CN116269760A - Navigation tracking method in tumor treatment operation - Google Patents
Navigation tracking method in tumor treatment operation Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The application relates to a navigation tracking method, a navigation tracking device and a navigation tracking system in tumor treatment, which are used for scanning and obtaining three-dimensional medical image data of tumor soft tissues; identifying and marking target image data of a tumor focus in the tumor soft tissue according to the three-dimensional medical image data; establishing a tumor three-dimensional model according to the three-dimensional medical image data, and marking the tumor focus in the tumor three-dimensional model according to the target image data; and sending and displaying the tumor three-dimensional model, and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model. The three-dimensional model of tumor that can show according to the developments tracks the surgical instruments position in the art of tumor soft tissue to this visual three-dimensional dynamic of showing tumor operation treatment can let medical staff clear up tumor focus tissue position, accurate tool setting.
Description
Technical Field
The disclosure relates to the technical field of medical treatment, in particular to a navigation tracking method, a navigation tracking device and a navigation tracking system in tumor treatment.
Background
The tumor treatment operation is to perform operation cleaning on the focus position inside the tumor soft tissue, cut and remove the lesion tissue, and perform drug targeting treatment to realize accurate tumor treatment operation.
In the existing tumor operation treatment, a contrast system is adopted to image tumor soft tissues, focus tissue positions are found, and medical staff are assisted in conducting open surgery. For example, under X-ray irradiation, a focal region located in tumor tissue can be found.
In contrast, only under the condition of contrast, the contrast image of the tumor soft tissue is only two-dimensional image data, and for the tumor tissue of the three-dimensional structure, even the focus tissue, the hidden focus structure or region cannot be seen from the body surface internal direction, namely under the condition of the two-dimensional image. Thus, the image defects are improved and the method is used for tumor navigation tracking treatment.
Disclosure of Invention
In order to solve the problems, the application provides a navigation tracking method, a navigation tracking device and a navigation tracking system in tumor treatment.
In one aspect, the present application proposes a navigation tracking method in tumor treatment, including the following steps:
s100, scanning and obtaining three-dimensional medical image data of tumor soft tissues;
s200, identifying and marking target image data of a tumor focus in the tumor soft tissue according to the three-dimensional medical image data;
s300, establishing a tumor three-dimensional model according to the three-dimensional medical image data, and marking the tumor focus in the tumor three-dimensional model according to the target image data;
s400, sending and displaying the tumor three-dimensional model, and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model.
As an optional embodiment of the present application, optionally, in step S100, the scanning and obtaining three-dimensional medical image data of tumor soft tissue includes:
s110, performing three-dimensional color ultrasound scanning on the body surface part where the tumor soft tissue is located to obtain tumor soft tissue data;
s120, presetting image processing conditions, and performing image layer processing on the tumor soft tissue data according to the preset image processing conditions to obtain three-dimensional medical image data aiming at the tumor soft tissue;
s130, in the three-dimensional medical image data, performing first feature marking on the tumor soft tissue, and outputting and storing the first feature marking as the three-dimensional image feature data of the tumor soft tissue.
As an optional embodiment of the present application, optionally, in step S200, identifying and marking the target image data of the tumor focus on the tumor soft tissue according to the three-dimensional medical image data includes:
s210, acquiring and analyzing the three-dimensional image characteristic data to obtain image analysis data of the tumor soft tissue;
s220, analyzing the data according to the images, and combining the three-dimensional medical image data to identify tumor focus image data in the three-dimensional medical image data;
s230, performing second characteristic marking on the tumor focus image data to obtain target image data of the tumor focus in the tumor soft tissue.
As an optional embodiment of the present application, optionally, in step S210, before analyzing the image analysis data of the tumor soft tissue, the method further includes:
s211, presetting a preprocessing rule;
s221, acquiring the three-dimensional image characteristic data, preprocessing the image analysis data according to the preprocessing rule, and removing edge scattering image points and default image points which are positioned in the image analysis data to obtain preprocessed image data of the tumor soft tissue;
s231, sending and storing the preprocessed image data.
As an optional embodiment of the present application, optionally, in step S300, building a tumor three-dimensional model according to the three-dimensional medical image data, and marking the tumor focus in the tumor three-dimensional model according to the target image data, including:
s310, acquiring the three-dimensional medical image data, and importing the three-dimensional medical image data into a three-dimensional modeling system to obtain a tumor three-dimensional model aiming at the tumor soft tissue;
s320, acquiring the target image data and importing the target image data into a three-dimensional modeling system;
and S330, displaying the position of the tumor focus on the tumor three-dimensional model according to the target image data, and carrying out third characteristic marking to obtain the tumor three-dimensional model with the third characteristic marking.
As an optional embodiment of the present application, optionally, in step S400, the sending and displaying the tumor three-dimensional model, and implementing a navigator tracking treatment under a radiography condition of the tumor three-dimensional model, includes:
s410, exporting the tumor three-dimensional model, and dynamically displaying the tumor three-dimensional model according to display conditions;
s420, configuring operation conditions for tumor treatment by combining the tumor three-dimensional model, and acquiring intraoperative images of tumor treatment in real time;
s430, according to the relative dynamic position of the operation end in the intraoperative image, navigation tracking is the dynamic action of the operation end on the tumor soft tissue.
In a second aspect, the present application proposes an apparatus for implementing the navigation tracking method in tumor therapy, including:
the three-dimensional scanning module is used for scanning and obtaining three-dimensional medical image data of tumor soft tissues;
the identification marking module is used for identifying and marking target image data of the tumor focus in the tumor soft tissue according to the three-dimensional medical image data;
the model creation module is used for creating a tumor three-dimensional model according to the three-dimensional medical image data and marking the tumor focus in the tumor three-dimensional model according to the target image data;
and the contrast tracking module is used for sending and displaying the tumor three-dimensional model and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model.
As an optional embodiment of the present application, optionally, the three-dimensional scanning module includes:
the color Doppler ultrasound scanning module is used for carrying out three-dimensional color Doppler ultrasound scanning on the body surface part where the tumor soft tissue is located to obtain tumor soft tissue data;
the image processing module is used for presetting image processing conditions, carrying out image layer processing on the tumor soft tissue data according to the preset image processing conditions, and obtaining three-dimensional medical image data aiming at the tumor soft tissue;
and the marking module is used for marking the first characteristic of the tumor soft tissue in the three-dimensional medical image data, and outputting and storing the first characteristic as the three-dimensional image characteristic data of the tumor soft tissue.
As an optional embodiment of the present application, optionally, the identification mark module includes:
the pretreatment module is used for presetting pretreatment rules; acquiring the three-dimensional image characteristic data, preprocessing the image analysis data according to the preprocessing rule, and removing edge scattering image points and default image points which are positioned in the image analysis data to obtain preprocessed image data of the tumor soft tissue; transmitting and storing the preprocessed image data;
the analysis module is used for acquiring and analyzing the preprocessed image data to obtain image analysis data of the tumor soft tissue;
the second marking module is used for analyzing the data according to the images and combining the three-dimensional medical image data to identify tumor focus image data in the three-dimensional medical image data; and carrying out second characteristic marking on the tumor focus image data to obtain target image data of the tumor focus in the tumor soft tissue.
A third aspect of the present application proposes a navigation tracking system comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the in-tumor-treatment navigation tracking method of any one of claims 1 to 6 when executing the executable instructions.
The invention has the technical effects that:
the method comprises the steps of scanning and obtaining three-dimensional medical image data of tumor soft tissues; identifying and marking target image data of a tumor focus in the tumor soft tissue according to the three-dimensional medical image data; establishing a tumor three-dimensional model according to the three-dimensional medical image data, and marking the tumor focus in the tumor three-dimensional model according to the target image data; and sending and displaying the tumor three-dimensional model, and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model. The three-dimensional model of tumor that can show according to the developments tracks the surgical instruments position in the art of tumor soft tissue to this visual three-dimensional dynamic of showing tumor operation treatment can let medical staff clear up tumor focus tissue position, accurate tool setting.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features and aspects of the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic flow chart of the navigation tracking method in tumor treatment operation according to the present invention;
FIG. 2 is a schematic diagram of the components of the application system of the present invention;
fig. 3 shows a schematic representation of the implementation of the surgical instrument system of the present invention.
Detailed Description
Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
The tumors of the embodiment comprise lung, thyroid, mammary gland and other tumors.
Example 1
The method comprises the steps of scanning and obtaining three-dimensional medical image data of tumor soft tissues; identifying and marking target image data of a tumor focus in the tumor soft tissue according to the three-dimensional medical image data; establishing a tumor three-dimensional model according to the three-dimensional medical image data, and marking the tumor focus in the tumor three-dimensional model according to the target image data; and sending and displaying the tumor three-dimensional model, and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model. The three-dimensional model of tumor that can show according to the developments tracks the surgical instruments position in the art of tumor soft tissue to this visual three-dimensional dynamic of showing tumor operation treatment can let medical staff clear up tumor focus tissue position, accurate tool setting.
As shown in fig. 1, in one aspect, the present application proposes a navigation tracking method in tumor therapy, including the following steps:
s100, scanning and obtaining three-dimensional medical image data of tumor soft tissues;
s200, identifying and marking target image data of a tumor focus in the tumor soft tissue according to the three-dimensional medical image data;
s300, establishing a tumor three-dimensional model according to the three-dimensional medical image data, and marking the tumor focus in the tumor three-dimensional model according to the target image data;
s400, sending and displaying the tumor three-dimensional model, and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model.
The method needs to establish a three-dimensional model of the tumor soft tissue, so that three-dimensional data of the tumor soft tissue needs to be obtained for modeling, and after modeling, a focus area in the tumor soft tissue needs to be marked, so that the structure of the tumor focus is displayed in the three-dimensional model, and a surgical instrument is guided to track and guide a surgery in a contrast environment of a contrast system.
Thus, as shown in fig. 2, the present application mainly includes four systems, respectively:
and the scanning system is driven by the visual robot to move, and can perform mobile scanning around the tumor to obtain scanning data of the tumor soft tissue. The scanning system can be one or a combination of a plurality of color Doppler ultrasound, thermal imaging or X-ray. For example, the visual robot carries the color Doppler ultrasound probe to scan the tumor, so that the image data of the soft tissue can be obtained. The vision robot can automatically perform mobile scanning on the periphery of the tumor according to the walking track. And transmitting the scanning data back to the CPU for image initialization processing to obtain the three-dimensional medical image data of the tumor soft tissue. The software of the image initialization process is not limited here.
The three-dimensional model system is utilized, the obtained three-dimensional medical image data can be input into the three-dimensional model system for three-dimensional modeling, and the soft tissue structure of the tumor, namely the tumor three-dimensional model, is displayed in the three-dimensional model system. In the displayed tumor three-dimensional model, the physiological structure of the tumor is displayed, wherein focus tissues can be displayed on the tumor three-dimensional model through the target image data of the identification mark. Through the data round-trip processing between the CPU and the three-dimensional model system, the image processing such as parameter setting, adjustment, image data modification, hiding and the like can be realized on the tumor three-dimensional model in the three-dimensional model system. In the three-dimensional model system, the position of a tumor focus on the tumor three-dimensional model is identified and marked, the marked image data is exported and used as target image data of the tumor focus, and the tumor focus can be independently modeled or independently modeled. In the three-dimensional model system, the data scanning updating of the tumor three-dimensional model is kept in real time, and the operation tracking treatment of the tumor focus can be carried out under the cooperation of the contrast system. And the three-dimensional model system is selected by a user for configuration.
The imaging system is used for carrying out operation treatment by matching with the surgical instrument system. The imaging display of the surgical instrument system is facilitated. In the contrast environment of the contrast system, the position of the surgical instrument in the tumor tissue may be shown. And sending the position data to a CPU and displaying the position data in a real-time three-dimensional model system, so that a tumor three-dimensional model can be combined, and a dynamic tumor focus visual treatment scheme can be realized.
The surgical instrument system, as shown in fig. 3, comprises a surgical instrument 1, wherein an operating head 2 of the surgical instrument 1 extends into subcutaneous tissue 3 of a tumor and enters a focal region 4 under the contrast environment of a contrast system. In this case, in the three-dimensional model system, a specific position of the surgical instrument 1 with respect to the tumor three-dimensional model can be displayed. Thus, medical staff can conveniently control the surgical instrument 1 to track the tumor three-dimensional model to track and treat the focus position. Wherein the surgical instrument 1 may be replaced by a robot.
As an optional embodiment of the present application, optionally, in step S100, the scanning and obtaining three-dimensional medical image data of tumor soft tissue includes:
s110, performing three-dimensional color ultrasound scanning on the body surface part where the tumor soft tissue is located to obtain tumor soft tissue data;
s120, presetting image processing conditions, and performing image layer processing on the tumor soft tissue data according to the preset image processing conditions to obtain three-dimensional medical image data aiming at the tumor soft tissue;
s130, in the three-dimensional medical image data, performing first feature marking on the tumor soft tissue, and outputting and storing the first feature marking as the three-dimensional image feature data of the tumor soft tissue.
The manner in which the tumor soft tissue data is obtained is not described in detail herein. The software of image processing can be preconfigured and can be called through a calling algorithm in the CPU. After the tumor soft tissue data is subjected to layer processing, for example, a tissue structure irrelevant to the tumor soft tissue is hidden, three-dimensional medical image data aiming at the tumor soft tissue is obtained, and marking is carried out in the three-dimensional medical image data. The method of marking is not limited to color marking or control symbol marking, and the like.
As an optional embodiment of the present application, optionally, in step S200, identifying and marking the target image data of the tumor focus on the tumor soft tissue according to the three-dimensional medical image data includes:
s210, acquiring and analyzing the three-dimensional image characteristic data to obtain image analysis data of the tumor soft tissue;
s220, analyzing the data according to the images, and combining the three-dimensional medical image data to identify tumor focus image data in the three-dimensional medical image data;
s230, performing second characteristic marking on the tumor focus image data to obtain target image data of the tumor focus in the tumor soft tissue.
The data conversion formats among the systems are not uniform, so that the three-dimensional image characteristic data needs to be formatted and analyzed firstly, and the three-dimensional image characteristic data meets the format requirements of a three-dimensional model system. In the image analysis data, tumor focus image data in the three-dimensional medical image data are identified again, and a second marking is carried out. Display is facilitated in the model system according to the type of the mark.
As an optional embodiment of the present application, optionally, in step S210, before analyzing the image analysis data of the tumor soft tissue, the method further includes:
s211, presetting a preprocessing rule;
s221, acquiring the three-dimensional image characteristic data, preprocessing the image analysis data according to the preprocessing rule, and removing edge scattering image points and default image points which are positioned in the image analysis data to obtain preprocessed image data of the tumor soft tissue;
s231, sending and storing the preprocessed image data.
And preprocessing the three-dimensional image characteristic data, namely mainly removing edge scattering image points and default image points which are positioned in the image analysis data, and keeping the concentration of images without being scattered. Otherwise, the overall structure display effect of the model is affected. The pretreatment can also be the repair treatment of the model according to the experience of medical staff. At this time, some image points or areas in the image analysis data need to be compensated for.
As an optional embodiment of the present application, optionally, in step S300, building a tumor three-dimensional model according to the three-dimensional medical image data, and marking the tumor focus in the tumor three-dimensional model according to the target image data, including:
s310, acquiring the three-dimensional medical image data, and importing the three-dimensional medical image data into a three-dimensional modeling system to obtain a tumor three-dimensional model aiming at the tumor soft tissue;
s320, acquiring the target image data and importing the target image data into a three-dimensional modeling system;
and S330, displaying the position of the tumor focus on the tumor three-dimensional model according to the target image data, and carrying out third characteristic marking to obtain the tumor three-dimensional model with the third characteristic marking.
The establishment of the tumor three-dimensional model of the tumor soft tissue is not described in detail. After the establishment, the target image data of the tumor focus on the tumor soft tissue is imported, the focus structure on the tumor three-dimensional model is displayed, and in the model system, the characteristic mark is again entered, and the position of the tumor focus on the tumor three-dimensional model, such as the focus structure mark with color, is projected.
The above-mentioned several feature marks may be feature point marks or color marks, and are not limited in this regard.
As an optional embodiment of the present application, optionally, in step S400, the sending and displaying the tumor three-dimensional model, and implementing a navigator tracking treatment under a radiography condition of the tumor three-dimensional model, includes:
s410, exporting the tumor three-dimensional model, and dynamically displaying the tumor three-dimensional model according to display conditions;
s420, configuring operation conditions for tumor treatment by combining the tumor three-dimensional model, and acquiring intraoperative images of tumor treatment in real time;
s430, according to the relative dynamic position of the operation end in the intraoperative image, navigation tracking is the dynamic action of the operation end on the tumor soft tissue.
The three-dimensional model system starts to dynamically display the model structure of the tumor soft tissue, and at the moment, under the cooperation of the radiography system, the operation end, namely the operation head 2 of the surgical instrument 1, is virtually and visually dynamically displayed in the three-dimensional model system, and the relative dynamic position of the operation end in the intraoperative image is displayed. After the operation is started, dynamic operation actions on the marked tumor focus tissues can be carried out according to the tumor three-dimensional model. Thus, the combination of the offline surgery and the virtual model is realized.
It should be noted that although the above respective system components are described as examples, those skilled in the art will understand that the present disclosure should not be limited thereto. In fact, the user can flexibly set the implementation equipment of each system according to the actual application scene, so long as the technical function of the application can be implemented according to the technical method.
Example 2
Based on the implementation principles of embodiment 1, a second aspect of the present application proposes an apparatus for implementing the in-tumor-treatment navigation tracking method of any one of claims 1-6, comprising:
the three-dimensional scanning module is used for scanning and obtaining three-dimensional medical image data of tumor soft tissues;
the identification marking module is used for identifying and marking target image data of the tumor focus in the tumor soft tissue according to the three-dimensional medical image data;
the model creation module is used for creating a tumor three-dimensional model according to the three-dimensional medical image data and marking the tumor focus in the tumor three-dimensional model according to the target image data;
and the contrast tracking module is used for sending and displaying the tumor three-dimensional model and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model.
As an optional embodiment of the present application, optionally, the three-dimensional scanning module includes:
the color Doppler ultrasound scanning module is used for carrying out three-dimensional color Doppler ultrasound scanning on the body surface part where the tumor soft tissue is located to obtain tumor soft tissue data;
the image processing module is used for presetting image processing conditions, carrying out image layer processing on the tumor soft tissue data according to the preset image processing conditions, and obtaining three-dimensional medical image data aiming at the tumor soft tissue;
and the marking module is used for marking the first characteristic of the tumor soft tissue in the three-dimensional medical image data, and outputting and storing the first characteristic as the three-dimensional image characteristic data of the tumor soft tissue.
As an optional embodiment of the present application, optionally, the identification mark module includes:
the pretreatment module is used for presetting pretreatment rules; acquiring the three-dimensional image characteristic data, preprocessing the image analysis data according to the preprocessing rule, and removing edge scattering image points and default image points which are positioned in the image analysis data to obtain preprocessed image data of the tumor soft tissue; transmitting and storing the preprocessed image data;
the analysis module is used for acquiring and analyzing the preprocessed image data to obtain image analysis data of the tumor soft tissue;
the second marking module is used for analyzing the data according to the images and combining the three-dimensional medical image data to identify tumor focus image data in the three-dimensional medical image data; and carrying out second characteristic marking on the tumor focus image data to obtain target image data of the tumor focus in the tumor soft tissue.
The model creation module and the contrast tracking module are not described in detail herein, and refer to the functional description of embodiment 1 specifically.
It should be apparent to those skilled in the art that the implementation of all or part of the above-described embodiments of the method may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the steps of the embodiments of the control methods described above when executed. The modules or steps of the invention described above may be implemented in a general-purpose computing device, they may be centralized in a single computing device, or distributed across a network of computing devices, or they may alternatively be implemented in program code executable by a computing device, such that they may be stored in a memory device and executed by a computing device, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It will be appreciated by those skilled in the art that implementing all or part of the above-described embodiment methods may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the embodiment flow of each control method as described above when executed. The storage medium may be a magnetic disk, an optical disc, a Read-only memory (ROM), a random access memory (RandomAccessMemory, RAM), a flash memory (flash memory), a hard disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Example 3
Still further, a third aspect of the present application proposes a navigation tracking system comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the in-tumor-treatment navigation tracking method of any one of claims 1 to 6 when executing the executable instructions.
The navigation tracking system of the disclosed embodiments includes a processor and a memory for storing processor-executable instructions. Wherein the processor is configured to implement any one of the previously described methods of navigation tracking in oncology treatment when executing the executable instructions.
Here, it should be noted that the number of processors may be one or more. Meanwhile, in the navigation tracking system of the embodiment of the present disclosure, an input device and an output device may be further included. The processor, the memory, the input device, and the output device may be connected by a bus, or may be connected by other means, which is not specifically limited herein.
The memory is a computer-readable storage medium that can be used to store software programs, computer-executable programs, and various modules, such as: the embodiment of the disclosure relates to a program or a module corresponding to a navigation tracking method in tumor treatment. The processor executes various functional applications and data processing of the traceability system by running software programs or modules stored in the memory.
The input device may be used to receive an input number or signal. Wherein the signal may be a key signal generated in connection with user settings of the device/terminal/server and function control. The output means may comprise a display device such as a display screen.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement of the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. The navigation tracking method in tumor treatment is characterized by comprising the following steps:
s100, scanning and obtaining three-dimensional medical image data of tumor soft tissues;
s200, identifying and marking target image data of a tumor focus in the tumor soft tissue according to the three-dimensional medical image data;
s300, establishing a tumor three-dimensional model according to the three-dimensional medical image data, and marking the tumor focus in the tumor three-dimensional model according to the target image data;
s400, sending and displaying the tumor three-dimensional model, and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model.
2. The method according to claim 1, wherein in step S100, the scanning and obtaining three-dimensional medical image data of soft tissue of a tumor comprises:
s110, performing three-dimensional color ultrasound scanning on the body surface part where the tumor soft tissue is located to obtain tumor soft tissue data;
s120, presetting image processing conditions, and performing image layer processing on the tumor soft tissue data according to the preset image processing conditions to obtain three-dimensional medical image data aiming at the tumor soft tissue;
s130, in the three-dimensional medical image data, performing first feature marking on the tumor soft tissue, and outputting and storing the first feature marking as the three-dimensional image feature data of the tumor soft tissue.
3. The method according to claim 2, wherein in step S200, identifying and marking the target image data of the tumor lesion in the tumor soft tissue based on the three-dimensional medical image data comprises:
s210, acquiring and analyzing the three-dimensional image characteristic data to obtain image analysis data of the tumor soft tissue;
s220, analyzing the data according to the images, and combining the three-dimensional medical image data to identify tumor focus image data in the three-dimensional medical image data;
s230, performing second characteristic marking on the tumor focus image data to obtain target image data of the tumor focus in the tumor soft tissue.
4. The method according to claim 3, further comprising, in step S210, before analyzing the image analysis data of the tumor soft tissue:
s211, presetting a preprocessing rule;
s221, acquiring the three-dimensional image characteristic data, preprocessing the image analysis data according to the preprocessing rule, and removing edge scattering image points and default image points which are positioned in the image analysis data to obtain preprocessed image data of the tumor soft tissue;
s231, sending and storing the preprocessed image data.
5. The method according to claim 1, wherein in step S300, a tumor three-dimensional model is created from the three-dimensional medical image data, and the tumor focus is marked in the tumor three-dimensional model from the target image data, comprising:
s310, acquiring the three-dimensional medical image data, and importing the three-dimensional medical image data into a three-dimensional modeling system to obtain a tumor three-dimensional model aiming at the tumor soft tissue;
s320, acquiring the target image data and importing the target image data into a three-dimensional modeling system;
and S330, displaying the position of the tumor focus on the tumor three-dimensional model according to the target image data, and carrying out third characteristic marking to obtain the tumor three-dimensional model with the third characteristic marking.
6. The method according to claim 5, wherein in step S400, the transmitting and displaying the tumor three-dimensional model and implementing the navigation tracking treatment under the contrast condition of the tumor three-dimensional model comprises:
s410, exporting the tumor three-dimensional model, and dynamically displaying the tumor three-dimensional model according to display conditions;
s420, configuring operation conditions for tumor treatment by combining the tumor three-dimensional model, and acquiring intraoperative images of tumor treatment in real time;
s430, according to the relative dynamic position of the operation end in the intraoperative image, navigation tracking is the dynamic action of the operation end on the tumor soft tissue.
7. An apparatus for implementing the intra-operative navigation tracking method of tumor therapy of any one of claims 1-6, comprising:
the three-dimensional scanning module is used for scanning and obtaining three-dimensional medical image data of tumor soft tissues;
the identification marking module is used for identifying and marking target image data of the tumor focus in the tumor soft tissue according to the three-dimensional medical image data;
the model creation module is used for creating a tumor three-dimensional model according to the three-dimensional medical image data and marking the tumor focus in the tumor three-dimensional model according to the target image data;
and the contrast tracking module is used for sending and displaying the tumor three-dimensional model and realizing navigation tracking treatment under the contrast condition of the tumor three-dimensional model.
8. The apparatus of claim 7, wherein the three-dimensional scanning module comprises:
the color Doppler ultrasound scanning module is used for carrying out three-dimensional color Doppler ultrasound scanning on the body surface part where the tumor soft tissue is located to obtain tumor soft tissue data;
the image processing module is used for presetting image processing conditions, carrying out image layer processing on the tumor soft tissue data according to the preset image processing conditions, and obtaining three-dimensional medical image data aiming at the tumor soft tissue;
and the marking module is used for marking the first characteristic of the tumor soft tissue in the three-dimensional medical image data, and outputting and storing the first characteristic as the three-dimensional image characteristic data of the tumor soft tissue.
9. The apparatus of claim 7, wherein the identification tag module comprises:
the pretreatment module is used for presetting pretreatment rules; acquiring the three-dimensional image characteristic data, preprocessing the image analysis data according to the preprocessing rule, and removing edge scattering image points and default image points which are positioned in the image analysis data to obtain preprocessed image data of the tumor soft tissue; transmitting and storing the preprocessed image data;
the analysis module is used for acquiring and analyzing the preprocessed image data to obtain image analysis data of the tumor soft tissue;
the second marking module is used for analyzing the data according to the images and combining the three-dimensional medical image data to identify tumor focus image data in the three-dimensional medical image data; and carrying out second characteristic marking on the tumor focus image data to obtain target image data of the tumor focus in the tumor soft tissue.
10. A navigation tracking system, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the in-tumor-treatment navigation tracking method of any one of claims 1 to 6 when executing the executable instructions.
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