WO2024031560A1

WO2024031560A1 - Operation guiding and monitoring method and apparatus, and computer device

Info

Publication number: WO2024031560A1
Application number: PCT/CN2022/111870
Authority: WO
Inventors: 夏炎; 兰璐; 金勋元
Original assignee: 威朋（苏州）医疗器械有限公司
Priority date: 2022-08-11
Filing date: 2022-08-11
Publication date: 2024-02-15

Abstract

The present disclosure relates to an operation guiding and monitoring method and apparatus, and a computer device. The method comprises: according to a relative position relationship between an operating instrument (108) and an ultrasonic image (350), acquiring first position information of a freezing center of the operating instrument (108) in the ultrasonic image (350), and acquiring second position information of an operating tip of the operating instrument (108) in the ultrasonic image (350); according to the first position information, generating a concentric scale (320) centered on the freezing center, the concentric scale (320) being used for measuring the contour of a freezing region; according to the relative position relationship, the first position information and the second position information, generating guide information; and displaying the guide information and the concentric scale (320) in a guide window (310).

Description

Surgical guidance and monitoring methods, devices, computer equipment

Technical field

The present disclosure relates to the technical field of precise surgical positioning, and in particular to a surgical guidance and monitoring method, device, and computer equipment.

Background technique

At present, minimally invasive surgery is widely used in the diagnosis and treatment of some diseases that require surgery. In minimally invasive surgery, how to accurately establish a channel from the body surface to the surgical target location is a key step in minimally invasive surgery, and it is also a prerequisite for the success of minimally invasive surgery technology. For example, accurate percutaneous punctures can be performed, as well as accurate and precise operations on surgical target locations and diseased tissues, such as clamping, resection, and ablation. Therefore, minimally invasive surgery requires effective surgical guidance methods.

Especially in cryoablation surgery, since frozen areas often appear as black hole areas in ultrasound images, this greatly weakens the monitoring of frozen areas. In traditional operations, when observing frozen areas under ultrasound, ultrasound imaging needs to be paused. At the same time, other tools are used to measure the horizontal and vertical axis lengths of the ice ball on the paused ultrasound image, and the operator determines that the ice ball will stop growing in the frozen area when it reaches the pre-planned size. During the measurement of the frozen area, the ultrasonic image refresh is suspended, which brings the risk of losing monitoring. The operation efficiency is low and the freezing speed cannot be accurately grasped.

Contents of the invention

According to various embodiments of the present disclosure, a surgical guidance and monitoring method is provided, including:

According to the relative positional relationship between the operating instrument and the ultrasonic image, obtain the first position information of the freezing center of the operating instrument in the ultrasonic image, and obtain the second position information of the operating tip of the operating instrument in the ultrasonic image;

Generate a concentric scale centered on the freezing center according to the first position information, the concentric scale being used to measure the outline of the frozen area;

Generate guidance information according to the relative position relationship, the first position information, and the second position information;

The guidance information and the concentric ruler are displayed in the guidance window.

According to some embodiments, the relative positional relationship between the operating instrument and the ultrasound image is obtained through the following steps:

Obtain the target area image collected by the image acquisition device, and obtain the first positioning information of the ultrasonic probe in the coordinate system of the image acquisition device and the second positioning information of the operating instrument in the coordinate system of the image acquisition device according to the target area image;

Obtain the ultrasound image collected by the ultrasound probe, and determine the third positioning information of the ultrasound image in the coordinate system of the ultrasound probe;

According to the first positioning information and the second positioning information, obtain the fourth positioning information of the operating instrument in the ultrasound probe coordinate system;

According to the third positioning information and the fourth positioning information, the relative positional relationship between the operating instrument and the ultrasound image is obtained.

According to some embodiments, obtaining the first positioning information of the ultrasound probe in the coordinate system of the image acquisition device and the second positioning information of the operating instrument in the coordinate system of the image acquisition device based on the image of the target area include:

Obtain the first marker information of the ultrasonic probe according to the target area image, and obtain the second marker information of the operating instrument;

The first positioning information of the ultrasonic probe in the coordinate system of the image acquisition device is determined based on the first marker information, and the operating instrument is determined in the coordinate system of the image acquisition device based on the second marker information. of the second positioning information.

According to some embodiments, generating guidance information according to the relative position relationship, the first position information, and the second position information includes:

Extract the first characteristic data of the relative position relationship;

According to the relative position relationship and the second position information, the predicted trajectory of the operating instrument is obtained.

According to some embodiments, displaying the guidance information and the concentric ruler in a guidance window includes:

With the ultrasound image as the background, display the projection of the predicted trajectory on the ultrasound image in the guidance window, display the first feature data in the guidance window, and display the frozen center Concentric ruler as the center.

According to the relative position relationship and the predicted trajectory, obtain the predicted position relationship between the predicted trajectory and the ultrasound image;

When the predicted position relationship satisfies the preset position condition, the operating instrument is displayed in the first display mode in the guide window; when the predicted position relationship does not satisfy the preset position condition, the operating instrument is displayed in the guide window. The operating instrument is displayed in the second display mode in the guidance window.

The three-dimensional model of the operating instrument and the ultrasound image is displayed in the guidance window, the first characteristic data is displayed in the guidance window, and a concentric ruler centered on the freezing center is displayed.

According to some embodiments, the method further includes:

Obtain volume data and temperature data of frozen areas in real time;

The frozen area is displayed in the monitoring window, and the second characteristic data of the frozen area is displayed.

According to some embodiments, the volume data of the frozen area is obtained by the following steps:

Instruct the ultrasound image to scan the frozen area along a set direction and obtain the cross-sectional area of the frozen area in the set direction;

The frozen area volume data is calculated based on the cross-sectional area.

According to some embodiments, the method further includes:

Determine whether the frozen area meets freezing conditions according to the second characteristic data;

In response to the second characteristic data not meeting the freezing condition, early warning information is displayed in the monitoring window.

According to various embodiments of the present disclosure, a surgical guidance and monitoring device is provided, including:

a position information module, configured to obtain the first position information of the freezing center of the operating instrument in the ultrasound image according to the relative positional relationship between the operating instrument and the ultrasound image, and to obtain the first position information of the operating tip of the operating instrument in the ultrasound image the second location information;

A concentric ruler module, configured to generate a concentric ruler centered on the freezing center according to the first position information, where the concentric ruler is used to measure the outline of the frozen area;

A guidance information module, configured to generate guidance information according to the relative position relationship, the first position information, and the second position information;

A guidance window module is used to display the guidance information and the concentric ruler in the guidance window.

According to some embodiments, the position information module includes: a first positioning unit, used to obtain the target area image collected by the image acquisition device, and obtain the first position of the ultrasound probe in the coordinate system of the image acquisition device according to the target area image. Positioning information, second positioning information of operating instruments in the coordinate system of the image acquisition device; a second positioning unit, used to obtain the ultrasound image collected by the ultrasound probe, and determine the third positioning of the ultrasound image in the coordinate system of the ultrasound probe Information; a third positioning unit, used to obtain the fourth positioning information of the operating instrument in the ultrasound probe coordinate system according to the first positioning information and the second positioning information; a position relationship unit, used to obtain the fourth positioning information according to the third positioning information information and fourth positioning information to obtain the relative positional relationship between the operating instrument and the ultrasound image.

According to some embodiments, the first positioning unit includes: a first marker component, configured to acquire the first marker information of the ultrasound probe according to the target area image, and acquire the second marker information of the operating instrument. Marker information; a first information component used to determine the first positioning information of the ultrasonic probe in the coordinate system of the image acquisition device based on the first marker information, and determine the first positioning information of the ultrasonic probe in the coordinate system of the image acquisition device based on the second marker information. The second positioning information of the operating instrument in the coordinate system of the image acquisition device.

According to some embodiments, the guidance information module includes: a first feature data unit, used to extract the first feature data of the relative position relationship; a prediction trajectory unit, used to predict the first feature data based on the relative position relationship, the first Second, position information is used to obtain the predicted trajectory of the operating instrument.

According to some embodiments, the guidance window module includes: a first display unit configured to display the projection of the predicted trajectory on the ultrasound image in the guidance window with the ultrasound image as a background, and The first characteristic data is displayed in the guide window, and a concentric scale centered on the freezing center is displayed.

According to some embodiments, the guidance window module further includes: a predicted position relationship unit, configured to obtain the predicted position relationship between the predicted trajectory and the ultrasound image according to the relative position relationship and the predicted trajectory; display A mode unit configured to display the operating instrument in the first display mode in the guide window when the predicted position relationship satisfies the preset position condition; when the predicted position relationship does not meet the preset position condition In this case, the operating instrument is displayed in the second display mode in the guide window.

According to some embodiments, the guide window module includes: a three-dimensional display unit for displaying the three-dimensional model of the operating instrument and the ultrasound image in the guide window, and displaying the three-dimensional model of the operating instrument and the ultrasound image in the guide window. First characteristic data, and showing a concentric scale centered on the frozen center.

According to some embodiments, the device further includes: a data acquisition module for acquiring volume data and temperature data of the frozen area in real time; a monitoring and display module for displaying the frozen area in a monitoring window, and displaying the Second characteristic data of frozen areas.

According to some embodiments, the data acquisition module includes: a scanning unit for instructing the ultrasound image to scan the frozen area along a set direction to obtain the cross-sectional area of the frozen area in the set direction; volume calculation Unit for calculating and obtaining the frozen area volume data based on the cross-sectional area.

According to some embodiments, the device further includes: a freezing condition module, configured to determine whether the frozen area meets freezing conditions according to the second characteristic data; and an early warning module, configured to respond to the failure of the second characteristic data. When the freezing conditions are met, early warning information is displayed in the monitoring window. According to various embodiments of the present disclosure, there is provided a computer device configured to perform the above surgical guidance and monitoring method.

According to various embodiments of the present disclosure, a computer program product is provided, including program instructions. When executed on a computer, the program instructions cause the computer to implement steps according to the above surgical guidance and monitoring method.

According to various embodiments of the present disclosure, a carrier carrying the above computer program product is provided.

The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the disclosure will become apparent from the description, drawings, and claims.

Description of drawings

In order to more clearly explain the embodiments of the present disclosure or the technical solutions in the traditional technology, the drawings needed to be used in the description of the embodiments or the traditional technology will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of explaining the embodiments or the technical solutions of the traditional technology. For some disclosed embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is an application environment diagram of surgical guidance and monitoring methods in some embodiments;

Figure 2 is a schematic flow chart of surgical guidance and monitoring methods in some embodiments;

Figure 3 is a schematic diagram of a concentric scale in some embodiments;

Figure 4 is a schematic flow chart of surgical guidance and monitoring methods in some embodiments;

Figure 5 is a schematic flowchart of surgical guidance and monitoring methods in some embodiments;

Figure 6 is a schematic diagram of surgical operations performed on a surgical carrier in some embodiments;

Figure 7 is a schematic flow chart of surgical guidance and monitoring methods in some embodiments;

Figure 8 is a schematic diagram of a display interface of a display device in some embodiments;

Figure 9 is a schematic flow chart of a surgical guidance and monitoring method in some embodiments;

Figure 10 is a schematic diagram of a display interface of a display device in some embodiments;

Figure 11 is a schematic diagram of a display interface of a display device in some embodiments;

Figure 12 is a schematic flow chart of surgical guidance and monitoring methods in some embodiments;

Figure 13 is a schematic flow chart of surgical guidance and monitoring methods in some embodiments;

Figure 14 is a schematic flow chart of surgical guidance and monitoring methods in some embodiments;

Figure 15 is a schematic diagram of surgical operations performed on a surgical carrier in some embodiments;

Figures 16-23 are structural frame diagrams of surgical guidance and monitoring devices in some embodiments;

Figure 24 is a schematic diagram of the internal structure of a computer device in some embodiments.

To better describe and illustrate embodiments and/or examples of those inventions disclosed herein, reference may be made to one or more of the accompanying drawings. The additional details or examples used to describe the drawings should not be construed as limiting the scope of any of the disclosed inventions, the embodiments and/or examples presently described, and the best modes currently understood of these inventions.

Explanation of reference signs: 102 - terminal, 104 - image acquisition device, 106 - ultrasonic probe, 108 - operating instrument, 202 - first marking piece, 204 - second marking piece, 206 - third marking piece, 300 - display interface , 310 - Guidance window, 320 - Concentric ruler, 330 - Target area image, 340 - Predicted trajectory, 350 - Ultrasound image, 360 - Three-dimensional model.

Detailed ways

To facilitate understanding of the present disclosure, the present disclosure will be described more fully below with reference to the relevant drawings. Embodiments of the present disclosure are illustrated in the accompanying drawings. However, the present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein in the description of the disclosure is for the purpose of describing specific embodiments only and is not intended to limit the disclosure.

It should be noted that the terms "first", "second", etc. in the description and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the disclosure described herein can be practiced in sequences other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the disclosure as detailed in the appended claims. The terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that includes a list of elements includes not only those elements, but also others not expressly listed. elements, or also elements inherent to the process, method, product or equipment. Without further limitation, it does not exclude the presence of additional identical or equivalent elements in a process, method, product or apparatus including the stated elements. For example, if the words "first" and "second" are used to express names, they do not indicate any specific order.

As used herein, the singular forms "a," "an," and "the" may include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "includes/includes" or "has" and the like specify the presence of stated features, integers, steps, operations, components, portions or combinations thereof, but do not exclude the presence or addition of one or more Possibility of other features, integers, steps, operations, components, parts or combinations thereof. Also, in this specification, the term "and/or" includes any and all combinations of the associated listed items.

The surgical guidance and monitoring method provided by the embodiment of the present application can be applied in the application environment as shown in Figure 1. Among them, the terminal 102 communicates with the image acquisition device 104 and the ultrasonic probe 106. The data storage system may store data that terminal 102 needs to process. The data storage system can be integrated on the terminal 102, or placed on the cloud or other network servers. The terminal 102 is equipped with a display device. The terminal 102 can perform analysis and calculation on the images collected by the image acquisition device 104 to position the ultrasonic probe 106 and the operating instrument. The operating instruments may be instruments used in medical operations, such as puncture needles, scalpels, etc. In freezing surgery, the operating instrument may be a puncture needle with a hollow channel inside, and the hollow channel is provided with an outlet for outputting cryogen or thawing agent. The operating instrument can achieve freezing by outputting refrigerant from the hollow channel to form a frozen area, and the center of the frozen area is the freezing center. Among them, the position of the freezing center is related to the size of the operating instrument and the exit position of the hollow channel. The terminal 102 can determine the position of the freezing center according to the size parameters of the operating instrument and the hollow channel size parameters, and associate the freezing center position with the operating instrument, that is, it can The freezing center position is directly obtained based on the position of the operating instrument. The terminal 102 can also generate an ultrasound image based on the ultrasound probe 106 and display it through the display device, and display the relative positional relationship between the operating instrument and the ultrasound image in the ultrasound image based on the positioning of the operating instrument. Among them, the terminal 102 can be, but is not limited to, various public/personal computers, laptops, smart phones, tablets, and Internet of Things devices.

In some embodiments of the present disclosure, as shown in Figure 2, a surgical guidance and monitoring method is provided. This method is explained by taking the method applied to the terminal 102 in Figure 1 as an example, and includes the following steps:

Step S10: According to the relative positional relationship between the operating instrument 108 and the ultrasonic image 350, obtain the first position information of the freezing center of the operating instrument 108 in the ultrasonic image 350, and obtain the second position information of the operating tip of the operating instrument 108 in the ultrasonic image 350. .

As an example, the relative positional relationship between the operating instrument 108 and the ultrasonic image 350 can be obtained through the terminal 102 . The relative positional relationship can include, but is not limited to, the relative positional coordinates of the operating instrument 108 and the ultrasonic image 350 , and the angle between the operating instrument 108 and the ultrasonic image 350 . , the distance between the operating instrument 108 and the ultrasound image 350, etc. According to the obtained relative position relationship and the operating instrument 108 with known model parameters, the terminal 102 can further calculate and obtain the first position information of the freezing center of the operating instrument 108 in the ultrasound image 350 , and the operating tip of the operating instrument 108 in the ultrasound image 350 the second location information in . The operating instrument 108 may output refrigerant from the freezing center, and the operating tip of the operating instrument 108 may refer to the part of the non-handheld end of the operating instrument 108 that directly contacts the target object or target area. The first position information and the second position information may include position coordinates, distance from the ultrasound image 350 and other information.

Step S20: Generate a concentric scale 320 centered on the freezing center based on the first position information. The concentric scale 320 is used to measure the outline of the frozen area.

As an example, according to the first location information, the terminal 102 may determine the specific location of the freezing center in the ultrasound image 350 . Taking the frozen center as the center, a concentric ruler 320 is generated. The concentric ruler 320 is located on the same plane and can dynamically remain parallel or coplanar with the ultrasound image 350 . The concentric ruler 320 may be a set of concentric circles, concentric ellipses, or other concentric shapes. As shown in Figure 3, taking concentric circles as an example, several circular rulers can be used to measure the size and area of the frozen area.

Step S30: Generate guidance information based on the relative position relationship, the first position information, and the second position information.

As an example, the terminal 102 may generate guidance information by combining the relative position relationship, the first position information, and the second position information. The guidance information may be in the form of data tables, images, etc. to reflect the relative position relationship, the first position information and the second position information.

Step S40: Display the guidance information and the concentric ruler 320 in the guidance window 310.

As an example, through the display device of the terminal 102, the above-mentioned guidance information is displayed in the guidance window 310, and the concentric ruler 320 is displayed on the ultrasound image 350.

In the above surgical guidance and monitoring method, the operating instrument 108 is accurately positioned through the relative positional relationship between the operating instrument 108 and the ultrasound image 350. At the same time, the position information of the freezing center and the operating tip of the operating instrument 108 is obtained according to the relative positional relationship, and further generates Guidance information improves the accuracy of positioning the freezing center and operating tip, thereby reducing operating errors. In addition, by generating a concentric ruler 320 based on the freezing center, the outline of the frozen area can be measured more stably and conveniently through the concentric ruler 320 without resorting to temperature measurement. The size of the frozen area can be tracked in real time to prevent the frozen area from being too large or too small without freezing. (Pause) Measurement after ultrasound imaging improves operational efficiency and accuracy.

In some embodiments of the present disclosure, as shown in FIG. 4 , the step of obtaining the relative positional relationship between the operating instrument 108 and the ultrasound image 350 includes:

Step A10: Obtain the target area image 330 collected by the image acquisition device 104, and obtain the first positioning information of the ultrasound probe 106 in the coordinate system of the image acquisition device 104 and the second positioning information of the operating instrument 108 in the coordinate system of the image acquisition device 104 based on the target area image 330. Positioning information.

As an example, the target area may generally refer to an area that needs to be operated, and the operating instrument 108 operates in the target area to achieve the purpose of practice or surgery. The image acquisition device 104 is used to acquire the target area image 330. The image acquisition device 104 may be a monocular camera. Track and position the ultrasonic probe 106 and the operating instrument 108 in the target area according to the target area image 330, and obtain the first positioning information and the second positioning information of the ultrasonic probe 106 and the operating instrument 108 in the coordinate system of the image acquisition device 104 respectively. The coordinate system of the image acquisition device 104 may refer to a three-dimensional coordinate system established based on the image acquisition device 104 . Positioning information can be used to specifically describe and determine location relationships, and can be selected from the group consisting of specific coordinates, distances, and angles.

Step A20: Obtain the ultrasound image 350 collected by the ultrasound probe 106, and determine the third positioning information of the ultrasound image 350 in the coordinate system of the ultrasound probe 106.

As an example, the ultrasonic image 350 collected by the ultrasonic probe 106 is obtained, and the third positioning information of the ultrasonic image 350 in the coordinate system of the ultrasonic probe 106 is determined according to the characteristic parameters of the ultrasonic probe 106. The characteristic parameters of the ultrasonic probe 106 include calibration data and so on.

Step A30: Obtain the fourth positioning information of the operating instrument 108 in the coordinate system of the ultrasound probe 106 based on the first positioning information and the second positioning information.

As an example, by combining the first positioning information and the second positioning information obtained in step S10 , the terminal 102 can obtain the fourth positioning information of the operating instrument 108 in the coordinate system of the ultrasound probe 106 through calculation and conversion. The coordinate system of the ultrasound probe 106 may be a three-dimensional coordinate system established based on the ultrasound probe 106 .

Step A40: Obtain the relative positional relationship between the operating instrument 108 and the ultrasound image 350 based on the third positioning information and the fourth positioning information.

As an example, according to the third positioning information of the ultrasound image 350 in the coordinate system of the ultrasound probe 106 and the fourth positioning information of the operating instrument 108 in the coordinate system of the ultrasound probe 106, the terminal 102 can calculate and integrate to obtain the relative relationship between the operating instrument 108 and the ultrasound image 350. Positional relationship.

In this embodiment, by establishing multiple coordinate systems and combining the positioning information between the image acquisition device 104, the operating instrument 108, the ultrasonic probe 106, and the ultrasonic image 350, the relative positional relationship between the operating instrument 108 and the ultrasonic image 350 is finally determined, so that the positioning is more accurate; In addition, by positioning the operating instrument 108 and the ultrasound image 350 through this method, the requirements for the image acquisition device 104 are reduced through multi-coordinate system positioning, and a monocular camera with a lower cost than a binocular camera is supported; at the same time, based on the operating instrument 108 and ultrasound The relative position relationship of the image 350 generates more complete guidance information, which helps the doctor grasp the direction and depth of the operating instrument 108 and reduces the risk of operating errors.

In some embodiments of the present disclosure, as shown in Figure 5, step A10 includes:

Step A12: Obtain the first marker 202 information of the ultrasound probe 106 and the second marker 204 information of the operating instrument 108 according to the target area image 330.

As an example, the first marker 202 information of the ultrasound probe 106 and the second marker 204 information of the operating instrument 108 are obtained from the collected target area image 330. Referring to the schematic diagram of performing a surgical operation on a surgical carrier as shown in FIG. 6 , for example, a first marker 202 is arranged on the ultrasound probe 106 and a second marker 204 is arranged on the operating instrument 108 . The first marker 202 and the second marker are The arrangement of 204 does not affect the normal operation. The marking piece may be a two-dimensional code marking piece. The marking piece has a polyhedral structure, and a two-dimensional code is provided on each side. In some embodiments, the marking element can also be other preset specific patterns that are positioned; the marking element can also be an actively emitting LED light, or a passive infrared reflecting component, etc.

Step A14: Determine the first positioning information of the ultrasonic probe 106 in the coordinate system of the image acquisition device 104 based on the information of the first marker 202, and determine the second positioning information of the operating instrument 108 in the coordinate system of the image acquisition device 104 based on the information of the second marker 204. .

As an example, the three-dimensional features of the ultrasonic probe 106 and the operating instrument 108 are obtained according to the first mark information and the second mark information, and the first positioning information of the ultrasonic probe 106 and the second positioning information of the operating instrument 108 are determined based on the obtained three-dimensional features. Furthermore, based on the three-dimensional characteristics of the ultrasonic probe 106, a certain point (for example, the top) on the ultrasonic probe 106 is selected for positioning to determine the first positioning information. Combined with the three-dimensional characteristics of the operating instrument 108, the operating front end of the operating instrument 108 is selected for positioning to determine the second positioning information, so that the positioning information is more accurate. In some embodiments, the third marker 206 information of the target area can also be obtained according to the target area image 330, that is, the third marker 206 is set on the target object in the target area. The third marking member 206 may be a two-dimensional plane QR code, or a polyhedron with a QR code on each side. The third marker 206 may be disposed within the target area and does not affect the position of the operation. The third marker 206 information is obtained from the collected target area image 330 . The fifth positioning information of the target area in the coordinate system of the image acquisition device 104 is determined based on the information of the third marker 206 , and the image acquisition device 104 is adjusted according to the fifth positioning information. As an example, according to the fifth positioning information, the angle, depth of field and other parameters of the image acquisition device 104 can be adjusted so that the image acquisition device 104 can collect images more clearly and comprehensively.

In this embodiment, by arranging markers on the ultrasonic probe 106 and the operating instrument 108, the ultrasonic probe 106 and the operating instrument 108 can be quickly located from the target area image 330, thereby improving the efficiency and accuracy of positioning the ultrasonic probe 106 and the operating instrument 108.

In some embodiments of the present disclosure, as shown in Figure 7, step S30 includes:

Step S32: Extract the first feature data of the relative position relationship.

As an example, the first characteristic data may reflect the relative positional relationship between the operating instrument 108 and the ultrasonic image 350 (such as coordinates, angle, distance, etc.) in the form of specific numerical values.

Step S34: Obtain the predicted trajectory 340 of the operating instrument 108 based on the relative position relationship and the second position information.

As an example, the relative position relationship and the second position information are combined to calculate the predicted trajectory 340 of the operating instrument 108 along the current forward direction while maintaining the angle of the current operating instrument 108 . That is, the predicted trajectory 340 may refer to the extended trajectory of the operating instrument 108 maintaining the current angle on the current travel route.

This embodiment further improves the surgical accuracy by predicting the trajectory of the operating instrument 108 and obtaining the predicted trajectory 340 of the operating instrument 108 .

In some embodiments of the present disclosure, step S40 includes:

Step S42: Using the ultrasound image 350 as the background, display the projection of the predicted trajectory 340 on the ultrasound image 350 in the guidance window 310, display the first feature data in the guidance window 310, and display a concentric ruler centered on the freezing center. 320.

As an example, as shown in FIG. 8 , a guide window 310 is displayed in the display interface 300 of the display device. The guide window 310 may be a single window or a multi-window display. The boot window 310 may include an image area and a data area. In the image area, with the ultrasound image 350 as the background, the projection of the predicted trajectory 340 on the ultrasound image 350 is displayed. The data area displays the first characteristic data of the relative position relationship. The display interface 300 may also display a real-time target area image 330 . At the same time, a concentric scale 320 is displayed against the background of the ultrasound image 350 to measure the outline area of the frozen region. In some embodiments, the predicted trajectory 340 and the concentric ruler 320 may be displayed in the same guide window 310 , that is, the predicted trajectory 340 and the concentric ruler 320 are displayed simultaneously. In other embodiments, the predicted trajectory 340 and the concentric ruler 320 can be displayed in different guidance windows 310 , and the predicted trajectory 340 and the concentric ruler 320 can be selected through window switching, so that the predicted trajectory 340 and the concentric ruler 320 No longer displayed simultaneously. For example, when the operating instrument 108 is in the puncture stage, the predicted trajectory 340 is displayed in the guidance window 310 to provide tracking and timely feedback for the trajectory of the operating instrument 108 . After the operating instrument 108 reaches the target position, the operating instrument 108 maintains a stationary state and outputs refrigerant. At this time, the outline area and freezing speed of the freezing area can be obtained in real time by displaying the concentric ruler 320 in the guidance window 310 . In some embodiments, based on the characteristics of the frozen area appearing as a black hole on the ultrasound image 350, an image segmentation algorithm can be used to extract the outline of the frozen area and calculate the area of the frozen area. At the same time, the freezing speed can be calculated based on the area of the frozen area and time. The calculated frozen area area and freezing speed will be displayed as data. That is, the guide window 310 can not only intuitively display the size of the frozen area outline through the concentric ruler 320, but also display the more accurate outline area and freezing speed of the frozen area through the data area.

In this embodiment, by predicting the trajectory of the operating instrument 108 and projecting the predicted trajectory 340 onto the ultrasound image 350 for display, the operation of the operating instrument 108 is guided more intuitively and the surgical accuracy is improved.

In some embodiments of the present disclosure, as shown in Figure 9, step S40 further includes:

Step S44: According to the relative position relationship and the predicted trajectory 340, obtain the predicted position relationship between the predicted trajectory 340 and the ultrasound image 350.

As an example, according to the relative positional relationship between the operating instrument 108 and the ultrasound image 350, combined with the predicted trajectory 340, the predicted positional relationship between the predicted trajectory 340 and the ultrasound image 350 is calculated and determined. The predicted positional relationship can be selected from the intersection position of the predicted trajectory 340 and the ultrasound image 350. , a group consisting of the angle between the predicted trajectory 340 and the ultrasound image 350 and the shortest distance between the predicted trajectory 340 and the ultrasound image 350 . The intersection position can be marked and displayed on the projection of the predicted trajectory 340 in the guidance window 310, for example, the intersection position is displayed by an "X" shaped mark. The specific coordinates of the intersection location may also be displayed in the guidance window 310 .

Step S46: If the predicted position relationship satisfies the preset position condition, display the operating instrument 108 in the first display mode in the guidance window 310; if the predicted position relationship does not satisfy the preset position condition, display the operating instrument 108 in the guidance window 310 Operating instrument 108 is displayed in a second display mode.

As an example, based on the obtained predicted position relationship, it is determined whether the predicted position relationship satisfies the preset position condition. For example, the intersection position between the predicted trajectory 340 and the ultrasound image 350 can be determined, the angle between the predicted trajectory 340 and the ultrasound image 350 , and the intersection between the predicted trajectory 340 and the ultrasound image 350 . Parameters such as the shortest distance of the ultrasound image 350 are used to determine whether the preset location conditions are met. In some embodiments, the operating instrument 108 is displayed on the background of the ultrasound image 350 in the guide window 310. For example, when the operating instrument 108 is a puncture needle, the operating instrument 108 is displayed in the form of a long rectangular frame. When the predicted position relationship satisfies the preset position condition, the operating instrument 108 is displayed in the first display mode in the guidance window 310. For example, the first display mode is displayed in the form of a long rectangular frame with solid lines, as shown in FIG. 10 . When the predicted position relationship does not meet the preset position conditions, the operating instrument 108 is displayed in the second display mode in the guidance window 310. For example, the second display mode is displayed in the form of a dotted long rectangular frame, as shown in FIG. 8 . It should be noted that the first display mode and the second display mode are used to distinguish the display modes of the operating instrument 108 under different situations, and can be distinguished by color or other shapes, and are not limited to solid lines and dotted lines. The display mode of the operating instrument 108 may also include other display modes. For example, when the current intersection position deviates greatly or the current intersection position is in a dangerous operating position, a third display mode may be used to provide a warning. The third display mode can be displayed in the form of a long red rectangular frame.

This embodiment determines the predicted positional relationship between the predicted trajectory 340 and the ultrasonic image 350 through the predicted trajectory 340 and the relative positional relationship between the operating instrument 108 and the ultrasonic image 350 , and intuitively guides and displays the predicted positional relationship through the guidance window 310 . At the same time, the guidance window 310 distinguishes the operating instrument 108 under different situations through the first display mode and the second display mode, further improving the comprehensiveness, intuitiveness and accuracy of the guidance information.

In some embodiments of the present disclosure, step S40 includes: displaying the three-dimensional model 360 of the operating instrument 108 and the ultrasound image 350 in the guidance window 310, displaying the first feature data in the guidance window 310, and displaying the frozen center as the center The concentric scale is 320.

As an example, the guide window 310 may be a two-dimensional window or a three-dimensional window. In some embodiments, the three-dimensional model 360 of the operating instrument 108 and the ultrasonic image 350 can be established based on the third positioning information, the fourth positioning information, and the relative positional relationship between the operating instrument 108 and the ultrasonic image 350 . The guide window 310 of the three-dimensional window can be a single window or a multi-window display, as shown in Figure 11. Further, in some embodiments, the two-dimensional guide window 310 and the three-dimensional guide window 310 can be displayed on the display interface 300 of the display device at the same time, or the two-dimensional guide window 310 and the three-dimensional guide window 310 can be displayed separately by switching. It is displayed on the display interface 300 of the display device. In some embodiments, the guide window 310 may include an image area and a data area, with the three-dimensional model 360 displayed in the image area. The data area displays the first characteristic data of the relative positional relationship. The first characteristic data can display the relative positional relationship between the operating instrument 108 and the ultrasound image 350 in the form of specific numerical values (such as coordinates, angle, distance, etc.). The display interface 300 may also display a real-time target area image 330 . At the same time, the concentric ruler 320 is displayed in the three-dimensional model 360 through the guidance window 310. The plane in which the concentric ruler 320 is located may be parallel or coplanar with the ultrasound image 350 .

In this embodiment, the relative positional relationship between the operating instrument 108 and the ultrasound image 350 is more intuitively displayed by establishing a three-dimensional model 360 of the relative positional relationship, thereby improving the accuracy and readability of the guidance information.

As an example, in some embodiments of the present disclosure, as shown in Figure 12, the method further includes:

Step S50: Obtain the volume data and temperature data of the frozen area in real time;

Step S60: Display the frozen area and the second characteristic data of the frozen area in the monitoring window.

As an example, the second characteristic data may include one or more of volume data of the frozen area, temperature data of the frozen area, freezing speed, thawing speed, and target temperature maintenance time. The freezing speed, thawing speed, and target temperature maintenance time can be calculated based on the volume data and temperature data of the frozen area combined with time parameters. The monitoring window can be displayed through a window on the display device. Among them, the freezing speed can represent the relationship between temperature and time. Displaying the freezing speed in the monitoring window can guide the operator to control the speed of refrigerant injection. The thawing speed can represent the relationship between temperature and time when normal temperature air or other reheating gas is injected. Displaying the thawing speed in the monitoring window can guide the operator to control the speed of normal temperature gas injection. The target temperature maintenance time may refer to the time for the target area to maintain the target temperature. The time to maintain the target temperature is displayed in the monitoring window to track the temperature maintenance of the freezing area to keep the temperature of the freezing area stable during operation.

In this embodiment, the second characteristic data of the frozen area is displayed by setting a monitoring window, thereby improving the visibility and controllability of the frozen area.

In some embodiments of the present disclosure, as shown in Figure 13, the step of obtaining volume data of the frozen area includes:

Step B10: Instruct the ultrasound image 350 to scan the frozen area along the set direction to obtain the cross-sectional area of the frozen area in the set direction.

Step B20: Calculate the frozen area volume data based on the cross-sectional area.

As an example, the operator can set the angle and movement direction of the ultrasound image 350 by adjusting the generation probe, and the terminal 102 can instruct the ultrasound image 350 to scan the frozen area along the set direction. For example, the terminal 102 can display a set direction in the guidance window 310, and the operator controls the movement of the ultrasound probe 106 so that the ultrasound image 350 scans the frozen area along the set direction. Combined with the requirements of calculation accuracy, the cross-sectional areas of several slices in the frozen area were sampled. Combined with calculus theory, the frozen area volume data is calculated based on the cross-sectional area.

This embodiment calculates the area of the frozen area by scanning the ultrasound image 350 times, which is highly operable and convenient to calculate, and the volume data of the frozen area is more accurate.

In some embodiments of the present disclosure, as shown in Figure 14, the method further includes:

Step S70: Determine whether the frozen area meets the freezing conditions based on the second characteristic data.

Step S80: In response to the second characteristic data not meeting the freezing condition, display the early warning information in the monitoring window.

As an example, the freezing conditions may include temperature conditions and size conditions, where the temperature conditions may be configured as a temperature range at the center or edge of the freezing area. When the temperature data in the acquired second characteristic data exceeds the temperature range, for example, when the temperature range at the center or edge of the freezing area is less than a preset low temperature threshold, it is determined that the second characteristic data does not meet the freezing condition. The temperature condition can also be configured as a speed range of freezing speed or thawing speed. In the obtained second characteristic data, the freezing speed exceeds the speed range. For example, when the freezing speed is greater than the preset freezing speed threshold, it is judged that the second characteristic data does not meet the requirements. freezing conditions. When it is determined that the second characteristic data does not meet the freezing conditions, the early warning information is triggered. Early warning information can be displayed directly through the monitoring window or displayed in a pop-up window.

This embodiment monitors the status of the frozen area to promptly determine whether the second characteristic data meets the freezing conditions, and triggers an early warning if it does not meet the conditions, further improving the stability and safety of the freezing process.

In some embodiments, the above method further includes storing the target area image 330, the ultrasound image 350, and storing the display screen of the guidance window 310 and/or the monitoring window.

As an example, all images and windows during surgery are stored for subsequent review. It includes a display screen of the target area image 330, the ultrasound image 350, the guidance window 310 or the monitoring window collected by the image acquisition device 104. Since the image acquisition device 104 is a monocular camera, the actual operational impact of the surgery can be recorded intuitively. The storage of the ultrasound image 350 facilitates subsequent review and analysis. The guidance information is retained in the display screen of the guidance window 310 and/or the monitoring window, and combined with the target area image 330 and the ultrasound image 350, the surgical operation process can be retained in an all-round way.

This embodiment stores the target area image 330, the ultrasound image 350, the guidance window 310 and/or the display screen of the guidance window 310 to facilitate subsequent reference. Not only does the guidance information, the ultrasound image 350 and the target area image 330 confirm and support each other, The surgical operation process is stored in all directions and angles to facilitate subsequent learning and optimization, and the complete teaching video is retained.

In some embodiments of the present disclosure, target area images 330 collected by several image acquisition devices 104 are used to position several operating instruments 108 .

As an example, as shown in FIG. 15 , during the operation, the operating instrument 108 involved may be single or multiple. Therefore, there are the following situations: (1) When there is a single operating instrument 108, use an image acquisition device 104 to collect the positioning information of an operating instrument 108 in the target area, and execute the steps of the method in the aforementioned embodiment.

(2) When there is a single operating instrument 108, use two or more image acquisition devices 104 to collect the positioning information of one operating instrument 108 in the target area. By using two or more image acquisition devices 104 to alternately collect target area images 330 , the steps of the method in the foregoing embodiments are executed based on the target area images 330 collected in real time. The multiple image acquisition devices 104 are rotated to avoid heat generation caused by a single image acquisition device 104 working for a long time. Alternatively, each image acquisition device 104 acquires the target area image 330, and for each image acquisition device 104, the steps of the method in the foregoing embodiment are performed. After the terminal 102 obtains the relative positional relationship between the operating instrument 108 and the ultrasound image 350 based on the target area image 330 collected by each image acquisition device 104, it can perform data fusion through algorithms, such as averaging, weighted average, and other algorithm calculations to obtain the final result. The relative positional relationship between the operating instrument 108 and the ultrasonic image 350 further improves the accuracy of positioning the operating instrument 108 and the ultrasonic image 350 . In addition, in the case of multiple image acquisition devices 104, after an abnormality occurs in one image acquisition device 104, the remaining image acquisition devices 104 can normally acquire the target area image 330, thereby improving the overall fault tolerance rate.

(3) When there are two or more operating instruments 108, one image acquisition device 104 can be used to collect the positioning information of multiple operating instruments 108 in the target area, and based on the acquired target area image 330, for each The instrument 108 is operated to perform the steps of the method in the previous embodiment.

(4) When there are two or more operating instruments 108, the positioning information of the multiple operating instruments 108 in the target area can be collected through two or more image acquisition devices 104. In one case, the number of image acquisition devices 104 is equal to the number of operating instruments 108 , and the image acquisition devices 104 correspond to the operating instruments 108 one-to-one. The terminal 102 executes the steps of the method in the foregoing embodiments for each corresponding group of image acquisition devices 104 and operating instruments 108 .

In another case, there is a many-to-many relationship between the image acquisition device 104 and the operating instrument 108. For each set of many-to-many relationships, please refer to the above descriptions of (1)-(3).

This embodiment supports the target area images 330 collected by several image acquisition devices 104 for positioning several operating instruments 108, which can adapt to the positioning relationship in various surgical situations, making the positioning of the operating instruments 108 more flexible.

It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

Based on the same inventive concept, embodiments of the present disclosure also provide a surgical guidance and monitoring device for implementing the above-mentioned surgical guidance and monitoring method. The solution to the problem provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in one or more surgical guidance and monitoring device embodiments provided below can be found in the above article on surgical guidance and monitoring. The limitations of the method will not be repeated here.

Devices may include systems (including distributed systems), software (applications), modules, components, servers, clients, etc. that use the methods of the embodiments of this specification and are combined with necessary implementation hardware. Based on the same innovative concept, the devices in one or more embodiments provided by the embodiments of the present disclosure are as in the following embodiments. Since the implementation of the device to solve the problem is similar to the method, the implementation of the specific device in the embodiments of this specification can be referred to the implementation of the foregoing method, and repeated details will not be repeated. As used below, the term "unit" or "module" may be a combination of software and/or hardware that implements predetermined functions. Although the apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

In some embodiments of the present disclosure, as shown in Figure 16, a surgical guidance and monitoring device is provided. The device can be the aforementioned terminal 102, or a module, component, device, unit, etc. integrated in the terminal 102. The device Z00 may include:

The position information module Z10 is used to obtain the first position information of the freezing center of the operating instrument 108 in the ultrasonic image 350 according to the relative positional relationship between the operating instrument 108 and the ultrasonic image 350, and obtain the position information of the operating tip of the operating instrument 108 in the ultrasonic image 350. second location information;

The concentric ruler 320 module Z20 is used to generate a concentric ruler 320 centered on the freezing center based on the first position information. The concentric ruler 320 is used to measure the outline of the frozen area;

The guidance information module Z30 is used to generate guidance information according to the relative position relationship, the first position information, and the second position information;

The guidance window 310 module Z40 is used to display guidance information and the concentric ruler 320 in the guidance window 310 .

In some embodiments of the present disclosure, as shown in Figure 17, the position information module Z10 includes: a first positioning unit Z12, used to acquire the target area image 330 collected by the image acquisition device 104, and acquire the ultrasound probe 106 according to the target area image 330. The first positioning information in the coordinate system of the image acquisition device 104 and the second positioning information of the operating instrument 108 in the coordinate system of the image acquisition device 104; the second positioning unit Z14 is used to obtain the ultrasound image 350 collected by the ultrasound probe 106 and determine the ultrasound image 350 The third positioning information in the coordinate system of the ultrasonic probe 106; the third positioning unit Z16 is used to obtain the fourth positioning information of the operating instrument 108 in the coordinate system of the ultrasonic probe 106 based on the first positioning information and the second positioning information; positional relationship Unit Z18 is used to obtain the relative positional relationship between the operating instrument 108 and the ultrasound image 350 based on the third positioning information and the fourth positioning information.

In some embodiments of the present disclosure, as shown in FIG. 18 , the first positioning unit Z12 includes: a first marker component Z122 for acquiring the first marker 202 information of the ultrasound probe 106 and the operating instrument according to the target area image 330 108 second marker 204 information; first information component Z124, used to determine the first positioning information of the ultrasonic probe 106 in the coordinate system of the image acquisition device 104 based on the first marker 202 information, and determine the operation based on the second marker 204 information The second positioning information of the instrument 108 in the coordinate system of the image acquisition device 104.

In some embodiments of the present disclosure, as shown in Figure 19, the guidance information module Z30 includes: a predicted position relationship unit Z32, used to extract the first feature data of the relative position relationship; a predicted trajectory 340 unit Z34, used to predict the position according to the relative position The relationship between the second position information and the predicted trajectory 340 of the operating instrument 108 is obtained.

In some embodiments of the present disclosure, the guidance window 310 module includes: a first display unit configured to display the projection of the predicted trajectory 340 on the ultrasound image 350 in the guidance window 310 with the ultrasound image 350 as the background, and in the guidance window 310 The first characteristic data is displayed in , and the concentric ruler 320 centered on the freezing center is displayed.

In some embodiments of the present disclosure, as shown in Figure 20, the guidance window 310 module Z40 also includes: a predicted position relationship unit Z42, used to obtain the relationship between the predicted trajectory 340 and the ultrasound image 350 according to the relative position relationship and the predicted trajectory 340. Predict the position relationship; the display mode unit Z44 is used to display the operating instrument 108 in the first display mode in the guidance window 310 when the predicted position relationship meets the preset position conditions; when the predicted position relationship does not meet the preset position conditions In this case, the operating instrument 108 is displayed in the second display mode in the guidance window 310 .

In some embodiments of the present disclosure, the guidance window 310 module includes: a three-dimensional display unit for displaying the three-dimensional model 360 of the operating instrument 108 and the ultrasound image 350 in the guidance window 310, and displaying the first characteristic data in the guidance window 310. , as well as showing the concentric ruler 320 centered on the frozen center.

In some embodiments of the present disclosure, as shown in Figure 21, the device Z00 also includes: a data acquisition module Z50, used to obtain the volume data and temperature data of the frozen area in real time; a monitoring display module Z60, used to display in the monitoring window Frozen areas and secondary characteristic data of frozen areas.

In some embodiments of the present disclosure, as shown in Figure 22, the data collection module Z50 includes: a scanning unit Z52, used to instruct the ultrasonic image 350 to scan the frozen area along the set direction to obtain the cross-sectional area of the frozen area in the set direction. ;Volume calculation unit Z54, used to obtain frozen area volume data based on cross-sectional area calculation.

In some embodiments of the present disclosure, as shown in Figure 23, the device Z00 also includes: a freezing condition module Z70, used to determine whether the freezing area meets the freezing conditions according to the second characteristic data; an early warning module Z80, used to respond to the second If the characteristic data does not meet the freezing conditions, warning information will be displayed in the monitoring window.

Each module in the above-mentioned surgical guidance and monitoring device can be implemented in whole or in part by software, hardware and combinations thereof. Each of the above modules may be embedded in or independent of the processor of the computer device in the form of hardware, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules. It should be noted that the division of modules in the embodiment of the present disclosure is schematic and is only a logical function division. In actual implementation, there may be other division methods.

Based on the foregoing description of the embodiments of the surgical guidance and monitoring method, in another embodiment provided by the present disclosure, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 24 . The computer device includes a processor, memory, communication interface, display screen and input device connected through a system bus. Wherein, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage medium stores operating systems and computer programs. This internal memory provides an environment for the execution of operating systems and computer programs in non-volatile storage media. The communication interface of the computer device is used for wired or wireless communication with external terminals. The wireless mode can be implemented through WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program, when executed by the processor, implements a surgical guidance and monitoring method. The display screen of the computer device may be a liquid crystal display or an electronic ink display. The input device of the computer device may be a touch layer covered on the display screen, or may be a button, trackball or touch pad provided on the computer device shell. , it can also be an external keyboard, trackpad or mouse, etc.

Those skilled in the art can understand that the structure shown in the figure is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Specific computer equipment may include There may be more or fewer parts than shown, or certain parts may be combined, or may have a different arrangement of parts.

Based on the foregoing description of the embodiments of the surgical guidance and monitoring method, in another embodiment provided by the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned tasks are implemented. Steps in method embodiments.

Based on the foregoing description of the embodiments of the surgical guidance and monitoring method, in another embodiment provided by the present disclosure, a computer program product is provided, including a computer program, which implements the above method embodiments when executed by a processor. A step of.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage. In the media, when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory (MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in many forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include blockchain-based distributed databases, etc., but are not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to this.

In the description of this specification, reference to the terms "some embodiments," "other embodiments," "ideal embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included herein. In at least one embodiment or example of the invention. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

It can be understood that each embodiment of the above-mentioned method in this specification is described in a progressive manner, and the same/similar parts between various embodiments can be referred to each other. The emphasis of each embodiment is to describe the relationship with other embodiments. The difference. For relevant information, please refer to the descriptions of other method embodiments.

The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, all possible combinations should be used. It is considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present disclosure, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the patent disclosed should be determined by the appended claims.

Claims

A method for surgical guidance and monitoring, including:

According to the relative positional relationship between the operating instrument and the ultrasonic image, obtain the first position information of the freezing center of the operating instrument in the ultrasonic image, and obtain the second position information of the operating tip of the operating instrument in the ultrasonic image;

Generate a concentric scale centered on the freezing center according to the first position information, the concentric scale being used to measure the outline of the frozen area;

Generate guidance information according to the relative position relationship, the first position information, and the second position information;

The guidance information and the concentric ruler are displayed in the guidance window.
The method according to claim 1, wherein the relative positional relationship between the operating instrument and the ultrasound image is obtained through the following steps:

Obtain the target area image collected by the image acquisition device, and obtain the first positioning information of the ultrasonic probe in the coordinate system of the image acquisition device and the second positioning information of the operating instrument in the coordinate system of the image acquisition device according to the target area image;

Obtain the ultrasound image collected by the ultrasound probe, and determine the third positioning information of the ultrasound image in the coordinate system of the ultrasound probe;

According to the first positioning information and the second positioning information, obtain the fourth positioning information of the operating instrument in the ultrasound probe coordinate system;

According to the third positioning information and the fourth positioning information, the relative positional relationship between the operating instrument and the ultrasound image is obtained.
The method according to claim 2, wherein obtaining the first positioning information of the ultrasonic probe in the coordinate system of the image acquisition device and the second positioning information of the operating instrument in the coordinate system of the image acquisition device according to the image of the target area include:

Obtain the first marker information of the ultrasonic probe according to the target area image, and obtain the second marker information of the operating instrument;

The first positioning information of the ultrasonic probe in the coordinate system of the image acquisition device is determined based on the first marker information, and the operating instrument is determined in the coordinate system of the image acquisition device based on the second marker information. of the second positioning information.
The method according to claim 1, wherein generating guidance information according to the relative position relationship, the first position information, and the second position information includes:

Extract the first characteristic data of the relative position relationship;

According to the relative position relationship and the second position information, the predicted trajectory of the operating instrument is obtained.
The method according to claim 4, wherein displaying the guidance information and the concentric ruler in a guidance window includes:

With the ultrasound image as the background, display the projection of the predicted trajectory on the ultrasound image in the guidance window, display the first feature data in the guidance window, and display the frozen center Concentric ruler as the center.
The method according to claim 5, wherein displaying the guidance information and the concentric ruler in a guidance window includes:

According to the relative position relationship and the predicted trajectory, obtain the predicted position relationship between the predicted trajectory and the ultrasound image;

When the predicted position relationship satisfies the preset position condition, the operating instrument is displayed in the first display mode in the guide window; when the predicted position relationship does not satisfy the preset position condition, the operating instrument is displayed in the guide window. The operating instrument is displayed in the second display mode in the guidance window.
The method according to claim 5, wherein displaying the guidance information and the concentric ruler in a guidance window includes:

The three-dimensional model of the operating instrument and the ultrasound image is displayed in the guidance window, the first characteristic data is displayed in the guidance window, and a concentric ruler centered on the freezing center is displayed.
The method of claim 1, further comprising:

Obtain volume data and temperature data of frozen areas in real time;

The frozen area is displayed in the monitoring window, and the second characteristic data of the frozen area is displayed.
The method according to claim 8, wherein the volume data of the frozen area is obtained by the following steps:

Instruct the ultrasound image to scan the frozen area along a set direction and obtain the cross-sectional area of the frozen area in the set direction;

The frozen area volume data is calculated based on the cross-sectional area.
The method of claim 8, further comprising:

Determine whether the frozen area meets freezing conditions according to the second characteristic data;

In response to the second characteristic data not meeting the freezing condition, early warning information is displayed in the monitoring window.
A surgical guidance and monitoring device, including:

a position information module, configured to obtain the first position information of the freezing center of the operating instrument in the ultrasound image according to the relative positional relationship between the operating instrument and the ultrasound image, and to obtain the first position information of the operating tip of the operating instrument in the ultrasound image the second location information;

A concentric ruler module, configured to generate a concentric ruler centered on the freezing center according to the first position information, where the concentric ruler is used to measure the outline of the frozen area;

A guidance information module, configured to generate guidance information according to the relative position relationship, the first position information, and the second position information;

A guidance window module is used to display the guidance information and the concentric ruler in the guidance window.
The device of claim 11, further comprising:

The data acquisition module is used to obtain the temperature data of the frozen area in real time, and is also used to instruct the ultrasonic image to scan the frozen area along the set direction, and obtain the cross-sectional area of the frozen area in the set direction. The cross-sectional area is calculated to obtain the volume data of the frozen area;

A monitoring display module is used to display the frozen area in the monitoring window and display the second characteristic data of the frozen area.

A freezing condition module, used to determine whether the frozen area meets the freezing conditions according to the second characteristic data;

An early warning module, configured to display early warning information in the monitoring window in response to the second characteristic data not meeting the freezing condition.
A computer device configured to perform the method of any one of claims 1 to 10.
A computer program product comprising program instructions which, when executed on a computer, cause the computer to implement the steps of the method according to any one of claims 1 to 10.
A carrier carrying the computer program product according to claim 14.