CN117770978A - Surgical incision position point determination method, system, medium and electronic equipment - Google Patents
Surgical incision position point determination method, system, medium and electronic equipment Download PDFInfo
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- 208000002847 Surgical Wound Diseases 0.000 title claims abstract description 130
- 238000000034 method Methods 0.000 title claims abstract description 59
- 210000004204 blood vessel Anatomy 0.000 claims abstract description 101
- 230000003902 lesion Effects 0.000 claims abstract description 42
- 230000002792 vascular Effects 0.000 claims abstract description 29
- 238000012549 training Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 6
- 210000000056 organ Anatomy 0.000 abstract description 18
- 208000014674 injury Diseases 0.000 abstract description 8
- 230000008733 trauma Effects 0.000 abstract description 8
- 210000003734 kidney Anatomy 0.000 description 7
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- 206010028980 Neoplasm Diseases 0.000 description 4
- 206010052428 Wound Diseases 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 4
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- 230000003872 anastomosis Effects 0.000 description 2
- 238000013170 computed tomography imaging Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
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Abstract
The application discloses a method, a system, a medium and electronic equipment for determining a surgical incision position point, wherein the method comprises the following steps: acquiring a target holographic image and a CT blood vessel image of a target object at the current moment; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image; fitting the vascular space distribution information of the target holographic image according to the CT vascular image; taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image; and determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment. Because the method takes the holographic image as the basis, and combines the blood vessel space distribution information based on the CT blood vessel image to determine the optimal operation incision position point of the target object, the method can quickly find the operation incision position closest to the lesion position on the basis of avoiding the blood vessel, thereby reducing the extra trauma to the organ.
Description
Technical Field
The application relates to the technical field of image processing and the technical field of digital medical treatment, in particular to a method, a system, a medium and electronic equipment for determining surgical incision position points.
Background
Laparoscopic surgery belongs to one of the endoscopic surgery, has a limited scope of view of the laparoscope, is difficult to see the focus of the organ, and needs a great deal of time for doctors to search for the lesion position in the organ, so that the holographic image guiding technology is developed. The specific implementation process of the technology is as follows: based on the real-time lens position of the laparoscope, a three-dimensional image model corresponding to the laparoscope image is determined, and the three-dimensional image model is overlaid, fused and displayed with the laparoscope image so as to accurately locate the lesion position in the organ, and then a doctor can further determine the position of the surgical incision.
In the related art, when determining the surgical incision position, a doctor determines the surgical incision position of an organ based on own medical experience and a lesion position displayed by a hologram; however, the surgical incision position is doped with artificial experience, the accuracy is low, when the surgical incision position and the lesion position are far away, the intervention area of the organ is larger during surgery, and extra wounds are caused to the organ, so that the risk of the extra wounds is increased.
Therefore, how to accurately find the optimal surgical incision location on the surface of an organ is a matter of urgent need for a person skilled in the art.
Disclosure of Invention
The embodiment of the application provides a method, a system, a medium and electronic equipment for determining surgical incision position points. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, embodiments of the present application provide a method for determining a surgical incision location point, the method comprising:
acquiring a target holographic image of a target object at the current moment and a CT blood vessel image of the target object; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image;
fitting the vascular spatial distribution information of the target holographic image according to the CT vascular image;
taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image;
And determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment.
Optionally, determining the optimal surgical incision location point of the target object based on the vascular spatial distribution information and the shortest line segment includes:
acquiring the space position coordinates of each point in the shortest line segment;
generating the space position coordinates of the blood vessel according to the space distribution information of the blood vessel;
comparing the space position coordinates of each point with the space position coordinates of the blood vessel to judge whether an intersection point exists between the shortest line segment and the blood vessel;
under the condition that the shortest line segment and the blood vessel have no intersection point, determining the intersection point of the shortest line segment and the surface of the target holographic image as the optimal operation incision position point of the target object; or,
under the condition that the shortest line segment and the blood vessel have intersection points, constructing a plurality of alternative surgical incision position points on the surface of the target holographic image according to the lesion position points;
and determining the optimal surgical incision position point of the target object according to the plurality of candidate surgical incision position points and the vascular spatial distribution information.
Optionally, constructing a plurality of candidate surgical incision site points on the target holographic image surface based on the lesion site points, including:
determining a point at which the shortest line segment intersects the surface of the target hologram as a target point;
Establishing a target spherical area corresponding to the target point according to the preset radius;
a plurality of candidate surgical incision site points for the target holographic image surface are determined based on the target spherical region.
Optionally, determining a plurality of candidate surgical incision location points for the target holographic image surface based on the target spherical region comprises:
establishing a plurality of target curves in a target spherical area according to preset intervals and directions;
uniformly traversing on each target curve according to the preset number to obtain a plurality of spatial position points, and obtaining a plurality of spatial position points of each target curve;
combining a plurality of spatial position points of each target curve to obtain a first spatial position point sequence;
determining and combining the same spatial position points in the first spatial position point sequence to delete the intersecting spatial position points existing in the target curve to obtain a second spatial position point sequence;
a plurality of candidate surgical incision location points for the target holographic image surface are determined from the second sequence of spatial location points.
Optionally, determining a plurality of candidate surgical incision location points of the target holographic image surface according to the second sequence of spatial location points comprises:
determining a first Euclidean distance between each second spatial position point in the second spatial position point sequence and the skin surface of the human body;
According to the vessel space distribution information, determining a target vessel with a vessel diameter larger than or equal to a preset threshold value in a target object;
determining a second Euclidean distance between each second spatial position point and the target vessel;
weighting and summing the first Euclidean distance and the second Euclidean distance to obtain a judgment value of each second spatial position;
comparing the judgment value of each second space position with a preset distance interval to determine the second space position in the preset distance interval;
and determining the second spatial position within the preset distance interval as a plurality of alternative surgical incision position points of the target holographic image surface.
Optionally, determining the optimal surgical incision position point of the target object according to the plurality of candidate surgical incision position points and the vascular spatial distribution information includes:
determining all blood vessels in the target object according to the blood vessel space distribution information;
constructing initial line segments between a plurality of candidate surgical incision position points and lesion position points, and obtaining initial line segments corresponding to each candidate surgical incision position point;
performing feature coding on all blood vessels in the target object to obtain a blood vessel feature vector;
performing feature coding on the initial line segment corresponding to each backup surgical incision position point to obtain a line segment feature vector corresponding to each backup surgical incision position point;
Calculating the coincidence degree between the line segment characteristic vector and the blood vessel characteristic vector corresponding to each alternative surgical incision position point;
and determining the candidate surgical incision position point with the minimum coincidence degree as the optimal surgical incision position point of the target object.
Optionally, before the target holographic image of the target object and the CT blood vessel image of the target object at the current moment are acquired, the method further includes:
obtaining a laparoscopic image to be fused of a target object at the current moment through a laparoscope;
inputting the laparoscopic image to be fused into a pre-trained image space position point identification model, and outputting a target image space position point sequence corresponding to the laparoscopic image to be fused;
determining a three-dimensional image of a target area corresponding to the laparoscopic image to be fused in a pre-established three-dimensional image model according to the target image space position point sequence; the pre-established three-dimensional image model is generated according to a CT image or a CT image of the target object;
fusing the laparoscopic image to be fused with the three-dimensional image of the target area to generate a target holographic image of the target object at the current moment; wherein,
generating a pre-trained image spatial location point recognition model according to the following steps of
Acquiring a first tissue section image and a three-dimensional image model corresponding to the first tissue section image; the first tissue section image is any tissue section image of a target object in a sample library;
respectively establishing a plane coordinate system and a space coordinate system according to the preset grid size and the coordinate parameters;
projecting the first tissue section image into a plane coordinate system to determine two-dimensional coordinates of each preset plane position in the first tissue section image;
projecting a three-dimensional image model corresponding to the first tissue section image to a space coordinate system to determine three-dimensional coordinates of each preset space position in the three-dimensional image model corresponding to the first tissue section image;
carrying out data annotation on the two-dimensional coordinates of each preset plane position and the three-dimensional coordinates of each preset space position to generate a model training set;
constructing an image space position point identification model;
and training the image space position point recognition model according to the model training set to generate a pre-trained image space position point recognition model.
In a second aspect, embodiments of the present application provide a surgical incision site determination system, the system comprising:
the data acquisition module is used for acquiring a target holographic image of the target object at the current moment and a CT blood vessel image of the target object; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image;
The vessel space distribution information fitting module is used for fitting the vessel space distribution information of the target holographic image according to the CT vessel image;
the shortest line segment determining module is used for determining the shortest line segment which hangs down to the surface of the target holographic image by taking the lesion position point displayed by the target holographic image as the drop foot;
and the optimal operation incision position point determining module is used for determining the optimal operation incision position point of the target object based on the blood vessel space distribution information and the shortest line segment.
In a third aspect, embodiments of the present application provide a computer storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor and to perform the above-described method steps.
In a fourth aspect, embodiments of the present application provide an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps described above.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
in the embodiment of the application, a surgical incision position point determining system firstly acquires a target holographic image and a CT blood vessel image of a target object at the current moment; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image; then fitting the vessel space distribution information of the target holographic image according to the CT vessel image; secondly, taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image; and finally, determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment. Because the method takes the holographic image as the basis, and combines the blood vessel space distribution information based on the CT blood vessel image to determine the optimal operation incision position point of the target object, the method can quickly find the operation incision position closest to the lesion position on the basis of avoiding the blood vessel, thereby reducing the extra trauma to the organ.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic flow chart of a method for determining a surgical incision location point according to an embodiment of the present application;
FIG. 2 is a schematic view of a kidney hologram according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a blood vessel image of a kidney according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram showing a comparison of incision positions based on holographic images according to an embodiment of the present application;
FIG. 5 is a schematic diagram showing experimental parameters of a incision site according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of an image space position point recognition model training process according to an embodiment of the present application;
FIG. 7 is a schematic structural view of a surgical incision site determination system provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description and the drawings illustrate specific embodiments of the application sufficiently to enable those skilled in the art to practice them.
It should be understood that the described embodiments are merely some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present application.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of systems and methods that are consistent with aspects of the present application, as detailed in the accompanying claims.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
Currently, in determining the surgical incision position, a doctor determines the surgical incision position of an organ based on his own medical experience and the lesion position displayed by the hologram.
The inventor of the application notes that the surgical incision position determined in the mode is doped with artificial experience, the accuracy is low, when the surgical incision position and the lesion position are far away, the intervention area of an organ is larger during surgery, and extra wounds are caused to the organ, so that the risk of the extra wounds is increased.
In order to solve the problem of high risk of extra trauma, the application provides a method, a system, a medium and electronic equipment for determining the position point of an operation incision, so as to solve the problems in the related technical problems. In the technical scheme provided by the application, because the application takes the holographic image as the basis, and the optimal operation incision position point of the target object is determined by combining the blood vessel space distribution information based on the CT blood vessel image, the operation incision position closest to the lesion position can be quickly found on the basis of avoiding the blood vessel, so that the extra trauma to the organ is reduced, and the following detailed description is carried out by adopting an exemplary embodiment.
The method for determining the position point of the surgical incision according to the embodiment of the present application will be described in detail with reference to fig. 1 to 6. The method may be implemented in dependence on a computer program, and may be run on a von neumann system-based surgical incision location point determination system. The computer program may be integrated in the application or may run as a stand-alone tool class application.
Referring to fig. 1, a flowchart of a method for determining a surgical incision position point is provided in an embodiment of the present application. As shown in fig. 1, the method of the embodiment of the present application may include the following steps:
s101, acquiring a target holographic image of a target object at the current moment and a CT blood vessel image of the target object; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image;
wherein the target object is an organ, such as a kidney, for which a surgical incision site needs to be determined. When the target object is a kidney, a hologram of the kidney is shown in fig. 2, for example. The CT blood vessel image is obtained by scanning the target object through a CT imaging technology.
In the embodiment of the application, when a holographic image is fused according to a laparoscopic image of a target object and a three-dimensional image model corresponding to the laparoscopic image, firstly, the laparoscopic image to be fused of the target object at the current moment is obtained through a laparoscope; inputting the laparoscopic image to be fused into a pre-trained image space position point identification model, and outputting a target image space position point sequence corresponding to the laparoscopic image to be fused; then, according to the target image space position point sequence, determining a target area three-dimensional image corresponding to the laparoscopic image to be fused in a pre-established three-dimensional image model; the pre-established three-dimensional image model is generated according to a CT image or a CT image of the target object; and finally, fusing the laparoscopic image to be fused with the three-dimensional image of the target area to generate a target holographic image of the target object at the current moment. Because the pre-trained image space position point identification model provided by the application can identify the image space position point sequence uniquely corresponding to the endoscope image to be fused, the unique existing region three-dimensional image can be accurately found through the uniquely corresponding image space position point sequence, the fusion image at the current moment is ensured to be the fusion image of tissue under the current position of the endoscope, and therefore the accuracy of image fusion is improved
Specifically, when a pre-trained image space position point identification model is generated, a first tissue section image and a three-dimensional image model corresponding to the first tissue section image are firstly obtained; the first tissue section image is any tissue section image of a target object in a sample library; respectively establishing a plane coordinate system and a space coordinate system according to the preset grid size and the coordinate parameters; then projecting the first tissue section image into a plane coordinate system to determine two-dimensional coordinates of each preset plane position in the first tissue section image; projecting a three-dimensional image model corresponding to the first tissue section image to a space coordinate system to determine three-dimensional coordinates of each preset space position in the three-dimensional image model corresponding to the first tissue section image; secondly, carrying out data annotation on the two-dimensional coordinates of each preset plane position and the three-dimensional coordinates of each preset space position to generate a model training set; finally, constructing an image space position point identification model; and training the image space position point recognition model according to the model training set to generate a pre-trained image space position point recognition model.
In one possible implementation manner, after the target holographic image of the target object at the current moment is generated, the target object is scanned through a CT imaging technology, and after the scanning is finished, the server side may acquire the target holographic image of the target object at the current moment and a CT blood vessel image of the target object.
S102, fitting blood vessel space distribution information of a target holographic image according to a CT blood vessel image;
in the embodiment of the application, when the vessel space distribution information of the target hologram is fitted according to the CT vessel image, firstly, the CT vessel image of the target object is acquired, and the CT vessel image is preprocessed; then extracting a blood vessel characteristic segmentation map based on the blood vessel segmentation model; and finally fitting the vessel space distribution information according to the vessel characteristic segmentation map. The blood vessel image of the kidney is shown in fig. 3, for example.
Further, the preprocessing includes at least bias field correction, tissue segmentation, multi-scale filtering, and data enhancement.
S103, taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image;
firstly, judging whether the point from a lesion position point to the shortest line segment on the surface of a target object accords with an optimal position point or not based on the principle of shortest straight line; if the shortest line segment is intersected with a blood vessel in the target object, the position point is not used as a surgical incision; if the shortest line segment does not intersect a blood vessel in the target object, then this location point is indicated as the optimal surgical incision location, and the point where the shortest line segment does not intersect a blood vessel is preferred.
In the embodiment of the application, the lesion position point displayed by the target hologram is taken as a foot, and a perpendicular line from the lesion position point to the surface of the hologram is established, wherein the perpendicular line is the shortest line segment which is taken as a foot to the surface of the target hologram.
And S104, determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment.
In the embodiment of the application, when determining the optimal operation incision position point of the target object based on the blood vessel space distribution information and the shortest line segment, firstly, acquiring the space position coordinates of each point in the shortest line segment; generating the space position coordinates of the blood vessel according to the space distribution information of the blood vessel; and comparing the space position coordinates of each point with the space position coordinates of the blood vessel to judge whether the shortest line segment and the blood vessel have an intersection point or not.
In one possible implementation, in the case where there is no intersection between the shortest line segment and the blood vessel, the point at which the shortest line segment intersects the target hologram surface is determined as the optimal surgical incision position point of the target object.
In another possible implementation manner, in the case that the shortest line segment and the blood vessel have an intersection point, constructing a plurality of alternative surgical incision position points of the target holographic image surface according to the lesion position points; and determining the optimal surgical incision position point of the target object according to the plurality of candidate surgical incision position points and the vascular spatial distribution information.
In the embodiment of the application, when a plurality of alternative surgical incision position points of the target holographic image surface are constructed according to lesion position points, firstly, the point where the shortest line segment intersects with the target holographic image surface is determined as a target point; then, according to a preset radius, a target spherical area corresponding to the target point is established; and finally, determining a plurality of alternative surgical incision position points on the surface of the target holographic image according to the target spherical surface area. By establishing a spherical region, the area of the region where surgical intervention is performed can be preliminarily determined on the target object, so that the reduction of the range in the aspect is realized.
In the embodiment of the application, when a plurality of alternative surgical incision position points on the surface of a target holographic image are determined according to a target spherical region, a plurality of target curves are firstly established in the target spherical region according to preset intervals and directions; uniformly traversing on each target curve according to the preset quantity to obtain a plurality of spatial position points, and obtaining a plurality of spatial position points of each target curve; secondly, merging a plurality of spatial position points of each target curve to obtain a first spatial position point sequence; determining and combining the same spatial position points in the first spatial position point sequence to delete the intersecting spatial position points existing in the target curve to obtain a second spatial position point sequence; and finally, determining a plurality of alternative surgical incision position points on the surface of the target holographic image according to the second space position point sequence. Through the established curve selection points, the spatial position points in the intersecting lines can be removed, so that the on-line narrowing range is realized.
In the embodiment of the application, when determining a plurality of alternative surgical incision position points on the surface of the target holographic image according to the second spatial position point sequence, first determining a first Euclidean distance between each second spatial position point in the second spatial position point sequence and the surface of human skin; then, according to the vessel space distribution information, determining a target vessel with a vessel diameter larger than or equal to a preset threshold value in the target object; determining a second Euclidean distance between each second spatial position point and the target blood vessel; secondly, carrying out weighted summation on the first Euclidean distance and the second Euclidean distance to obtain a judgment value of each second spatial position; finally, comparing the judgment value of each second space position with a preset distance interval to determine the second space position in the preset distance interval; and determining a second spatial position within the preset distance interval as a plurality of alternative surgical incision position points of the target hologram surface. The closer the distance to the skin surface of the human body is, the less the operation distance and the operation convenience are, and the more the distance to the large blood vessel is, the less the accident probability is, so that the two conditions are combined with the Euclidean distance for calculating the space position to carry out weighted summation, and a plurality of alternative operation incision position points with a part which best meets the scene requirement can be screened out from a large number of space position points.
In the embodiment of the application, when determining the optimal surgical incision position point of the target object according to the plurality of candidate surgical incision position points and the vascular space distribution information, firstly determining all blood vessels in the target object according to the vascular space distribution information; constructing an initial line segment between a plurality of candidate surgical incision position points and lesion position points to obtain an initial line segment corresponding to each candidate surgical incision position point; then, carrying out feature coding on all blood vessels in the target object to obtain a blood vessel feature vector; secondly, carrying out feature coding on the initial line segment corresponding to each backup surgical incision position point to obtain a line segment feature vector corresponding to each backup surgical incision position point; finally, calculating the coincidence degree between the line segment characteristic vector and the blood vessel characteristic vector corresponding to each candidate surgical incision position point; and determining the candidate surgical incision position point with the minimum coincidence degree as the optimal surgical incision position point of the target object. The smaller the anastomosis degree is, the farther the distance from the blood vessel is, so that microscopic comparison can be realized in a feature coding mode, the accuracy of comparison is improved, and the alternative surgical incision position point with the smaller anastomosis degree can be used as the optimal surgical incision position point of the target object.
Further, after the optimal surgical incision position point of the target object is obtained, the optimal surgical incision position point of the target object can be marked and displayed.
For example, as shown in fig. 4, a physician can obtain a hologram registered with the kidney via a laparoscope accessing the abdominal wall, wherein the hologram shows the tumor location, and the physician can determine the initial incision location based on experience and the projection of the tumor location in the laparoscopic field, and the optimal incision location shown by the physician can be the optimal incision location planned preoperatively. Experimental data for initial incision location and optimal incision location as shown in fig. 5, the distance between the incision guided by hologram and the tumor location in groups 1 and 2 was much greater than the distance between the surgical incision location point and the tumor location as planned by the present application.
Further, after the optimal surgical incision position point is obtained, a straight line segment from the point to the lesion position point can be determined as a surgical path, and the surgical path is fitted on the target holographic image and sent to the client for display.
In the embodiment of the application, a surgical incision position point determining system firstly acquires a target holographic image and a CT blood vessel image of a target object at the current moment; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image; then fitting the vessel space distribution information of the target holographic image according to the CT vessel image; secondly, taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image; and finally, determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment. Because the method takes the holographic image as the basis, and combines the blood vessel space distribution information based on the CT blood vessel image to determine the optimal operation incision position point of the target object, the method can quickly find the operation incision position closest to the lesion position on the basis of avoiding the blood vessel, thereby reducing the extra trauma to the organ.
Referring to fig. 6, a flowchart of a training method of an image space location point recognition model is provided in an embodiment of the present application. As shown in fig. 6, the method of the embodiment of the present application may include the following steps:
s201, acquiring a first tissue section image and a three-dimensional image model corresponding to the first tissue section image; the first tissue section image is any tissue section image of a target object in a sample library;
s202, respectively establishing a plane coordinate system and a space coordinate system according to a preset grid size and coordinate parameters;
s203, projecting the first tissue section image into a plane coordinate system to determine two-dimensional coordinates of each preset plane position in the first tissue section image;
s204, projecting a three-dimensional image model corresponding to the first tissue section image to a space coordinate system to determine three-dimensional coordinates of each preset space position in the three-dimensional image model corresponding to the first tissue section image;
s205, carrying out data annotation on the two-dimensional coordinates of each preset plane position and the three-dimensional coordinates of each preset space position, and generating a model training set;
s206, constructing an image space position point identification model;
s207, training the image space position point recognition model according to the model training set to generate a pre-trained image space position point recognition model.
In the embodiment of the application, a surgical incision position point determining system firstly acquires a target holographic image and a CT blood vessel image of a target object at the current moment; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image; then fitting the vessel space distribution information of the target holographic image according to the CT vessel image; secondly, taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image; and finally, determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment. Because the method takes the holographic image as the basis, and combines the blood vessel space distribution information based on the CT blood vessel image to determine the optimal operation incision position point of the target object, the method can quickly find the operation incision position closest to the lesion position on the basis of avoiding the blood vessel, thereby reducing the extra trauma to the organ.
The following are system embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the system embodiments of the present application, please refer to the method embodiments of the present application.
Referring to fig. 7, a schematic diagram of a surgical incision site determination system according to an exemplary embodiment of the present application is shown. The surgical incision location determination system may be implemented as all or part of an electronic device by software, hardware, or a combination of both. The system 1 comprises a data acquisition module 10, a vascular spatial distribution information fitting module 20, a shortest line segment determining module 30 and an optimal surgical incision position point determining module 40.
The data acquisition module 10 is used for acquiring a target holographic image of the target object at the current moment and a CT blood vessel image of the target object; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image;
the vessel space distribution information fitting module 20 is configured to fit the vessel space distribution information of the target holographic image according to the CT vessel image;
the shortest line segment determining module 30 is configured to determine a shortest line segment from the drop foot to the surface of the target hologram, with the lesion position point displayed by the target hologram as the drop foot;
an optimal surgical incision position point determination module 40 for determining an optimal surgical incision position point of the target object based on the vessel spatial distribution information and the shortest line segment.
Optionally, the surgical incision site determination system further comprises:
the laparoscopic image acquisition module is used for acquiring a laparoscopic image to be fused of the target object at the current moment through a laparoscope;
the position point sequence output module is used for inputting the laparoscopic image to be fused into a pre-trained image space position point identification model and outputting a target image space position point sequence corresponding to the laparoscopic image to be fused;
the regional three-dimensional image determining module is used for determining a target regional three-dimensional image corresponding to the laparoscopic image to be fused in a pre-established three-dimensional image model according to the target image space position point sequence; the pre-established three-dimensional image model is generated according to a CT image or a CT image of the target object;
the image fusion module is used for fusing the laparoscopic image to be fused with the three-dimensional image of the target area to generate a target holographic image of the target object at the current moment; wherein,
generating a pre-trained image spatial location point recognition model according to the following steps of
Acquiring a first tissue section image and a three-dimensional image model corresponding to the first tissue section image; the first tissue section image is any tissue section image of a target object in a sample library;
Respectively establishing a plane coordinate system and a space coordinate system according to the preset grid size and the coordinate parameters;
projecting the first tissue section image into a plane coordinate system to determine two-dimensional coordinates of each preset plane position in the first tissue section image;
projecting a three-dimensional image model corresponding to the first tissue section image to a space coordinate system to determine three-dimensional coordinates of each preset space position in the three-dimensional image model corresponding to the first tissue section image;
carrying out data annotation on the two-dimensional coordinates of each preset plane position and the three-dimensional coordinates of each preset space position to generate a model training set;
constructing an image space position point identification model;
and training the image space position point recognition model according to the model training set to generate a pre-trained image space position point recognition model.
It should be noted that, when the surgical incision position point determining system provided in the above embodiment performs the surgical incision position point determining method, only the division of the above functional modules is used as an example, in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the surgical incision position point determining system provided in the above embodiment and the surgical incision position point determining method embodiment belong to the same concept, which embody the detailed implementation process and are not described herein.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In the embodiment of the application, a surgical incision position point determining system firstly acquires a target holographic image and a CT blood vessel image of a target object at the current moment; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image; then fitting the vessel space distribution information of the target holographic image according to the CT vessel image; secondly, taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image; and finally, determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment. Because the method takes the holographic image as the basis, and combines the blood vessel space distribution information based on the CT blood vessel image to determine the optimal operation incision position point of the target object, the method can quickly find the operation incision position closest to the lesion position on the basis of avoiding the blood vessel, thereby reducing the extra trauma to the organ.
The present application also provides a computer readable medium having stored thereon program instructions which, when executed by a processor, implement the surgical incision location point determination method provided by the above-described respective method embodiments.
The present application also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the surgical incision location point determination method of the various method embodiments described above.
Referring to fig. 8, a schematic structural diagram of an electronic device is provided in an embodiment of the present application. As shown in fig. 8, the electronic device 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, at least one communication bus 1002.
Wherein the communication bus 1002 is used to enable connected communication between these components.
The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may further include a standard wired interface and a wireless interface.
The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
Wherein the processor 1001 may include one or more processing cores. The processor 1001 connects various parts within the overall electronic device 1000 using various interfaces and lines, performs various functions of the electronic device 1000 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and invoking data stored in the memory 1005. Alternatively, the processor 1001 may be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 1001 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 1001 and may be implemented by a single chip.
The Memory 1005 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). The memory 1005 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc.; the storage data area may store data or the like referred to in the above respective method embodiments. The memory 1005 may also optionally be at least one storage system located remotely from the processor 1001. As shown in fig. 8, an operating system, a network communication module, a user interface module, and a surgical incision site determination application program may be included in a memory 1005, which is a type of computer storage medium.
In the electronic device 1000 shown in fig. 8, the user interface 1003 is mainly used for providing an input interface for a user, and acquiring data input by the user; and the processor 1001 may be configured to invoke the surgical incision location point determination application program stored in the memory 1005 and specifically perform the following operations:
Acquiring a target holographic image of a target object at the current moment and a CT blood vessel image of the target object; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image;
fitting the vascular spatial distribution information of the target holographic image according to the CT vascular image;
taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image;
and determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment.
In one embodiment, the processor 1001, when executing the determination of the optimal surgical incision location point for the target object based on the vascular spatial distribution information and the shortest line segment, specifically performs the following operations:
acquiring the space position coordinates of each point in the shortest line segment;
generating the space position coordinates of the blood vessel according to the space distribution information of the blood vessel;
comparing the space position coordinates of each point with the space position coordinates of the blood vessel to judge whether an intersection point exists between the shortest line segment and the blood vessel;
under the condition that the shortest line segment and the blood vessel have no intersection point, determining the intersection point of the shortest line segment and the surface of the target holographic image as the optimal operation incision position point of the target object; or,
Under the condition that the shortest line segment and the blood vessel have intersection points, constructing a plurality of alternative surgical incision position points on the surface of the target holographic image according to the lesion position points;
and determining the optimal surgical incision position point of the target object according to the plurality of candidate surgical incision position points and the vascular spatial distribution information.
In one embodiment, the processor 1001, when executing the construction of a plurality of alternate surgical incision site points for the target holographic image surface from the lesion site points, specifically performs the following operations:
determining a point at which the shortest line segment intersects the surface of the target hologram as a target point;
establishing a target spherical area corresponding to the target point according to the preset radius;
a plurality of candidate surgical incision site points for the target holographic image surface are determined based on the target spherical region.
In one embodiment, the processor 1001, when executing the determination of a plurality of alternate surgical incision location points for the target holographic image surface from the target spherical region, specifically performs the following operations:
establishing a plurality of target curves in a target spherical area according to preset intervals and directions;
uniformly traversing on each target curve according to the preset number to obtain a plurality of spatial position points, and obtaining a plurality of spatial position points of each target curve;
Combining a plurality of spatial position points of each target curve to obtain a first spatial position point sequence;
determining and combining the same spatial position points in the first spatial position point sequence to delete the intersecting spatial position points existing in the target curve to obtain a second spatial position point sequence;
a plurality of candidate surgical incision location points for the target holographic image surface are determined from the second sequence of spatial location points.
In one embodiment, the processor 1001, when executing the determination of the plurality of candidate surgical incision location points for the target holographic image surface from the second sequence of spatial location points, specifically performs the following:
determining a first Euclidean distance between each second spatial position point in the second spatial position point sequence and the skin surface of the human body;
according to the vessel space distribution information, determining a target vessel with a vessel diameter larger than or equal to a preset threshold value in a target object;
determining a second Euclidean distance between each second spatial position point and the target vessel;
weighting and summing the first Euclidean distance and the second Euclidean distance to obtain a judgment value of each second spatial position;
comparing the judgment value of each second space position with a preset distance interval to determine the second space position in the preset distance interval;
And determining the second spatial position within the preset distance interval as a plurality of alternative surgical incision position points of the target holographic image surface.
In one embodiment, the processor 1001, when executing the determination of the optimal surgical incision location point for the target object based on the plurality of candidate surgical incision location points and the vascularity information, specifically performs the following operations:
determining all blood vessels in the target object according to the blood vessel space distribution information;
constructing initial line segments between a plurality of candidate surgical incision position points and lesion position points, and obtaining initial line segments corresponding to each candidate surgical incision position point;
performing feature coding on all blood vessels in the target object to obtain a blood vessel feature vector;
performing feature coding on the initial line segment corresponding to each backup surgical incision position point to obtain a line segment feature vector corresponding to each backup surgical incision position point;
calculating the coincidence degree between the line segment characteristic vector and the blood vessel characteristic vector corresponding to each alternative surgical incision position point;
and determining the candidate surgical incision position point with the minimum coincidence degree as the optimal surgical incision position point of the target object.
In one embodiment, the processor 1001, before executing the acquisition of the target hologram of the target object at the current time and the CT blood vessel image of the target object, further executes the following operations:
Obtaining a laparoscopic image to be fused of a target object at the current moment through a laparoscope;
inputting the laparoscopic image to be fused into a pre-trained image space position point identification model, and outputting a target image space position point sequence corresponding to the laparoscopic image to be fused;
determining a three-dimensional image of a target area corresponding to the laparoscopic image to be fused in a pre-established three-dimensional image model according to the target image space position point sequence; the pre-established three-dimensional image model is generated according to a CT image or a CT image of the target object;
fusing the laparoscopic image to be fused with the three-dimensional image of the target area to generate a target holographic image of the target object at the current moment; wherein,
generating a pre-trained image spatial location point recognition model according to the following steps of
Acquiring a first tissue section image and a three-dimensional image model corresponding to the first tissue section image; the first tissue section image is any tissue section image of a target object in a sample library;
respectively establishing a plane coordinate system and a space coordinate system according to the preset grid size and the coordinate parameters;
projecting the first tissue section image into a plane coordinate system to determine two-dimensional coordinates of each preset plane position in the first tissue section image;
Projecting a three-dimensional image model corresponding to the first tissue section image to a space coordinate system to determine three-dimensional coordinates of each preset space position in the three-dimensional image model corresponding to the first tissue section image;
carrying out data annotation on the two-dimensional coordinates of each preset plane position and the three-dimensional coordinates of each preset space position to generate a model training set;
constructing an image space position point identification model;
and training the image space position point recognition model according to the model training set to generate a pre-trained image space position point recognition model.
In the embodiment of the application, a surgical incision position point determining system firstly acquires a target holographic image and a CT blood vessel image of a target object at the current moment; the target holographic image is fused according to the laparoscopic image of the target object and the three-dimensional image model corresponding to the laparoscopic image; then fitting the vessel space distribution information of the target holographic image according to the CT vessel image; secondly, taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image; and finally, determining the optimal operation incision position point of the target object based on the vascular spatial distribution information and the shortest line segment. Because the method takes the holographic image as the basis, and combines the blood vessel space distribution information based on the CT blood vessel image to determine the optimal operation incision position point of the target object, the method can quickly find the operation incision position closest to the lesion position on the basis of avoiding the blood vessel, thereby reducing the extra trauma to the organ.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by computer programs to instruct the associated hardware, and that the program for determining the location of the surgical incision may be stored in a computer readable storage medium, which when executed may include the steps of the embodiments of the methods described above. The storage medium of the program for determining the position point of the surgical incision can be a magnetic disk, an optical disk, a read-only memory, a random access memory or the like.
The foregoing disclosure is only illustrative of the preferred embodiments of the present application and is not intended to limit the scope of the claims herein, as the equivalent of the claims herein shall be construed to fall within the scope of the claims herein.
Claims (10)
1. A method of determining a surgical incision site, the method comprising:
acquiring a target holographic image of a target object at the current moment and a CT blood vessel image of the target object; the target holographic image is fused according to a laparoscope image of the target object and a three-dimensional image model corresponding to the laparoscope image;
fitting the vascular spatial distribution information of the target holographic image according to the CT vascular image;
Taking a lesion position point displayed by the target holographic image as a drop foot, and determining the shortest line segment from the drop foot to the surface of the target holographic image;
and determining an optimal surgical incision position point of the target object based on the vascular spatial distribution information and the shortest line segment.
2. The method of claim 1, wherein the determining an optimal surgical incision location point for the target object based on the vessel spatial distribution information and the shortest line segment comprises:
acquiring the space position coordinates of each point in the shortest line segment;
generating the space position coordinates of the blood vessel according to the space distribution information of the blood vessel;
comparing the space position coordinates of the points with the space position coordinates of the blood vessel to judge whether an intersection point exists between the shortest line segment and the blood vessel;
determining the point of intersection of the shortest line segment and the target hologram surface as the optimal surgical incision position point of the target object under the condition that the intersection point of the shortest line segment and the blood vessel does not exist; or,
under the condition that the intersection point exists between the shortest line segment and the blood vessel, constructing a plurality of alternative surgical incision position points on the surface of the target holographic image according to the lesion position points;
And determining the optimal operation incision position point of the target object according to the plurality of alternative operation incision position points and the vascular spatial distribution information.
3. The method of claim 2, wherein constructing a plurality of candidate surgical incision site points for the target hologram surface from the lesion site points comprises:
determining the point at which the shortest line segment intersects the target hologram surface as a target point;
establishing a target spherical area corresponding to the target point according to a preset radius;
and determining a plurality of alternative surgical incision position points of the target holographic image surface according to the target spherical surface area.
4. The method of claim 3, wherein said determining a plurality of candidate surgical incision site points for the target holographic image surface from the target spherical region comprises:
establishing a plurality of target curves in the target spherical area according to preset intervals and directions;
uniformly traversing on each target curve according to the preset number to obtain a plurality of spatial position points, and obtaining a plurality of spatial position points of each target curve;
combining the plurality of spatial position points of each target curve to obtain a first spatial position point sequence;
Determining and combining the same spatial position points in the first spatial position point sequence to delete the intersecting spatial position points existing in the target curve to obtain a second spatial position point sequence;
and determining a plurality of alternative surgical incision position points of the target holographic image surface according to the second space position point sequence.
5. The method of claim 4, wherein determining a plurality of candidate surgical incision location points for the target holographic image surface from the second sequence of spatial location points comprises:
determining a first Euclidean distance between each second spatial position point in the second spatial position point sequence and the skin surface of the human body;
determining a target blood vessel with the diameter of the blood vessel being greater than or equal to a preset threshold value in the target object according to the blood vessel space distribution information;
determining a second Euclidean distance between each second spatial location point and the target vessel;
the first Euclidean distance and the second Euclidean distance are weighted and summed to obtain a judgment value of each second space position;
comparing the judgment value of each second space position with a preset distance interval to determine the second space position in the preset distance interval;
And determining a second spatial position located within the preset distance interval as a plurality of alternative surgical incision position points of the target holographic image surface.
6. The method of claim 2, wherein said determining an optimal surgical incision location point for the target object based on the plurality of candidate surgical incision location points and the vascularization information comprises:
determining all blood vessels in the target object according to the blood vessel space distribution information;
constructing initial line segments between the plurality of candidate surgical incision position points and the lesion position points, and obtaining initial line segments corresponding to each candidate surgical incision position point;
performing feature coding on all blood vessels in the target object to obtain a blood vessel feature vector;
performing feature coding on the initial line segment corresponding to each backup surgical incision position point to obtain a line segment feature vector corresponding to each backup surgical incision position point;
calculating the coincidence degree between the line segment characteristic vector corresponding to each alternative surgical incision position point and the blood vessel characteristic vector;
and determining the candidate surgical incision position point with the minimum coincidence degree as the optimal surgical incision position point of the target object.
7. The method of claim 1, wherein the acquiring the target object further comprises, prior to the target hologram of the current time and the CT vessel image of the target object:
obtaining a laparoscopic image to be fused of a target object at the current moment through a laparoscope;
inputting the laparoscopic image to be fused into a pre-trained image space position point identification model, and outputting a target image space position point sequence corresponding to the laparoscopic image to be fused;
determining a three-dimensional image of a target area corresponding to the laparoscopic image to be fused in a pre-established three-dimensional image model according to the target image space position point sequence; the pre-established three-dimensional image model is generated according to a CT image or a CT image of the target object;
fusing the laparoscopic image to be fused with the three-dimensional image of the target area to generate a target holographic image of the target object at the current moment; wherein,
generating a pre-trained image spatial location point recognition model according to the following steps of
Acquiring a first tissue section image and a three-dimensional image model corresponding to the first tissue section image; the first tissue section image is any tissue section image of the target object in the sample library;
Respectively establishing a plane coordinate system and a space coordinate system according to the preset grid size and the coordinate parameters;
projecting the first tissue section image into a plane coordinate system to determine two-dimensional coordinates of each preset plane position in the first tissue section image;
projecting a three-dimensional image model corresponding to the first tissue section image to a space coordinate system to determine three-dimensional coordinates of each preset space position in the three-dimensional image model corresponding to the first tissue section image;
carrying out data annotation on the two-dimensional coordinates of each preset plane position and the three-dimensional coordinates of each preset space position to generate a model training set;
constructing an image space position point identification model;
and training the image space position point recognition model according to the model training set to generate a pre-trained image space position point recognition model.
8. A surgical incision site determination system, the system comprising:
the data acquisition module is used for acquiring a target holographic image of a target object at the current moment and a CT blood vessel image of the target object; the target holographic image is fused according to a laparoscope image of the target object and a three-dimensional image model corresponding to the laparoscope image;
The blood vessel space distribution information fitting module is used for fitting out the blood vessel space distribution information of the target holographic image according to the CT blood vessel image;
the shortest line segment determining module is used for determining the shortest line segment from the drop foot to the surface of the target holographic image by taking the lesion position point displayed by the target holographic image as the drop foot;
and the optimal operation incision position point determining module is used for determining the optimal operation incision position point of the target object based on the vascular space distribution information and the shortest line segment.
9. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method of any of claims 1-7.
10. An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method according to any of claims 1-7.
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