate system The coordinates of a point in the image map are used to display to the user.

In another embodiment of the present application, a spatial positioning method is provided. The method includes:

Obtain and display a unilateral temporal bone image;

In response to an acquisition request triggered by the user for a point to be calibrated in the unilateral temporal bone image map, using the unilateral temporal bone space coordinate system to determine the coordinate value of the point to be calibrated; wherein, the unilateral temporal bone space The coordinate system is a coordinate system established by the spatial data processing method for unilateral temporal bone provided by an embodiment of the present application;

In the unilateral temporal bone image map, the coordinate values are displayed in association with the points to be marked, so that users can perform operations related to the points to be marked 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 used to store one or more computer programs; the processor is coupled to the memory and is used to execute the one or more computer programs stored in the memory. A plurality of computer programs are used to implement the steps in the spatial data processing method for unilateral temporal bone or the steps in the spatial positioning method provided in the above embodiments of the present application.

According to the technical solution provided by each embodiment of the present application, the reference line-plane angle is determined based on the bilateral symmetric external semicircular canal bone canal model in the first three-dimensional reconstruction model, and the volume of the unilateral external semicircular canal bone canal model in the second three-dimensional reconstruction model is determined. On the basis of determining the first transverse axis plane based on the prime point information, the first vertical point on the first transverse axis plane of the endpoint of the first center line of the unilateral lateral semicircular canal bone canal model, the first transverse axis plane and the reference Line-plane angle to determine the coordinate origin and the first sagittal plane on one side of the unilateral lateral semicircular canal bone canal model; further, the coronal plane can also be determined according to the first transverse axis plane and the first sagittal plane, Therefore, 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 unilateral temporal bone image can be more accurately calibrated with reference to the unilateral temporal bone spatial coordinate system The coordinates of a point in the picture are displayed to the user (such as a clinician). In other words, after the user triggers a request for a certain point to be calibrated in the unilateral temporal bone image, the user can automatically use the The unilateral temporal bone spatial coordinate system determines the coordinate value of the point to be calibrated, and correlates the coordinate value with the point to be calibrated in the image of the unilateral temporal bone for display processing. The user can intuitively see the precise position of the point to be calibrated. This provides a good foundation for subsequent medical research. In summary, the unilateral temporal bone spatial coordinate system established by this program can effectively solve the problem of absolute positioning of unilateral temporal bone structures or spatial points, so as to establish a basis for the study of temporal bone spatial position.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic structural view of a temporal bone model comprising a semicircular canal bone model provided by an embodiment of the present application;

Fig. 2 is a structural representation of the corresponding sagittal plane, transverse axis plane and coronal plane in the human anatomy provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of a spatial data processing method for unilateral temporal bone provided by an embodiment of the present application;

Fig. 4 is a computed tomography system provided by an embodiment of the present application;

Fig. 5 is a structural schematic diagram of the respective centerlines of the bilateral semicircular canal bone canal models provided by an embodiment of the present application;

Fig. 6 provides a top view including the respective centerlines, the second transverse axis plane and the second sagittal plane of the bilateral semicircular canal bone canal model according to an embodiment of the present application;

Fig. 7 is a two-dimensional cross-sectional scanning image of the bony canal structure including the unilateral semicircular canal provided by an embodiment of the present application;

Fig. 8 provides an embodiment of the present application including the first centerline of the unilateral semicircular canal bone canal model, and a top view of the first transverse plane and the first sagittal plane;

FIG. 9 is a schematic flowchart of a spatial positioning method provided by an embodiment of the present application;

Fig. 10 is a schematic structural diagram of a spatial data processing device for unilateral temporal bone provided by an embodiment of the present application;

Fig. 11 is a schematic structural diagram of a space positioning device provided by an embodiment of the present application;

FIG. 12 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

Before introducing the technical solutions provided by the various embodiments of this application, a brief introduction will be made to the proper nouns involved in this article.

Temporal bone: one of the paired cranial bones in the skull. It is located on the left and right sides of the skull, between the sphenoid bone, parietal bone and occipital bone. It is small in size and irregular in shape, with complex internal structures and adjacent relationships. The organ, auditory organ, facial nerve, vestibulocochlear nerve and internal carotid artery are the most delicate and complex structures in the skull.

Semicircular canal: It is a part of the bony labyrinth, consisting of three semicircular small tubes perpendicular to each other. As shown in Figure 1, a structural schematic diagram of a temporal bone, the temporal bone contains three semicircular canals 01, wherein the semicircular canal with the highest position is called the anterior semicircular canal 011, and the semicircular canal at the rear is called the posterior The semicircular canal 012 and the roughly horizontal semicircular canal are called the outer semicircular canal 013. Each semicircular canal has a unilateral crus and an ampullary crus, the latter's expansion near the vestibule 02 is called the bony ampulla, and the unilateral crus of the anterior and posterior semicircular canals form a total crus.

The sagittal plane, transverse axis plane and coronal plane are anatomical terms, and their relevant definitions can be specifically referred to the corresponding structural diagrams of the sagittal plane, transverse axis plane and coronal plane in human anatomy shown in FIG. 2 . As shown in Figure 2, the sagittal plane 11 is all sections that divide the human body into left and right parts longitudinally in the front-back direction, wherein the section that divides the human body into left and right equal halves is called the median sagittal plane. The transverse plane 12 (also known as the horizontal plane) is parallel to the ground plane and divides the human body into upper and lower planes; the coronal plane 13 (also known as the frontal plane) is along the left and right directions. The human body is cut longitudinally into front and rear sections. The sagittal plane 11 , the transverse axis plane 12 and the coronal plane 13 intersect in pairs and are perpendicular to each other.

In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

Some of the processes described in the specification, claims, and above-mentioned drawings of this application contain multiple operations that appear in a specific order, and these operations may not be executed in the order in which they appear herein or executed in parallel. The serial numbers of operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. Additionally, these processes can include more or fewer operations, and these operations can be performed sequentially or in parallel. It should be noted that the descriptions of "first" and "second" in this article are used to distinguish different messages, devices, modules, etc. are different types. However, the term "or/and" in this application is only an association relationship describing associated objects, indicating that there may be three relationships, such as: A or/and B, indicating that A may exist alone, and A and B may exist simultaneously. There are three cases of B; the character "/" in this application generally indicates that the contextual objects are an "or" relationship. It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a good or system comprising a set of elements includes not only those elements but also includes items not expressly listed. other elements of the product, or elements inherent in the commodity or system. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the article or system comprising said element. In addition, the following embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

Fig. 3 shows a schematic flowchart of a spatial data processing method for unilateral temporal bone provided by an embodiment of the present application. The execution body of the method provided in the embodiment of the present application may be a device, and the device may be, but not limited to, integrated in a smart phone, a tablet computer, a PDA (Personal Digital Assistant, a personal digital assistant), a smart TV, a laptop Devices on any terminal equipment such as portable computers, desktop computers, and smart wearable devices. As shown in Figure 3, the spatial data processing method for unilateral temporal bone includes the following steps:

101. Based on the bilaterally symmetrical outer semicircular canal bone canal model in the first three-dimensional reconstruction model, determine the plane angle of the reference line;

102. Obtain voxel point information of the unilateral lateral semicircular canal bone canal model in the second three-dimensional reconstruction model, so as to determine the first transverse axis plane based on the voxel point information;

103. Determine the first perpendicular point of the end point of the centerline of the unilateral lateral semicircular canal model on the first transverse axis plane;

104. Determine the first sagittal plane and the origin of coordinates according to the first vertical point, the first transverse axis plane, and the angle of the reference line; wherein, the first sagittal plane is located outside the unilateral One side of the semicircular canal bone model;

105. Determine a coronal plane according to the first transverse plane and the first sagittal plane;

106. Based on the coordinate origin, the first transverse axis plane, the first sagittal plane and the coronal plane, establish a unilateral temporal bone spatial coordinate system, so as to refer to the unilateral temporal bone spatial coordinate system to calibrate the unit The coordinates of a point in the image of the lateral temporal bone, used to display to the user.

In the above 101, the first three-dimensional reconstruction model can be based on a series of multiple two-dimensional tomographic images collected from different angles for the bilateral symmetrical outer semicircular canal bone canal, using existing three-dimensional reconstruction technology (such as 3D printer, three-dimensional reconstruction software) It is obtained by correlating multiple two-dimensional cross-sectional image maps. Specifically, it can be obtained through the following related processing steps:

001. Acquiring multiple images of bilateral symmetrical external semicircular canals;

002. Perform image recognition on the multiple images to obtain the three-dimensional modeling parameters of the bilaterally symmetrical outer semicircular canal;

003. Based on the 3D modeling parameters, construct the first 3D reconstruction model.

During specific implementation, the above-mentioned multiple images may be a plurality of first tomographic images of bilaterally symmetrical outer semicircular canal bone canals, and the first tomographic images may be obtained from basic data stored in an archive database for medical research. During specific implementation, the plurality of first tomographic images may be imported into the subject performing the method provided in this embodiment through an external device, wherein the import of the external device may be, but not limited to: a server storing archived data, a storage medium (such as U disk, mobile hard disk, etc.), scanning equipment (such as the CT scanning equipment 10 shown in Figure 4). Further, after obtaining multiple tomographic images, artificial intelligence, such as a pre-trained machine learning model (such as a neural network model), can be used to perform image recognition on multiple tomographic images to obtain corresponding three-dimensional modeling parameters, so as to construct the first 3D reconstruction model based on the 3D modeling parameters. Based on the above, the scheme described in the above steps 001-003 can also be characterized as the following steps:

004. Receive a plurality of first tomographic images imported by an external device and required to reconstruct the first three-dimensional model.

005. Using a pre-trained machine learning model, process the plurality of first tomographic images to obtain three-dimensional modeling parameters;

006. Based on the 3D modeling parameters, construct the first 3D reconstruction model.

During specific implementation, the machine learning model may be, but 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 3D modeling parameters may be the size (such as length, radius, angle), position, direction, shape, etc. of the 3D geometric elements. When constructing the first 3D reconstruction model, corresponding modeling software (such as CAD) can be called, and the modeling can be performed manually in the 3D modeling interactive space provided by the modeling software according to the 3D modeling parameters; or, The developed modeling program can be called directly, and the three-dimensional modeling parameters can be used as the input of the modeling program, and automatic modeling can be performed by executing the modeling program, which is not limited here.

An example is given in conjunction with FIG. 4 . Referring to the computerized tomography system (i.e. CT system) shown in FIG. 4 , the user (such as the operator of the scanning device) can set the scanning parameters of the CT scanning device 10 through the terminal device 20 (also referred to as a computer operation console), such as Layer thickness, scanning mode, matrix, tube current, tube current volume, etc., and then control the CT scanning equipment to scan the volunteers, and obtain data information of multiple sections collected for the bilateral lateral semicircular canal bone canal. Afterwards, the CT scanning device will send the data information to the terminal device 20, and the terminal device 20 will process the data information to obtain corresponding multiple tomographic images; multiple tomographic images can be displayed on the display of the terminal device 20, It can also be taken as a photo and printed out through the printing device 30 or transmitted to other display terminals through the network, so as to be further analyzed and processed by other personnel. In addition, the user can also use the application on the terminal device 20 (such as 3D reconstruction software) to use its connoted machine learning model to identify multiple tomographic images to obtain corresponding 3D modeling parameters, so that based on the 3D modeling parameters to automatically construct the first 3D reconstruction model.

In an achievable technical solution, the above-mentioned 101 "determine the reference line-plane angle based on the bilaterally symmetrical outer semicircular canal bone canal model in the first three-dimensional reconstruction model" may specifically include:

1011. Based on the bilaterally symmetrical external semicircular canal bone canal model, determine the second sagittal plane and the second transverse axis plane; wherein, the bilaterally symmetrical external semicircular canal bone canal model includes: left external semicircular canal bone canal model, right The bone canal model of the lateral semicircular canal, the second sagittal plane is the midpoint of the line passing through the outermost point corresponding to the left lateral semicircular canal bone canal model and the outermost point corresponding to the right lateral semicircular canal bone canal model And the median plane perpendicular to the connecting line; the second transverse axis plane is perpendicular to the second sagittal plane, and all voxel points on the bilaterally symmetrical outer semicircular canal bone canal model reach the second transverse axis The distance and minimum of the axial surface;

1012. Determine the two second left vertical points of the two second left endpoints of the second centerline of the left lateral semicircular canal bone model on the second transverse plane, and the right lateral semicircular canal bone Two second right vertical points of the two second right end points of the third center line of the pipe model on the second transverse axis plane;

1013. Acquire the first line-plane angle between the two second left perpendicular points and the second sagittal plane, and the second line between the two second right perpendicular points and the second sagittal plane face angle;

1014. Use the first line angle or the second line angle as the reference line angle; wherein, the first line angle is equal to the second line angle.

In the above 101, in a specific embodiment, the outermost points corresponding to the bone canal model of the left lateral semicircular canal and the bone canal model of the right lateral semicircular canal can be, but not limited to, based on the bone canal model of the left lateral semicircular canal and the right lateral The corresponding centerlines of the semicircular canal bone canal models are determined. Specifically, the following steps can be used to determine:

1010. Obtain the second centerline of the left lateral semicircular canal bone canal model and the third centerline of the right lateral semicircular canal bone canal model;

1011. Acquire a left point on the second center line;

1012. Acquire a right point on the third center line;

1013. Determine a reference plane based on the left point and the right point;

1014. On the second centerline, find the point farthest from the reference surface as the left point;

1015. On the third center line, find the point farthest from the reference surface as the right point;

1016. Based on the left point found in step 1014 and the right point found in step 1015, re-determine the reference plane;

1017. Repeat steps 1014-1016 until the optimal left and right points are found;

1018. Use the optimal left point and the optimal right point as the outermost points corresponding to the bilateral lateral semicircular canal bone canal models respectively; wherein, the optimal left point is The left outermost point corresponding to the left outer semicircular canal bone canal model; the optimal right point is the right outermost point corresponding to the right outer semicircular canal bone canal model.

In the above-mentioned 1010, since the bone canal model of the bilateral external semicircular canal is a semicircular small canal, it can be regarded as a semicircular canal formed by rolling a hemisphere with a fixed radius along a certain curve (ie, the center line). Therefore, when obtaining the respective centerlines of the bilateral lateral semicircular canal bone canal models, they can be obtained based on their corresponding multiple cross-sections. That is, in a specific and achievable solution, "acquire the second centerline of the left lateral semicircular canal bone canal model" in the above-mentioned 1010, specifically, the following methods can be adopted:

10101. Obtain the center point coordinates of multiple cross-sections of the left lateral semicircular canal bone canal model;

10102. Based on the coordinates of the center points of the plurality of cross-sections, generate a second centerline corresponding to the bone canal model of the left lateral semicircular canal;

During specific implementation, the above-mentioned center point coordinates can be obtained by sampling the center points of multiple cross-sections, wherein the sampling frequency can be flexibly set according to the actual situation, which is not limited here. Based on the center point coordinates, the second centerline corresponding to the bone canal model of the left lateral semicircular canal can be fitted. Among them, because the bone canal model of the left lateral semicircular canal is a semicircular small canal, the fitted second centerline should be close to a semicircular arc.

Similarly, for the specific implementation of "obtaining the third centerline of the right lateral semicircular canal bone canal model" in the above step 1010, refer to the above steps 10101 and 10102, and will not be described in detail here.

The second centerline 22 corresponding to the left side outer semicircular canal bone canal model shown in Fig. 5 and the third centerline 23 corresponding to the right side outer semicircular canal bone canal model.

Next, in conjunction with Fig. 5, based on the content described in the above steps 1011-10108, a specific example is given to illustrate the process of determining the outermost points corresponding to the bone canal model of the left lateral semicircular canal and the bone canal model of the right lateral semicircular canal. specifically,

Assuming that the respective outermost points of the bilateral lateral semicircular canal bone canal models exist, a point a1 is randomly selected on the second centerline 22 shown in FIG. 5 as a left point and a point b1 is randomly selected on the third centerline 23 as a point Right point; then, through the center point O1 of the line connecting the left point a1 and the right point b1, make a plane α1 perpendicular to the line connecting the left point a1 and the right point b1, and make the plane α1 a reference Next, respectively obtain the points a2 and a3 adjacent to the left point a1 (not shown in the figure) and the points b2 and b3 adjacent to the right point b1 (not shown in the figure) to the vertical plane α1 The point with the longest vertical distance is the new left point and right point. If the perpendicular distance from points a2 and b2 to plane α1 is the longest, point a2 is the new left point, and point b2 is the new right point. Wherein, the number of adjacent points may be 2, 4 or more, which is not limited here. Continue to cross the center point of the line connecting the new left point a2 and the right side b2, and redetermine the reference plane; repeat the above steps 1014 to 1016 until finding the optimal left point and right point (as shown in point L in Figure 5 and point R); the optimal left point and the optimal right point are respectively used as the leftmost outer point and the right outermost point corresponding to the bilateral lateral semicircular canal bone canal model. That is, the optimal left point is the left most lateral point corresponding to the left lateral semicircular canal bone canal model, and the optimal right point is the right most lateral point corresponding to the right lateral semicircular canal bone canal model. It should be noted that since the centerlines corresponding to the models of the bilateral outer semicircular canals are close to semicircular arcs, so in the above process of "repeating steps 1014-1016 until the optimal left and right points are found", it is also You can only find the distance from the point corresponding to the middle arc segment on the center line (such as the middle arc segment L1L2 on the second center line 22 and the middle arc segment R1R2 on the third center line 23 in FIG. 5 ) to the reference plane.

After determining the outermost points corresponding to the bilateral outer semicircular canal models, as shown in Figure 5, the left outermost point L corresponding to the left outer semicircular canal bone canal model and the right outermost point corresponding to the right outer semicircular canal bone canal model The midpoint O2 of the connecting line LR and the median plane α2 (also called the median sagittal plane) perpendicular to the connecting line LR is the second sagittal plane 112 .

Based on the determined second sagittal plane, according to the voxel point information corresponding to the bone canal model of the left lateral semicircular canal and the voxel point information corresponding to the bone canal model of the right lateral semicircular canal, the left lateral The outermost points corresponding to the semicircular canal bone canal model and the right lateral semicircular canal bone canal model respectively fit a transverse plane perpendicular to the second sagittal plane (plane β as shown in FIG. 5 ) as the second transverse axis plane 122 ; Wherein, the distance sum of all voxel points on the bilateral lateral semicircular canal bone model from the second transverse plane 122 is the smallest.

Considering that the above-mentioned first three-dimensional reconstruction model usually includes other models besides the bilaterally symmetrical external semicircular canal bone canal model, such as bilaterally symmetrical vestibular models corresponding to the bilaterally symmetrical external semicircular canal bone canal models, specifically ground, the left vestibular model corresponding to the left external semicircular canal bone canal model, and the right vestibular model corresponding to the right external semicircular canal bone canal model); wherein, the left external semicircular canal bone canal model intersects with the left vestibular model, and the right The bone canal model of the outer semicircular canal intersects with the right vestibular model, correspondingly, the second centerline of the bone canal model of the left outer semicircular canal also intersects with the left vestibular model, and the third centerline of the bone canal model of the right outer semicircular canal Also intersects the right vestibular model. Based on this, in the above-mentioned 1012, the two endpoints of the centerlines of the bilateral lateral semicircular canal bone canal models can be obtained based on the intersection points of the centerlines of the bilateral lateral semicircular canal bone canal models and the respective vestibular models, and then pass through the endpoints to The method of drawing a vertical line on the second transverse axis plane is used to determine the perpendicular points of the two endpoints of the respective centerlines of the bilateral lateral semicircular canal bone canal models on the second transverse axis plane. That is, in a specific embodiment, in the above step 1012, "determine the two second left end points of the second centerline of the left lateral semicircular canal bone canal model on the second transverse plane." The left vertical point, and the two second right vertical points of the third center line of the right lateral semicircular canal bone canal model on the second transverse axis plane, the specific steps are as follows to fulfill:

10121. Obtain two intersection points of the second centerline and the corresponding left vestibular model as the two second left end points of the second centerline;

10122. Draw a left perpendicular line to the second transverse plane through the two second left endpoints, so as to obtain the two second left ends according to the intersection of the left perpendicular line and the second transverse plane Point on the two second left vertical points on the second transverse plane.

10123. Obtain two intersection points of the third centerline and the corresponding right vestibular model as the two second right end points of the third centerline;

10124. Draw a right perpendicular line to the second transverse plane through the two second right endpoints, so as to obtain the two second right ends according to the intersection of the right perpendicular line and the second transverse plane Point on the two second right vertical points on the second transverse plane.

During specific implementation, the intersection point of the above-mentioned left perpendicular line and the second transverse axis plane is the second left perpendicular point of the second left end point on the second transverse axis plane, and the intersection point of the right perpendicular line and the second transverse axis plane is The second right vertical point of the second right end point on the second transverse axis plane. In the above steps 10122 and 10124, draw a left perpendicular line to the second transverse axis plane for the second left end point to obtain the corresponding second left perpendicular point, and draw a right perpendicular line to the second transverse axis plane for the second right end point to obtain When obtaining the corresponding second right vertical point, it can be realized by using but not limited to the vertical projection method; wherein, the vertical projection refers to projecting a point along the vertical line onto the second horizontal axis plane, so as to obtain the point on the second horizontal axis. The position of the transverse axis.

FIG. 6 shows a top view including the respective centerlines (ie, the second centerline 22 and the third centerline 23 ) of the bilateral lateral semicircular canal bone canal model, as well as the second sagittal plane 112 and the second transverse axis plane 122 . In this figure 6, point a' ₁₀ and point a' ₁₁ are the two second left end points of the second center line 22 (namely point a ₁₀ and point a ₁₁ ) on the second transverse axis plane 122. The second left vertical point, and point b' ₁₀ and point b' ₁₁ are the two second right end points of the third center line 23 (ie point b ₁₀ and point b ₁₁ ) on the second transverse axis plane 122 second right vertical point.

In the above-mentioned 1013 and 1014, the first line-plane angle refers to the angle formed by the line connecting the two second left perpendicular points and the projection of the line in the plane. For example, the first line angle is the angle θ1 formed by the line segment a' ₁₀ a' ₁₁ and the line segment a" ₁₀ a" ₁₁ as shown in Figure 6. During specific implementation, it can be used but not limited to solving geometric triangles way to get the angle θ1. Similarly, referring to the manner of obtaining the first line-plane angle, the second line-plane angle (the angle θ2 as shown in FIG. 6 ) can also be obtained. The second centerline and the third centerline are symmetrical about the second sagittal plane, so the calculated first-line angle and the second-line angle are generally equal, or the first line-angle and the second There is a negligible minimum difference between the second line and face angles, so any one of the first line and face angles and the second line and face angles can be used as a reference line and face angle, and this reference line and face angle will be used for the subsequent Determination of the first sagittal plane, the determination of the first sagittal plane will be described in detail in the following content.

In the above 102, the second three-dimensional reconstruction model may refer to a series of multiple two-dimensional tomographic images (such as the image shown in FIG. 3D printer, 3D reconstruction software) obtained by correlating multiple 2D cross-sectional images. For the specific process of obtaining the second 3D reconstruction model, refer to the process of obtaining the first 3D reconstruction model described above, and details will not be repeated here.

Based on the obtained second 3D reconstruction model, the voxel point information corresponding to the bone canal model of the unilateral lateral semicircular canal in the second 3D reconstruction model can also be obtained, and then the fitting model obtained based on the least squares method can be used, and the contralateral The voxel point information corresponding to the outer semicircular canal bone canal model is fitted to fit a transverse plane, and the distance sum of all voxel points on the unilateral outer semicircular canal bone canal model to the plane is minimized, so that the plane As the first transverse axis plane, for example, the first transverse axis plane 121 shown in FIG. 8 . In other words, the first transverse axis plane is parallel to the layer with the largest transverse cutting plane area passing through the unilateral lateral semicircular canal bone canal model. Based on this, in a specific embodiment, "determine the first horizontal axis plane based on the voxel point information" in the above 102 may specifically include:

1021. Fit a horizontal plane according to the voxel point information;

1022. Use the plane as the first transverse axis plane; wherein, the distance sum of all voxel points on the unilateral lateral semicircular canal bone canal model to the first transverse axis plane is the smallest.

Further, a specific achievable technical solution of the above-mentioned 1021 "fitting a horizontal plane according to the voxel point information" is as follows:

10211. Obtain the fitting model;

10212. Using the fitting model, perform fitting processing on the voxel point information to fit a horizontal plane.

During specific implementation, an equation f(x, y, z) can be used to represent a transverse plane, and then the fitting model is used to fit the voxel point information to obtain the plane parameters of the plane, and then according to Plane parameter to determine the fitted transverse plane. In addition to the above-mentioned fitting model can be obtained based on the least squares algorithm, it can also be obtained based on other algorithms, which is not limited here.

In addition to the unilateral lateral semicircular canal model, the second three-dimensional reconstruction model also includes a unilateral vestibular model corresponding to the unilateral lateral semicircular canal model, and the two ends of the unilateral lateral semicircular canal model are The corresponding unilateral vestibular model intersects, and correspondingly, the two endpoints of the first central line of the unilateral lateral semicircular canal bone canal model also intersect with the corresponding unilateral vestibular model. Based on this, in an achievable technical solution, the above-mentioned 103 "determine the first vertical point of the endpoint of the centerline of the unilateral lateral semicircular canal model on the first transverse axis plane" may specifically include :

1031. Obtain two intersection points of the first centerline and the unilateral vestibular model as the two first endpoints of the first centerline;

1032. Draw a perpendicular line to the first transverse axis plane through the two first end points, so as to obtain the two first end points at the intersection of the perpendicular line and the first transverse axis plane Two first vertical points on the first transverse axis.

For the specific implementation of the above steps 1031-1032, please refer to the content related to the above step 1012 described above, and details will not be repeated here.

FIG. 8 shows a top view including the first centerline 21 and the first transverse plane 121 . In this figure 8, the two points of point a' ₂₀ and point a' ₂₁ are represented as the two first endpoints of the first central line (namely, point a ₂₀ and point a ₂₁ ) on the first transverse axis plane. The two first vertical points on 121.

In the above 104, because the transverse axis plane and the sagittal plane have a vertical relationship, therefore, the line-plane angle perpendicular to the first transverse-axis plane and connecting the two first perpendicular points can be used as the plane of reference line-plane angle , as the determined first sagittal plane; when determining the origin of the coordinates, one vertical point can be selected from two first vertical points according to the first sagittal plane for determination. That is, the above-mentioned 104 "according to the first vertical point, the first transverse axis plane and the plane angle of the reference line, determine the first sagittal plane and the coordinate origin" may specifically include the following steps:

1041. Taking a plane perpendicular to the first transverse plane and having a line-plane angle connecting the two first perpendicular points as the reference line-plane angle as the first sagittal plane;

1042. According to the first sagittal plane, select a vertical point from the two first vertical points as a target vertical point;

1043. Determine the coordinate origin according to the target vertical point.

In the above-mentioned 1041, for example, following the example in the above-mentioned 103, continue to refer to FIG. 8, record the angle of the reference line plane as θ, which is determined to be perpendicular to the first transverse axis plane 121 and connected to the two first perpendicular points (that is, point a' ₂₀ and point a' ₂₁ ), the plane whose line angle is θ is the plane g ₁ , and the plane g ₁ is the first sagittal plane 111 .

Based on the determined first sagittal plane 111, one vertical point can be selected from the two first vertical points as the target vertical point according to the distances between the two vertical points and the first sagittal plane, so that the subsequent point to determine the origin of the coordinates. For example, the vertical point with the farthest distance from the first sagittal plane may be used as the target vertical point. Based on this, in a specific achievable technical solution, the above-mentioned 1042 "according to the first sagittal plane, select a vertical point from the two first vertical points as the target vertical point", the following steps can be specifically adopted to accomplish:

10421. Determine the respective distances between the two first perpendicular points and the first sagittal plane;

10422. According to the distance, select a vertical point farthest from the first sagittal plane from the two first vertical points as the target vertical point.

For example, continue to refer to FIG. 8 , among the two first vertical points (namely point a' ₂₀ and point a' ₂₁ ), the distance between point a' ₂₀ and the first sagittal plane 111 is greater than the distance between point a' ₂₁ and the first sagittal plane 111. surface 111, then point a' ₂₀ is the target vertical point.

A specific achievable technical solution of the above-mentioned 1043 "determining the origin of the coordinates according to the vertical point of the target" is as follows:

10431. Taking the plane passing through the target vertical point and parallel to the first sagittal plane as a reference plane;

10432. In the point set corresponding to the unilateral lateral semicircular canal bone canal model, find the point farthest from the reference plane as the origin of the coordinates.

The point O shown in FIG. ₈ is the point farthest from the reference plane g2 found in the point set corresponding to the unilateral lateral semicircular canal bone canal model, that is to say, point O is the coordinate origin.

In the above 105, as shown in Figure 2, because the transverse axis plane, sagittal plane and coronal plane have two-two vertical relations, based on this, the normal vectors of the first transverse axis plane and the first sagittal plane can be combined to use the right helical The way to determine the normal vector of the coronal plane is to determine the coronal plane. That is, in the above 105, "determine the coronal plane based on the first transverse plane and the first sagittal plane" may specifically be: obtain the respective correspondence between the first transverse plane and the first sagittal plane. normal vector; according to the respective normal vectors corresponding to the first transverse axis plane and the first sagittal plane, use the right spiral rule to determine the normal vector corresponding to the coronal plane; based on the coronal plane corresponding The normal vector, determines the coronal plane.

Further, it is not difficult to see from Fig. 2 that the sagittal plane, the transverse axis plane and the coronal plane intersect in pairs and are perpendicular to each other, and a space coordinate system can be formed by using the straight lines of their intersections. Based on this, in the technical solution provided by this embodiment, the above-mentioned 106 can be based on the coordinate origin and the parallel straight line parallel to the intersection line formed by the intersection of the first sagittal plane, the first transverse axis plane and the coronal plane. The spatial coordinate system of the lateral temporal bone. That is, in an achievable technical solution, the above 106 "establish 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", It may specifically include the following steps:

1061. Obtain the first straight line that has obtained the origin of the coordinates and is parallel to the straight line formed by the intersection of the coronal plane and the first transverse axis plane, and use the first straight line as the X axis;

1062. Obtain a second straight line that has obtained the coordinate origin and is parallel to the straight line formed by the intersection of the first sagittal plane and the coronal plane, and uses the second straight line as the Y axis;

1062. Obtain a third straight line that has passed the coordinate origin and is parallel to the straight line formed by the intersection of the first transverse axis plane and the first sagittal plane, and uses the third straight line as the Z axis.

The foregoing step 106 will be described below in combination with an actual application scenario. Referring to the relevant axis directions in the anatomy shown in FIG. 2 and in combination with FIG. 8 , the acquired cross-coordinate origin O and the intersection of the coronal plane (not shown in FIG. 8 ) and the first transverse axis plane can be formed The first straight line parallel to the straight line is used as the X-axis, and the positive direction of the coronal axis in anatomy (that is, the right direction, or the direction of the normal vector of the first sagittal plane) is the positive direction of the X-axis; The coordinate origin O and the second straight line parallel to the line formed by the intersection of the first sagittal plane and the coronal plane are used as the Y axis, and the positive direction of the vertical axis in anatomy (that is, the upper or head direction, or the first transverse The normal vector direction of the axial plane) is the positive direction of the Y axis; finally, the third straight line that passes through the coordinate origin O and is parallel to the straight line formed by the intersection of the first transverse axis plane and the first sagittal plane is taken as the Z axis, and In anatomy, the positive direction of the sagittal axis (that is, the front, or the direction of the normal vector of the coronal plane) is the positive direction of the Z axis.

This embodiment provides a technical solution to determine the reference line plane angle based on the bilaterally symmetrical lateral semicircular canal bone canal model in the first 3D reconstruction model, and the voxel point information of the unilateral lateral semicircular canal bone canal model based on the second 3D reconstruction model On the basis of determining the first transverse axis plane, the first vertical point on the first transverse axis plane of the end point of the first centerline of the unilateral lateral semicircular canal bone canal model, the first transverse axis plane and the angle of the reference line plane can be , to determine the coordinate origin and the first sagittal plane on one side of the unilateral lateral semicircular canal bone canal model; furthermore, the coronal plane can also be determined according to the first transverse axis plane and the first sagittal plane, thus also 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 a point in the unilateral temporal bone image can be more accurately calibrated with reference to the unilateral temporal bone spatial coordinate system The coordinates of the unilateral temporal bone can be displayed to the user (such as a clinician), in other words, after the user triggers a request for a certain point to be calibrated in the unilateral temporal bone image, the user can automatically use the unilateral temporal bone The spatial coordinate system determines the coordinate value of the point to be calibrated, and correlates the coordinate value with the point to be calibrated in the unilateral temporal bone image for display processing. Medical research provides a good foundation. In summary, the unilateral temporal bone spatial coordinate system established by this program can effectively solve the problem of absolute positioning of unilateral temporal bone structures or spatial points, so as to establish a basis for the study of temporal bone spatial position.

Further, the method provided in this embodiment may also include the following steps:

107. Obtain and display a unilateral temporal bone image;

108. In response to an acquisition request triggered by the user for a point to be calibrated in the unilateral temporal bone image map, use the unilateral temporal bone spatial coordinate system to determine the coordinate value of the point to be calibrated;

109. In the image of the unilateral temporal bone, the coordinate value is displayed in association with the point to be marked, so that the user can perform operations related to the point to be marked based on the coordinate value.

During specific implementation, the points to be marked and the coordinate values corresponding to the points to be marked can be associated and highlighted in the unilateral temporal bone image map. The way of highlighting may be, but not limited to, highlighting or bolding the points to be calibrated and corresponding coordinate values. Wherein, the coordinate value can be displayed in the form of (x, y, z). In addition, the operations performed by the user based on the coordinate values may be statistical operations, marking operations, etc. for scientific research, which are not limited here.

Based on the above content, an embodiment of the present application also provides a schematic flowchart of a spatial positioning method. Specifically, as shown in FIG. 9, a schematic flowchart of a spatial positioning method, the method includes the following steps:

201. Obtain and display a unilateral temporal bone image;

202. In response to an acquisition request triggered by the user for a point to be calibrated in the unilateral temporal bone image map, determine the coordinate value of the point to be calibrated using the unilateral temporal bone spatial coordinate system; wherein, the unilateral temporal bone The temporal bone spatial coordinate system is the coordinate system established by the spatial data processing method for the unilateral temporal bone as shown in Figure 3;

203. In the image of the unilateral temporal bone, display the coordinates in association with the points to be marked, so that the user can perform operations related to the points to be marked based on the coordinates.

For the specific description of the foregoing 201-203, reference may be made to relevant content in the foregoing embodiments.

Fig. 10 shows a schematic structural diagram of a spatial data processing device for unilateral temporal bone provided by an embodiment of the present application. As shown in Figure 10, this spatial data processing device for unilateral temporal bone includes: a determination module 31, an acquisition determination module 32, and an establishment module 33; wherein,

Determining module 31, for determining the reference line-plane angle based on the bilaterally symmetrical outer semicircular canal bone canal model in the first three-dimensional reconstruction model;

Obtaining and determining module 32, used to obtain the voxel point information of the unilateral lateral semicircular canal bone canal model in the second three-dimensional reconstruction model, to determine the first transverse axis plane based on the voxel point information;

The determination module 31 is also used to determine the first vertical point of the end point of the first centerline of the unilateral lateral semicircular canal bone model on the first transverse plane; according to the first vertical point, the first transverse The axial plane and the angle of the reference line determine the first sagittal plane and the coordinate origin; wherein, the first sagittal plane is on one side of the unilateral lateral semicircular canal bone canal model; and, according to the first transverse The axial plane and the first sagittal plane determine the coronal plane;

The establishment module 33 is used to establish 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 facilitate reference to the unilateral temporal bone space The coordinate system calibrates the coordinates of a point in the unilateral temporal bone image for display to the user.

Further, the above-mentioned second three-dimensional reconstruction model includes a unilateral vestibular model corresponding to the unilateral lateral semicircular canal bone canal model; When the end point of the first centerline is on the first vertical point on the first transverse axis plane, it is specifically used to: obtain two intersection points between the first centerline and the unilateral vestibular model as the first The two first end points of the center line; draw a vertical line to the first transverse axis plane through the two first end points respectively, so as to obtain the Two first perpendicular points of the two first endpoints on the first transverse axis plane.

Further, when the above determination module 31 is used to determine the first sagittal plane and the origin of coordinates according to the first vertical point, the first transverse axis plane and the plane angle of the reference line, it is specifically used to: A plane perpendicular to the first transverse axis plane and whose line-plane angle connecting the two first perpendicular points is the reference line-plane angle is used as the first sagittal plane; according to the first On the sagittal plane, select a vertical point from the two first vertical points as a target vertical point; determine the coordinate origin according to the target vertical point.

Further, when the above determination module 31 is used to select one vertical point from the two first vertical points as the target vertical point according to the first sagittal plane, it is specifically used to: determine the two first vertical points The respective distances between a vertical point and the first sagittal plane; according to the distance, a vertical point farthest from the first sagittal plane is selected from the two first vertical points as the target drop point.

Further, when the above determination module 31 is used to determine the origin of the coordinates according to the target vertical point, it is specifically used to: use the plane passing through the target vertical point and parallel to the first sagittal plane as A reference surface; in the point set corresponding to the unilateral lateral semicircular canal bone canal model, find the point farthest from the reference surface as the coordinate origin.

Further, when the acquisition determination module 32 is used to determine the first transverse axis plane based on the voxel point information, it is specifically used to: fit a transverse plane according to the voxel point information; The plane is used as the first transverse axis plane; wherein, the distance sum of all voxel points on the unilateral lateral semicircular canal bone canal model to the first transverse axis plane is the smallest.

Further, when the above acquisition and determination module 32 is used to fit a horizontal plane according to the voxel point information, it is specifically used to: acquire a fitting model; use the fitting model to Fitting processing is performed on the point information to fit a horizontal plane.

Further, when the determination module 31 is used to determine the coronal plane according to the first transverse plane and the first sagittal plane, it is specifically used to: acquire the first transverse plane and the first The respective normal vectors corresponding to the sagittal plane; according to the respective normal vectors corresponding to the first transverse axis plane and the first sagittal plane, the normal vector corresponding to the coronal plane is determined by using the right spiral rule; based on the The normal vector corresponding to the coronal plane is used to determine the coronal plane.

Further, when the above-mentioned establishment module 33 is used to establish 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, it is specifically used to : The coordinate origin has been obtained and the first straight line parallel to the straight line formed by the intersection of the coronal plane and the first transverse axis plane has been obtained, and the first straight line is used as the X axis; the coordinate origin has been obtained , and a second straight line parallel to the straight line formed by the intersection of the first sagittal plane and the coronal plane, using the second straight line as the Y axis; having obtained the origin of the coordinates, and parallel to the first horizontal axis A third straight line parallel to the straight line formed by the intersection of the first sagittal plane and the first sagittal plane, with the third straight line as the Z axis.

Further, when the above-mentioned determination module 31 is used for determining the reference line-plane angle based on the bone canal model of the bilaterally symmetrical outer semicircular canal in the first three-dimensional reconstruction model, it is specifically used for:

Based on the bilaterally symmetrical lateral semicircular canal bone canal model, the second sagittal plane and the second transverse plane are determined; wherein, the bilaterally symmetrical lateral semicircular canal bone canal model includes: the left lateral semicircular canal bone canal model, the right lateral lateral semicircular canal Semicircular canal bone canal model, the second sagittal plane is the midpoint of the line passing through the outermost point corresponding to the left lateral semicircular canal bone canal model and the outermost point corresponding to the right lateral semicircular canal bone canal model and The median plane perpendicular to the connecting line; the second transverse axis plane is perpendicular to the second sagittal plane, and all voxel points on the bilaterally symmetrical outer semicircular canal bone model reach the second transverse axis plane The distance and the minimum;

Determine the two second left vertical points of the second centerline of the left lateral semicircular canal bone canal model on the second transverse plane, and the right lateral semicircular canal bone canal model The two second right vertical points of the two second right end points of the third center line on the second transverse axis plane;

Obtain a first line-plane angle between the two second left perpendicular points and the second sagittal plane, and a second line-plane angle between the two second right perpendicular points and the second sagittal plane ;

Using the first line angle or the second line angle as the reference line angle; wherein, the first line angle is equal to the second line angle.

Further, the device provided in this embodiment also includes:

Obtaining a display module, configured to acquire and display a unilateral temporal bone image;

A response module, configured to respond to a user's acquisition request triggered by a point to be calibrated in the unilateral temporal bone image map, using the unilateral temporal bone spatial coordinate system to determine the coordinate value of the point to be calibrated;

The associated display module is used in the unilateral temporal bone image map to associate and display the coordinate value and the point to be marked, so that the user can perform operations related to the point to be marked based on the coordinate value.

What needs to be explained here is: the spatial data processing device for unilateral temporal bone provided by the above-mentioned embodiment can realize the technical solution described in the embodiment of the spatial data processing method for unilateral temporal bone shown in FIG. For the specific implementation principle of the unit, please refer to the corresponding content in the embodiment of the spatial data processing method for unilateral temporal bone shown in FIG. 3 above, which will not be repeated here.

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

An acquisition and display module 41, configured to acquire and display a unilateral temporal bone image;

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

An associated display module 43, configured to associate and display the coordinate value and the point to be marked in the unilateral temporal bone image, so that the user can perform operations related to the point to be marked based on the coordinate value .

What needs to be explained here is: the space positioning device provided by the above-mentioned embodiment can realize the technical solution described in the above-mentioned space positioning method embodiment shown in FIG. The corresponding content in the embodiment of the spatial positioning method will not be repeated here.

Fig. 12 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device includes a processor 52 and a memory 51. Wherein, the memory 51 is used to store one or more computer instructions; the processor 52, coupled with the memory 51, is used for one or more computer instructions (such as computer instructions for implementing data storage logic) for use in To implement the steps in the embodiment of the spatial data processing method for unilateral temporal bone shown in FIG. 3 above, or the steps in the embodiment of the spatial positioning method shown in FIG. 9 above.

Memory 51 can be realized by any type of volatile or nonvolatile storage device or their combination, 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 Disk.

Further, as shown in FIG. 12 , the electronic device further includes: a communication component 53 , a power supply component 55 , a display 54 and other components. Fig. 12 only schematically shows some components, which does not mean that the electronic device only includes the components shown in Fig. 12 .

Another embodiment of the present application provides a computer program product. The computer program product includes computer programs or instructions, which, when executed by a processor, cause the processor to implement the steps in the above-mentioned method embodiments.

Correspondingly, the embodiments of the present application also provide a computer-readable storage medium storing a computer program, and when the computer program is executed by a computer, the method steps or functions provided by the above-mentioned embodiments can be realized.

Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various 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, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (13)

1. A spatial data processing method for unilateral temporal bone, characterized in that, comprising: Based on the bone canal model of the bilaterally symmetrical outer semicircular canal in the first three-dimensional reconstruction model, determine the plane angle of the reference line; Obtaining voxel point information of the unilateral lateral semicircular canal bone canal model in the second three-dimensional reconstruction model, so as to determine a first transverse axis plane based on the voxel point information; determining the first perpendicular point of the end point of the first centerline of the unilateral lateral semicircular canal bone canal model on the first transverse plane; According to the first vertical point, the first transverse plane and the angle of the reference line, determine the first sagittal plane and the coordinate origin; wherein, the first sagittal plane is located in the unilateral outer semicircular canal bone pipe model side; determining a coronal plane according to the first transverse plane and the first sagittal plane; Establish a unilateral temporal bone spatial coordinate system based on the coordinate origin, the first transverse axis plane, the first sagittal plane, and the coronal plane, so as to calibrate the unilateral temporal bone with reference to the unilateral temporal bone spatial coordinate system The coordinates of a point in the image map are used to display to the user. 2. The method according to claim 1, wherein the second three-dimensional reconstruction model comprises a unilateral vestibular model corresponding to the unilateral lateral semicircular canal bone canal model; and Determining the first perpendicular point of the endpoint of the first centerline of the unilateral lateral semicircular canal bone model on the first transverse plane, including: Obtaining two intersection points of the first centerline and the unilateral vestibular model as two first endpoints of the first centerline; Drawing perpendicular lines to the first transverse axis plane through the two first end points, so as to obtain the two first end points at the intersection of the first transverse axis plane and the Two first perpendicular points on the first transverse plane. 3. The method according to claim 2, wherein, according to the first vertical point, the first transverse plane and the angle of the reference line plane, determining the first sagittal plane and the origin of coordinates comprises: Taking a plane perpendicular to the first transverse plane and having a line-plane angle connecting the two first perpendicular points as the reference line-plane angle as the first sagittal plane; According to the first sagittal plane, selecting a vertical point from the two first vertical points as the target vertical point; The coordinate origin is determined according to the target vertical point. 4. The method according to claim 3, wherein, according to the first sagittal plane, selecting a vertical point from the two first vertical points as the target vertical point comprises: determining a distance from each of the two first perpendicular points to the first sagittal plane; According to the distance, a vertical point farthest from the first sagittal plane is selected from the two first vertical points as the target vertical point. 5. The method according to claim 4, wherein determining the coordinate origin according to the target vertical point comprises: Taking the plane passing through the target vertical point and parallel to the first sagittal plane as a reference plane; In the point set corresponding to the unilateral lateral semicircular canal bone canal model, the point farthest from the reference plane is searched as the coordinate origin. 6. The method according to any one of claims 1 to 5, wherein determining the first transverse plane based on the voxel point information comprises: Fitting a horizontal plane according to the voxel point information; The plane is taken as the first transverse axis plane; wherein, the distance sum of all voxel points on the unilateral lateral semicircular canal bone canal model to the first transverse axis plane is the smallest. 7. The method according to claim 6, wherein fitting a transverse plane according to the voxel point information includes: Get the fitted model; Using the fitting model, the voxel point information is fitted to fit a horizontal plane. 8. The method according to claim 6, wherein determining the coronal plane according to the first transverse plane and the first sagittal plane comprises: Acquiring respective normal vectors corresponding to the first transverse axis plane and the first sagittal plane; According to the respective normal vectors corresponding to the first transverse plane and the first sagittal plane, the normal vector corresponding to the coronal plane is determined by using the right spiral rule; The coronal plane is determined based on the normal vector corresponding to the coronal plane. 9. The method according to claim 8, characterized in that, based on the coordinate origin, the first transverse axis plane, the first sagittal plane and the coronal plane, a unilateral temporal bone space coordinate system is established, include: Obtaining a first straight line that passes through the coordinate origin and is parallel to the straight line formed by the intersection of the coronal plane and the first transverse axis plane, and uses the first straight line as the X axis; Obtaining a second straight line that passes through the coordinate origin and is parallel to the straight line formed by the intersection of the first sagittal plane and the coronal plane, using the second straight line as the Y axis; A third straight line passing through the coordinate origin and parallel to the straight line formed by the intersection of the first transverse axis plane and the first sagittal plane is obtained, and the third straight line is used as the Z axis. 10. The method according to any one of claims 1 to 5, wherein, based on the bilateral symmetric outer semicircular canal bone canal model in the first three-dimensional reconstruction model, determining the reference line-plane angle includes: Based on the bilaterally symmetrical lateral semicircular canal bone canal model, the second sagittal plane and the second transverse plane are determined; wherein, the bilaterally symmetrical lateral semicircular canal bone canal model includes: the left lateral semicircular canal bone canal model, the right lateral lateral semicircular canal Semicircular canal bone canal model, the second sagittal plane is the midpoint of the line passing through the outermost point corresponding to the left lateral semicircular canal bone canal model and the outermost point corresponding to the right lateral semicircular canal bone canal model and The median plane perpendicular to the connecting line; the second transverse axis plane is perpendicular to the second sagittal plane, and all voxel points on the bilaterally symmetrical outer semicircular canal bone model reach the second transverse axis plane The distance and the minimum; Determine the two second left vertical points of the second centerline of the left lateral semicircular canal bone canal model on the second transverse plane, and the right lateral semicircular canal bone canal model The two second right vertical points of the two second right end points of the third center line on the second transverse axis plane; Obtain a first line-plane angle between the two second left perpendicular points and the second sagittal plane, and a second line-plane angle between the two second right perpendicular points and the second sagittal plane ; The first line angle or the second line angle is used as the reference line angle; wherein, the first line angle is equal to the second line angle. 11. The method according to any one of claims 1 to 5, further comprising: Obtain and display a unilateral temporal bone image; In response to an acquisition request triggered by the user for a point to be calibrated in the image of the unilateral temporal bone, using the spatial coordinate system of the unilateral temporal bone to determine the coordinate value of the point to be calibrated; In the unilateral temporal bone image, the coordinates are displayed in association with the points to be marked, so that the user can perform operations related to the points to be marked based on the coordinates. 12. A spatial positioning method, characterized in that, comprising: Obtain and display a unilateral temporal bone image; In response to an acquisition request triggered by the user for a point to be calibrated in the unilateral temporal bone image map, using the unilateral temporal bone space coordinate system to determine the coordinate value of the point to be calibrated; wherein, the unilateral temporal bone space The coordinate system is the coordinate system established by the spatial data processing method for unilateral temporal bone described in any one of claims 1 to 11; In the unilateral temporal bone image map, the coordinate values are displayed in association with the points to be marked, so that users can perform operations related to the points to be marked based on the coordinate values. 13. An electronic device, comprising: a memory and a processor, wherein, said memory for storing 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 of any one of claims 1 to 11, or claim 12 The steps of the method.

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