WO2023072144A1 - Simulated surgery guidance method, apparatus and device of heart model, and storage medium - Google Patents
Simulated surgery guidance method, apparatus and device of heart model, and storage medium Download PDFInfo
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- P n represents the coordinates of the nth incision point
- the difference between the actual effect and the expected effect of the operation can be determined more intuitively, and reference feedback information can be provided for the operator.
- the integrated modules or units of the heart three-dimensional model-based simulated operation guidance device 30 are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
- the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program.
- the computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized.
- the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form.
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Abstract
A simulated surgery guidance method based on a three-dimensional heart model, relating to the field of medical teaching. An animal heart is used as a simulation material of a surgery, a three-dimensional virtual heart model is constructed, the boundary of a surgery incision is rapidly determined according to surgery requirements and in combination with image processing technology, and parameters such as a maximum diameter and a minimum diameter of the surgery incision are obtained, so that reference is provided for subsequent installation and entrance of assisting instruments, and the success rate of surgical operation is improved. The present invention further provides a corresponding simulated surgery guidance apparatus (20) and device (30) and a storage medium (32). Therefore, effective operation assistance can be provided for a heart surgery, the safety and intuition of a surgery teaching process are improved, and the teaching effect of heart surgery teaching is facilitated to improve.
Description
本发明涉及医疗教学辅助领域，具体涉及一种基于心脏三维模型的模拟手术指导方法、装置、设备和存储介质。The invention relates to the field of medical teaching assistance, in particular to a simulation operation guidance method, device, equipment and storage medium based on a three-dimensional model of the heart.
在医疗实践中，外科手术一般要求操作人员具有一定程度的经验。而在医疗教学中，由于缺少有效的教学辅助工具，无法有效指导缺乏外科手术经验的学生进行手术，导致外科手术的难以取得较好的教学效果。In medical practice, surgical procedures generally require the operator to have a certain degree of experience. In medical teaching, due to the lack of effective teaching aids, students who lack surgical experience cannot be effectively guided to perform surgery, which makes it difficult to achieve good teaching results in surgery.
在实施本发明的过程中，发明人发现现有技术至少存在如下问题：In the course of implementing the present invention, the inventor finds that the prior art has at least the following problems:
1、现有的心脏模拟手术一般直接在动物心脏上进行，而由于在操作人员手术经验不足的情况下，难以快速确定手术需要实现的切口位置，导致手术教学效果较差，且容易造成模拟心脏的浪费；1. The existing heart simulation surgery is generally performed directly on the animal heart, and because the operator has insufficient surgical experience, it is difficult to quickly determine the incision position that needs to be achieved in the operation, resulting in poor surgical teaching effect and easy to cause simulated heart failure. waste of
2、现有心脏手术的教学一般通过口头传授或现场观摩、观看视频等方式进行，对于学习人员而言直观性差，难以对手术实践形成指导，导致手术教学效果较差。2. The existing teaching of cardiac surgery is generally carried out through oral teaching or on-site observation, watching videos, etc., which is not intuitive for learners, and it is difficult to form guidance for surgical practice, resulting in poor surgical teaching effect.
发明内容Contents of the invention
本发明实施例提供基于心脏三维模型的模拟手术指导方法、装置、设备和存储介质，能够为心脏手术提供有效地操作辅助，提高手术教学过程的安全性和直观性，有助于提高心脏手术教学的教学效果。Embodiments of the present invention provide a simulated surgery guidance method, device, device, and storage medium based on a three-dimensional model of the heart, which can provide effective operation assistance for cardiac surgery, improve the safety and intuitiveness of the surgical teaching process, and help improve the teaching of cardiac surgery. teaching effect.
本发明第一实施例提供的一种基于心脏三维模型的模拟手术指导方法，包括步骤：A method for guiding simulated surgery based on a three-dimensional model of the heart provided in the first embodiment of the present invention includes steps:
获取用于模拟人体心脏的动物心脏，并获取所述动物心脏的扫描图像；obtaining an animal heart for simulating a human heart, and obtaining a scanned image of the animal heart;
根据所述扫描图像，构建所述动物心脏的三维虚拟模型；Constructing a three-dimensional virtual model of the animal heart according to the scanned image;
根据手术要求在所述三维虚拟模型上标注出需要切口的位置，得到N个切口点；其中，N大于等于3；According to the requirements of the operation, the position of the incision is marked on the three-dimensional virtual model to obtain N incision points; wherein, N is greater than or equal to 3;
根据所述切口点，确定切口平面；所述切口平面满足如下关系：According to the incision point, determine the incision plane; the incision plane satisfies the following relationship:
P
n＝(x
n,y
n,z
n)n＝1,2,···,N
P n =(x n ,y n ,z n )n=1,2,...,N
其中，P
n表示第n个切口点的坐标；Ax+By+z+C＝0表示所述切口平面；
Wherein, P n represents the coordinates of the nth incision point; Ax+By+z+C=0 represents the incision plane;
根据所述切口平面和手术针对的目标心脏结构，采用区域生长算法确定手术切口边界和切口中心；According to the incision plane and the target heart structure for the operation, a region growing algorithm is used to determine the surgical incision boundary and the incision center;
根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径；calculating the maximum diameter and the minimum diameter of the incision according to the boundary of the surgical incision and the center of the incision;
在所述三维虚拟模型中标识所述手术切口边界，并显示所述最大直径和所述最小直径。The boundary of the surgical incision is identified in the three-dimensional virtual model, and the maximum diameter and the minimum diameter are displayed.
作为上述方案的改进，所述根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径，包括步骤：As an improvement of the above scheme, the calculation of the maximum diameter and the minimum diameter of the incision according to the boundary of the surgical incision and the center of the incision includes the steps of:
根据所述手术切口边界和所述切口中心，确定切口直径；Determine the diameter of the incision according to the boundary of the surgical incision and the center of the incision;
确定的所有所述切口直径中的最大值和和最小值，得到所述最大直径和所述最小直径。The maximum and minimum of all said incision diameters determined yield said maximum diameter and said minimum diameter.
作为上述方案的改进，所述根据所述手术切口边界和所述切口中心，确定切口直径，包括：As an improvement of the above scheme, the determination of the diameter of the incision according to the boundary of the surgical incision and the center of the incision includes:
任选所述手术切口边界上的两点，作为第一待测点和第二待测点；Optionally, two points on the border of the surgical incision are used as the first point to be measured and the second point to be measured;
计算所述第一待测点与所述切口中心形成的第一线段的斜率；calculating the slope of the first line segment formed by the first point to be measured and the center of the incision;
计算所述第二待测点与所述切口中心形成的第二线段的斜率；calculating the slope of a second line segment formed by the second point to be measured and the center of the incision;
若所述第一线段的斜率等于所述第二线段的斜率，则确定以所述第一待测点与所述第二待测点为端点的线段为所述切口直径。If the slope of the first line segment is equal to the slope of the second line segment, it is determined that a line segment with the first point to be measured and the second point to be measured as endpoints is the diameter of the incision.
作为上述方案的改进，其特征在于，确定所述切口中心的过程包括：As an improvement of the above scheme, it is characterized in that the process of determining the center of the incision includes:
对所述目标心脏结构的位于所述切口平面上的图像点的位置坐标求平均值，得到所述切口中心的位置坐标。The position coordinates of the image points of the target heart structure located on the incision plane are averaged to obtain the position coordinates of the incision center.
作为上述方案的改进，所述目标心脏结构包括左心房、右心房、左心室和右心室的至少一项。As an improvement of the above solution, the target heart structure includes at least one of left atrium, right atrium, left ventricle and right ventricle.
作为上述方案的改进，还包括步骤：As an improvement of the above scheme, the steps are also included:
获取手术完成后的动物心脏的扫描图像，以构建术后三维虚拟模型；Obtain scanned images of the animal heart after surgery to construct a postoperative 3D virtual model;
在所述术后三维虚拟模型上标注所述手术切口边界。The border of the surgical incision is marked on the postoperative three-dimensional virtual model.
本发明第二实施例提供的一种基于心脏三维模型的模拟手术指导装置，用于执行如上任一项所述的基于心脏三维模型的模拟手术指导方法；包括：The second embodiment of the present invention provides a simulated surgery guidance device based on a three-dimensional heart model, which is used to perform the simulated surgery guidance method based on a three-dimensional heart model as described above; including:
图像获取模块，用于获取用于模拟人体心脏的动物心脏，并获取所述动物心脏的扫描图像；An image acquisition module, configured to acquire an animal heart for simulating a human heart, and acquire a scanned image of the animal heart;
模型构建模块，用于根据所述扫描图像，构建所述动物心脏的三维虚拟模型；A model construction module, configured to construct a three-dimensional virtual model of the animal heart according to the scanned image;
切口运算模块，用于根据手术要求在所述三维虚拟模型上标注出需要切口的位置，得到N个切口点；其中，N大于等于3；The incision operation module is used to mark the position of the incision on the three-dimensional virtual model according to the operation requirements, and obtain N incision points; wherein, N is greater than or equal to 3;
所述切口运算模块，还用于根据所述切口点，确定切口平面；所述切口平面满足如下关系：The incision operation module is also used to determine the incision plane according to the incision point; the incision plane satisfies the following relationship:
P
n＝(x
n,y
n,z
n)n＝1,2,···,N
P n =(x n ,y n ,z n )n=1,2,...,N
其中，P
n表示第n个切口点的坐标；Ax+By+z+C＝0表示所述切口平面；
Wherein, P n represents the coordinates of the nth incision point; Ax+By+z+C=0 represents the incision plane;
所述切口运算模块，还用于根据所述切口平面和手术针对的目标心脏结构，采用区域生长算法确定手术切口边界和切口中心；根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径；在所述三维虚拟模型中标识所述手 术切口边界，并显示所述最大直径和所述最小直径。The incision calculation module is also used to determine the boundary of the surgical incision and the center of the incision by using a region growing algorithm according to the plane of the incision and the target heart structure of the operation; diameter and minimum diameter; identifying the boundary of the surgical incision in the three-dimensional virtual model, and displaying the maximum diameter and the minimum diameter.
本发明第三实施例提供的一种基于心脏三维模型的模拟手术指导设备，包括处理器、存储器以及存储在所述存储器中且被配置为由所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现如上任意一项所述的基于心脏三维模型的模拟手术指导方法。The third embodiment of the present invention provides a simulated surgery guidance device based on a three-dimensional model of the heart, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor When the computer program is executed, the method for guiding simulated surgery based on a three-dimensional model of the heart as described in any one of the above is realized.
本发明第四实施例提供的一种计算机可读存储介质，所述计算机可读存储介质包括存储的计算机程序；其中，在所述计算机程序运行时控制所述计算机可读存储介质所在设备实现如上任意一项所述的基于心脏三维模型的模拟手术指导方法。A computer-readable storage medium provided by the fourth embodiment of the present invention, the computer-readable storage medium includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is controlled implements the above A simulated operation guidance method based on a three-dimensional model of the heart described in any one.
本发明实施例提供的基于心脏三维模型的模拟手术指导方法、装置、设备和存储介质，在采用动物心脏进行心脏手术实践的同时，结合了三维建模技术模拟心脏进行建模，结合图像处理技术快速确定需要实现的手术切口位置和形状，并在三维模型中进行显示，为进行手术实践的人员提供了直观的手术参考，为心脏手术提供了有效地操作辅助，提高手术教学过程的安全性和直观性，提高了心脏手术教学的教学效果。The simulated surgery guidance method, device, equipment, and storage medium based on the three-dimensional model of the heart provided by the embodiments of the present invention combine the three-dimensional modeling technology to simulate the heart for modeling while using the animal heart for heart surgery practice, and combine the image processing technology Quickly determine the position and shape of the surgical incision that needs to be realized, and display it in the 3D model, providing an intuitive surgical reference for surgical personnel, providing effective operation assistance for cardiac surgery, and improving the safety and security of the surgical teaching process. It is intuitive and improves the teaching effect of cardiac surgery teaching.
图1是本发明第一实施例提供的基于心脏三维模型的模拟手术指导方法的流程示意图。Fig. 1 is a schematic flowchart of a method for guiding a simulated surgery based on a three-dimensional heart model according to the first embodiment of the present invention.
图2是本发明第二实施例提供的基于心脏三维模型的模拟手术指导装置的结构示意图。Fig. 2 is a schematic structural view of a three-dimensional heart model-based simulation operation guidance device provided by the second embodiment of the present invention.
图3是本发明第三实施例提供的基于心脏三维模型的模拟手术指导设备的结构示意图。Fig. 3 is a schematic structural diagram of a simulated surgery guidance device based on a three-dimensional heart model provided by a third embodiment of the present invention.
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前 提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts all belong to the protection scope of the present invention.
本发明第一实施例提供了一种基于心脏三维模型的模拟手术指导方法。参见图1，该模拟手术指导方法可以包括步骤S110至步骤S170，优选地，还可以包括步骤S180至步骤S190。The first embodiment of the present invention provides a method for guiding simulated surgery based on a three-dimensional model of the heart. Referring to FIG. 1 , the simulated operation guidance method may include steps S110 to S170, preferably, may also include steps S180 to S190.
S110、获取用于模拟人体心脏的动物心脏，并获取所述动物心脏的扫描图像。S110. Acquire an animal heart for simulating a human heart, and acquire a scan image of the animal heart.
S120、根据所述扫描图像，构建所述动物心脏的三维虚拟模型。S120. Construct a three-dimensional virtual model of the animal heart according to the scanned image.
具体地，可以采用CT扫描的方式对所述动物心脏进行扫描，从而得到所述扫描图像，根据所述扫描图像进行三维建模，从而得到所述三维虚拟模型。Specifically, the heart of the animal may be scanned by means of CT scanning to obtain the scanned image, and three-dimensional modeling is performed according to the scanned image to obtain the three-dimensional virtual model.
S130、根据手术要求在所述三维虚拟模型上标注出需要切口的位置，得到N个切口点；其中，N大于等于3。S130. According to the surgical requirements, mark the position of the incision on the three-dimensional virtual model to obtain N incision points; wherein, N is greater than or equal to three.
具体地，所述手术要求确定需要进行手术操作的位置，并根据确定的位置进行拟合，从而得到需要手术操作的切口所在平面。Specifically, the operation requires determining the position where the surgical operation is required, and performing fitting according to the determined position, so as to obtain the plane where the incision where the surgical operation is required is located.
S140、根据所述切口点，确定切口平面。所述切口平面满足如下关系：S140. Determine an incision plane according to the incision point. The incision plane satisfies the following relationship:
P
n＝(x
n,y
n,z
n)n＝1,2,···,N
P n =(x n ,y n ,z n )n=1,2,...,N
其中，P
n表示第n个切口点的坐标；Ax+By+z+C＝0表示所述切口平面。
Wherein, P n represents the coordinates of the nth incision point; Ax+By+z+C=0 represents the incision plane.
基于根据手术要求确定的多个所述切口点进行拟合，得到所述切口平面。Fitting is performed based on a plurality of incision points determined according to surgical requirements to obtain the incision plane.
S150、根据所述切口平面和手术针对的目标心脏结构，采用区域生长算法确定手术切口边界和切口中心。S150. According to the incision plane and the target heart structure for surgery, use a region growing algorithm to determine a surgical incision boundary and an incision center.
具体地，所述目标心脏结构包括左心房、右心房、左心室和右心室的至少一项。例如，可以预先对所述三维虚拟模型进行标注，以确定所述三维虚拟模型中各位置所属的心脏结构。可以理解地，还可以通过其他结构识别手段以确定所述三维虚拟模型中各位置所属的心脏结构，均不影响本发明可取得的有益效果。Specifically, the target heart structure includes at least one of left atrium, right atrium, left ventricle and right ventricle. For example, the three-dimensional virtual model may be marked in advance to determine the heart structure to which each position in the three-dimensional virtual model belongs. It can be understood that other structural identification means can also be used to determine the heart structure to which each position in the three-dimensional virtual model belongs, without affecting the beneficial effects of the present invention.
更具体地，基于确定的所述切口平面Ax+By+z+C＝0，有向量
向量
和向量
两两垂直。对向量进行归一化，可以得到向量
和向量
的基向量
和
其中
且基向量
和
均位于所述切口平面内，可用于确定新的坐标平面，并在该新的平面内以目标心脏结构的任一点作为种子点进行区域生长算法的运算。
More specifically, based on the determined incision plane Ax+By+z+C=0, there is a vector vector and vector Two by two vertical. Normalize the vector to get the vector and vector basis vector of and in And the basis vector and They are all located in the incision plane and can be used to determine a new coordinate plane, and any point of the target cardiac structure is used as a seed point to perform the operation of the region growing algorithm in the new plane.
以点属于目标心脏结构为生长标准，例如点属于右心房作为生长标准，遍历所述切口平面内的所有点。当点属于目标心脏结构、并且与该点相邻的四个点均不属于目标心脏结构，则可以判断该点位于所述手术切口边界上。而为求取所述切口中心，结合上述遍历过程，可以将遍历过程中确定的属于所述目标心脏结构的所有点的坐标进行平均，从而得到切口的质心，作为所述切口中心。Taking the point belonging to the target heart structure as the growth standard, for example, the point belonging to the right atrium as the growth standard, all points in the incision plane are traversed. When the point belongs to the target cardiac structure and none of the four points adjacent to the point belongs to the target cardiac structure, it can be determined that the point is located on the border of the surgical incision. In order to obtain the center of the incision, in combination with the above traversal process, the coordinates of all points belonging to the target heart structure determined during the traversal process can be averaged, so as to obtain the centroid of the incision as the center of the incision.
S160、根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径。S160. Calculate the maximum diameter and the minimum diameter of the incision according to the boundary of the surgical incision and the center of the incision.
具体地，对所述最大直径和最小直径的计算过程，可以包括步骤S161至S162。Specifically, the calculation process of the maximum diameter and the minimum diameter may include steps S161 to S162.
S161、根据所述手术切口边界和所述切口中心，确定切口直径。S161. Determine an incision diameter according to the surgical incision boundary and the incision center.
其中，对所述切口直径的确定过程可以包括步骤S161a至S161d。Wherein, the process of determining the incision diameter may include steps S161a to S161d.
S161a、任选所述手术切口边界上的两点，作为第一待测点和第二待测点。S161a. Optionally, two points on the boundary of the surgical incision are used as the first point to be measured and the second point to be measured.
S161b、计算所述第一待测点与所述切口中心形成的第一线段的斜率。S161b. Calculate the slope of the first line segment formed by the first point to be measured and the center of the incision.
S161c、计算所述第二待测点与所述切口中心形成的第二线段的斜率。S161c. Calculate a slope of a second line segment formed by the second point to be measured and the center of the incision.
S161d、若所述第一线段的斜率等于所述第二线段的斜率，则确定以所述第一待测点与所述第二待测点为端点的线段为所述切口直径。S161d. If the slope of the first line segment is equal to the slope of the second line segment, determine a line segment with the first point to be measured and the second point to be measured as endpoints as the incision diameter.
当所述第一待测点和所述第二待测点分别与所述切口中心连线，得到的连线斜率相同或在误差小于预设的误差阈值，例如相差小于1％，则可以判断所述第一待测点和所述第二待测点分别位于所述切口中心的两侧，也即所述第一待测点和所述第二待测点之间的连线可以近似确定为手术切口的直径。通过该方法，可以快速寻找手术切口的所有直径，从而提高对手术切口进行分析的运算效率。When the first point to be measured and the second point to be measured are respectively connected to the center of the incision, and the slope of the obtained connection is the same or the error is less than a preset error threshold, for example, the difference is less than 1%, then it can be judged The first point to be measured and the second point to be measured are respectively located on both sides of the center of the cutout, that is, the line between the first point to be measured and the second point to be measured can be approximately determined is the diameter of the surgical incision. Through this method, all diameters of the surgical incision can be quickly found, thereby improving the calculation efficiency of analyzing the surgical incision.
S162、确定的所有所述切口直径中的最大值和和最小值，得到所述最大直径和所述最小直径。S162. The maximum and minimum values of all the determined incision diameters are obtained to obtain the maximum diameter and the minimum diameter.
S170、在所述三维虚拟模型中标识所述手术切口边界，并显示所述最大直径和所述最小直径。S170. Identify the boundary of the surgical incision in the three-dimensional virtual model, and display the maximum diameter and the minimum diameter.
进一步地，在步骤S170之后，该模拟手术指导方法还可以包括步骤S180至S190，以供进行操作效果的检验，从而进一步提高教学效果。Further, after step S170, the simulation operation guidance method may further include steps S180 to S190 for checking the operation effect, so as to further improve the teaching effect.
S180、获取手术完成后的动物心脏的扫描图像，以构建术后三维虚拟模型。S180. Obtain a scanned image of the heart of the animal after the operation to construct a postoperative three-dimensional virtual model.
S190、在所述术后三维虚拟模型上标注所述手术切口边界。S190. Mark the boundary of the surgical incision on the postoperative three-dimensional virtual model.
通过术后三维虚拟模型与为指导手术所确定的所述手术切口边界进行比较，可以更直观地确定手术的实际效果与预期效果之间的差异，为操作人员提供有参考性的反馈信息。By comparing the postoperative three-dimensional virtual model with the boundary of the surgical incision determined for guiding the operation, the difference between the actual effect and the expected effect of the operation can be determined more intuitively, and reference feedback information can be provided for the operator.
本发明第一实施例提供的基于心脏三维模型的模拟手术指导方法，在采用动物心脏进行心脏手术实践的同时，结合了三维建模技术模拟心脏进行建模，结合图像处理技术快速确定需要实现的手术切口位置和形状，并在三维模型中进行显示，为进行手术实践的人员提供了直观的手术参考，为心脏手术提供了有效地操作辅助，提高手术教学过程的安全性和直观性，提高了心脏手术教学的教学效果。The simulated surgery guidance method based on the three-dimensional model of the heart provided by the first embodiment of the present invention combines the three-dimensional modeling technology to simulate the heart for modeling while using the animal heart for cardiac surgery practice, and combines the image processing technology to quickly determine what needs to be realized The position and shape of the surgical incision are displayed in the 3D model, which provides an intuitive surgical reference for surgical personnel, provides effective operation assistance for cardiac surgery, improves the safety and intuitiveness of the surgical teaching process, and improves the Instructional effectiveness in teaching cardiac surgery.
本发明第二实施例提供了一种基于心脏三维模型的模拟手术指导装置，用于执行如第一实施例所述的基于心脏三维模型的模拟手术指导方法。参见图2，基于心脏三维模型的模拟手术指导装置20包括：The second embodiment of the present invention provides a simulated surgery guidance device based on a three-dimensional heart model, which is used to implement the simulated surgery guidance method based on a three-dimensional heart model as described in the first embodiment. Referring to Fig. 2, the simulated operation guidance device 20 based on the three-dimensional model of the heart includes:
图像获取模块21，用于获取用于模拟人体心脏的动物心脏，并获取所述动物心脏的扫描图像；An image acquisition module 21, configured to acquire an animal heart for simulating a human heart, and acquire a scanned image of the animal heart;
模型构建模块22，用于根据所述扫描图像，构建所述动物心脏的三维虚拟模型；A model construction module 22, configured to construct a three-dimensional virtual model of the animal heart according to the scanned images;
切口运算模块23，用于根据手术要求在所述三维虚拟模型上标注出需要切口的位置，得到N个切口点；其中，N大于等于3；The incision calculation module 23 is used to mark the position of the incision on the three-dimensional virtual model according to the operation requirements, so as to obtain N incision points; wherein, N is greater than or equal to 3;
所述切口运算模块23，还用于根据所述切口点，确定切口平面；所述切口平 面满足如下关系：The otch operation module 23 is also used to determine the kerf plane according to the kerf point; the kerf plane satisfies the following relationship:
P
n＝(x
n,y
n,z
n)n＝1,2,···,N
P n =(x n ,y n ,z n )n=1,2,...,N
其中，P
n表示第n个切口点的坐标；Ax+By+z+C＝0表示所述切口平面；
Wherein, P n represents the coordinates of the nth incision point; Ax+By+z+C=0 represents the incision plane;
所述切口运算模块23，还用于根据所述切口平面和手术针对的目标心脏结构，采用区域生长算法确定手术切口边界和切口中心；根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径；在所述三维虚拟模型中标识所述手术切口边界，并显示所述最大直径和所述最小直径。The incision calculation module 23 is also used to determine the boundary of the surgical incision and the center of the incision by using a region growing algorithm according to the plane of the incision and the target heart structure of the operation; according to the boundary of the surgical incision and the center of the incision, calculate the a maximum diameter and a minimum diameter; identifying the boundary of the surgical incision in the three-dimensional virtual model, and displaying the maximum diameter and the minimum diameter.
所述基于心脏三维模型的模拟手术指导装置20的工作过程如第一实施例所述的基于心脏三维模型的模拟手术指导方法，在此不做赘述。The working process of the simulated surgery guidance device 20 based on the three-dimensional heart model is the same as the simulated surgery guidance method based on the three-dimensional heart model described in the first embodiment, and will not be repeated here.
本发明第二实施例提供了提供的基于心脏三维模型的模拟手术指导装置，在采用动物心脏进行心脏手术实践的同时，结合了三维建模技术模拟心脏进行建模，结合图像处理技术快速确定需要实现的手术切口位置和形状，并在三维模型中进行显示，为进行手术实践的人员提供了直观的手术参考，为心脏手术提供了有效地操作辅助，提高手术教学过程的安全性和直观性，提高了心脏手术教学的教学效果。The second embodiment of the present invention provides a simulated surgery guidance device based on a three-dimensional model of the heart. While using an animal heart for heart surgery practice, it combines three-dimensional modeling technology to simulate the heart for modeling, and combines image processing technology to quickly determine the needs. The location and shape of the surgical incision are realized and displayed in the 3D model, which provides an intuitive surgical reference for surgical personnel, provides effective operation assistance for cardiac surgery, and improves the safety and intuitiveness of the surgical teaching process. Improve the teaching effect of cardiac surgery teaching.
参见图3，是本发明第三实施例提供的基于心脏三维模型的模拟手术指导设备30的示意图。所述基于心脏三维模型的模拟手术指导设备30包括：处理器31、存储器32以及存储在所述存储器中并可在所述处理器上运行的计算机程序，例如基于心脏三维模型的模拟手术指导程序。所述处理器执行所述计算机程序时实现上述基于心脏三维模型的模拟手术指导方法实施例中的步骤，例如图2所示的基于心脏三维模型的模拟手术指导方法的步骤。或者，所述处理器执行所述计算机程序时实现上述各装置实施例中各模块的功能，例如第二实施例所述的基于心脏三维模型的模拟手术指导装置的各模块的功能。Referring to FIG. 3 , it is a schematic diagram of a simulated surgery guidance device 30 based on a three-dimensional heart model provided by a third embodiment of the present invention. The simulated surgery guidance device 30 based on the three-dimensional model of the heart includes: a processor 31, a memory 32, and a computer program stored in the memory and operable on the processor, such as a simulated surgery guidance program based on the three-dimensional heart model . When the processor executes the computer program, it realizes the steps in the above embodiment of the simulated surgery guidance method based on the three-dimensional heart model, for example, the steps of the simulated surgery guidance method based on the three-dimensional heart model shown in FIG. 2 . Alternatively, when the processor executes the computer program, it realizes the functions of the modules in the above-mentioned device embodiments, for example, the functions of the modules of the heart three-dimensional model-based simulated surgery guidance device described in the second embodiment.
示例性的，所述计算机程序可以被分割成一个或多个模块，所述一个或者多 个模块被存储在所述存储器32中，并由所述处理器31执行，以完成本发明。所述一个或多个模块可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序在所述基于心脏三维模型的模拟手术指导终端设备中的执行过程。例如，包括图像获取模块、模型构建模块和切口运算模块。各模块的功能如下：图像获取模块，用于获取用于模拟人体心脏的动物心脏，并获取所述动物心脏的扫描图像；模型构建模块，用于根据所述扫描图像，构建所述动物心脏的三维虚拟模型；切口运算模块，用于根据手术要求在所述三维虚拟模型上标注出需要切口的位置，得到N个切口点；其中，N大于等于3；所述切口运算模块，还用于根据所述切口点，确定切口平面；所述切口平面满足如下关系：Exemplarily, the computer program can be divided into one or more modules, and the one or more modules are stored in the memory 32 and executed by the processor 31 to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program in the heart three-dimensional model-based simulated operation guidance terminal device. For example, it includes image acquisition module, model building module and incision operation module. The functions of each module are as follows: the image acquisition module is used to obtain the animal heart used to simulate the human heart, and obtain the scanned image of the animal heart; the model construction module is used to construct the animal heart image according to the scanned image. The three-dimensional virtual model; the incision operation module, used to mark the position of the incision on the three-dimensional virtual model according to the operation requirements, and obtain N incision points; wherein, N is greater than or equal to 3; the incision operation module is also used to obtain N incision points; The incision point determines the incision plane; the incision plane satisfies the following relationship:
P
n＝(x
n,y
n,z
n)n＝1,2,···,N
P n =(x n ,y n ,z n )n=1,2,...,N
其中，P
n表示第n个切口点的坐标；Ax+By+z+C＝0表示所述切口平面；所述切口运算模块，还用于根据所述切口平面和手术针对的目标心脏结构，采用区域生长算法确定手术切口边界和切口中心；根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径；在所述三维虚拟模型中标识所述手术切口边界，并显示所述最大直径和所述最小直径。
Wherein, Pn represents the coordinates of the nth incision point; Ax+By+z+C=0 represents the incision plane; the incision operation module is also used to, according to the incision plane and the target heart structure targeted by the operation, Using a region growing algorithm to determine the boundary of the surgical incision and the center of the incision; calculate the maximum diameter and the minimum diameter of the incision according to the boundary of the surgical incision and the center of the incision; identify the boundary of the surgical incision in the three-dimensional virtual model, and display the incision the stated maximum diameter and the stated minimum diameter.
所述基于心脏三维模型的模拟手术指导设备30可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。所述基于心脏三维模型的模拟手术指导设备30可包括，但不仅限于，处理器、存储器。本领域技术人员可以理解，所述示意图仅仅是基于心脏三维模型的模拟手术指导设备30的示例，并不构成对基于心脏三维模型的模拟手术指导设备30的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述基于心脏三维模型的模拟手术指导设备30还可以包括输入输出设备、网络接入设备、总线等。The simulated surgery guidance device 30 based on the three-dimensional model of the heart can be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The simulated surgery guidance device 30 based on a three-dimensional heart model may include, but not limited to, a processor and a memory. Those skilled in the art can understand that the schematic diagram is only an example of the simulated operation guidance device 30 based on the three-dimensional model of the heart, and does not constitute a limitation on the simulated operation guidance device 30 based on the three-dimensional model of the heart. Fewer components, or a combination of certain components, or different components, for example, the simulated surgery guidance device 30 based on the three-dimensional heart model may also include input and output devices, network access devices, buses, and the like.
所称处理器31可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编 程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，所述处理器31是所述基于心脏三维模型的模拟手术指导设备30的控制中心，利用各种接口和线路连接整个基于心脏三维模型的模拟手术指导终端设备的各个部分。The so-called processor 31 can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., the processor 31 is the control center of the simulated operation guidance device 30 based on the three-dimensional heart model, and utilizes various interfaces and lines Connect the various parts of the whole heart 3D model-based simulated surgery guidance terminal device.
所述存储器32可用于存储所述计算机程序或模块，所述处理器31通过运行或执行存储在所述存储器内的计算机程序或模块，以及调用存储在存储器内的数据，实现所述基于心脏三维模型的模拟手术指导终端设备的各种功能。所述存储器32可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器32可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The memory 32 can be used to store the computer program or module, and the processor 31 realizes the heart-based three-dimensional The simulated surgery of the model guides various functions of the terminal device. The memory 32 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); Store data (such as audio data, phone book, etc.) created according to the use of the mobile phone. In addition, memory 32 can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
其中，所述基于心脏三维模型的模拟手术指导设备30集成的模块或单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。Wherein, if the integrated modules or units of the heart three-dimensional model-based simulated operation guidance device 30 are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer-readable media Excludes electrical carrier signals and telecommunication signals.
需说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。另外，本发明提供的装置实施例附图中，模块之间的连接关系表示它们之间具有通信连接，具体可以实现为一条或多条通信总线或信号线。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。It should be noted that the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physically separated. A unit can be located in one place, or it can be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines. It can be understood and implemented by those skilled in the art without creative effort.
本发明第三实施例提供了基于心脏三维模型的模拟手术指导设备和存储介质，在采用动物心脏进行心脏手术实践的同时，结合了三维建模技术模拟心脏进行建模，结合图像处理技术快速确定需要实现的手术切口位置和形状，并在三维模型中进行显示，为进行手术实践的人员提供了直观的手术参考，为心脏手术提供了有效地操作辅助，提高手术教学过程的安全性和直观性，提高了心脏手术教学的教学效果。The third embodiment of the present invention provides a simulated surgery guidance device and storage medium based on a three-dimensional model of the heart. While using an animal heart for cardiac surgery practice, it combines three-dimensional modeling technology to simulate the heart for modeling, and combines image processing technology to quickly determine The position and shape of the surgical incision that needs to be realized are displayed in the 3D model, which provides an intuitive surgical reference for surgical personnel, provides effective operation assistance for cardiac surgery, and improves the safety and intuitiveness of the surgical teaching process , Improve the teaching effect of cardiac surgery teaching.
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。The above description is a preferred embodiment of the present invention, and it should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered Be the protection scope of the present invention.
Claims (7)
- 一种基于心脏三维模型的模拟手术指导方法，其特征在于，包括步骤：A method for guiding simulated surgery based on a three-dimensional model of the heart, comprising the steps of:获取用于模拟人体心脏的动物心脏，并获取所述动物心脏的扫描图像；obtaining an animal heart for simulating a human heart, and obtaining a scanned image of the animal heart;根据所述扫描图像，构建所述动物心脏的三维虚拟模型；Constructing a three-dimensional virtual model of the animal heart according to the scanned image;根据手术要求在所述三维虚拟模型上标注出需要切口的位置，得到N个切口点；其中，N大于等于3；According to the requirements of the operation, the position of the incision is marked on the three-dimensional virtual model to obtain N incision points; wherein, N is greater than or equal to 3;根据所述切口点，确定切口平面；所述切口平面满足如下关系：According to the incision point, determine the incision plane; the incision plane satisfies the following relationship:
P n＝(x n,y n,z n) n＝1,2,…,N P n =(x n ,y n ,z n ) n=1,2,…,N其中，P n表示第n个切口点的坐标；Ax+By+z+C＝0表示所述切口平面； Wherein, P n represents the coordinates of the nth incision point; Ax+By+z+C=0 represents the incision plane;根据所述切口平面和手术针对的目标心脏结构，采用区域生长算法确定手术切口边界和切口中心；According to the incision plane and the target heart structure for the operation, a region growing algorithm is used to determine the surgical incision boundary and the incision center;根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径；calculating the maximum diameter and the minimum diameter of the incision according to the boundary of the surgical incision and the center of the incision;在所述三维虚拟模型中标识所述手术切口边界，并显示所述最大直径和所述最小直径；identifying the surgical incision boundary in the three-dimensional virtual model, and displaying the maximum diameter and the minimum diameter;所述根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径，包括步骤：The calculation of the maximum diameter and the minimum diameter of the incision according to the boundary of the surgical incision and the center of the incision comprises the steps of:根据所述手术切口边界和所述切口中心，确定切口直径；Determine the diameter of the incision according to the boundary of the surgical incision and the center of the incision;确定的所有所述切口直径中的最大值和和最小值，得到所述最大直径和所述最小直径；determining the maximum and minimum of all said incision diameters to obtain said maximum diameter and said minimum diameter;所述根据所述手术切口边界和所述切口中心，确定切口直径，包括：The determining the diameter of the incision according to the boundary of the surgical incision and the center of the incision includes:任选所述手术切口边界上的两点，作为第一待测点和第二待测点；Optionally, two points on the border of the surgical incision are used as the first point to be measured and the second point to be measured;计算所述第一待测点与所述切口中心形成的第一线段的斜率；calculating the slope of the first line segment formed by the first point to be measured and the center of the incision;计算所述第二待测点与所述切口中心形成的第二线段的斜率；calculating the slope of a second line segment formed by the second point to be measured and the center of the incision;若所述第一线段的斜率等于所述第二线段的斜率，则确定以所述第一待测点与所述第二待测点为端点的线段为所述切口直径。If the slope of the first line segment is equal to the slope of the second line segment, it is determined that a line segment with the first point to be measured and the second point to be measured as endpoints is the diameter of the incision. - 如权利要求1所述的基于心脏三维模型的模拟手术指导方法，其特征在于，确定所述切口中心的过程包括：The method for guiding simulated surgery based on a three-dimensional model of the heart according to claim 1, wherein the process of determining the center of the incision comprises:对所述目标心脏结构的位于所述切口平面上的图像点的位置坐标求平均值，得到所述切口中心的位置坐标。The position coordinates of the image points of the target heart structure located on the incision plane are averaged to obtain the position coordinates of the incision center.
- 如权利要求1所述的基于心脏三维模型的模拟手术指导方法，其特征在于，所述目标心脏结构包括左心房、右心房、左心室和右心室的至少一项。The simulated operation guidance method based on a three-dimensional heart model according to claim 1, wherein the target heart structure includes at least one of left atrium, right atrium, left ventricle and right ventricle.
- 如权利要求1所述的基于心脏三维模型的模拟手术指导方法，其特征在于，还包括步骤：The method for guiding simulated surgery based on a three-dimensional model of the heart as claimed in claim 1, further comprising the steps of:获取手术完成后的动物心脏的扫描图像，以构建术后三维虚拟模型；Obtain scanned images of the animal heart after surgery to construct a postoperative 3D virtual model;在所述术后三维虚拟模型上标注所述手术切口边界。The border of the surgical incision is marked on the postoperative three-dimensional virtual model.
- 一种基于心脏三维模型的模拟手术指导装置，其特征在于，用于执行如权利要求1-4任一项所述的基于心脏三维模型的模拟手术指导方法；包括：A simulated surgery guidance device based on a three-dimensional model of the heart, characterized in that it is used to perform the simulated surgery guidance method based on a three-dimensional heart model according to any one of claims 1-4; comprising:图像获取模块，用于获取用于模拟人体心脏的动物心脏，并获取所述动物心脏的扫描图像；An image acquisition module, configured to acquire an animal heart for simulating a human heart, and acquire a scanned image of the animal heart;模型构建模块，用于根据所述扫描图像，构建所述动物心脏的三维虚拟模型；A model construction module, configured to construct a three-dimensional virtual model of the animal heart according to the scanned image;切口运算模块，用于根据手术要求在所述三维虚拟模型上标注出需要切口的位置，得到N个切口点；其中，N大于等于3；The incision calculation module is used to mark the position of the incision on the three-dimensional virtual model according to the operation requirements, and obtain N incision points; wherein, N is greater than or equal to 3;所述切口运算模块，还用于根据所述切口点，确定切口平面；所述切口平面满足如下关系：The incision operation module is also used to determine the incision plane according to the incision point; the incision plane satisfies the following relationship:
P n＝(x n,y n,z n) n＝1,2,…,N P n =(x n ,y n ,z n ) n=1,2,…,N其中，P n表示第n个切口点的坐标；Ax+By+z+C＝0表示所述切口平面； Wherein, P n represents the coordinates of the nth incision point; Ax+By+z+C=0 represents the incision plane;所述切口运算模块，还用于根据所述切口平面和手术针对的目标心脏结构，采用区域生长算法确定手术切口边界和切口中心；根据所述手术切口边界和所述切口中心，计算切口的最大直径和最小直径；在所述三维虚拟模型中标识所述手术切口边界，并显示所述最大直径和所述最小直径。The incision calculation module is also used to determine the boundary of the surgical incision and the center of the incision by using a region growing algorithm according to the plane of the incision and the target heart structure of the operation; diameter and minimum diameter; identifying the surgical incision boundary in the three-dimensional virtual model, and displaying the maximum diameter and the minimum diameter. - 一种基于心脏三维模型的模拟手术指导设备，其特征在于，包括处理器、存储器以及存储在所述存储器中且被配置为由所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1至4中任意一项所述的基于心脏三维模型的模拟手术指导方法。A simulated surgery guidance device based on a three-dimensional model of the heart, characterized in that it includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor executes the computer program The procedure realizes the simulated surgery guidance method based on the three-dimensional model of the heart as described in any one of claims 1 to 4.
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质包括存储的计算机程序；其中，在所述计算机程序运行时控制所述计算机可读存储介质所在设备实现如权利要求1至4中任意一项所述的基于心脏三维模型的模拟手术指导方法。A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored computer program; wherein, when the computer program is running, the device on which the computer-readable storage medium is located is controlled to implement claims 1 to 1. The method for guiding simulated surgery based on a three-dimensional model of the heart described in any one of 4.
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