WO2023237074A1 - Ultrasonic positioning-based nodule positioning method and apparatus, and electronic device - Google Patents

Abstract

An ultrasonic positioning-based nodule positioning method and apparatus, and an electronic device. The method comprises: acquiring a thin-layer CT image of a patient, and on the basis of the thin-layer CT image, constructing a three-dimensional digital model of a target part of the patient (S202); wherein the surface of the three-dimensional digital model comprises a plurality of anatomical mark points and a plurality of multilateral positioning areas determined on the basis of the determined anatomical mark points, and the three-dimensional digital model is marked with a nodule; determining a projection point of the nodule in a target multilateral positioning area and a plurality of target anatomical mark points corresponding to the target multilateral positioning area (S204); determining the distance between the projection point of the nodule and each target anatomical mark point (S206); by means of ultrasonic positioning, determining the positions of a plurality of actual mark points corresponding to the plurality of target anatomical mark points outside the thoracic cavity of the patient (S208); determining an actual position of the nodule on the basis of the positions of the plurality of actual mark points and the plurality of distances (S210). By means of the present solution, the operation of preoperative puncture positioning can be prevented, the operation time and surgical trauma can be reduced, and rapid rehabilitation of a patient after an operation is facilitated.

Description

Nodule positioning methods, devices and electronic equipment based on ultrasound positioning

Cross-references to related applications

This application requires a Chinese patent application with the application number 202210651124.0 and the name "Nodule positioning method, device and electronic equipment based on ultrasonic positioning" submitted to the State Intellectual Property Office of China on June 9, 2022. The priority of the Chinese patent application with application number 202210651148.6 and titled "Nodule positioning method, device and electronic device based on triangulation" submitted to the State Intellectual Property Office of China on 09th, the entire content of which is incorporated into this application by reference. .

Technical field

The present application relates to the field of medical technology, and in particular to a nodule positioning method, device and electronic equipment based on ultrasound positioning.

Background technique

Currently, with the popularization of chest CT (Computed Tomography), the detection rate of small pulmonary nodules and early lung cancer continues to increase, and the number of cases requiring minimally invasive surgery is also increasing. Precise resection of pulmonary nodules requires the assistance of modern imaging technologies such as chest thin-section CT and digital reconstruction navigation technology. Especially for sublobar resection of early-stage lung cancer, currently there are two main surgical methods: wedge resection and segmental resection. For most early-stage lung cancer or benign nodules manifested by ground-glass nodules, wedge resection can achieve radical cure. Compared with segmental surgery, wedge resection is faster, less invasive, has shorter recovery time, and is more economical.

However, the current digital lung reconstruction navigation technology is mainly designed for lung segment surgery, and the lung segment where the nodule is located is determined based on the reconstruction of pulmonary blood vessels and trachea to guide the surgery. However, pulmonary wedge resection requires clear projection positions of pulmonary nodules on the lung surface and helps doctors position them during surgery. Therefore, related lung digital reconstruction navigation methods cannot guide pulmonary wedge resection.

At present, pulmonary wedge resection mainly relies on preoperative puncture under CT navigation, and placement of markers at the projection position of the nodule on the lung surface to achieve localization. During the operation, the doctor predicts the corresponding position of the nodule based on the position of the marker, thereby achieving precise wedge resection. However, compared with digital reconstruction navigation, preoperative puncture positioning also has many shortcomings, such as: (1) The patient suffers great pain and fear during the puncture (about 15-30 minutes) and while waiting for the operation after the puncture (tens of minutes to hours) ; (2) Repeated CT irradiation increases radiation exposure; (3) Anesthesiologists and nurses are required to provide care and management after puncture positioning; (4) Complications such as pneumothorax and bleeding cannot be treated in time, and the risk is high; (5) Limited by Due to the lack of space, equipment and personnel, many hospitals are unable to carry out this technology, which limits the promotion of precise pulmonary nodule resection surgery.

Contents of the invention

In view of this, this application provides a nodule positioning method based on ultrasound positioning, a nodule positioning device based on ultrasound positioning, and electronic equipment to avoid preoperative puncture positioning operations, reduce surgical time and surgical trauma, and benefit patients. Recovery quickly after surgery.

Embodiments of the present application provide a nodule positioning method based on ultrasound positioning. The nodule positioning method based on ultrasound positioning may include: acquiring a thin-section CT image of the patient, and constructing a three-dimensional map of the patient's target part based on the thin-section CT image. Digital model; wherein, the surface of the three-dimensional digital model includes multiple anatomical mark points and multiple multilateral positioning areas determined based on the determined anatomical mark points, and the three-dimensional digital model is marked with nodules; determine the projection point of the nodule in the target multilateral positioning area and Multiple target anatomical mark points corresponding to the target multilateral positioning area; determine the distance between the projection point of the nodule and each target anatomical mark point; determine multiple target anatomical mark points corresponding to multiple target anatomical mark points outside the patient's chest through ultrasound positioning. The location of the actual marker points; the actual location of the nodule is determined based on the locations of multiple actual marker points and multiple distances.

In an optional embodiment of the present application, the target site is the lungs, and the nodule positioning method based on ultrasound positioning may further include: determining a multilateral positioning area based on multiple anatomical mark points of the same lung lobe.

In an optional embodiment of the present application, the above-mentioned step of determining the projection point of the nodule in the target multilateral localization area and the multiple target anatomical landmark points corresponding to the target multilateral localization area may include: based on the multiple target anatomical mark points corresponding to the target multilateral localization area. The target anatomical mark points are used to construct a plane; the position of the nodule marked by the three-dimensional digital model is projected onto the plane to obtain the projection point of the nodule in the target multilateral positioning area.

In an optional embodiment of the present application, the above step of determining the distance between the projection point of the nodule and each target anatomical landmark point may include: determining the coordinates of the projection point of the nodule and the multiple target anatomical landmark points on a plane ; Determine the distance between the nodule's projection point and each target anatomical landmark based on coordinates.

In an optional embodiment of the present application, the above-mentioned step of determining the positions of multiple actual marking points corresponding to the multiple target anatomical marking points outside the patient's chest through ultrasound positioning may include: The locations of multiple actual landmarks corresponding to multiple target anatomical landmarks are determined outside the chest cavity.

In an optional embodiment of the present application, the above step of determining the actual location of the nodule based on the locations of multiple actual marker points and multiple distances may include: determining multiple actual marker points based on the locations of the multiple actual marker points the first distance between the multiple target anatomical landmark points; determining the second distance between the multiple target anatomical landmark points based on the positions of the multiple target anatomical landmark points; determining the line segment shortening coefficient based on the first distance and the second distance; based on the projection point of the nodule and The distance of each target anatomical marker point and the line segment shortening coefficient determine the third distance between the projection point of the nodule and each actual marker point; the actual location of the nodule is determined based on multiple third distances.

In an optional embodiment of the present application, the above step of determining the actual location of the nodule based on multiple third distances may include: dividing multiple actual marker points into multiple groups; wherein each group includes two Actual marker points; the actual marker points included in different groups are not exactly the same; the predicted position of the nodule corresponding to each group is determined based on the third distance corresponding to the two actual marker points in each group; based on the corresponding nodule of each group The predicted location of the nodule determines the actual location of the nodule.

In an optional embodiment of the present application, the above step of determining the actual location of the nodule based on the predicted location of the nodule corresponding to each group may include: based on the location of the nodule corresponding to each group in a least squares manner. The predicted location determines the actual location of the nodule.

Embodiments of the present application also provide a nodule positioning device based on ultrasound positioning. The nodule positioning device based on ultrasound positioning may include: a model building module configured to acquire a thin-slice CT scan of a patient. Image, a three-dimensional digital model of the patient's target part is constructed based on the thin-section CT image; among which, the surface of the three-dimensional digital model includes multiple anatomical mark points and multiple multilateral positioning areas determined based on the determined anatomical mark points, and the three-dimensional digital model is marked with knots Node; a projection point determination module, the projection point determination module is configured to determine the projection point of the nodule in the target multilateral positioning area and a plurality of target anatomical mark points corresponding to the target multilateral positioning area; a distance calculation module, the distance The calculation module is configured to determine the distance between the projection point of the nodule and each target anatomical marker point; the actual marker point determination module is configured to locate the patient's chest cavity through ultrasound positioning. Externally determining the positions of a plurality of actual mark points corresponding to the plurality of target anatomical mark points; an actual position determination module configured to determine the location of the nodule based on the positions of the plurality of actual mark points and a plurality of distances actual location.

In an optional embodiment of the present application, the target site is the lungs, and the nodule positioning device based on ultrasound positioning may further include a multilateral positioning area determination module, and the multilateral positioning area determination module is configured to: Multiple anatomical landmarks in the same lung lobe define a multilateral localization area.

In an optional embodiment of the present application, the above-mentioned projection point determination module can also be configured to: construct a plane based on multiple target anatomical mark points corresponding to the target multilateral positioning area; and determine the position of the nodule marked by the three-dimensional digital model Project to the plane to obtain the projection point of the nodule in the target multilateral positioning area.

In an optional embodiment of the present application, the above distance calculation module can also be configured to: determine the coordinates of the projection point of the nodule and the multiple target anatomical mark points on the plane; determine the relationship between the projection point of the nodule and the coordinates of the target anatomical mark point based on the coordinates. The distance to each target anatomical landmark.

In an optional embodiment of the present application, the above-mentioned actual marker point determination module may also be configured to: determine the positions of multiple actual marker points corresponding to the multiple target anatomical marker points outside the patient's chest through an ultrasonic sensor.

In an optional embodiment of the present application, the above-mentioned actual position determination module can also be configured to: determine the first distance between multiple actual marker points based on the positions of multiple actual marker points; based on multiple target anatomy The position of the marker point determines a second distance between the plurality of target anatomical marker points; determines a line segment shortening coefficient based on the first distance and the second distance; and determines a line segment shortening coefficient based on the distance between the projection point of the nodule and each target anatomical mark point and the line segment shortening coefficient. Determine a third distance between the projection point of the nodule and each actual marker point; determine the actual location of the nodule based on the plurality of third distances.

In an optional embodiment of the present application, the above-mentioned actual position determination module can also be configured to: divide multiple actual marker points into multiple groups; wherein each group includes two actual marker points; different groups The actual marker points included in are not exactly the same; the predicted position of the nodule corresponding to each group is determined based on the third distance corresponding to the two actual marker points in each group; the predicted position of the nodule corresponding to each group is determined based on The actual location of the nodule.

In an optional embodiment of the present application, the above-mentioned actual position determination module may also be configured to: determine the actual position of the nodule based on the predicted position of the nodule corresponding to each group in a least squares manner.

An embodiment of the present application also provides an electronic device. The electronic device may include: a processing device and a storage device; a computer program is stored on the storage device, and the computer program performs the above-mentioned nodule positioning based on ultrasound positioning when the processed device is running. method.

The embodiments of the present application at least bring the following beneficial effects:

The embodiments of this application provide a nodule positioning method based on ultrasound positioning, a nodule positioning device and electronic equipment based on ultrasound positioning, which can construct a three-dimensional digital model based on the patient's thin-slice CT image, and use the anatomical markers in the three-dimensional digital model to The point is used as a reference point to guide the patient's nodule positioning and resection based on the relative distance relationship between the projection point of the nodule and multiple target anatomical landmark points. In this method, preoperative puncture and positioning operations can be avoided, operation time and surgical trauma can be reduced, and the patient can recover quickly after surgery.

Other features and advantages of the present disclosure will be set forth in the subsequent description, or some of the features and advantages may be inferred or unambiguously determined from the description, or may be learned by practicing the above-mentioned techniques of the present disclosure.

In order to make the above objects, features and advantages of the present disclosure more obvious and understandable, optional embodiments are listed below and described in detail with reference to the accompanying drawings.

Description of the drawings

In order to more clearly explain the technical solutions in the specific embodiments of the present application or related technologies, the drawings that need to be used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings in the following description are: For some embodiments of the present application, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of a lung nodule positioning method based on ultrasound positioning provided by an embodiment of the present application;

Figure 2 is a flow chart of a nodule positioning method based on ultrasound positioning provided by an embodiment of the present application;

Figure 3 is a flow chart of another nodule positioning method based on ultrasound positioning provided by an embodiment of the present application;

Figure 4 is a schematic diagram of the right lung area of a three-dimensional digital model provided by an embodiment of the present application;

Figure 5 is a schematic diagram of the left lung area of a three-dimensional digital model provided by an embodiment of the present application;

Figure 6 is a schematic diagram of a three-dimensional digital model provided by an embodiment of the present application;

Figure 7 is a schematic diagram of a multilateral positioning area of the right upper lung provided by an embodiment of the present application;

Figure 8 is a schematic diagram of a plane corresponding to a target multilateral positioning area provided by an embodiment of the present application;

Figure 9 is a schematic diagram of coordinate positioning of actual marking points through ultrasonic sensors according to an embodiment of the present application;

Figure 10 is a schematic structural diagram of a nodule positioning device based on ultrasound positioning provided by an embodiment of the present application;

FIG. 11 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described below in conjunction with the accompanying drawings. The technical solution is clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

Currently, referring to the schematic diagram of a lung nodule positioning method based on ultrasound positioning shown in Figure 1, lung nodules can be located through two methods: lung CT three-dimensional reconstruction or preoperative repeated CT scan positioning. However, the three-dimensional reconstruction method of lung CT is invasive, time-consuming and labor-intensive, has slow patient recovery, and has high economic costs. Repeated CT scan positioning before surgery is more painful for patients, will cause additional trauma, and increases radiation. It requires positioning equipment and personnel, and the cost is high.

Therefore, there is currently a lack of non-invasive positioning methods that can achieve projection of pulmonary nodules to the lung surface in clinical practice. Based on this, embodiments of the present application provide a nodule positioning method, device and electronic equipment based on ultrasound positioning, mainly providing an ultrasound-assisted multilateral positioning technology for pulmonary nodules.

In order to facilitate understanding of this embodiment, a nodule positioning method based on ultrasound positioning disclosed in the embodiment of the present application is first introduced in detail.

Example 1:

The embodiment of the present application provides a nodule positioning method based on ultrasound positioning. Refer to the flow chart of a nodule positioning method based on ultrasound positioning shown in Figure 2. The nodule positioning method based on ultrasound positioning may include the following steps:

Step S202: Obtain a thin-section CT image of the patient, and construct a three-dimensional digital model of the patient's target part based on the thin-section CT image.

The surface of the three-dimensional digital model includes multiple anatomical mark points and multiple multilateral positioning areas determined based on the determined anatomical mark points, and the three-dimensional digital model is marked with nodules. A thin-section CT image can be a CT image with a small interval between each scan, and can be a CT image with a single scan layer ≤5mm.

Through thin-section CT scans of thin-section CT images, a three-dimensional digital model of the patient's target part can be constructed. The target site of the patient in this embodiment may be the lungs, which will not be described again in this embodiment.

Anatomical marker points are all points on the surface of the target part, which can be understood as the points where the patient's actual marker points and actual nodule positions are projected on the surface of the target part through the Euler space shortest module projection algorithm. Multiple actual marking points can be marked on the patient's lungs in advance, and the actual marking points correspond one-to-one with the anatomical marking points in the three-dimensional digital model.

More than three anatomical mark points can constitute a multilateral positioning area, wherein the anatomical mark points corresponding to a multilateral positioning area can be on the same plane. Taking the target site as the lungs as an example, in principle, multiple anatomical landmarks in the same lung lobe are selected to construct a multilateral positioning area. In this embodiment, multiple multilateral positioning areas can be arranged on the surface of the three-dimensional digital model, and the position of the nodule can also be marked inside the three-dimensional digital model.

Step S204: Determine the projection point of the nodule in the target multilateral positioning area and multiple targets corresponding to the target multilateral positioning area. Mark anatomical landmarks.

Since the anatomical mark points corresponding to a multilateral positioning area can be on the same plane, the position of the internally marked nodule in the three-dimensional digital model can be projected to the selected target multilateral positioning area to obtain the projection point of the nodule in the target multilateral positioning area. . At the same time, the multiple anatomical landmarks that construct the target multilateral positioning area can be called target anatomical landmarks.

Step S206: Determine the distance between the projection point of the nodule and each target anatomical mark point.

The distance between the projection point of the nodule and each target anatomical marker point can be understood as the distance between the coordinates of the projection point of the nodule on the plane of the target multilateral positioning area and the coordinates of each target anatomical marker point on the plane of the target multilateral positioning area. distance.

Step S208: Position the patient outside the patient's chest using ultrasound positioning to determine the positions of multiple actual mark points corresponding to the multiple target anatomical mark points.

The actual marking point can be understood as the actual point of the patient's target site. Since the target site is likely to have collapse, the actual marking point and the anatomical marking point may not be the same. During the actual surgery, the actual marker points corresponding to the target anatomical marker points can be determined first.

In this embodiment, the multiple actual marking points are determined outside the patient's chest through ultrasound positioning, that is, they are positioned outside the patient's chest through ultrasound.

Step S210: determine the actual location of the nodule based on the locations of multiple actual marker points and multiple distances.

Since the target site is likely to have collapse, the distance between the projection point of the nodule and each actual marker point can be calculated based on the distance between the projection point of the nodule and each target anatomical marker point, and then the actual location of the nodule can be predicted based on the above distance. .

The embodiment of the present application provides a nodule positioning method based on ultrasound positioning, which can construct a three-dimensional digital model based on the patient's thin-slice CT image, using the anatomical mark points in the three-dimensional digital model as reference points, and based on the projection points of the nodules and The relative distance relationship of multiple target anatomical landmarks guides the patient's nodule location and resection. In order to avoid preoperative puncture and positioning operations, the operation time and surgical trauma can be reduced, which is conducive to the rapid recovery of patients after surgery.

Example 2:

This embodiment provides another nodule positioning method based on ultrasound positioning. This method is implemented on the basis of the above embodiment. Refer to the flow chart of another nodule positioning method based on ultrasound positioning shown in Figure 3. The method is The nodule localization method based on ultrasound localization can include the following steps:

Step S302: Obtain a thin-section CT image of the patient, and construct a three-dimensional digital model of the patient's target part based on the thin-section CT image.

Specifically, the target site in this embodiment may be the lungs, and a multilateral positioning area may be determined based on multiple anatomical mark points of the same lung lobe. Among them, the selection criteria of anatomical landmark points include: (1) they are common anatomical points in all cases; (2) they are easy to find during thoracoscopic surgery; (3) their positions are less affected by breathing or cardiac pulsation.

Referring to the schematic diagram of the right lung area of a three-dimensional digital model shown in Figure 4 and the schematic diagram of the left lung area of a three-dimensional digital model shown in Figure 5, letters represent anatomical mark points, and dotted line areas represent multilateral positioning areas. This embodiment can select a multilateral positioning area based on the individualized reconstructed three-dimensional lung model. The selection principle of the multilateral positioning area is the same lung lobe. According to the anatomical shape, multiple anatomical mark points corresponding to a multilateral positioning area can be placed on the same plane as much as possible, reducing the lung surface curve. Impact.

Referring to the schematic diagram of a three-dimensional digital model shown in Figure 6, this embodiment can perform modeling based on thin-section CT images of patients to generate a three-dimensional digital model. First, the projection position of the nodule on the lung surface can be calculated, the position M of the projection point of the nodule on the lung surface can be marked, and the multilateral positioning area where the point is located can be clarified.

Step S304: Determine the projection point of the nodule in the target multilateral positioning area and multiple target anatomical mark points corresponding to the target multilateral positioning area.

Specifically, a plane can be constructed based on multiple target anatomical mark points corresponding to the target multilateral positioning area; the position of the nodule marked by the three-dimensional digital model is projected onto the plane to obtain the projection point of the nodule in the target multilateral positioning area.

Refer to the schematic diagram of a multilateral positioning area of the right upper lung shown in Figure 7. Taking the right upper lung as an example, points A, B, C, D, and E are the target anatomical mark points, and point M is the position of the nodule in the target multilateral positioning area. Projection points, d1-d5 are the distances between the projection point of the nodule and each target anatomical mark point respectively.

Step S306: Determine the distance between the projection point of the nodule and each target anatomical mark point.

Specifically, the plane coordinates of the projection point of the nodule and multiple target anatomical landmark points can be determined; and the distance between the projection point of the nodule and each target anatomical landmark point is determined based on the coordinates.

Referring to the schematic diagram of a plane corresponding to a target multilateral positioning area shown in Figure 8, the plane coordinate set {(x _A , y _A ), (x _B , y _B ), (x _C , y _C ), which can locate AM, (x _D ,y),(x _E ,y _E )}, the coordinates of point M are (x, y).

Then calculate the distance between the projection point of the nodule and each target anatomical landmark point: d1 ² = (x–x _A ) ² + (yy _A ) ² , d2 ² = (x–x _B ) ² + (y–y _B ) ² , d3 ² = (x–x _C ) ² + (y–y _C ) ² , d4 ² = (x–x _D ) ² + (y–y _D ) ² , d5 ² = (x–x _E ) ² +(y–y _E ) ² .

In addition, the distance between target anatomical landmarks can also be calculated: AB ² =(x _A –x _B ) ² +(y _A –y _B ) ² , BC ² =(x _B –x _C) ² +(y _B –y _C ) ² , CD ² = (x _C –x _D ) ² + (y _C –y _D ) ² , DE ² = (x _D –x _E ) ² + (y _D –y _E ) ² , AE ² =(x _A –x _E ) ² +(y _A –y _E ) ² .

Step S308: Determine the positions of multiple actual mark points corresponding to the multiple target anatomical mark points through an ultrasonic sensor.

During patient surgery, this embodiment can perform coordinate positioning of actual marker points through ultrasonic positioning. Three ultrasound sensors can be placed outside the patient's body, defined as No. 2, No. 3, and No. 4 respectively, of which No. 3 is an integrated transceiver sensor. A handheld No. 1 ultrasound reflector is placed into the body to indicate the actual marker point.

Referring to Figure 9, which is a schematic diagram of coordinate positioning of actual marking points through ultrasonic sensors, define the position coordinates of sensor No. 1 (x _T , y _T ), the coordinate points B (x 2 ) of sensors No. 2, 3, and ₄ . , y ₂ ), C (x ₃ , y ₃ ), D (x ₄ , y ₄ ); the distances of B, C, and D from the target point (that is, the actual position of the nodule) are D2, D3, and D4 respectively.

In addition, the CD distance is L1 and the BC distance is L2. Define the rotation angle of L1 relative to the X-axis as α ₁ , the rotation angle of L2 relative to the X-axis as α ₂ , the angle between D3 and L1 as β ₁ , and the angle between D2 and L2 as β ₂ . Among them, the positions of B, C, and D are relatively fixed, that is, L1, L2, α ₁ , and α ₂ are known values.

Sensor No. 3 is in the integrated transceiver mode, and sensors No. 2 and 4 are in the receiving mode. After sensor No. 3 transmits the ultrasonic wave, it is in the receiving state like sensors No. 2 and 4, waiting for the echo signal of the ultrasonic wave, and generates three flight times, namely TOF2, TOF3, and TOF4.

Distance can be measured: Assuming that the speed of sound is Vt, the following distance relationship can be established: D2+D3=Vt×TOF2, D3+D3=Vt×TOF3, D4+D3=Vt×TOF4. Then the distance of D3 is: D3=Vt×TOF3/2. The distance between D2 and D4 is: D2=Vt×TOF2–D3; D4=Vt×TOF4-D3.

Calculate angle β: The values of β1 and β2 can be calculated according to the cosine theorem: β1=arccos[(D3 ² +L1 ² –D4 ² )/2×D3×L1], β2=arccos[(D2 ² +L2 ² –D3 ² )/2×D2×L2].

Calculate the target position coordinates: The combined measurement results of sensors No. 3 and 4 are: X _T =X ₃ +D3×cos(α1+β1), Y _T =Y ₃ +D3×sin(α1+β1). The measurement results of sensor combination No. 2 and No. 3 are: X _T =X ₃ +D3×cos(α1+β1), Y _T =Y ₃ +D3×sin(α1+β1). Then the coordinates of X _T and Y _T are the average values measured by the two sets of sensors. As the number of sensors increases, the relative measurement accuracy also increases.

Step S310: Determine the actual location of the nodule based on the locations of multiple actual marker points and multiple distances.

Specifically, the first distance between the plurality of actual mark points may be determined based on the positions of the plurality of actual mark points; the second distance between the plurality of target anatomical mark points may be determined based on the positions of the plurality of target anatomical mark points; The first distance and the second distance determine the line segment shortening coefficient; based on the distance between the projection point of the nodule and each target anatomical mark point and the line segment shortening coefficient, determine the third distance between the projection point of the nodule and each actual mark point; based on multiple The third distance determines the actual location of the nodule.

Taking the target multilateral positioning area shown in Figure 8 as an example, the target anatomical marker points A-E in Figure 8 can respectively correspond to the actual marker points A’-E’.

First, place the ultrasound detector outside the body, hold the No. 1 sensor, and place it at the actual anatomical mark points A', B', C', D', and E' successively. Then, A', B', The response positions of C', D' and E' on the coordinate system {(x _A ,y _A ), (x _B ,y _B ), (x _C ,y _C ), (x _D ,y _D ), (x _E ,y _E )}.

During the operation, due to the effect of artificial pneumothorax, the lungs of the reconstructed model before surgery have collapsed slightly in equal proportions. A certain length correction needs to be performed. First, calculate the actual A'B', B'C', C'D', and D'E' The first distance between point A'E': A'B' ² = (x _A -x _B ) ² + (y _A -y _B ) ² , solve the remaining distances in the same way.

The second distances between points AB, BC, CD, DE and AE have been calculated above. There may be slight differences in the distance shortening ratio at different anatomical points after lung collapse, so the shortening coefficient of the line segment after collapse is averaged: α = (A'B'/AB+B'C'/BC+C'D'/CD+ D'E'/DE+A'E'/AE)/5.

The distances from the lung surface projection point M' (that is, the actual position of the nodule) to points A', B', C', D', and E' are d1', d2', d3', d4', and d5' respectively, where : d1'=d1×α, d2'=d2×α, d3'=d3×α, d4'=d4×α, d5'=d5×α.

When calculating the actual location of a nodule, multiple actual marker points can be divided into multiple groups; each group includes two actual marker points; the actual marker points included in different groups are not exactly the same; based on each group The third distance corresponding to the two actual marker points in determines the predicted position of the nodule corresponding to each group; the actual position of the nodule is determined based on the predicted position of the nodule corresponding to each group.

That is to say, you can select two points from A’, B’, C’, D’, E’, and then calculate the predicted position of the nodule based on the two selected points. Repeat the step of selecting two points and then determine the actual location of the nodule from the predicted unknown based on multiple nodules.

During the actual measurement process, due to possible errors between the marked target point and the actual target point (nodule projection point), the observation value equation between the target point (X, Y) and the known point (Xi, Yi) is: (xx ₁ ) ² +(yy ₁ ) ² =d ₁ ² , (xx ₂ ) ² +(yy ₂ ) ² =d ₂ ² ...(xx _n ) ² +(yy _n ) ² =d _n ² .

Specifically, the actual location of the nodule can be determined based on the predicted location of the nodule corresponding to each group in a least squares manner. The least squares method is used to control the minimum error so that the marked point is closest to the actual target point.

The first equation minus the second equation, the second equation minus the third equation...the n-1th equation minus the nth equation, so that the unknown parameter in the system of equations can be eliminated: the power of two x ² +y ² , you can get the following system of equations:
2(x ₂ -x ₁ )x+2(y ₂ -y ₁ )y＝d ₁ ² –d ₂ ² –(x ₁ ² +y ₁ ² )+(x ₂ ² +y ₂ ² ),
2(x ₃ -x ₂ )x+2(y ₃ -y ₂ )y＝d ₂ ² –d ₃ ² –(x ₂ ² +y ₂ ² )+(x ₃ ² +y ₃ ² )…
2(x _n -x _n-1 )x+2(y _n -y _n-1 )y＝d _n-1 ² –d _n ² –(x _n-1 ² +y _n-1 ² )+(x _n ² +y _n ² ).

The matrix representation of this system of equations is: AX=B. Among them, the various parameters of the matrix equation are:

Since among the n equations, the coordinates =|ε| ² =ε ^T ε=(AX-B) ^T (AX-B).

If you want to minimize the error, you need to minimize E. Therefore, differentiate the above ^{formula with} respect to Solving the above expression gives: X=(A ^T A) ^-1 (A ^T B). Since X is the matrix form of the coordinates of the node to be located, the estimated coordinates (x, y) of the point to be located can be obtained.

According to the calculated position of point M, the positioning point is displayed on the external coordinate plane, and the handheld ultrasonic sensor 1 is moved to the corresponding position in the lung so that its corresponding point on the display coincides with the target positioning point, and corresponding electrocautery is performed on the lung. mark.

Traditional three-dimensional lung reconstruction navigation is mainly used for segmental resection surgery and is not suitable for cases such as pulmonary nodule biopsy or early lung cancer that require precise wedge resection. At present, the localization of pulmonary nodules mainly relies on CT-guided puncture, which requires additional CT equipment before surgery and requires professional operations. Patients are repeatedly exposed to additional radiation and often experience unbearable pain. During the puncture process, Risks such as pneumothorax and bleeding reduce the safety of minimally invasive surgery.

The embodiment of this application also proposes a new measurement and positioning method based on anatomical points in the lungs. This method uses specific anatomical landmark points in the lungs as a reference to complete the positioning of the projection of nodules on the lung surface through precise measurement, achieving the same results as CT Guided puncture positioning has the same effect, but can completely avoid the shortcomings of traditional CT-guided pulmonary nodule puncture positioning methods, allowing patients to complete nodule positioning under general anesthesia, which is safe, non-invasive and accurate. The method provided in this embodiment has the following advantages:

(1) Reduce radiation exposure: The traditional CT guidance method requires additional CT scans before surgery after the patient completes the initial diagnostic CT. During the puncture process, repeated CT irradiation is required to determine the position of the positioning marker. The method provided by this embodiment only requires one initial diagnostic CT for three-dimensional modeling, which greatly reduces radiation damage.

(2) Reduce pain: Local anesthesia for patients during the traditional CT-assisted positioning method often causes unbearable pain. After the puncture is completed, the metal markers remain in the body, and the patient needs to be awake to wait for the operation to begin, further increasing the pain. During the positioning process of the method provided by this embodiment, the patient is under general anesthesia throughout the entire process without additional trauma or pain.

(3) Risk reduction: The traditional CT-guided puncture positioning method may cause damage to the lungs, blood vessels, etc. during the puncture process, causing the patient risks such as pneumothorax and bleeding. While the patient completes the puncture and waits for the operation, if the related complications cannot be treated in time , which may cause shock and other risks. The method provided in the embodiment does not involve a puncture process and avoids the risks of hemothorax and pneumothorax.

(4) Prevent cross-infection: With the traditional CT guidance method, multiple patients often share a CT to complete the operation during preoperative positioning, which greatly increases the risk of cross-infection between medical staff and patients during the operation. The method provided by this embodiment can realize individualized positioning without the need to share puncture equipment, thus avoiding the risk of cross-infection during the positioning process.

(5) Reduce time: The traditional CT positioning method takes about 30 minutes. The positioning time of the auxiliary equipment of this application can be controlled to 5-10 minutes, which greatly reduces the time required for positioning.

(6) Labor cost: The traditional CT positioning method requires additional radiology nurses to assist in completing the operation, which wastes labor costs. However, this method only requires the surgeon to complete the operation during the operation, which reduces labor costs.

(7) Equipment dependence: This operation does not require high-cost fixed equipment such as CT, which reduces the dependence of positioning technology on equipment and is conducive to the promotion of this technology.

Embodiment three:

According to the above method embodiments, embodiments of the present application also provide a nodule positioning device based on ultrasound positioning. Refer to Figure 10 for a schematic structural diagram of a nodule positioning device based on ultrasound positioning. The nodule positioning device based on ultrasound positioning is shown in Figure 10 . device Can include:

Model building module 1001, the model building module 1001 is configured to acquire a thin-section CT image of the patient, and construct a three-dimensional digital model of the patient's target part based on the thin-section CT image; wherein the surface of the three-dimensional digital model includes multiple anatomy Marking points and multiple multilateral localization areas determined based on determined anatomical marking points, and the three-dimensional digital model is marked with nodules;

Projection point determination module 1002, the projection point determination module 1002 is configured to determine the projection point of the nodule in the target multilateral positioning area and a plurality of target anatomical mark points corresponding to the target multilateral positioning area;

A distance calculation module 1003, the distance calculation module 1003 is configured to determine the distance between the projection point of the nodule and each target anatomical landmark point;

Actual marker point determination module 1004, the actual marker point determination module 1004 is configured to determine the positions of multiple actual marker points corresponding to the multiple target anatomical marker points outside the patient's chest through ultrasound positioning;

Actual location determination module 1005, the actual location determination module 1005 is configured to determine the actual location of the nodule based on the location of a plurality of actual marker points and a plurality of distances.

The nodule positioning device based on ultrasound positioning provided by the embodiment of the present application can construct a three-dimensional digital model based on the patient's thin-section CT image, using the anatomical mark points in the three-dimensional digital model as reference points, and based on the projection point of the nodule and The relative distance relationship of multiple target anatomical landmarks guides the patient's nodule location and resection. In order to avoid preoperative puncture and positioning operations, the operation time and surgical trauma can be reduced, which is conducive to the rapid recovery of patients after surgery.

The target site is the lungs, and the nodule positioning device based on ultrasound positioning may further include a multilateral positioning area determination module configured to determine a Multilateral targeting area.

The above-mentioned projection point determination module can also be configured to construct a plane based on multiple target anatomical mark points corresponding to the target multilateral positioning area; project the position of the nodule marked by the three-dimensional digital model onto the plane to obtain the location of the nodule in the target multilateral positioning area. projection point.

The above distance calculation module may also be configured to determine the plane coordinates of the projection point of the nodule and multiple target anatomical landmark points; and determine the distance between the projection point of the nodule and each target anatomical landmark point based on the coordinates.

The above-mentioned actual marker point determination module may also be configured to determine the positions of multiple actual marker points corresponding to the multiple target anatomical marker points outside the patient's chest through an ultrasonic sensor.

The above-mentioned actual position determination module may also be configured to determine a first distance between a plurality of actual mark points based on the positions of the plurality of actual mark points; determine a first distance between a plurality of target anatomical mark points based on the positions of the plurality of target anatomical mark points. the second distance between; determine the line segment shortening coefficient based on the first distance and the second distance; determine the distance between the projection point of the nodule and each target anatomical marker point and the line segment shortening coefficient to determine the projection point of the nodule and each actual marker point the third distance; determine the actual location of the nodule based on multiple third distances.

The above-mentioned actual position determination module can also be configured to divide multiple actual marking points into multiple groups; wherein each group includes two actual marking points; the actual marking points included in different groups are not exactly the same; based on each The third distance corresponding to the two actual marker points in each group determines the predicted position of the nodule corresponding to each group; the actual position of the nodule is determined based on the predicted position of the nodule corresponding to each group.

The above-mentioned actual position determination module may also be configured to determine the actual position of the nodule based on the predicted position of the nodule corresponding to each group in a least squares manner.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the nodule positioning device based on ultrasound positioning described above can be referred to the aforementioned embodiment of the nodule positioning method based on ultrasound positioning. The corresponding process will not be described again here.

Embodiment 4:

An embodiment of the present application also provides an electronic device for running the above-mentioned nodule positioning method based on ultrasound positioning; see Figure 11 for a schematic structural diagram of an electronic device. The electronic device includes a memory 100 and a processor 101. The memory 100 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the above-mentioned nodule positioning method based on ultrasound positioning.

Further, the electronic device shown in FIG. 11 also includes a bus 102 and a communication interface 103. The processor 101, the communication interface 103 and the memory 100 are connected through the bus 102.

Among them, the memory 100 may include high-speed random access memory (RAM, Random Access Memory), and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 103 (which can be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used. The bus 102 may be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one bidirectional arrow is used in Figure 11, but it does not mean that there is only one bus or one type of bus.

The processor 101 may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor 101 . The above-mentioned processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU for short), a Network Processor (NP for short), etc.; it can also be a Digital Signal Processor (DSP for short). ), Application Specific Integrated Circuit (ASIC for short), Field-Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or implemented using The combination of hardware and software modules in the decoding processor is completed. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory 100. The processor 101 reads the information in the memory 100 and completes the steps of the method in the foregoing embodiment in combination with its hardware.

Embodiments of the present application also provide a computer-readable storage medium that stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement The specific implementation of the nodule positioning method based on ultrasound positioning can be found in the method embodiments and will not be described again here.

The computer program products of the nodule positioning method, device and electronic device based on ultrasound positioning provided by the embodiments of the present application include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the previous method embodiments. The specific implementation of the method can be found in the method embodiments and will not be described again here.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system and/or device described above can be referred to the corresponding process in the foregoing method embodiment, and will not be described again here.

In addition, in the description of the embodiments of this application, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood on a case-by-case basis.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or contributes to the relevant technology or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several The instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limitations on this application. Furthermore, the terms “first”, “second” and “third” are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that the above-mentioned embodiments are only specific implementation modes of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although refer to the foregoing Examples for this application Please provide a detailed description. Those of ordinary skill in the art should understand that any person familiar with the art can still modify the technical solutions recorded in the foregoing embodiments or easily modify them within the technical scope disclosed in this application. Changes are thought of, or equivalent substitutions are made to some of the technical features; and these modifications, changes or substitutions do not deviate from the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and shall be covered by the protection scope of the present application. within. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Industrial applicability

This application provides a nodule positioning method, device and electronic equipment based on ultrasound positioning. The nodule positioning method based on ultrasound positioning includes: obtaining a thin-section CT image of the patient, and constructing a three-dimensional digital model of the patient's target part based on the thin-section CT image; the surface of the three-dimensional digital model includes multiple anatomical mark points and the determined anatomy based on Multiple multilateral positioning areas determined by marking points, the three-dimensional digital model is marked with nodules; determine the projection point of the nodule in the target multilateral positioning area and the multiple target anatomical mark points corresponding to the target multilateral positioning area; determine the projection point of the nodule and The distance of each target anatomical marker point; determine the positions of multiple actual marker points corresponding to multiple target anatomical marker points outside the patient's chest through ultrasound positioning; determine the result based on the positions and multiple distances of multiple actual marker points. The actual location of the section. It can avoid preoperative puncture and positioning operations, reduce surgical time and surgical trauma, and help patients recover quickly after surgery.

In addition, it can be understood that the nodule localization method based on ultrasound localization and the nodule localization device based on ultrasound localization of the present application are reproducible and can be used in a variety of applications. For example, the nodule localization based on ultrasound localization of the present application can be used in any application that needs to reduce surgical time and surgical trauma.

Claims (17)

1. A nodule positioning method based on ultrasound positioning, wherein the nodule positioning method based on ultrasound positioning includes:

   Obtain a thin-section CT image of the patient, and construct a three-dimensional digital model of the patient's target part based on the thin-section CT image; wherein the surface of the three-dimensional digital model includes a plurality of anatomical mark points and the anatomical mark points are determined based on the A plurality of determined multilateral positioning areas, the three-dimensional digital model is marked with nodules;

   Determine the projection point of the nodule in the target multilateral positioning area and a plurality of target anatomical mark points corresponding to the target multilateral positioning area;

   Determine the distance between the projection point of the nodule and each of the target anatomical landmark points;

   Determine the positions of a plurality of actual mark points corresponding to a plurality of the target anatomical mark points outside the patient's chest through ultrasound positioning;

   The actual location of the nodule is determined based on the locations of a plurality of the actual marker points and a plurality of the distances.
2. The method according to claim 1, wherein the target site is the lungs, and the nodule positioning method based on ultrasound positioning further includes:

   One of the multilateral positioning areas is determined based on multiple anatomical landmark points of the same lung lobe.
3. The method according to claim 1 or 2, wherein the step of determining the projection point of the nodule in the target multilateral positioning area and the plurality of target anatomical mark points corresponding to the target multilateral positioning area includes:

   Construct a plane based on multiple target anatomical landmarks corresponding to the target multilateral positioning area;

   Project the position of the nodule marked by the three-dimensional digital model onto the plane to obtain the projection point of the nodule in the target multilateral positioning area.
4. The method according to claim 3, wherein the step of determining the distance between the projection point of the nodule and each of the target anatomical landmark points includes:

   Determine the coordinates of the projection point of the nodule and the plurality of target anatomical landmark points on the plane;

   The distance between the projection point of the nodule and each of the target anatomical landmark points is determined based on the coordinates.
5. The method according to any one of claims 1 to 4, wherein the step of determining the positions of a plurality of actual marking points corresponding to a plurality of the target anatomical marking points outside the patient's chest cavity by means of ultrasonic positioning, include:

   The positions of a plurality of actual mark points corresponding to a plurality of target anatomical mark points are determined outside the patient's chest by an ultrasonic sensor.
6. The method according to any one of claims 1 to 5, wherein the step of determining the actual position of the nodule based on the positions of a plurality of the actual marker points and a plurality of the distances includes:

   determining a first distance between a plurality of actual marker points based on the positions of a plurality of the actual marker points;

   determining a second distance between a plurality of the target anatomical landmark points based on the positions of the plurality of the target anatomical landmark points;

   determining a line segment shortening coefficient based on the first distance and the second distance;

   determining a third distance between the projection point of the nodule and each of the actual marker points based on the distance between the projection point of the nodule and each of the target anatomical landmark points and the line segment shortening coefficient;

   The actual location of the nodule is determined based on a plurality of the third distances.
7. The method of claim 6, wherein the step of determining the actual location of the nodule based on a plurality of the third distances includes:

   Divide multiple actual marker points into multiple groups; wherein each group includes two actual marker points; the actual marker points included in different groups are not exactly the same;

   Determine the predicted location of the nodule corresponding to each group based on the third distance corresponding to the two actual marker points in each group;

   The actual location of the nodule is determined based on the predicted location of the nodule corresponding to each group.
8. The method of claim 7, wherein the step of determining the actual location of the nodule based on the predicted location of the nodule corresponding to each group includes:

   The actual location of the nodule is determined based on the predicted location of the nodule corresponding to each group in a least squares manner.
9. A nodule positioning device based on ultrasound positioning, wherein the nodule positioning device based on ultrasound positioning includes:

   A model building module configured to acquire a thin-section CT image of a patient and construct a three-dimensional digital model of a target part of the patient based on the thin-section CT image; wherein the surface of the three-dimensional digital model Comprising a plurality of anatomical landmark points and a plurality of multilateral positioning areas determined based on determining the anatomical landmark points, the three-dimensional digital model is marked with nodules;

   a projection point determination module, the projection point determination module being configured to determine the projection point of the nodule in the target multilateral positioning area and a plurality of target anatomical mark points corresponding to the target multilateral positioning area;

   a distance calculation module configured to determine the distance between the projection point of the nodule and each of the target anatomical landmark points;

   an actual marker point determination module, the actual marker point determination module is configured to determine the positions of a plurality of actual marker points corresponding to a plurality of the target anatomical marker points by positioning outside the patient's chest through ultrasound positioning ;

   and an actual position determination module configured to determine an actual position of the nodule based on the positions of a plurality of the actual marker points and a plurality of the distances.
10. The nodule positioning device based on ultrasound positioning according to claim 9, wherein the target site is the lungs, the nodule positioning device based on ultrasound positioning further includes a multilateral positioning area determination module, the multilateral positioning area determination module The module is configured to determine one of the multilateral positioning areas based on a plurality of the anatomical landmark points of the same lung lobe.
11. The nodule positioning device based on ultrasound positioning according to claim 9 or 10, wherein the projection point determines The localization module is also configured to: construct a plane based on multiple target anatomical mark points corresponding to the target multilateral positioning area; project the position of the nodule marked by the three-dimensional digital model onto the plane to obtain the position of the nodule in the target The projection point of the polygonal positioning area.
12. The nodule positioning device based on ultrasound positioning according to claim 11, wherein the distance calculation module is further configured to: determine the distance between the projection point of the nodule and the plurality of target anatomical landmark points. The coordinates of the plane; the distance between the projection point of the nodule and each of the target anatomical landmark points is determined based on the coordinates.
13. The nodule positioning device based on ultrasound positioning according to any one of claims 9 to 12, wherein the actual marker point determination module is further configured to: determine multiple points outside the patient's chest through an ultrasonic sensor. The positions of multiple actual marking points corresponding to each of the target anatomical marking points.
14. The nodule positioning device based on ultrasound positioning according to any one of claims 9 to 13, wherein the actual position determination module is further configured to: determine a plurality of actual marker points based on the positions of a plurality of the actual marker points. a first distance between the actual landmark points; determining a second distance between a plurality of target anatomical landmark points based on the positions of a plurality of the target anatomical landmark points; based on the first distance and the second distance The distance determines the line segment shortening coefficient; based on the distance between the projection point of the nodule and each of the target anatomical mark points and the line segment shortening coefficient, the third value of the projection point of the nodule and each of the actual mark points is determined. distance; determining the actual location of the nodule based on a plurality of the third distances.
15. The nodule positioning device based on ultrasound positioning according to claim 14, wherein the actual position determination module is further configured to: divide a plurality of the actual marker points into a plurality of groups; wherein each group Including two of the actual marking points; the actual marking points included in different groups are not exactly the same; determining the nodule corresponding to each group based on the third distance corresponding to the two actual marking points in each group Predicted location: determine the actual location of the nodule based on the predicted location of the nodule corresponding to each group.
16. The nodule positioning device based on ultrasound positioning according to claim 15, wherein the actual position determination module is further configured to: predict the position of the nodule corresponding to each group based on a least squares method. Determine the actual location of the nodule.
17. An electronic device, wherein the electronic device includes: a processing device and a storage device;

    A computer program is stored on the storage device, and when the computer program is run by the processing device, the computer program executes the nodule positioning method based on ultrasound positioning according to any one of claims 1 to 8.