WO2022206416A1

WO2022206416A1 - Puncture process-based dynamic information display system and method

Info

Publication number: WO2022206416A1
Application number: PCT/CN2022/081510
Authority: WO
Inventors: 孙非; 朱奕; 郭晓杰; 崔芙粒; 单莹
Original assignee: 上海复拓知达医疗科技有限公司
Priority date: 2021-04-01
Filing date: 2022-03-17
Publication date: 2022-10-06
Also published as: CN113133813A

Abstract

The present invention provides a puncture process-based dynamic information display system and method. The system comprises: a first obtaining unit, configured to obtain an anatomical structure model, of a patient, corresponding to at least one anatomical structure related to a puncture process; a second obtaining unit, configured to obtain a surgical field image; a registration unit, configured to perform spatial position registration on the anatomical structure model and the anatomical structure of the patient in the surgical field according to the surgical field image; a calculation unit, configured to obtain the position of a puncture instrument according to the surgical field image, and calculate a positional relationship between the current puncture instrument and each anatomical structure; and a control unit, configured to superimpose or hide the corresponding anatomical structure model at the corresponding position of each anatomical structure according to the positional relationship between the current puncture instrument and each anatomical structure. According to the puncture process-based dynamic information display system and method of the present invention, an information display policy is adjusted, and an operator can concentrate on the most critical information in a puncture process.

Description

Dynamic information display system and method based on puncture process

technical field

The present invention relates to the field of medical technology, in particular, to a dynamic information display system and method based on a puncture process.

Background technique

The description of the background technology in the present invention belongs to the related art related to the present invention, and is only used to illustrate and facilitate the understanding of the invention content of the present invention, and should not be construed as the applicant's explicit belief or presumption that the applicant believes that the present invention is the first application of the present invention. the prior art of the filing date.

With the development of medical technology, minimally invasive diagnosis and treatment are more and more widely used in clinical practice, such as needle biopsy of prostate cancer, needle ablation of pulmonary nodules, etc. The puncture operation needs to accurately pierce the puncture needle into a specific position in the human body without leaving a large wound on the surface of the human skin. Due to the deep location and small size of the lesion, the location, depth and direction of the puncture cannot be accurately located through the body surface puncture, which may cause misdiagnosis and missed diagnosis.

Therefore, puncture surgery usually requires the guidance of medical images (CT images, magnetic resonance images, ultrasound images, etc.) to accurately find the puncture target site. However, limited by various conditions, it is sometimes impossible to perform medical imaging scans and puncture operations at the same time; at the same time, during the puncture operation, there are many disturbances to the operator, which often disturb the success of the operation. .

SUMMARY OF THE INVENTION

The invention provides a dynamic information display system and method based on the puncture process, which adjusts the information display strategy and facilitates the operator to concentrate on the most critical information during the puncture process.

One aspect of the present invention provides a dynamic information display system based on a puncture process, comprising: a first acquisition unit for acquiring an anatomical structure model corresponding to at least one anatomical structure related to the puncture process; a second acquisition unit for The registration unit is used to perform spatial registration of the anatomical structure model with the anatomical structure of the patient at the operation site according to the image of the operation site; the calculation unit is used to obtain the position of the puncture instrument according to the image of the operation site, and calculate the positional relationship between the current puncture instrument and each anatomical structure; the control unit is used for superimposing and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure according to the positional relationship between the current puncturing instrument and each anatomical structure.

Preferably, the anatomical structure model is obtained from preoperative medical images of the patient.

Preferably, the anatomical structure model corresponding to at least one anatomical structure related to the puncturing process includes a three-dimensional model corresponding to at least one anatomical structure on or near the puncturing path.

Preferably, the images of the operation site are obtained by continuous shooting in real time during the operation.

Preferably, the positional relationship between the puncture instrument and each anatomical structure is prompted, and the prompt is displayed in the form of a puncture information prompt panel.

Preferably, calculating the positional relationship between the current puncture instrument and each anatomical structure includes the following steps: recognizing and obtaining the position and/or orientation of the needle tip of the current puncture instrument according to the image of the operation site, and calculating in real time the connection line and/or the connecting line between the needle tip and the puncture target position. Needle tip extension line; according to the connection line between the needle tip and the puncture target position and/or the needle tip extension line and the anatomical structure model of the patient, calculate the connection line between the needle tip and the puncture target position and/or the needle tip extension line and each the positional relationship of the anatomical structures.

Preferably, superimposing and displaying or hiding the corresponding anatomical structure model at the corresponding position of each of the anatomical structures includes the following steps: according to the connection line between the needle tip and the puncture target position and/or the extension line of the needle tip and each of the anatomical structures The positional relationship is superimposed to display or hide the corresponding anatomical structure model at the corresponding position of each of the anatomical structures.

Preferably, superimposing and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure includes the following steps: if the connecting line and/or the extension line of the needle tip collides with the skin, displaying the collision position and/or at least part of the skin; If there is no collision, hide the skin; take the connecting line and/or the extension line of the needle tip as the central axis and L as the diameter, construct a cylinder, and calculate the collision between the cylinder and the rib; if the cylinder collides with the rib, display Ribs that collide with the cylinder; if no collision occurs, the ribs are hidden; where L is less than the minimum value of the distance between two adjacent ribs; if the connecting line and/or the extension of the needle tip collides with the contour of the organ parenchyma , the whole organ parenchyma is displayed; if no collision occurs, the organ parenchyma is hidden.

Preferably, superimposing and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure includes the following steps: before the needle tip collides with the skin, the puncture information prompt panel is bound to the position of the needle tip of the puncture instrument; Or the extension line of the needle tip does not collide with the skin, the puncture information prompt panel moves or switches to the puncture target position.

Preferably, superimposing and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure includes the following steps: if the connecting line and/or the extension line of the needle tip does not collide with the outline of the parenchyma of the organ, then the puncture target, the extension line of the needle tip and the The intersection of the puncture target plane is displayed enlarged.

Preferably, the monitoring results of the patient's vital sign parameters are displayed in real time through the puncture information prompt panel, and when the fluctuation of the vital sign parameters exceeds the set threshold, a prompt display is performed; the surgical parameters are counted through the puncture information prompt panel, and the real-time display.

A second aspect of the present invention provides a method for displaying dynamic information based on a puncture process, comprising the following steps: obtaining an anatomical structure model corresponding to at least one anatomical structure related to the puncture process of a patient; obtaining an operation site image; The anatomical structure model is spatially registered with the anatomical structure of the patient at the operation site; the position of the puncture instrument is obtained according to the image of the operation site, and the positional relationship between the current puncture instrument and each anatomical structure is calculated; Position relationship, display or hide the corresponding anatomical structure model in the corresponding position of each anatomical structure.

Preferably, the anatomical structure model corresponding to at least one anatomical structure related to the puncture process includes a three-dimensional model corresponding to at least one anatomical structure on the puncture path and near the puncture path.

Preferably, calculating the positional relationship between the current puncturing instrument and each anatomical structure includes the following steps: Recognizing and obtaining the position and/or orientation of the needle tip of the current puncturing instrument according to the image recognition of the operation site, and calculating in real time the connection between the needle tip and the puncturing target position and/or or the needle point extension line; according to the connection line between the needle point and the puncture target position and/or the needle point extension line and the anatomical structure model of the patient, calculate the connection line between the needle point and the puncture target position and/or the needle point extension line and the patient’s anatomical structure model in real time. The positional relationship of each of the anatomical structures.

A third aspect of the present invention also provides a dynamic information display device based on a puncturing process, which includes a memory and a processor; wherein the memory is used for storing executable program codes; the processor is used for reading executable program codes stored in the memory To implement the dynamic information display method based on the puncture process.

A fourth aspect of the present invention also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, a puncturing process-based dynamic information display method is implemented.

The invention provides a dynamic information display system and method based on the puncture process, which calculates the spatial positional relationship of the puncture needle tip relative to a known three-dimensional model in real time, and adjusts the information display strategy by comparing with preset conditions, so as to facilitate the operation during the puncture process. focus on the most critical information.

Additional aspects and advantages of the present invention will become apparent in the description section that follows, or will be learned by practice of the present invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 shows a flow chart of an embodiment of a method for displaying dynamic information based on a puncture process according to the present invention;

2 shows a schematic diagram of the use of an embodiment of the dynamic information display system based on the puncturing process according to the present invention;

Fig. 3 shows a puncture procedure view of an embodiment of the puncture procedure-based dynamic information display system according to the present invention;

4 shows a structural diagram of an embodiment of a dynamic information display device based on a puncturing process according to the present specification;

FIG. 5 shows a structural diagram of an embodiment of a computer-readable storage medium of a method for displaying dynamic information based on a puncturing process according to the present specification.

Detailed ways

In order to understand the above objects, features and advantages of the present invention more clearly, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments may be combined with each other in the case of no conflict.

Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. Example limitations.

The following discussion provides various embodiments of the present invention. Although each embodiment represents a single combination of the invention, the different embodiments of the invention may be substituted, or combined, and thus the invention should also be considered to include all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes A, B, C and another embodiment includes a combination of B and D, the invention should also be considered to include all other possible combinations including one or more of A, B, C, D example, although this example may not be explicitly described in the following content.

1 shows a flowchart of an embodiment of a method for displaying dynamic information based on a puncturing process according to the present invention; as shown in FIG. 1 , an embodiment of the first aspect of the present invention provides a method for displaying dynamic information based on a puncturing process, Including, step S01: obtaining an anatomical structure model corresponding to at least one anatomical structure related to the puncture process of the patient; step S02: obtaining an image of the operation site; step S03: according to the image of the operation site, compare the anatomical structure model with the anatomical structure of the patient at the operation site Perform spatial position registration; Step S04: Obtain the position of the puncture instrument according to the image of the operation site, and calculate the positional relationship between the current puncture instrument and each anatomical structure; Step S05: According to the positional relationship between the current puncture instrument and each anatomical structure, in each The corresponding position overlay of the anatomical structure shows or hides the corresponding anatomical structure model. The anatomical structure information is obtained according to the preoperative medical image of the patient; the anatomical structure model corresponding to at least one anatomical structure related to the puncture process includes a three-dimensional model corresponding to at least one anatomical structure on the puncture path and near the puncture path; the operation site image is During the operation, the camera is continuously filmed in real time. The anatomical structure on the puncture path refers to the anatomical structure that the puncture needle passes through during the puncture operation; the anatomical structure near the puncture path refers to the anatomical structure that the puncture needle does not pass through in the surgical plan, but may be affected by the operation due to the short distance. Accidentally encountered anatomy. Taking the puncture of pulmonary nodules as an example, the puncture needle penetrates from the skin to the target pulmonary nodule and must pass through the skin and the lung, and the skin and the lung are the anatomical structures on the puncture path; the puncture needle must pass through the intercostal space. Reaching the lungs, there is a risk of hitting the ribs, which act as anatomical structures near the puncture path. The "superimposed display" in step S05 means that the operator can see both the real anatomical structure and the anatomical structure model corresponding to the real anatomical structure, and the two are displayed in a superimposed manner.

In the above-mentioned embodiment of the present invention, a medical image scan is performed on the patient before the operation, and the puncture target is found according to the medical image of the patient; and then the operation navigation is performed in an augmented reality manner, that is, the medical image obtained in advance from the medical image is used during the operation. The patient's anatomical model is projected into the operator's field of vision to guide the operator in the puncture operation. In the augmented reality navigation puncture process, different surgical stages have different information display requirements. For example, when making a puncture plan and adjusting the puncture needle to aim at the target, it is necessary to display the skin breaking point of the current plan, and the ribs, blood vessels, trachea, etc. need to avoid organs, etc.; and when the puncture penetrates the skin, the skin and skin penetration points should be hidden. Interfere with the information and focus the doctor's attention on the next steps; similarly, when the puncture needle passes the rib, the rib image should be hidden to simplify the operation interface prompt.

After the registration of the anatomical structure model and the real space of the patient is completed, the orientation of the needle tip is identified and tracked through the head-mounted display, and its coordinates are converted to the same real space coordinate system as the anatomical structure model. Real-time calculation of the spatial position relationship of the needle tip of the puncture instrument relative to the known anatomical structure model, and adjustment of the information display strategy by comparing with the preset conditions, so that the operator can focus on the most critical information during the puncture process.

In the first embodiment of the present invention, the positional relationship between the puncture instrument and each anatomical structure is prompted, and the prompt is displayed in the form of a puncture information prompt panel; wherein, the puncture information prompt panel is a carrier of information display. For example, in an augmented reality surgical navigation scenario, the puncture information prompt panel is a specific information display area that is superimposed on the real scene in an augmented reality manner and presented in front of the operator's field of vision. The positional relationship between the puncture instrument and each anatomical structure is displayed on the puncture information prompt panel, and as the puncture operation proceeds, the information on the puncture information prompt panel is updated in time. Meanwhile, those skilled in the art can understand that the puncture information prompt panel is similar to the display form of the anatomical structure model, and is displayed in the field of vision of the operator.

In the first embodiment of the present invention, calculating the positional relationship between the current puncture instrument and each anatomical structure includes the following steps: recognizing and obtaining the position and/or orientation of the needle tip of the current puncture instrument according to the image recognition of the operation site, and calculating in real time the needle tip and the puncture target Location and/or tip extension. Wherein, the puncture target position is the desired target point position of the needle tip of the puncture device, which can be understood as the needle tip does not need to move forward after the needle tip of the puncture device reaches the target point position. For example, when performing a puncture operation on a nodule (an anatomical structure that needs to be punctured, that is, the puncture target), if the size of the nodule is small (for example, the size of the nodule is less than 10 times the size of the needle tip), the puncture operation should be selected. The geometric center of the nodule is used as the puncture target position; for the puncture operation of the mass (anatomical structure that needs to be punctured, that is, the puncture target), and the size of the mass is larger (the size of the mass is often larger than that of the nodule), the mass should be considered as a whole According to the morphological structure and anatomical structure characteristics, the puncture target position can be reasonably selected, for example, the geometric center of the mass can be used as the puncture target position.

For the calculated connection line between the needle tip and the puncture target position and/or the needle tip extension line, the needle tip extension line refers to the extension line along the extension direction of the needle body (needle tip orientation) starting from the needle tip position. During the puncture process, the needle tip The extension line and the connection line between the needle tip and the puncture target position should be collinear. During the actual operation, the connection line between the needle tip and the puncture target position and the extension line of the needle tip are prone to deviate. When this happens, it should be calculated. The connection line between the needle tip and the puncture target position is used to calculate the positional relationship between the current puncture instrument and each anatomical structure.

A second embodiment of the present invention provides a dynamic information display system based on a puncture process, comprising: a first acquisition unit for acquiring an anatomical structure model corresponding to at least one anatomical structure related to the puncture process of a patient; a second acquisition unit The unit is used to obtain an image of the operation site; the registration unit is used to perform spatial registration of the anatomical structure model with the anatomical structure of the patient at the operation site according to the image of the operation site; the calculation unit is used to obtain the puncture instrument according to the image of the operation site and calculate the positional relationship between the current puncture instrument and each anatomical structure; the control unit is used to superimpose and display or hide the corresponding anatomical structure model at the corresponding position of each anatomical structure according to the positional relationship between the current puncture instrument and each anatomical structure.

In the second embodiment of the present invention, the positional relationship between the puncture instrument and each anatomical structure is prompted, and the prompt is displayed in the form of a puncture information prompt panel, and the puncture information prompt panel is displayed on the display unit together with the operation site image and anatomical structure information. show. The puncture information prompt panel serves as a display module for auxiliary information or prompt information, and provides information prompts or guidance to the puncture operator.

In the second embodiment of the present invention, calculating the positional relationship between the current puncture instrument and each anatomical structure includes the following steps: obtaining the position and/or orientation of the needle tip of the current puncture instrument according to the image recognition of the operation site, and calculating the needle tip and the puncture target in real time. The connection line and/or the needle tip extension line of the position; according to the connection line between the needle tip and the puncture target position and/or the needle tip extension line and the anatomical structure model of the patient, obtain the connection line and/or the needle tip and the puncture target position Or the positional relationship between the extension line of the needle tip and each of the anatomical structures. By constructing the connection line between the needle tip and the puncture target position, the positional relationship between the puncture instrument and each operation area can be easily determined.

In the second embodiment of the present invention, according to the connection line between the needle tip and the puncture target position and/or the positional relationship between the needle tip extension line and each of the anatomical structures, the corresponding positions of the anatomical structures are displayed or hidden in a superimposed manner. anatomy model.

Display or hide the corresponding anatomical structure model by superimposing at the corresponding position of each anatomical structure, including the following steps: if the connecting line and/or the extension line of the needle tip collide with the skin, display the collision position and/or at least part of the skin; If it collides, hide the skin; take the connecting line and/or the extension line of the needle tip as the central axis and L as the diameter, construct a cylinder, and calculate the collision between the cylinder and the rib; if the cylinder collides with the rib, display the collision with the cylinder The rib that collided; if no collision, the rib is hidden; where L is less than the minimum value of the distance between two adjacent ribs; if the connecting line and/or the extension line of the needle tip collide with the outline of the organ parenchyma, it is displayed All organ parenchyma; if no collision occurs, the organ parenchyma is hidden. Through the above settings, the anatomical structure during the puncture process can be simply and effectively enhanced in the field of vision of the operator.

In the second embodiment of the present invention, superimposing and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure includes the following steps: before the needle tip collides with the skin, the puncture information prompt panel is bound to the position of the needle tip of the puncture instrument ; If the connecting line and/or the needle tip extension line does not collide with the skin, the puncture information prompts the panel to move or switch to the puncture target position. Using augmented reality display devices and head-mounted cameras, by identifying and tracking the position of the identifiable object pattern bound to the puncture device in real time, adjust the display content, including adding or hiding information, adjust the spatial position of the existing information, and adjust some Enlargement or reduction of information. Among them, before the needle tip collides with the skin, the operator should focus on the needle tip, and set the puncture information prompt panel to be bound to the position of the needle tip of the puncture instrument. As the needle tip moves, the puncture information prompt panel performs corresponding actions. move. Through the above arrangement, the indication performance of the puncture information prompting panel can be improved, which is convenient for the operator to operate.

In the second embodiment of the present invention, superimposing and displaying or hiding the corresponding anatomical structure model at the corresponding position of each anatomical structure includes the following steps: if the connecting line and/or the extension line of the needle tip does not collide with the outline of the parenchyma of the organ, the puncture The intersection of the target, the extension line of the needle tip and the puncture target plane is enlarged and displayed. The enlarged setting facilitates the operator to perform the puncture operation and improves the accuracy of the operation.

In the second embodiment of the present invention, the monitoring results of the patient's vital sign parameters are displayed in real time through the puncture information prompt panel, and when the fluctuation of the vital sign parameters exceeds the set threshold, a prompt display is performed; The parameters are counted and displayed in real time. Among them, the vital sign parameters can be the patient's body temperature, blood pressure, heart rate, etc., and the operation parameters can be the operation time, room temperature, etc. By adding information on the puncture information prompt panel, it is convenient for operators to obtain information in a timely manner and prevent distraction.

Fig. 2 shows a schematic diagram of the use of an embodiment of the dynamic information display system based on the puncture process according to the present invention; as shown in Fig. 2, a doctor wears an augmented reality device to perform a puncture operation. During the operation, although the patient's The body can see the internal anatomical structure, and the augmented reality device can make the operator see the corresponding anatomical structure model at the corresponding position through the glasses device through the three-dimensional model of the corresponding anatomical structure of the patient obtained before the operation.

Fig. 3 shows a view of the puncture procedure according to an embodiment of the dynamic information display system based on the puncture process of the present invention; as shown in Fig. 3, in the field of vision of the operator, the real puncture instrument and the patient's skin can be seen, and the Through augmented reality technology, the operator can see the three-dimensional model of the corresponding anatomical structure of the tissue and organs in the corresponding position of the patient's body. In the left picture, the puncture needle is about to enter the human body. At this time, the patient's rib is displayed in the corresponding position for the operator to see, so as to avoid puncturing the rib. The ribs are hidden to avoid interfering with the operator's sight, and at the same time, the lung parenchyma is displayed. Similarly, the models of structures such as blood vessels and puncture targets (such as pulmonary nodules, pulmonary masses, etc.) are also displayed or hidden according to their positional relationship with the puncture needle.

FIG. 4 is a structural diagram of an embodiment of the puncturing process-based dynamic information display device of the present specification; with reference to FIG. 4 below, it shows a schematic diagram of the puncturing process-based dynamic information display device 300 suitable for implementing the embodiment of the present disclosure. Schematic. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablets), PMPs (portable multimedia players), vehicle-mounted terminals (eg, mobile terminals such as in-vehicle navigation terminals), etc., and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in FIG. 4 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present disclosure.

As shown in FIG. 4 , an electronic device 300 may include a processing device (eg, a central processing unit, a graphics processor, etc.) 301 that may be loaded into random access according to a program stored in a read only memory (ROM) 302 or from a storage device 308 Various appropriate actions and processes are executed by the programs in the memory (RAM) 303 . In the RAM 303, various programs and data necessary for the operation of the electronic device 300 are also stored. The processing device 301 , the ROM 302 , and the RAM 303 are connected to each other through a bus 304 . An input/output (I/O) interface 305 is also connected to bus 304 .

In general, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speakers, An output device 307 of a vibrator or the like; a storage device 308 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 309 . Communication means 309 may allow electronic device 300 to communicate wirelessly or by wire with other devices to exchange data. While FIG. 4 shows electronic device 300 having various means, it should be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network via the communication device 309 , or from the storage device 308 , or from the ROM 302 . When the computer program is executed by the processing device 301, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are executed.

FIG. 5 is a structural diagram of an embodiment of a computer-readable storage medium of a method for displaying dynamic information based on a puncture process in the present specification; as shown in FIG. 5 , a computer-readable storage medium 40 according to an embodiment of the present disclosure stores thereon Non-transitory computer readable instructions 41 . When the non-transitory computer-readable instructions 41 are executed by the processor, all or part of the steps of the aforementioned puncturing process-based dynamic information display method according to various embodiments of the present disclosure are executed.

It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, electrical wire, optical fiber cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

The above-mentioned computer-readable medium may be included in the above-mentioned electronic device; or may exist alone without being assembled into the electronic device.

The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device: builds a basic page, and the page code of the basic page is used to build the business page Running the required environment and/or implementing the same workflow abstracted from similar business scenarios; constructing one or more page templates, which are used to provide code templates for implementing business functions in the business scenarios; The page template described above, through the code conversion of the specific functions of each page of the business scenario, the final page code of each page of the business scenario is generated; the generated final page code of each page is merged into the page of the basic page code to generate the code of the business page.

Alternatively, the above computer-readable medium carries one or more programs, and when the above one or more programs are executed by the electronic device, the electronic device causes the electronic device to: build a basic page, and the page code of the basic page is used to build the The environment required for the operation of the business page and/or to realize the same workflow abstracted from similar business scenarios; construct one or more page templates, the page templates are used to provide code templates for realizing business functions in the business scenario; based on the corresponding The page template, through the code conversion of the specific functions of each page of the business scenario, the final page code of each page of the business scenario is generated; the generated final page code of each page is merged into the basic page page code to generate the code of the business page.

Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.

The units involved in the embodiments of the present disclosure may be implemented in a software manner, and may also be implemented in a hardware manner. Wherein, the name of the unit does not constitute a limitation of the unit itself under certain circumstances, for example, the first obtaining unit may also be described as "a unit that obtains at least two Internet Protocol addresses".

In the present invention, the terms "first", "second" and "third" are only used for the purpose of description, and cannot be construed as indicating or implying relative importance; the term "multiple" refers to two or two above, unless otherwise expressly defined. The terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be It is directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, and It is not indicated or implied that the indicated device or unit must have a particular direction, be constructed and operate in a particular orientation and, therefore, should not be construed as limiting the invention.

In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiment", etc. means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in the present invention at least one embodiment or example of . In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

A dynamic information display system based on a puncture process, characterized in that it includes:

a first obtaining unit, configured to obtain an anatomical structure model corresponding to at least one anatomical structure related to the puncturing process of the patient;

a second acquiring unit, configured to acquire an image of the operation site;

a registration unit, configured to perform spatial registration of the anatomical structure model with the anatomical structure of the patient at the operation site according to the operation site image;

a calculation unit, configured to obtain the position of the puncture instrument according to the operation site image, and calculate the positional relationship between the current puncture instrument and each of the anatomical structures;

The control unit is configured to superimpose and display or hide the corresponding anatomical structure model at the corresponding position of each of the anatomical structures according to the positional relationship between the current puncture instrument and each of the anatomical structures.
The dynamic information display system based on the puncture process according to claim 1, wherein the anatomical structure model corresponding to at least one anatomical structure related to the puncture process includes at least one anatomical structure corresponding to the puncture path or near the puncture path. 3D model.
The dynamic information display system based on the puncture process according to any one of claims 1-2, wherein the positional relationship between the puncture instrument and each of the anatomical structures is prompted, and the prompt is prompted by puncture information displayed in the form of a panel.
The dynamic information display system based on the puncturing process according to claim 3, wherein the calculating the positional relationship between the current puncturing instrument and each of the anatomical structures comprises the following steps:

Obtain the position and/or orientation of the needle tip of the current puncture instrument according to the image recognition of the operation site, and calculate the connection line between the needle tip and the puncture target position and/or the extension line of the needle tip in real time;

According to the connection line between the needle tip and the puncture target position and/or the extension line of the needle tip and the anatomical structure model of the patient, the connection line between the needle tip and the puncture target position and/or the extension line of the needle tip and each of the anatomical structures are calculated in real time positional relationship.
The dynamic information display system based on the puncture process according to claim 4, wherein the superimposed display or hiding of the corresponding anatomical structure model at the corresponding position of each of the anatomical structures comprises:

According to the connection line between the needle tip and the puncture target position and/or the positional relationship between the needle tip extension line and each of the anatomical structures, the corresponding anatomical structure model is displayed or hidden in the corresponding position of each of the anatomical structures.
The dynamic information display system based on the puncture process according to claim 5, wherein the superimposed display or hiding of the corresponding anatomical structure model at the corresponding position of each of the anatomical structures comprises the following steps:

If the connecting line and/or the needle tip extension line collides with the skin, display the collision position and/or at least part of the skin; if no collision occurs, hide the skin;

Taking the connecting line and/or the extension line of the needle tip as the central axis and L as the diameter, construct a cylinder, and calculate the collision between the cylinder and the rib; The rib where the cylinder collides; if no collision occurs, the rib is hidden; where L is less than the minimum value of the distance between two adjacent ribs;

If the connecting line and/or the extension line of the needle tip collide with the outline of the organ parenchyma, the organ parenchyma is displayed; if there is no collision, the organ parenchyma is hidden.
The dynamic information display system based on the puncture process according to claim 6, wherein the superimposed display or hiding of the corresponding anatomical structure model at the corresponding position of each of the anatomical structures comprises the following steps:

Before the needle tip collides with the skin, the puncture information prompt panel is bound to the position of the needle tip of the puncture instrument; if the connection line and/or the needle tip extension line does not collide with the skin, the puncture information prompt panel moves Or switch to the puncture target position.
The dynamic information display system based on the puncture process according to claim 7, wherein the superimposed display or hiding of the corresponding anatomical structure model at the corresponding position of each of the anatomical structures comprises the following steps:

If the connecting line and/or the needle tip extension line does not collide with the outline of the organ parenchyma, the puncture target, the intersection of the needle tip extension line and the puncture target plane are displayed in an enlarged manner.
The dynamic information display system based on the puncture process according to claim 3, wherein the monitoring result of the patient's vital sign parameters is displayed in real time through the puncture information prompt panel, and when the fluctuation of the vital sign parameters exceeds a set threshold When the puncture information is displayed, the operation parameters are counted and displayed in real time through the puncture information prompt panel.
A kind of dynamic information display method based on puncture process, is characterized in that, comprises the following steps:

obtaining an anatomical structure model of the patient corresponding to at least one anatomical structure related to the puncture process;

Obtain surgical site images;

performing spatial registration of the anatomical structure model with the anatomical structure of the patient at the operation site according to the operation site image;

Obtain the position of the puncture instrument according to the image of the operation site, and calculate the current positional relationship between the puncture instrument and each of the anatomical structures;

According to the positional relationship between the current puncture instrument and each of the anatomical structures, the corresponding anatomical structure model is displayed or hidden in the corresponding position of each of the anatomical structures.
A dynamic information display device based on a puncturing process, comprising a memory and a processor; wherein the memory is used to store executable program codes; the processor is used to read the executable program codes stored in the memory to execute The dynamic information display method based on the puncture process according to claim 10.
A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the method for displaying dynamic information based on a puncturing process according to claim 10 is implemented.