CN117934386A - Intracranial hematoma puncture positioning method, device, electronic equipment and storage medium - Google Patents
Intracranial hematoma puncture positioning method, device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides a method, a device, electronic equipment and a storage medium for positioning intracranial hematoma puncture, which relate to the technical field of image processing, and the method comprises the following steps: the method comprises the steps of obtaining an initial puncture end point position of a blood bump by carrying out hematoma segmentation treatment on a three-dimensional image of the head of a to-be-detected object; performing coordinate position sinking treatment on the initial puncture terminal position to obtain a target puncture terminal position; determining a body surface projection position of the target puncture end point position corresponding to the temporal part; acquiring a puncture starting point position, and determining puncture positioning information of an object to be detected about a blood tumor based on the puncture starting point position, a target puncture ending point position and a body surface projection position, wherein the puncture positioning information at least comprises a puncture direction and a puncture depth. The automatic positioning device can realize automatic positioning of hematoma puncture, can avoid positioning errors caused by manual positioning, and improves the accuracy of intracranial hematoma puncture positioning.
Description
Technical Field
The present application relates to the field of image processing technologies, and in particular, to a method and apparatus for positioning intracranial hematoma puncture, an electronic device, and a storage medium.
Background
Intracranial hematomas are formed when blood accumulates in the brain or between the brain and the skull after a rupture of a blood vessel in the brain or between the brain and the skull due to hypertension, trauma, or the like, and pressure is applied to the brain tissue. Intracranial hemorrhage is caused by sudden onset of illness and critical illness. Hematoma after bleeding presses functional nucleus and sensory-motor conductive bundles, thereby causing nerve dysfunction such as coma, hemiplegia and the like, and the mortality rate and disability rate are extremely high. At present, the treatment of intracranial hematoma is mainly craniotomy and hematoma puncture. With the progress of technology, people tend to minimally invasive puncture hematoma drainage to treat intracranial hemorrhage.
At present, when intracranial hematoma puncture treatment is carried out, the intracranial hematoma of a patient is usually positioned based on an electronic computer tomography (Computed Tomography, CT) image, and then manual puncture drainage is carried out through a puncture needle. However, when the manual puncture is performed, because of lack of hematoma positioning and puncture guiding equipment, accurate positioning puncture is difficult to be performed on hematoma, unnecessary damage is easy to be caused to a patient, and the operation risk is high.
Disclosure of Invention
The application provides an intracranial hematoma puncture positioning method, an intracranial hematoma puncture device, electronic equipment and a storage medium, which can realize automatic positioning of hematoma puncture, avoid positioning errors caused by manual positioning and improve the accuracy of intracranial hematoma puncture positioning.
In a first aspect, there is provided a method of locating intracranial hematoma puncture, comprising:
the method comprises the steps of obtaining an initial puncture end point position of a blood bump by carrying out hematoma segmentation treatment on a three-dimensional image of the head of a to-be-detected object;
performing coordinate position sinking treatment on the initial puncture terminal position to obtain a target puncture terminal position;
determining a body surface projection position of the target puncture end point position corresponding to the temporal part;
Acquiring a puncture starting point position, and determining puncture positioning information of an object to be detected about a blood tumor based on the puncture starting point position, a target puncture ending point position and a body surface projection position, wherein the puncture positioning information at least comprises a puncture direction and a puncture depth.
In a second aspect, there is provided an intracranial hematoma puncture positioning device, comprising:
The first processing module is used for obtaining an initial puncture end point position of the blood tumor by carrying out hematoma segmentation processing on the three-dimensional image of the head of the object to be detected;
the second processing module is used for carrying out coordinate position sinking processing on the initial puncture end point position to obtain a target puncture end point position;
The first determining module is used for determining the body surface projection position of the target puncture end point position corresponding to the temporal part;
The second determining module is used for acquiring the puncture starting point position, determining puncture positioning information of the object to be detected about the blood tumor based on the puncture starting point position, the target puncture ending point position and the body surface projection position, wherein the puncture positioning information at least comprises a puncture direction and a puncture depth.
In a third aspect, there is provided an electronic device comprising: a processor and a memory for storing a computer program, the processor being for invoking and running the computer program stored in the memory for performing the method as in the first aspect or in various implementations thereof.
In a fourth aspect, a computer-readable storage medium is provided for storing a computer program for causing a computer to perform the method as in the first aspect or in various implementations thereof.
According to the technical scheme provided by the application, the initial puncture end point position of the blood tumor can be obtained by firstly carrying out hematoma segmentation treatment on the three-dimensional image of the head of the object to be detected; then carrying out coordinate position sinking treatment on the initial puncture end point position to obtain a more accurate target puncture end point position; then determining the body surface projection position of the target puncture end point position corresponding to the temporal part; after the puncture starting point position is acquired, puncture positioning information of the object to be detected about the blood tumor is determined based on the puncture starting point position, the target puncture ending point position and the body surface projection position. According to the technical scheme, the intracranial hematoma puncture positioning process is intelligently and automatically executed, so that accurate positioning of the puncture direction and the puncture depth can be realized, positioning errors caused by manual positioning can be avoided, the accuracy of intracranial hematoma puncture positioning is improved, and then the operation risk is reduced.
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 as claimed. Additional features and advantages of the application will be set forth in the detailed description which follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an application scenario diagram provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for locating intracranial hematoma puncture according to an embodiment of the application;
FIG. 3 is a schematic illustration of an example of intracranial hematoma puncture positioning according to an embodiment of the present application;
FIG. 4 is a flow chart of a method for locating intracranial hematoma puncture according to another embodiment of the present application;
FIG. 5 is a schematic diagram of a method for locating a target puncture endpoint according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating an example of a body surface projection position determination according to an embodiment of the present application;
FIG. 7 is a schematic structural view of an intracranial hematoma puncture positioning device according to 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 of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
At present, when intracranial hematoma puncture treatment is carried out, the intracranial hematoma of a patient is usually positioned based on an electronic computer tomography (Computed Tomography, CT) image, and then manual puncture drainage is carried out through a puncture needle. However, when the manual puncture is performed, because of lack of hematoma positioning and puncture guiding equipment, accurate positioning puncture is difficult to be performed on hematoma, unnecessary damage is easy to be caused to a patient, and the operation risk is high.
It should be understood that the technical solution of the present application can be applied to the following scenarios, but is not limited to:
In some implementations, fig. 1 is an application scenario diagram provided in an embodiment of the present application, where, as shown in fig. 1, an application scenario may include an electronic device 110 and a network device 120. The electronic device 110 may establish a connection with the network device 120 through a wired network or a wireless network.
By way of example, the electronic device 110 may be, but is not limited to, a desktop computer, a notebook computer, a tablet computer, and the like. The network device 120 may be a terminal device or a server, but is not limited thereto. In one embodiment of the application, the electronic device 110 may send a request message to the network device 120, where the request message may be used to request that puncture location information for intracranial hematoma puncture be obtained, and further, the electronic device 110 may receive a response message sent by the network device 120, where the response message includes puncture location information for intracranial hematoma puncture.
Further, FIG. 1 illustrates one electronic device 110 and one network device 120, and in fact may include other numbers of electronic devices and network devices, as the application is not limited in this regard.
In other implementations, the technical solution of the present application may be performed by the electronic device 110, or the technical solution of the present application may be performed by the network device 120, which is not limited by the present application.
After the application scenario of the embodiment of the present application is introduced, the following details of the technical solution of the present application will be described:
fig. 2 is a flowchart of a method for positioning intracranial hematoma puncture according to an embodiment of the present application, which may be performed by the electronic device 110 shown in fig. 1, but is not limited thereto. As shown in fig. 2, the method may include the steps of:
Step 210, performing hematoma segmentation processing on the three-dimensional image of the head of the object to be detected to obtain an initial puncture end point position of the blood tumor.
The three-dimensional image of the head refers to a CT flat scan (Non-Contrast CT, NCCT) image sequence obtained by CT scanning the head of an object to be detected (such as a patient and a tester) in a CT flat scan mode, wherein the image sequence comprises a plurality of faults, and each fault is a two-dimensional medical image. Since the multiple slices combine to characterize a three-dimensional image of the head, the NCCT image sequence characterizes a three-dimensional image of the head of the object to be detected. In embodiments of the present disclosure, the three-dimensional image of the head may be a NCCT image sequence that includes a blood tumor.
For the embodiments of the present disclosure, when determining the initial puncture end point position of the blood lump based on the head three-dimensional image of the object to be detected, the blood lump position contained therein may be determined by the hematoma segmentation process of the head three-dimensional image, and then the three-dimensional centroid coordinate position of the blood lump is determined based on the blood lump position by using the existing centroid calculation method, and the calculated three-dimensional centroid coordinate position is further determined as the initial puncture end point position of the blood lump.
And 220, carrying out coordinate position sinking processing on the initial puncture terminal position to obtain a target puncture terminal position.
In a specific application scenario, the three-dimensional centroid coordinate position of the blood tumor is generally determined as the puncture end point position. However, considering that the cerebral hemorrhage patient performs puncture drainage under the lying condition, under the action of gravity, the intracranial blood clot gradually sinks, in order to obtain a better puncture drainage effect, the three-dimensional centroid coordinate position of the blood tumor can be sunk along the x-axis direction, so as to obtain a more accurate puncture end position, namely a target puncture end position.
Step 230, determining the body surface projection position of the target puncture end point position corresponding to the temporal part.
In a specific application scenario, the hematoma surface of the blood tumor in three dimensions of Multi-planar reconstruction (Multi-Mlanner Reformation, MPR) can be determined based on the target puncture end position and the parallel and perpendicular relationship between the spatial planes. By adopting the method of taking the edge of the hematoma surface, the intersection point coordinates among the planes can be sequentially obtained, the intersection point coordinates are used for representing the body surface projection positions corresponding to the target puncture end point positions, and the body surface projection positions can be used for intuitively assisting in determining puncture positioning information. The hematoma surface may include a hematoma cross section, a hematoma sagittal plane, and a hematoma coronal plane. As shown in FIG. 3, the hematoma cross section iγ is the reference plane with the canthus earA parallel cross section; the hematoma sagittal plane pi lambda is a sagittal plane parallel to the brain mid-slit sagittal plane pi beta; the hematoma coronal plane pi is a coronal plane perpendicular to the hematoma cross section pi gamma and the hematoma sagittal plane pi lambda and passing through the target puncture end point position. The cross section is a section which is perpendicular to the longitudinal axis of the human body and parallel to the ground, and the cross section divides the human body into an upper part and a lower part; the sagittal plane is a tangential plane perpendicular to the ground along the front and back of the body, and divides the human body into a left part and a right part; the coronal plane is a tangential plane perpendicular to the ground along the left and right sides of the body, and is also called frontal plane. The coronal plane is used for dividing the human body into front and rear parts.
For the embodiment of the disclosure, an intersection point T of the hematoma cross section pi gamma and an edge line corresponding to the hematoma coronal surface pi can be obtained, and the intersection point T is determined to be a body surface projection position of the target puncture end point position corresponding to the temporal part. The connection line between the puncture starting point position and the projection position of the body surface of the temporal part is used for representing the puncture direction when the forehead is punctured, so that after the projection position of the target puncture ending point position on the body surface of the temporal part is determined, the puncture direction of the object to be detected relative to the blood tumor can be calculated through the known puncture starting point position. Wherein, the puncture direction can be the needle inserting direction of the puncture needle when the intracranial hematoma puncture treatment is carried out.
Step 240, acquiring a puncture starting point position, and determining puncture positioning information of the object to be detected about the blood tumor based on the puncture starting point position, the target puncture ending point position and the body surface projection position, wherein the puncture positioning information at least comprises a puncture direction and a puncture depth.
The puncture starting point position can be any position in front of the coronary seam and behind the frontal sinus, and is generally selected to be in the hair line. In a specific application scenario, the puncture start point position can be manually selected by a doctor based on the actual condition of the patient, or the puncture start point position can be intelligently selected based on the head image information of the patient by using the prior published patent. In the following steps of the embodiments of the present disclosure, the position slightly outside the ventricular drilling drainage is taken as an example of the selected puncture start position, and the technical solution in the present disclosure is described, but the present disclosure is not limited to the specific one.
For the embodiment of the disclosure, after determining the puncture starting point position, the target puncture ending point position and the body surface projection position of the target puncture ending point position corresponding to the temporal part, the position connecting line direction of the puncture starting point position and the body surface projection position can be calculated, and the position connecting line direction is determined as the puncture direction of the object to be detected about the blood tumor; and calculating the position distance between the puncture start point position and the target puncture end point position based on the distance calculation formula, and determining the position distance as the puncture depth of the object to be detected relative to the blood tumor. The distance calculation formula can be Euclidean distance or the like.
Accordingly, when determining puncture positioning information of an object to be detected with respect to a blood tumor based on a puncture start point position, a target puncture end point position, and a body surface projection position, the steps of the embodiment may include: determining the position connecting line direction of the puncture starting point position corresponding to the body surface projection position as the puncture direction of the object to be detected on the blood tumor; and determining the linear distance between the puncture starting point position and the target puncture ending point position as the puncture depth of the object to be detected relative to the blood tumor.
In summary, according to the intracranial hematoma puncture positioning method provided by the application, an initial puncture end point position of a blood lump can be obtained by performing hematoma segmentation treatment on a three-dimensional image of the head of a subject to be detected; then carrying out coordinate position sinking treatment on the initial puncture end point position to obtain a more accurate target puncture end point position; then determining the body surface projection position of the target puncture end point position corresponding to the temporal part; after the puncture starting point position is acquired, puncture positioning information of the object to be detected about the blood tumor is determined based on the puncture starting point position, the target puncture ending point position and the body surface projection position. According to the technical scheme, the intracranial hematoma puncture positioning process is intelligently and automatically executed, so that accurate positioning of the puncture direction and the puncture depth can be realized, positioning errors caused by manual positioning can be avoided, the accuracy of intracranial hematoma puncture positioning is improved, and then the operation risk is reduced.
Based on the embodiment shown in fig. 2, as a refinement and extension of the above embodiment, in order to fully describe the specific implementation procedure of the method of this embodiment, this embodiment provides a specific method as shown in fig. 4. As shown in fig. 4, the method comprises the steps of:
Step 310, performing hematoma segmentation processing on the three-dimensional image of the head of the object to be detected to obtain an initial puncture end point position of the blood tumor.
In the CT flat scanning process of a patient, due to the fact that consciousness of the patient is fuzzy, the patient cannot be guaranteed to lie right and the head of the patient is inclined due to the fact that an auxiliary device is not used for fixing the head of the patient, three-dimensional images of the head obtained through scanning can be inclined, and interference can be caused to subsequent image processing. In view of this, in the embodiment of the present disclosure, after a head three-dimensional image of an object to be detected is acquired, a preprocessing such as a head correction process may be performed on the head three-dimensional image to correct an oblique head imaging image, resulting in a corrected target head three-dimensional image. In addition, noise interference from the auxiliary device may be present in the three-dimensional image of the head, so in some embodiments, the data of the auxiliary device portion on the image may be removed prior to performing the head correction process, and then the head correction process may be performed on the clean craniocerebral image.
Wherein the auxiliary devices may be devices such as bed boards, head bolsters, head retainers and the like. An embodiment of removing the imaging information of the auxiliary device on the image may be to remove the imaging information of the auxiliary device based on morphological characteristics of the auxiliary device. For example, the HU value characterizing the voxel of the auxiliary device is set to 0. The implementation of removing the imaging information of the auxiliary device on the image may also be manually removed on a third party software by a human.
For the embodiment of the disclosure, when the head three-dimensional image is subjected to head correction processing, the head three-dimensional image can be subjected to image rigid registration processing according to the standard head three-dimensional image corresponding to the standard NCCT image sequence, so as to obtain a registered target head three-dimensional image. Specifically, a three-dimensional rigid registration tool (ITK) in the related art can be used to perform image rigid registration processing on the three-dimensional image of the head.
Wherein, since in the medical field, the two images of the image rigid registration may be medical images from different subjects. Therefore, NCCT image sequences which have no focus on the head, no obvious abnormality on the bone characteristics of the head and no angular offset on the head of a patient when CT panning is performed can be selected as standard head three-dimensional images (namely standard brain three-dimensional images). And performing image three-dimensional rigid registration processing on the head three-dimensional image (namely, the brain three-dimensional image to be corrected) according to the standard head three-dimensional image to obtain a registered target head three-dimensional image, thereby realizing brain correction. The left ear and the right ear of the head in the corrected target head three-dimensional image are symmetrical about the middle seam of the brain, so that the opposite external auditory canal can be obtained only by detecting one external auditory canal and adopting a symmetrical fitting method.
Accordingly, for embodiments of the present disclosure, in performing a head correction process on a head three-dimensional image, the embodiment steps may include: acquiring a standard head three-dimensional image; and performing 3D rigid registration on the head three-dimensional image by using the standard head three-dimensional image to obtain a target head three-dimensional image after correction, wherein the left head ear and the right head ear in the target head three-dimensional image after correction are symmetrical about a brain center seam.
For the embodiment of the disclosure, the three-dimensional image of the head after the head correction treatment can be subjected to the hematoma three-dimensional segmentation treatment, and the initial puncture endpoint of the hematoma can be determined. Specifically, a brain tissue area in a three-dimensional image of a head can be determined, ventricular edges corresponding to each brain tissue area are determined, hough transformation linear detection is performed on each ventricular edge to obtain a target line segment of each ventricular edge, then a target area is determined according to the target line segment of each ventricular edge, parabolic fitting is performed on pixel points of the target area, whether a bleeding area exists in the target area is determined according to a fitting result, if the bleeding area exists in the target area, the bleeding area is divided from the target area, namely, the position of the bleeding tumor is determined, and then the three-dimensional centroid P (x, y, z) of the bleeding tumor is calculated according to an existing centroid calculation method, and the position is used as an initial puncture end position. Therefore, the problem that the error of the diagnosis result is large due to the fact that the human eyes observe influence by subjective factors and the recognition rate is low when the development of the bleeding area is not obvious can be solved, and the bleeding area is automatically determined based on the brain CT image, so that manual participation is not needed, the recognition speed is high, and the accuracy is high.
Accordingly, the embodiment steps may include: determining a brain tissue region in a three-dimensional image of the head of the object to be detected; performing Hough transformation linear detection according to the ventricle edge corresponding to the brain tissue region to obtain a target line segment of the ventricle edge; dividing and determining a blood tumor in the three-dimensional image of the head based on the target line segment; and determining the three-dimensional centroid coordinate position of the blood tumor as the initial puncture end point position of the blood tumor. The specific implementation process can be referred to related description in the prior published patent, and is not repeated here.
Step 320, determining the canthus ear reference surface of the object to be detected based on the three-dimensional image of the head.
For the embodiments of the present disclosure, the determination of the canthus-ear reference plane may be performed using a three-dimensional image of the head after the head correction process. When the canthus ear reference plane is determined based on the head three-dimensional image of the object to be detected, the nose root characteristic point position can be firstly extracted from the head three-dimensional image, specifically, the skull region can be determined in the head three-dimensional image, the nose root candidate region is determined from the skull region based on the position characteristic of the nose root, and the nose root characteristic point position is determined from the nose root candidate region according to the bone shape characteristic of the nose root; and then, extracting characteristic point positions of external auditory meatus at two sides from the head three-dimensional image, specifically determining an auditory meatus interested region (Region of Interest, ROI) in the head three-dimensional image, determining an external auditory meatus positioning line from the auditory meatus ROI region based on skeleton line characteristics, determining a first external auditory meatus characteristic point position of any external auditory meatus at one side based on the external auditory meatus positioning line, and further determining a second external auditory meatus characteristic point position of the opposite external auditory meatus according to the nose root characteristic point position and the first external auditory meatus characteristic point position. After the positions of the characteristic points of the nose root and the characteristic points of the external auditory meatus at two sides are obtained, the positions of the characteristic points of the nose root and the characteristic points of the external auditory meatus at two sides are used as three standard points on the canthus ear reference surface, and a space plane equation of the scanning reference surface is automatically constructed through the three points, so that the canthus ear reference surface is obtained. The nose root characteristic point position can be a three-dimensional space coordinate of the nose root position; the characteristic point position of the left external auditory canal can be a three-dimensional space coordinate of the position of the left external auditory canal; the right external auditory canal feature point position may be a three-dimensional spatial coordinate of the right external auditory canal position.
Wherein, when the space plane equation of the scanning reference plane is automatically constructed through three points, as a possible implementation manner, a three-point method for generating the space plane can be adopted to determine the canthus-ear reference plane. However, in this way, the positioning accuracy of any coordinate point is not high, which leads to a large error in the generated plane, and the accurate canthus-ear plane cannot be obtained. As another possible implementation manner, a plurality of feature lines can be generated two by two according to the feature point positions of the nose root and the feature point positions of the external auditory meatus at two sides; collecting coordinate point sets corresponding to a plurality of characteristic straight lines; based on the coordinate point set, tangential plane fitting is performed by SVD decomposition, and a CT scanning reference plane is obtained and is used as a canthus ear reference plane. The specific implementation process can be referred to related description in the prior published patent, and is not repeated here.
Accordingly, the embodiment steps may include: determining the positions of characteristic points of nose roots and characteristic points of external auditory meatus on two sides in the three-dimensional image of the head; fitting and generating canthus and ear reference surfaces of the object to be detected based on the positions of the characteristic points of the nasion and the characteristic points of the external auditory meatus at two sides.
Step 330, determining that the initial puncture end point position is sunk to a target puncture end point position of the hematoma corresponding to d/3 along the x-axis direction, wherein d is the length of the hematoma along the x-axis direction.
In a specific application scenario, the three-dimensional centroid coordinates of the blood tumor are usually determined as the puncture endpoint position. However, considering that the cerebral hemorrhage patient performs puncture drainage under the lying condition, the intracranial blood clot gradually sinks under the action of gravity, and in order to obtain a better puncture drainage effect, the three-dimensional centroid coordinate of the blood tumor can be sunk along the x-axis direction. As shown in fig. 5, the initial puncture end point position P (x, y, z) can be submerged in the x-axis direction to a target puncture end point position P' (x 0,y0,z0) at the corresponding d/3 of the hematoma.
When the sinking processing of the initial puncture end point position is performed, the sinking position can be set according to the actual application scene, for example, the initial puncture end point position can be further sunk to a position corresponding to d/2 of the hematoma along the x-axis direction, and the position is determined as the target puncture end point position; or the initial puncture end point position can be sunk to a position of 2d/7 corresponding to the hematoma along the x-axis direction, the position is determined as a target puncture end point position, and the like, which is not exhaustive.
Step 340, determining a hematoma cross section of the blood tumor and a hematoma coronal plane based on the canthus reference plane and the target puncture endpoint location.
For the embodiment of the disclosure, after the canthus ear reference plane and the target puncture end point position are determined, a hematoma cross section pi gamma, a hematoma sagittal plane pi lambda and a hematoma coronal plane pi corresponding to the bleeding tumor are sequentially determined according to the parallel and vertical relation between the space planes.
In determining the hematoma cross section Γ:
target puncture endpoint position P' (x 0,y0,z0) and canthus ear reference plane of hematoma subsidence d/3 are known And hematoma cross section pi gamma and canthus ear datum plane/>In parallel, the distance d of the point P' (x 0,y0,z0) to the plane Γ, where the canthus ear reference plane is calculatedExpressed as:
hematoma cross section Γ is denoted as:
In determining the hematoma sagittal plane pi lambda:
The sagittal plane pi lambda of hematoma is parallel to the sagittal plane of the midbrain seam, the image is subjected to three-dimensional correction, so that the sagittal plane pi beta of the midbrain seam is easy to obtain, the three-dimensional x, y and z dimensions of the image are [256,256,256], the median sagittal position corresponds to the plane in which y=128 is located, and if pi is set as pi: a βx+Bβy+Cβz+Dβ =0, the sagittal plane pi lambda of hematoma is:
In determining the hematoma coronal plane pi:
The hematoma coronal plane pi is known to be perpendicular to the hematoma cross-section pi gamma, the hematoma sagittal plane pi lambda, and passes through the target puncture endpoint P' (x 0,y0,z0). Normal vector of hematoma coronal plane pi Normal vector of hematoma cross section n gammaNormal vector of hematoma sagittal plane pi lambda/>The normal vector/>, of the coronal plane pi of the hematoma is obtainedThe plane equation of the hematoma coronal plane pi is obtained according to the point method:
∏π:Aπ(x-x0)+Bπ(y-y0)+Cπ(z-z0)+Dπ＝0
simplifying the equation, the hematoma coronal plane pi can be obtained.
Accordingly, for embodiments of the present disclosure, the embodiment steps may include: calculating a hematoma cross section parallel to the canthus ear reference surface based on the canthus ear reference surface and the target puncture end point position; acquiring a middle cerebral seam sagittal plane, and calculating a hematoma sagittal plane parallel to the middle cerebral seam sagittal plane based on the relative position of the middle cerebral seam where the hematoma blocks are positioned and the middle cerebral seam sagittal plane; and determining a first normal vector of the hematoma cross section and a second normal vector of the hematoma sagittal plane, determining a cross product of the first normal vector and the second normal vector as a third normal vector of the hematoma coronal plane, and determining the hematoma coronal plane perpendicular to the hematoma cross section and the hematoma sagittal plane based on the target puncture end point position and the third normal vector.
And 350, extracting a first outer edge of the hematoma cross section and a second outer edge of the hematoma coronal surface, and determining the position of an edge intersection point of the first outer edge and the second outer edge as a body surface projection position of the target puncture end point position corresponding to the temporal part.
For the embodiment of the disclosure, after acquiring the hematoma cross section pi gamma and the hematoma coronal plane pi, as shown in fig. 6, the outer edges of the hematoma cross section pi gamma and the hematoma coronal plane pi can be extracted, so that the position of the edge intersection point of the two outer edges can be conveniently determined. The extraction of edges of the three-dimensional object is a mature method, and is not described herein. As shown in fig. 3, the intersection point of the hematoma cross section ii gamma and the outer edge of the hematoma coronal plane ii pi is a T point, so that the coordinate of the T point can be determined as the target puncture end point position corresponding to the body surface projection position of the temporal part.
Step 360, acquiring a puncture starting point position, and determining puncture positioning information of the object to be detected about the blood tumor based on the puncture starting point position, the target puncture ending point position and the body surface projection position, wherein the puncture positioning information at least comprises a puncture direction and a puncture depth.
For the embodiment of the present disclosure, the specific implementation process may be referred to the related description in embodiment step 240, which is not repeated herein. In the above embodiment, the puncture depth may default to the distance from the puncture start point position to the target puncture end point position. In a specific application scenario, it is customary to place a drainage tube into the bottom of a blood tumor when drilling and placing a tube, in which case the placement depth (i.e., the penetration depth) may correspond to: the position distance between the puncture starting point position and the target puncture ending point position is +d/3, wherein d is the length of the blood tumor in the x-axis direction.
In a specific application scenario, after puncture positioning information of an object to be detected on a blood tumor is determined based on actual hematoma data of a patient, puncture path planning of hematoma puncture treatment can be performed based on the puncture positioning information, and accurate positioning puncture can be performed by a doctor based on the planned puncture path, so that unnecessary damage to the patient is avoided, and operation risk can be reduced.
In summary, according to the intracranial hematoma puncture positioning method provided by the application, an initial puncture end point position of a blood lump can be obtained by performing hematoma segmentation treatment on a three-dimensional image of the head of a subject to be detected; then carrying out coordinate position sinking treatment on the initial puncture terminal position to obtain a target puncture terminal position; then determining the body surface projection position of the target puncture end point position corresponding to the temporal part; after the puncture starting point position is acquired, puncture positioning information of the object to be detected about the blood tumor is determined based on the puncture starting point position, the target puncture ending point position and the body surface projection position. According to the technical scheme, the intracranial hematoma puncture positioning process is intelligently and automatically executed, so that accurate positioning of the puncture direction and the puncture depth can be realized, positioning errors caused by manual positioning can be avoided, the accuracy of intracranial hematoma puncture positioning is improved, and then the operation risk is reduced.
Based on the detailed description of the intracranial hematoma puncture positioning method provided in fig. 2 and 4, as shown in fig. 7, fig. 7 is a block diagram of an intracranial hematoma puncture positioning device according to an exemplary embodiment.
As shown in fig. 7, the apparatus includes:
the first processing module 41 is configured to obtain an initial puncture end point position of a blood tumor by performing hematoma segmentation processing on a three-dimensional image of a head of a subject to be detected;
The second processing module 42 is configured to perform coordinate position sinking processing on the initial puncture end position to obtain a target puncture end position;
a first determining module 43, configured to determine a body surface projection position of the target puncture destination position corresponding to the temporal portion;
The second determining module 44 may be configured to obtain a puncture start position, and determine puncture positioning information of the object to be detected about the blood tumor based on the puncture start position, the target puncture end position, and the body surface projection position, where the puncture positioning information includes at least a puncture direction and a puncture depth.
In some embodiments of the application, the first processing module 41 is operable to determine a brain tissue region in a three-dimensional image of the head of the subject to be detected; performing Hough transformation linear detection according to the ventricle edge corresponding to the brain tissue region to obtain a target line segment of the ventricle edge; dividing and determining a blood tumor in the three-dimensional image of the head based on the target line segment; and determining the three-dimensional centroid coordinate position of the blood tumor as the initial puncture end point position of the blood tumor.
In some embodiments of the present application, the second processing module 42 may be configured to determine that the initial puncture endpoint position is submerged down to a target puncture endpoint position at d/3 of the hematoma along the x-axis direction, where d is the length of the hematoma along the x-axis direction.
In some embodiments of the application, first determining module 43 is configured to determine a canthus-ear reference plane of the subject to be detected based on the three-dimensional image of the head; determining a hematoma cross section and a hematoma coronal plane of the hematoma based on the canthus ear reference plane and the target puncture end point position; extracting a first outer edge of the hematoma cross section and a second outer edge of the hematoma coronal plane; and determining the position of an edge intersection point of the first outer edge and the second outer edge as a body surface projection position of the target puncture end point position corresponding to the temporal part.
In some embodiments of the present application, the first determining module 43 may be configured to determine the nose root feature point position and the external auditory canal feature point positions on both sides in the three-dimensional image of the head; fitting and generating canthus and ear reference surfaces of the object to be detected based on the positions of the characteristic points of the nasion and the characteristic points of the external auditory meatus at two sides.
In some embodiments of the application, the first determining module 43 is operable to calculate a hematoma cross-section parallel to the canthus reference plane based on the canthus reference plane and the target puncture endpoint location; acquiring a middle cerebral seam sagittal plane, and calculating a hematoma sagittal plane parallel to the middle cerebral seam sagittal plane based on the relative position of the middle cerebral seam where the hematoma blocks are positioned and the middle cerebral seam sagittal plane; and determining a first normal vector of the hematoma cross section and a second normal vector of the hematoma sagittal plane, determining a cross product of the first normal vector and the second normal vector as a third normal vector of the hematoma coronal plane, and determining the hematoma coronal plane perpendicular to the hematoma cross section and the hematoma sagittal plane based on the target puncture end point position and the third normal vector.
In some embodiments of the present application, the second determining module 44 may be configured to determine, as the puncture direction of the object to be detected with respect to the blood tumor, a position connecting line direction in which the puncture start point position corresponds to the body surface projection position; and determining the linear distance between the puncture starting point position and the target puncture ending point position as the puncture depth of the object to be detected relative to the blood tumor.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
According to the embodiment of the application, the initial puncture end point position of the blood tumor can be obtained by firstly carrying out hematoma segmentation treatment on the three-dimensional image of the head of the object to be detected; then carrying out coordinate position sinking treatment on the initial puncture terminal position to obtain a target puncture terminal position; then determining the body surface projection position of the target puncture end point position corresponding to the temporal part; after the puncture starting point position is acquired, puncture positioning information of the object to be detected about the blood tumor is determined based on the puncture starting point position, the target puncture ending point position and the body surface projection position. According to the technical scheme, the intracranial hematoma puncture positioning process is intelligently and automatically executed, so that accurate positioning of the puncture direction and the puncture depth can be realized, positioning errors caused by manual positioning can be avoided, the accuracy of intracranial hematoma puncture positioning is improved, and then the operation risk is reduced.
The intracranial hematoma puncture positioning device according to the embodiment of the invention is described above from the perspective of the functional module with reference to the drawings. It should be understood that the functional module may be implemented in hardware, or may be implemented by instructions in software, or may be implemented by a combination of hardware and software modules. Specifically, each step of the embodiment of the intracranial hematoma puncture positioning method according to the embodiment of the invention can be completed through an integrated logic circuit of hardware in a processor and/or instructions in a software form, and the steps of the intracranial hematoma puncture positioning method applied in combination with the embodiment of the invention can be directly embodied as the completion of the execution of a hardware decoding processor or the completion of the execution of the combination of hardware and software modules in the decoding processor. Alternatively, the software modules may be located in a well-established storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, and the like. The storage medium is positioned in the memory, the processor reads the information in the memory, and the steps in the embodiment of the intracranial hematoma puncture positioning method are completed by combining the hardware of the processor.
Fig. 8 is a schematic block diagram of an electronic device 700 in accordance with one embodiment of the present invention.
As shown in fig. 8, the electronic device 700 may include:
A memory 710 and a processor 720, the memory 710 being configured to store a computer program and to transfer the program code to the processor 720. In other words, the processor 720 may call and run a computer program from the memory 710 to implement the method in the embodiment of the present invention.
For example, the processor 720 may be configured to perform the above-described method embodiments according to instructions in the computer program.
In some embodiments of the invention, the processor 720 may include, but is not limited to:
A general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.
In some embodiments of the invention, the memory 710 includes, but is not limited to:
Volatile memory and/or nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (STATIC RAM, SRAM), dynamic random access memory (DYNAMIC RAM, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate Synchronous dynamic random access memory (Double DATA RATE SDRAM, DDR SDRAM), enhanced Synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCH LINK DRAM, SLDRAM), and Direct memory bus RAM (DR RAM).
In some embodiments of the invention, the computer program may be partitioned into one or more modules that are stored in the memory 710 and executed by the processor 720 to perform the methods provided by the invention. The one or more modules may be a series of computer program instruction segments capable of performing the specified functions, the instruction segments describing the execution of the computer program in the controller.
As shown in fig. 8, the electronic device 700 may further include:
a transceiver 730, the transceiver 730 being connectable to the processor 720 or the memory 710.
The processor 720 may control the transceiver 730 to communicate with other devices, and in particular, may transmit data or data to other devices or receive data or data transmitted by other devices. Transceiver 730 may include a transmitter and a receiver. Transceiver 730 may further include antennas, the number of which may be one or more.
It will be appreciated that the various components in the electronic device are connected by a bus system that includes, in addition to a data bus, a power bus, a control bus, and a status signal bus.
The present invention also provides a computer storage medium having stored thereon a computer program which, when executed by a computer, enables the computer to perform the method of the above-described method embodiments. Alternatively, an embodiment of the present invention also provides a computer program product containing instructions which, when executed by a computer, cause the computer to perform the method of the method embodiment described above.
When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (Digital Video Disc, DVD)), or a semiconductor medium (e.g., solid state disk (Solid STATE DISK, SSD)), etc.
Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. For example, functional modules in various embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily appreciate variations or alternatives within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An intracranial hematoma puncture positioning method, which is characterized by comprising the following steps:
the method comprises the steps of obtaining an initial puncture end point position of a blood bump by carrying out hematoma segmentation treatment on a three-dimensional image of the head of a to-be-detected object;
Performing coordinate position sinking processing on the initial puncture terminal position to obtain a target puncture terminal position;
Determining a body surface projection position of the target puncture end point position corresponding to the temporal part;
and acquiring a puncture starting point position, and determining puncture positioning information of the object to be detected about the hematoma block based on the puncture starting point position, the target puncture ending point position and the body surface projection position, wherein the puncture positioning information at least comprises a puncture direction and a puncture depth.
2. The method according to claim 1, wherein the obtaining the initial puncture end point position of the blood tumor by performing hematoma segmentation processing on the three-dimensional image of the head of the object to be detected comprises:
determining a brain tissue region in a three-dimensional image of the head of the object to be detected;
Performing Hough transformation linear detection according to the ventricle edge corresponding to the brain tissue region to obtain a target line segment of the ventricle edge;
determining a blood tumor based on the segmentation of the target line segment in the head three-dimensional image;
and determining the three-dimensional centroid coordinate position of the blood tumor as the initial puncture end point position of the blood tumor.
3. The method according to claim 1, wherein the performing the coordinate position sinking process on the initial puncture destination position to obtain a target puncture destination position includes:
And determining that the initial puncture terminal position is sunk to a target puncture terminal position of the hematoma corresponding to d/3 along the x-axis direction, wherein d is the length of the hematoma along the x-axis direction.
4. The method of claim 1, wherein the determining that the target puncture endpoint location corresponds to a body surface projection location at the temporal portion comprises:
determining a canthus ear reference surface of the object to be detected based on the head three-dimensional image;
determining a hematoma cross section and a hematoma coronal plane of the blood lump based on the canthus ear reference plane and the target puncture end point position;
extracting a first outer edge of the hematoma cross section and a second outer edge of the hematoma coronal plane;
and determining the position of an edge intersection point of the first outer edge and the second outer edge as a body surface projection position of the target puncture end point position corresponding to the temporal part.
5. The method according to claim 4, wherein said determining the canthus-ear reference plane of the subject to be detected based on the three-dimensional image of the head comprises:
determining the positions of characteristic points of nose roots and characteristic points of external auditory meatus on two sides in the three-dimensional image of the head;
and fitting to generate the canthus and ear reference surface of the object to be detected based on the nose root characteristic point positions and the characteristic point positions of the external auditory meatus at the two sides.
6. The method according to claim 4, wherein determining a hematoma cross section and a hematoma coronal plane of the blood tumor based on the canthus ear reference plane and the target puncture endpoint location comprises:
Calculating a hematoma cross section parallel to the canthus ear reference plane based on the canthus ear reference plane and the target puncture end point position;
Acquiring a middle seam sagittal plane, and calculating a hematoma sagittal plane parallel to the middle seam sagittal plane based on the relative position of the middle seam of the hematoma block and the middle seam sagittal plane;
Determining a first normal vector of the hematoma cross section and a second normal vector of the hematoma sagittal plane, determining a cross product of the first normal vector and the second normal vector as a third normal vector of the hematoma coronal plane, and determining the hematoma coronal plane perpendicular to the hematoma cross section and the hematoma sagittal plane based on the target puncture end point position and the third normal vector.
7. The method of claim 1, wherein the determining puncture positioning information of the object to be detected with respect to the hematoma based on the puncture start point position, the target puncture end point position, and the body surface projection position comprises:
Determining the position connecting line direction of the puncture starting point position and the body surface projection position corresponding to each other as the puncture direction of the object to be detected relative to the hematoma;
and determining the linear distance between the puncture starting point position and the target puncture ending point position as the puncture depth of the object to be detected relative to the hematoma.
8. An intracranial hematoma puncture positioning device, comprising:
The first processing module is used for obtaining an initial puncture end point position of the blood tumor by carrying out hematoma segmentation processing on the three-dimensional image of the head of the object to be detected;
The second processing module is used for carrying out coordinate position sinking processing on the initial puncture terminal position to obtain a target puncture terminal position;
The first determining module is used for determining the body surface projection position of the target puncture end point position corresponding to the temporal part;
The second determining module is used for obtaining a puncture starting point position, determining puncture positioning information of the object to be detected about the hematoma block based on the puncture starting point position, the target puncture ending point position and the body surface projection position, wherein the puncture positioning information at least comprises a puncture direction and a puncture depth.
9. An electronic device, comprising:
A processor and a memory for storing a computer program, the processor being for invoking and running the computer program stored in the memory to perform the method of any of claims 1-7.
10. A computer readable storage medium storing a computer program for causing a computer to perform the method of any one of claims 1-7.
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