CN115661234A - Device for synchronizing planned points between images, electronic apparatus, storage medium, and method therefor - Google Patents
Device for synchronizing planned points between images, electronic apparatus, storage medium, and method therefor Download PDFInfo
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Abstract
The application provides a device for synchronizing planned points between images, electronic equipment, a storage medium and a related method, wherein the method comprises the following steps: acquiring a first coordinate of a first planning point in a first image, and acquiring a second coordinate of the first planning point in a second image; acquiring a third coordinate of the second planning point in the first image, and acquiring a fourth coordinate of the second planning point in the second image; determining a fifth coordinate in the first image after the position of the second planning point is updated; determining each corresponding alternative coordinate after the position of the second planning point is updated in the second image according to the first coordinate, the second coordinate, the fifth coordinate and the spatial distance; and determining a sixth coordinate in the second image after the position of the second planning point is updated from the at least one candidate coordinate according to the distance between the image points corresponding to the third coordinate and the fifth coordinate and the distance between the image points corresponding to the fourth coordinate and each candidate coordinate. The method for synchronizing the planning points between the images has high applicability.
Description
Technical Field
The embodiment of the application relates to the technical field of image processing, in particular to a device for synchronizing planning points between images, electronic equipment, a storage medium and a related method.
Background
The medical robot is used for assisting doctors in medical treatment in medical institutions such as hospitals and clinics, is an intelligent service robot, can compile an operation plan according to planning of an implant path by a doctor before operation, determines an action program according to the operation plan, and then converts the action into the movement of an operation mechanism so as to assist the doctor in interventional therapy.
At present, when preoperative planning is performed, two images of a focus need to be shot in different directions, and path points are planned synchronously according to the two images, namely, after a planning point is determined on one two-dimensional image, a corresponding planning point is determined in the other two-dimensional image through epipolar constraint so as to realize path planning of an implant.
However, a doctor correspondingly adjusts the planning points on the micro two-dimensional images of the planning points on one two-dimensional image, and the length of the implant changes along with the change of the planning point positions in the two-dimensional images, so that the length of the implant may exceed a reasonable range during planning, and after the planning is adjusted, the other result needs to be manually adjusted incorrectly, and therefore the existing inter-image planning point synchronization method is not high in applicability.
Disclosure of Invention
In view of the foregoing, the present application provides an inter-image planning point synchronization apparatus, an electronic device, a storage medium and a related method, so as to at least partially solve the above problems.
According to a first aspect of the present application, there is provided an inter-image planning point synchronization method, the method comprising: acquiring a first coordinate of a first planning point in a first image, and acquiring a second coordinate of the first planning point in a second image; acquiring a third coordinate of a second planning point in the first image, and acquiring a fourth coordinate of the second planning point in the second image; determining a fifth coordinate in the first image after the position of the second planning point is updated, wherein the spatial distance between the second planning point and the first planning point is equal before and after the position is updated; determining at least one alternative coordinate corresponding to the updated second planning point position in the second image according to the first coordinate, the second coordinate, the fifth coordinate and the spatial distance; and determining a sixth coordinate in the second image after the second planning point position is updated from the at least one candidate coordinate according to the distance between the image points corresponding to the third coordinate and the fifth coordinate and the distance between the fourth coordinate and the image point corresponding to each candidate coordinate.
In a possible implementation manner, the determining, according to the first coordinate, the second coordinate, the fifth coordinate, and the spatial distance, at least one candidate coordinate corresponding to the updated second planning point position in the second image includes: determining the space coordinate of a first planning point according to the first coordinate and the second coordinate; determining at least one updated space coordinate of the second planning point according to the space coordinate of the first planning point, the fifth coordinate and the space distance, wherein the distance between the space coordinate of the first planning point and the updated space coordinate of the second planning point is equal to the space distance; and determining at least one alternative coordinate corresponding to the updated position of the second planning point in a second image according to the at least one space coordinate of the updated second planning point.
In a possible implementation manner, the determining, according to the spatial coordinate of the first planning point, the fifth coordinate, and the spatial distance, at least one updated spatial coordinate of the second planning point position includes: according to the space coordinates and the space distance of the first planning point, the following spherical equation is constructed: (x-a) 2 +(y-b) 2 +(z-c) 2 ＝R 2 (a, b, c) spatial coordinates characterizing the first planned point, R characterizing the spatial distance, and (x, y, z) spatial coordinates characterizing a point on a sphere; determining a linear equation of a spatial straight line passing through the fifth coordinate and the shooting source of the first image; and calculating at least one space coordinate after the position of the second planning point is updated according to the spherical equation and the linear equation.
In a possible implementation manner, the determining, in the second image according to the at least one updated spatial coordinate of the second planning point, the at least one updated alternative coordinate of the second planning point position includes: according to each space coordinate after the second planning point is updated, calculating at least one alternative coordinate corresponding to the second planning point after the position is updated through the following projection equation; wherein the projection equation comprises:
Z c for characterizing the depth of the updated spatial coordinates of the second planning point in the camera coordinate system of the recording source of the second image, f x Focal length in the x-direction of a source for characterizing the second image, f y A focal length in the y-axis direction of a source used to characterize the second image, (u) 0 ,v 0 ) Coordinates in a pixel coordinate system, R, of an intersection of a source optical axis for characterizing the second image and a source imaging plane for characterizing the second image 3X3 For characterizing the rotation matrix, T 3X1 For characterizing the translation matrix, (X) w ,Y w ,Z w ) For characterizing the updated spatial coordinates of the second planned point, (x, y) for characterizing the alternative coordinates.
In a possible implementation manner, the determining, according to the distance between the image point corresponding to the third coordinate and the fifth coordinate and the distance between the fourth coordinate and the image point corresponding to each candidate coordinate, a sixth coordinate in the second image after the update of the second planned point position from the at least one candidate coordinate includes: respectively calculating the distance between the fourth coordinate and the image point corresponding to each candidate coordinate; and if the distance between the image point corresponding to the third coordinate and the image point corresponding to the fifth coordinate is smaller than a preset first distance threshold, determining the candidate coordinate with the minimum distance between the corresponding image point and the fourth coordinate as a sixth coordinate.
According to a second aspect of the present application, there is provided an implant position planning method, the method comprising: acquiring a third image and a fourth image which are shot from different angles; determining a seventh coordinate of the first end of the implant in the third image and determining an eighth coordinate of the first end in the fourth image; determining a ninth coordinate of the second end of the implant in the third image and determining a tenth coordinate of the second end in the fourth image; determining an eleventh coordinate in the third image after the position of the second end is updated, wherein a spatial distance between the second end and the first end before and after the position update is equal to the length of the implant; determining at least one alternative coordinate corresponding to the updated second end position in the fourth image according to the seventh coordinate, the eighth coordinate, the eleventh coordinate and the length of the implant; and determining a twelfth coordinate in the fourth image after the second end position is updated from the at least one candidate coordinate according to the distance between the image points corresponding to the ninth coordinate and the eleventh coordinate and the distance between the tenth coordinate and the image point corresponding to each candidate coordinate.
According to a third aspect of the present application, there is provided an inter-image planning point synchronizing apparatus, the apparatus including: the first obtaining module is used for obtaining a first coordinate of a first planning point in a first image and obtaining a second coordinate of the first planning point in a second image; the second acquisition module is used for acquiring a third coordinate of a second planning point in the first image and acquiring a fourth coordinate of the second planning point in the second image; a first determining module, configured to determine a fifth coordinate in the first image after the second planning point location is updated, where spatial distances between the second planning point and the first planning point before and after the location update are equal to each other; a second determining module, configured to determine, according to the first coordinate, the second coordinate, the fifth coordinate, and the spatial distance, at least one candidate coordinate corresponding to the updated second planning point position in the second image; and a third determining module, configured to determine, according to a distance between the image point corresponding to the third coordinate and the fifth coordinate and a distance between the image point corresponding to the fourth coordinate and each of the candidate coordinates, a sixth coordinate in the second image after the second planning point position is updated from the at least one candidate coordinate.
According to a fourth aspect of the present application, there is provided an electronic device comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus; the memory is for storing at least one executable instruction that causes the processor to perform a method according to the first or second aspect of the present application.
According to a fifth aspect of the present application, there is provided a computer storage medium having stored thereon a computer program which, when executed by a processor, implements a method as described in the first or second aspect of the present application.
According to a sixth aspect of the present application, there is provided a computer program product comprising computer instructions to instruct a computing device to perform the method according to the first or second aspect of the present application.
According to the method for synchronizing the planning points between the images, the projection relation between the two images is determined through the coordinates of the first planning point and the second planning point in the two images, then the coordinate in the second image after the position of the second planning point is updated can be determined according to the projection relation and the coordinate in the first image after the position of the second planning point is updated, the synchronization of the planning points between the images is realized, namely the position of the planning point is changed on one image, the other image can also realize the synchronization adjustment, the situation that the planning result is wrong due to manual adjustment of the planning points on the two images is avoided, and the planning points in the two images are synchronized according to the projection relation, so that the length between the planning points in a space coordinate system can be fixed during planning, the method is suitable for a scheme needing to be planned in a fixed length, and the method for synchronizing the planning points between the images is high in applicability.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to these drawings.
Fig. 1 is a flowchart of a method for synchronizing planning points between images according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a projection relationship provided by an embodiment of the application;
fig. 3 is a flowchart of an implant position planning method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an inter-image planning point synchronization apparatus according to an embodiment of the present disclosure;
FIG. 5 is a schematic view of an implant position planning apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of protection of the embodiments in the present application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.
Fig. 1 is a flowchart of a method for synchronizing planning points between images according to an embodiment of the present disclosure, and as shown in fig. 1, the method includes the following steps 101 to 105:
The first image and the second image are two-dimensional images of the same object taken from different directions, for example: the first image is a front view of the object and the second image is a left view of the object. The position of the first planning point in the first image and the position of the first planning point in the second image correspond to the position of the first planning point in the object, and the first planning point is at different positions in the first image and the second image due to different shooting angles of the first image and the second image, but is at the same part of the object image included in the first image and the second image.
It will be appreciated that the first planning point needs to be determined manually, and that the location at which the first planning point is located is determined manually as required, for example: during preoperative planning of the nail placing operation, a doctor determines the position of a nail cap of a bone nail according to X-ray pictures shot from two angles, and after the doctor determines the position, the position is marked as a first planning point in two images, and the first planning point corresponds to the planned position of the nail cap in a human body.
And 102, acquiring a third coordinate of the second planning point in the first image, and acquiring a fourth coordinate of the second planning point in the second image.
And acquiring coordinates of the second planning point in the first image and coordinates of the second planning point in the second image, wherein the determination method of the second planning point is similar to that of the first planning point, and is not repeated herein.
And 103, determining a fifth coordinate of the updated second planning point in the first image, wherein the spatial distance between the second planning point and the first planning point is equal before and after the position update.
When the position of the second planning point is unreasonable, acquiring coordinates in the first image after the second planning point is manually adjusted, for example: in the nail placing operation planning process, the second planning point corresponds to the nail tip of the bone nail, and when the position of the nail tip is unreasonable, a doctor can adjust the position of the nail tip in the first image, so that the overall position of the bone nail is more reasonable. The distance between the projected space points of the second planning point in the first image before and after the update of the second planning point in the first image and the space point of the first planning point in the space is equal, namely the distance between the first planning point and the second planning point in the space coordinate system is not changed by the position update of the second planning point.
It should be understood that when the position of the second planned point in the first image is updated, the distance between the first coordinate and the third coordinate in the first image is not necessarily equal to the distance between the first coordinate and the fifth coordinate, but projected onto the space, the spatial distance between the position of the second planned point before and after the update is equal to the spatial distance between the first planned point and the second planned point.
It should also be understood that, since only the second planning point is modified from the first image, and no real object is adjusted in the corresponding space during the planning process, the second image does not automatically change according to the modification of the planning point on the first image.
And step 104, determining at least one alternative coordinate corresponding to the updated position of the second planning point in the second image according to the first coordinate, the second coordinate, the fifth coordinate and the spatial distance.
According to the first coordinate and the second coordinate, the space coordinate of the first planning point can be determined, then according to the fifth coordinate and the space distance, at least one space coordinate with the same space distance as the first planning point can be determined, and according to the at least one space coordinate with the same space distance as the first planning point, at least one alternative coordinate corresponding to the updated second planning point in the second image can be determined.
And 105, determining a sixth coordinate in the second image after the position of the second planning point is updated from the at least one candidate coordinate according to the distance between the image points corresponding to the third coordinate and the fifth coordinate and the distance between the image points corresponding to the fourth coordinate and each candidate coordinate.
And determining a sixth coordinate of the second planning point in the second image after updating according to the distance between the coordinates of the second planning point in the first image before and after updating and the distance between the fourth coordinate of the second planning point in the second image and each candidate coordinate of the second planning point in the second image after updating.
In the embodiment of the application, the projection relationship between the two images is determined through the coordinates of the first planning point and the second planning point in the two images, then the coordinate in the second image after the update of the position of the second planning point can be determined according to the projection relationship and the coordinate in the first image after the update of the position of the second planning point, the synchronization of the planning points between the images is realized, namely, the position of the planning point is changed on one image, the other image can also realize synchronous adjustment, the situation that the planning result is wrong due to the manual adjustment of the planning points on the two images is avoided, and the planning points in the two images are synchronized according to the projection relationship, so the length between the planning points in a space coordinate system can be fixed during planning, the method is suitable for a scheme which needs to carry out planning in a fixed length, and the applicability of the synchronization method of the planning points between the images is high.
In a possible implementation manner, when at least one candidate coordinate corresponding to an updated second planning point position is determined in the second image according to the first coordinate, the second coordinate, the fifth coordinate and the spatial distance, the spatial coordinate of the first planning point may be determined according to the first coordinate and the second coordinate, then at least one spatial coordinate of the updated second planning point position is determined according to the spatial coordinate of the first planning point, the fifth coordinate and the spatial distance, where a distance between the spatial coordinate of the first planning point and the updated spatial coordinate of the second planning point position is equal to the spatial distance, and finally at least one candidate coordinate corresponding to the updated second planning point position is determined in the second image according to the updated at least one spatial coordinate of the second planning point.
The method includes the steps of determining a spatial straight line passing through a shooting source of a first image and a first coordinate of a first planning point in the first image according to a spatial coordinate of the shooting source of the first image and the first coordinate of the first planning point in the first image, determining a spatial straight line passing through a shooting source of a second image and a second target according to a spatial coordinate of the shooting source of the second image and a second coordinate of the first planning point in the second image, and determining an intersection point of the two spatial straight lines as a spatial coordinate of the first planning point.
According to the space coordinates and the fifth coordinates of the first planning point, at least one space coordinate which corresponds to the fifth coordinates in the space coordinate system and is equal to the space distance between the space coordinates and the space coordinates of the first planning point can be determined, the space coordinate is a possible space coordinate after the second planning point is updated, and at least one alternative coordinate which is used for indicating a possible coordinate in the second image after the second planning point is updated completely is determined in the second image according to the space coordinate after the second planning point is updated.
The shooting source of the first image and the shooting source of the second image can be cameras, C-arm X-ray machines, ultrasonic shooting devices and the like, and the application is not limited herein.
It should be understood that, since the shooting angles of the images are different, the positions of the first image when the first image is shot by the shooting source of the first image and the second image when the second image is shot by the shooting source of the second image are not fixed, and different spatial coordinates can be determined by applying different determination methods, the spatial coordinates of the first planning point are not fixed.
In the embodiment of the application, the distance between the space coordinate of the first planning point and the space coordinate before and after the update of the second planning point is equal to the space distance, so that the length between the planning points in a space coordinate system can be fixed during planning, at least one space coordinate after the update of the second planning point is determined through the fifth coordinate in the first image, and the coordinate in the second image after the update of the second planning point is solved according to the space coordinate, so that the accuracy of the updated coordinate of the second planning point in the second image can be improved, the synchronization of the planning points between the images is realized, and the accuracy and the applicability of the synchronization method of the planning points between the images are improved.
Fig. 2 is a schematic diagram of a projection relationship provided in an embodiment of the present application, and as shown in fig. 2, when at least one updated spatial coordinate K2 of the second planned point location is determined according to the spatial coordinate K1, the fifth coordinate L5, and the spatial distance of the first planned point, a following spherical equation may be constructed according to the spatial coordinate K1 and the spatial distance of the first planned point,
(x-a) 2 +(y-b) 2 +(z-c) 2 ＝R 2
wherein (a, b, c) the spatial coordinates K1 characterizing the first planned point, R characterizing the spatial distance, and (x, y, z) characterizing the spatial coordinates of a point on the sphere 201, then determining a line equation of a spatial line 202 passing through the fifth coordinate L5 and the source of the first image, and calculating at least one spatial coordinate K2 after the update of the position of the second planned point according to the sphere equation and the line equation.
The space coordinates K1 (a, b and c) of the first planning point are used as the sphere center, the space distance R is used as the radius to construct a spherical equation, then a space linear equation is constructed according to the space coordinates of the shooting source of the first image and the updated fifth coordinate L5 of the second planning point position in the first image, the space linear equation and the spherical equation are solved simultaneously, at least one space coordinate K2 can be solved, and the space coordinate K2 is the space position where the second planning point can be located after being updated.
It should be understood that there may be three cases in the simultaneous solution of the constructed spatial linear equation and the constructed spherical equation, the first case is two solutions to prove that the second planning point may be located at two positions after being updated, the second case is one solution to prove that the second planning point is located at the position after being updated, the third case is no solution, and it is proved that the spatial distance between the first planning point and the second planning point after being updated exceeds the range, and then the planned position of the second planning point is unreasonable and needs to be re-planned.
In the embodiment of the application, at least one space coordinate K2 after the position of the second planning point is updated can be solved by constructing a spherical equation and a space linear equation and performing simultaneous solution, so that the two-dimensional coordinate in the first image T1 is projected into a space coordinate system, each alternative coordinate LB in the second image T2 can be solved through the space coordinate, and the space distance between the first planning point and the second planning point can be fixed through the space coordinate system, so that the method is suitable for planning requiring a fixed distance, and the applicability of the planning point synchronization method between images is improved.
In a possible implementation manner, when at least one candidate coordinate LB corresponding to the updated second planning point position is determined in the second image according to the at least one space coordinate K2 of the updated second planning point, the at least one candidate coordinate LB corresponding to the updated second planning point position may be calculated according to each space coordinate K2 of the updated second planning point by using the following projection equation.
Wherein the projection equation comprises:
Z c for characterizing the depth of each updated spatial coordinate of the second planning point in the camera coordinate system of the recording source of the second image, f x Focal length in the x-direction of the source for characterizing the second image, f y Focal length in y-axis direction of a source for characterizing the second image, (u) 0 ,v 0 ) Coordinates in the pixel coordinate system of the intersection of the source optical axis for characterizing the second image and the source imaging plane for the second image, R 3X3 For characterizing the rotation matrix, T 3X1 For characterizing the translation matrix, (X) w ,Y w ,Z w ) For characterizing the updated spatial coordinates of the second planning point and (x, y) for characterizing the candidate coordinates.
In the embodiment of the present application, by substituting the updated spatial coordinate K2 of the second planning point into the projection equation, the multiple candidate coordinates LB of the second planning point on the second image may be solved, so that the spatial coordinate in the spatial coordinate system is projected to the two-dimensional coordinate in the second image T2, and the spatial coordinate in the spatial coordinate system is generated by the planning point in the first image T1, thereby achieving synchronization between the planning points in the first image T1 and the second image T2.
In one possible implementation, as shown in fig. 2, when determining the sixth coordinate in the second image T2 after updating the position of the second planned point from the at least one candidate coordinate LB based on the distance between the image points corresponding to the third coordinate L3 and the fifth coordinate L5 and the distance between the image point corresponding to the fourth coordinate L4 and each candidate coordinate LB, the distance between the image point corresponding to the fourth coordinate L4 and each candidate coordinate LB may be calculated, respectively. And if the distance between the image points corresponding to the third coordinate L3 and the fifth coordinate L5 is smaller than a preset first distance threshold, determining the candidate coordinate LB with the smallest distance between the corresponding image point and the fourth coordinate L4 as a sixth coordinate.
When the position of the second planned point moves only a small distance, as the third coordinate L3 and the fifth coordinate L5 in fig. 2, the updated coordinates corresponding to the second planned point generated in the second image also move only a small distance in synchronization, and no sudden change occurs, so if the distance between the image points corresponding to the third coordinate L3 and the fifth coordinate L5 is less than the preset first distance threshold, the candidate coordinate with the minimum distance between the corresponding image point and the fourth coordinate L4 is determined as the sixth coordinate, which is the coordinate in the second image T2 after the second planned point is updated.
It should be understood that if the distance between the third coordinate L3 and the fifth coordinate L5 is large, that is, the moving distance of the second planned point is large, the system will divide the process into a series of small processes, in each of which the distance between the third coordinate L3 and the fifth coordinate L5 is small, which is much smaller than the first distance threshold, and the system process is a continuous process, so the above process is also applicable to the case where the distance between the third coordinate L3 and the fifth coordinate L5 is large.
In the embodiment of the application, by judging whether the distance between the third coordinate L3 and the fifth coordinate L5 of each second planning point in the first image T1 before and after updating is smaller than the first threshold, and calculating the distance between the fourth coordinate L4 of each second planning point in the second image T2 and each candidate coordinate LB, the coordinate of the second planning point in the second image T2 after updating can be determined, and by this process, the correct candidate coordinate can be accurately screened out, thereby avoiding the occurrence of error prediction results caused by selecting the wrong candidate coordinate, determining the coordinate of the second planning point in the second image T2 after updating according to the coordinate of the second planning point in the first image T1 after updating, and realizing synchronization of planning points between images.
Fig. 3 is a flowchart of an implant position planning method according to an embodiment of the present application, and as shown in fig. 3, the method includes the following steps 301 to 306:
And when preoperative planning is carried out, acquiring a third image and a fourth image of the lesion position of the patient, which is shot from different angles through an X-ray machine and is required to be implanted into the implant.
It should be understood that the implant generally needs to be implanted into the body, and thus the imaging device is generally an X-ray machine, including but not limited to: c-arm X-ray machines, nuclear magnetic resonance devices, etc.
The corresponding coordinates of the head of the implant in the third image and the fourth image are determined.
The corresponding coordinates of the tail of the implant in the third image and the fourth image are determined.
And step 304, determining an eleventh coordinate in the third image after the position of the second end is updated, wherein the spatial distance between the second end and the first end before and after the position update is equal to the length of the implant.
The corresponding coordinates in the third image after the position of the tail of the implant has been moved are determined.
It will be appreciated that the distance between the spatial coordinates of the first end of the implant and the second end of the implant in space is a fixed distance, i.e. the length of the implant, since the length of the implant does not change during the position planning.
And 305, determining at least one alternative coordinate corresponding to the updated second end position in the fourth image according to the seventh coordinate, the eighth coordinate, the eleventh coordinate and the length of the implant.
And step 306, determining a twelfth coordinate in the fourth image after the second end position is updated from the at least one candidate coordinate according to the distance between the image points corresponding to the ninth coordinate and the eleventh coordinate and the distance between the image points corresponding to the tenth coordinate and each candidate coordinate.
In the embodiment of the application, the projection relationship between the two images is determined through the coordinates of the first end of the implant and the second end of the implant in the two images, then the coordinate of the second end of the implant in the fourth image after the position update can be determined according to the projection relationship and the coordinate of the second end of the implant in the third image after the position update, the synchronization of the planning point between the two images is realized, namely, the position of the nail tip of the implant is changed on one image, the other image can also be synchronously adjusted, so that whether the position of the implant meets the treatment requirement or not can be determined according to the two images, the situation that the planning result is incorrect due to the fact that a doctor manually adjusts the positions of the implants on the two images is avoided, and the implant position planning method has high applicability.
It should be noted that the implant position planning method shown in fig. 3 is a specific application of the inter-image planning point synchronization method in the embodiment of the present application, and the specific implant position planning method may refer to the description in the foregoing embodiment, and is not described herein again.
Fig. 4 is a schematic diagram of an inter-image layout point synchronizer according to an embodiment of the present application, and as shown in fig. 4, the inter-image layout point synchronizer 400 includes:
the first obtaining module 401 is configured to obtain a first coordinate of the first planning point in the first image, and obtain a second coordinate of the first planning point in the second image.
A second obtaining module 402, configured to obtain a third coordinate of the second planning point in the first image, and obtain a fourth coordinate of the second planning point in the second image.
A first determining module 403, configured to determine a fifth coordinate in the first image after the position of the second planning point is updated, where spatial distances between the second planning point and the first planning point are equal before and after the position update;
a second determining module 404, configured to determine, according to the first coordinate, the second coordinate, the fifth coordinate, and the spatial distance, at least one candidate coordinate corresponding to the updated second planned point position in the second image;
a third determining module 405, configured to determine, from the at least one candidate coordinate, a sixth coordinate in the second image after the update of the position of the second planning point according to a distance between the image point corresponding to the third coordinate and the fifth coordinate and a distance between the fourth coordinate and the image point corresponding to each candidate coordinate.
In this embodiment, the first obtaining module 401 may be configured to perform the step 101, the second obtaining module 402 may be configured to perform the step 102, the first determining module 403 may be configured to perform the step 103, the second determining module 404 may be configured to perform the step 104, and the third determining module 405 may be configured to perform the step 105.
In a possible implementation manner, the second determining module 404 is configured to determine the spatial coordinates of the first planning point according to the first coordinates and the second coordinates; determining at least one updated space coordinate of the second planning point position according to the space coordinate, the fifth coordinate and the space distance of the first planning point, wherein the distance between the space coordinate of the first planning point and the updated space coordinate of the second planning point position is equal to the space distance; and determining at least one alternative coordinate corresponding to the updated position of the second planning point in the second image according to the updated at least one space coordinate of the second planning point.
In one possible implementation, the second determining module 404 is configured to construct a spherical equation (x-a) according to the spatial coordinates and the spatial distance of the first planning point 2 +(y-b) 2 +(z-c) 2 ＝R 2 (a, b, c) spatial coordinates characterizing a first planned point, R characterizing a spatial distance, and (x, y, z) spatial coordinates characterizing a point on a sphere; determining a linear equation of a space straight line passing through the fifth coordinate and the shooting source of the first image; and calculating at least one space coordinate after the position of the second planning point is updated according to a spherical equation and a linear equation.
In a possible implementation manner, the second determining module 404 is configured to calculate, according to each updated spatial coordinate of the second planning point, at least one alternative coordinate corresponding to the updated position of the second planning point through the following projection equation; wherein the projection equation comprises:
Z c for characterizing the depth of each updated spatial coordinate of the second planning point in the camera coordinate system of the source of the second image, f x Focal length in the x-direction of the source for characterizing the second image, f y Focal length of source in y-axis direction for characterizing second image (u) 0 ,v 0 ) Coordinates in the pixel coordinate system of the intersection of the source optical axis for characterizing the second image and the source imaging plane for the second image, R 3X3 For characterizing the rotation matrix, T 3X1 For characterizing the translation matrix, (X) w ,Y w ,Z w ) For characterizing the updated spatial coordinates of the second planning point and (x, y) for characterizing the candidate coordinates.
In a possible implementation manner, the third determining module 405 is configured to calculate distances between the fourth coordinate and the image points corresponding to the candidate coordinates respectively; and if the distance between the image points corresponding to the third coordinate and the fifth coordinate is smaller than a preset first distance threshold, determining the candidate coordinate with the minimum distance between the corresponding image point and the fourth coordinate as a sixth coordinate.
Fig. 5 is a schematic view of an implant position planning apparatus according to an embodiment of the present application, and as shown in fig. 5, the implant position planning apparatus 500 includes:
a third acquiring module 501, configured to acquire a third image and a fourth image captured from different angles.
A fourth determining module 502 for determining a seventh coordinate of the first end of the implant in the third image and determining an eighth coordinate of the first end in the fourth image.
A fifth determining module 503, configured to determine a ninth coordinate of the second end of the implant in the third image and determine a tenth coordinate of the second end in the fourth image.
A sixth determining module 504, configured to determine an eleventh coordinate in the third image after the position update of the second end, where a spatial distance between the second end and the first end before and after the position update is equal to the length of the implant.
A seventh determining module 505, configured to determine, according to the seventh coordinate, the eighth coordinate, the eleventh coordinate, and the length of the implant, at least one candidate coordinate corresponding to the updated second end position in the fourth image.
An eighth determining module 506, configured to determine, according to a distance between the image point corresponding to the ninth coordinate and the eleventh coordinate and a distance between the image point corresponding to the tenth coordinate and each candidate coordinate, a twelfth coordinate in the fourth image after the update of the second end position from the at least one candidate coordinate.
In this embodiment, the third obtaining module 501 may be configured to perform the step 301, the fourth determining module 502 may be configured to perform the step 302, the fifth determining module 503 may be configured to perform the step 303, the sixth determining module 504 may be configured to perform the step 304, the seventh determining module 505 may be configured to perform the step 305, and the eighth determining module 506 may be configured to perform the step 306.
It should be noted that, because the contents of information interaction, execution process, and the like between the modules in the inter-image planning point synchronization apparatus and the implant position planning apparatus are based on the same concept as the inter-image planning point synchronization method embodiment, specific contents may refer to the description in the inter-image planning point synchronization method embodiment, and are not described herein again.
Referring to fig. 6, a schematic structural diagram of an electronic device according to an embodiment of the present application is shown, and the specific embodiment of the present application does not limit a specific implementation of the electronic device.
As shown in fig. 6, the electronic device may include: a processor (processor) 602, a communication Interface 604, a memory 606, and a communication bus 608.
Wherein:
the processor 602, communication interface 604, and memory 606 communicate with one another via a communication bus 608.
A communication interface 604 for communicating with other electronic devices or servers.
The processor 602 is configured to execute the program 610, and may specifically execute the relevant steps in the inter-image planning point synchronization method or the implant position planning method embodiment described above.
In particular, program 610 may include program code comprising computer operating instructions.
The processor 602 may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; one or more GPUs; or may be different types of processors, such as one or more CPUs and one or more GPUs and one or more ASICs.
And a memory 606 for storing a program 610. Memory 606 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 610 may specifically be configured to cause the processor 602 to perform an inter-image planning point synchronization method or an implant position planning method in any of the embodiments described above.
For specific implementation of each step in the program 610, reference may be made to corresponding descriptions in corresponding steps and units in any of the foregoing embodiments of the inter-image planning point synchronization method or the implant position planning method, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
In the embodiment of the application, the projection relationship between the two images is determined through the coordinates of the first planning point and the second planning point in the two images, then the coordinate in the second image after the update of the position of the second planning point can be determined according to the projection relationship and the coordinate in the first image after the update of the position of the second planning point, the synchronization of the planning points between the images is realized, namely, the position of the planning point is changed on one image, the other image can also realize synchronous adjustment, the situation that the planning result is wrong due to the manual adjustment of the planning points on the two images is avoided, and the planning points in the two images are synchronized according to the projection relationship, so the length between the planning points in a space coordinate system can be fixed during planning, the method is suitable for a scheme which needs to carry out planning in a fixed length, and the applicability of the synchronization method of the planning points between the images is high.
The embodiment of the present application further provides a computer program product, which includes computer instructions for instructing a computing device to execute an operation corresponding to any one of the methods in the foregoing method embodiments.
It should be noted that, according to implementation needs, each component/step described in the embodiment of the present application may be divided into more components/steps, and two or more components/steps or partial operations of the components/steps may also be combined into a new component/step to achieve the purpose of the embodiment of the present application.
The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the methods described herein may be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It is understood that a computer, processor, microprocessor controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that when accessed and executed by a computer, processor or hardware, implements the inter-image planning point synchronization methods described herein. Further, when a general-purpose computer accesses code for implementing the inter-image planning point synchronization method shown herein, execution of the code transforms the general-purpose computer into a special-purpose computer for executing the inter-image planning point synchronization method shown herein.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.
Claims (10)
1. An inter-image planning point synchronization method, comprising:
acquiring a first coordinate of a first planning point in a first image, and acquiring a second coordinate of the first planning point in a second image;
acquiring a third coordinate of a second planning point in the first image, and acquiring a fourth coordinate of the second planning point in the second image;
determining a fifth coordinate in the first image after the position of the second planning point is updated, wherein the spatial distance between the second planning point and the first planning point is equal before and after the position is updated;
determining at least one alternative coordinate corresponding to the updated second planning point position in the second image according to the first coordinate, the second coordinate, the fifth coordinate and the spatial distance;
and determining a sixth coordinate in the second image after the second planning point position is updated from the at least one candidate coordinate according to the distance between the image points corresponding to the third coordinate and the fifth coordinate and the distance between the fourth coordinate and the image point corresponding to each candidate coordinate.
2. The method according to claim 1, wherein the determining, in the second image, at least one candidate coordinate corresponding to the updated second planning point position according to the first coordinate, the second coordinate, the fifth coordinate, and the spatial distance includes:
determining the space coordinate of a first planning point according to the first coordinate and the second coordinate;
determining at least one space coordinate after the position of the second planning point is updated according to the space coordinate of the first planning point, the fifth coordinate and the space distance, wherein the distance between the space coordinate of the first planning point and the space coordinate after the position of the second planning point is updated is equal to the space distance;
and determining at least one alternative coordinate corresponding to the updated position of the second planning point in a second image according to the updated at least one space coordinate of the second planning point.
3. The method of claim 2, wherein determining the updated at least one spatial coordinate of the second planning point location based on the spatial coordinate of the first planning point, the fifth coordinate, and the spatial distance comprises:
according to the space coordinates and the space distance of the first planning point, the following spherical equation is constructed:
(x-a) 2 +(y-b) 2 +(z-c) 2 ＝R 2
(a, b, c) spatial coordinates characterizing the first planned point, R characterizing the spatial distance, and (x, y, z) spatial coordinates characterizing a point on a sphere;
determining a linear equation of a spatial straight line passing through the fifth coordinate and the shooting source of the first image;
and calculating at least one space coordinate after the position of the second planning point is updated according to the spherical equation and the linear equation.
4. The method according to claim 2, wherein the determining at least one updated candidate coordinate of the second planning point position in the second image according to the at least one updated spatial coordinate of the second planning point comprises:
according to each space coordinate after the second planning point is updated, calculating at least one alternative coordinate corresponding to the second planning point after the position is updated through the following projection equation;
wherein the projection equation comprises:
Z c for representing each updated space coordinate of the second planning point in the space coordinate systemDepth in camera coordinate system of source of second image, f x Focal length in the x-direction of the source for characterizing the second image, f y (u) focal length in y-axis direction of a source used to characterize the second image 0 ,v 0 ) Coordinates in a pixel coordinate system, R, of an intersection of a source optical axis for characterizing the second image and a source imaging plane for characterizing the second image 3X3 For characterizing the rotation matrix, T 3X1 For characterizing the translation matrix, (X) w ,Y w ,Z w ) For characterizing the updated spatial coordinates of the second planned point, (x, y) for characterizing the alternative coordinates.
5. The method according to any one of claims 1-4, wherein said determining, from said at least one candidate coordinate, a sixth coordinate in said second image after updating said second planning point position based on a distance between said third coordinate and an image point corresponding to said fifth coordinate and a distance between said fourth coordinate and an image point corresponding to each of said candidate coordinates comprises:
respectively calculating the distance between the fourth coordinate and the image point corresponding to each candidate coordinate;
and if the distance between the image point corresponding to the third coordinate and the image point corresponding to the fifth coordinate is smaller than a preset first distance threshold, determining the candidate coordinate with the minimum distance between the corresponding image point and the fourth coordinate as a sixth coordinate.
6. A method of implant position planning, comprising:
acquiring a third image and a fourth image which are shot from different angles;
determining a seventh coordinate of the first end of the implant in the third image and determining an eighth coordinate of the first end in the fourth image;
determining a ninth coordinate of the second end of the implant in the third image and determining a tenth coordinate of the second end in the fourth image;
determining an eleventh coordinate in the third image after the position of the second end is updated, wherein the spatial distance between the second end and the first end before and after the position update is equal to the length of the implant;
determining at least one alternative coordinate corresponding to the updated second end position in the fourth image according to the seventh coordinate, the eighth coordinate, the eleventh coordinate and the length of the implant;
and determining a twelfth coordinate in the fourth image after the second end position is updated from the at least one candidate coordinate according to the distance between the image points corresponding to the ninth coordinate and the eleventh coordinate and the distance between the tenth coordinate and the image point corresponding to each candidate coordinate.
7. An inter-image planning point synchronizing device, comprising:
the first obtaining module is used for obtaining a first coordinate of a first planning point in a first image and obtaining a second coordinate of the first planning point in a second image;
the second obtaining module is used for obtaining a third coordinate of a second planning point in the first image and obtaining a fourth coordinate of the second planning point in the second image;
a first determining module, configured to determine a fifth coordinate in the first image after the second planning point location is updated, where spatial distances between the second planning point and the first planning point before and after the location update are equal to each other;
a second determining module, configured to determine, according to the first coordinate, the second coordinate, the fifth coordinate, and the spatial distance, at least one candidate coordinate corresponding to the updated second planning point position in the second image;
and a third determining module, configured to determine, according to a distance between the image point corresponding to the third coordinate and the fifth coordinate and a distance between the image point corresponding to the fourth coordinate and each of the candidate coordinates, a sixth coordinate in the second image after the second planning point position is updated from the at least one candidate coordinate.
8. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform the inter-image planning point synchronization method of any of claims 1-5 or the implant position planning method of claim 6.
9. A computer storage medium, characterized in that a computer program is stored thereon, which program, when being executed by a processor, carries out the inter-image planning point synchronization method according to any one of claims 1 to 5 or the implant position planning method according to claim 6.
10. A computer program product comprising computer instructions for instructing a computing device to perform the inter-image planning point synchronization method according to any one of claims 1-5 or the implant position planning method according to claim 6.
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| CN202211292272.4A CN115661234A (en) | 2022-10-21 | 2022-10-21 | Device for synchronizing planned points between images, electronic apparatus, storage medium, and method therefor |
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