Liver paracentesis pre-operation simulation system and method based on virtual reality technology

Abstract

The invention belongs to the technical field of liver paracentesis simulation, and particularly relates to a liver paracentesis preoperative simulation system and method based on a virtual reality technology. According to the method, complicated operation risks and skill key points are quantified into feasibility scores and risk levels, so that the randomness of subjective judgment is reduced, the advantages and disadvantages of different paths are conveniently compared and selection reasons are explained before an operation, and the accuracy of the operation is improved through voxel-level collision judgment and real-time judgment of a distance field. The critical state that a needle point approaches a blood vessel or a dangerous organ can be found in advance and an operator is prompted, so that a high-risk puncture track is avoided in a simulation stage, the probability of concurrent events in a real operation is reduced, historical action habits and scoring trends of the operator are fused, and candidate paths conforming to the operation style of the operator are generated; the skilled doctors can conveniently and quickly confirm the optimal route, the reachable route conforming to the current ability level of the trained doctors can be provided for the trained doctors, and the learning curve is shortened.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of simulating liver puncture, and particularly relates to a liver puncture preoperative simulation system and method based on virtual reality technology. BACKGROUND

[0002] Liver puncture, also known as liver biopsy, is the gold standard for diagnosing liver diseases (such as hepatitis, cirrhosis, liver cancer, etc.) and assessing the degree of liver fibrosis in clinical practice. This surgery is usually performed under the guidance of medical imaging such as ultrasound or CT, requiring the physician to accurately insert the puncture needle into the target lesion area percutaneously and obtain an appropriate amount of liver tissue sample. However, the liver itself has abundant blood supply, and is adjacent to important organs such as the gallbladder, large blood vessels, and lungs, so this surgery is a high-risk, high-precision invasive operation. The operator's proficiency and experience are directly related to the success rate of the operation and patient safety, and improper operation can easily cause serious complications such as bleeding, bile leakage, and pneumothorax.

[0003] In recent years, virtual reality (VR) technology has shown great potential in the field of medical training due to its high degree of immersion, interactivity, and imagination. It can create a highly realistic, interactive, and risk-free virtual surgery environment. The development of virtual reality technology provides a new means for preoperative simulation by constructing a three-dimensional virtual model based on patient medical imaging data and performing immersive operations in a virtual reality environment.

[0004] However, applying virtual reality technology to preoperative simulation of liver puncture still faces a series of technical challenges, and existing technologies still have deficiencies in puncture path selection, risk assessment, and operation habit integration, such as the inability to comprehensively consider the operator's historical action habits, puncture operation coefficients, and tissue interaction to generate candidate paths and dynamic visualization SUMMARY

[0005] The purpose of the present application is to provide a liver puncture preoperative simulation system and method based on virtual reality technology, which can integrate multiple factors to achieve feasibility scoring of puncture paths, risk level assessment, and dynamic visualization of preoperative simulation results, thereby improving surgical safety and preoperative training efficiency.

[0006] The technical solutions adopted by the present application are as follows: A liver puncture preoperative simulation method based on virtual reality technology, comprising: Obtaining medical imaging data of a target patient, reconstructing a three-dimensional virtual model of the patient based on the medical imaging data, loading the three-dimensional virtual model into a virtual reality preoperative simulation environment, and establishing a puncture operation interaction interface; Obtaining puncture path operation information of an operator based on the virtual reality preoperative simulation environment, and obtaining puncture operation coefficients based on the puncture path operation information; acquiring a collision detection state of the virtual puncture instrument and the blood vessels and organs based on the three-dimensional virtual model; acquiring interaction information of the virtual puncture instrument and the blood vessels and organs in the three-dimensional virtual model when the virtual puncture instrument contacts the blood vessels and organs based on the collision detection state, and acquiring an interaction value based on the interaction information; acquiring historical operation data of an operator, and acquiring a feasibility score and a risk level of a puncture path based on a puncture operation coefficient and the interaction value; performing dynamic visual display on the puncture path based on the feasibility score and the risk level in a virtual reality preoperative simulation environment, generating a plurality of candidate paths based on action habits of the operator to determine a target puncture path, and outputting a preoperative simulation result.

[0007] In a preferred scheme, medical image data of a target patient is acquired, a three-dimensional virtual model of the patient is reconstructed based on the medical image data, the three-dimensional virtual model is loaded into a virtual reality preoperative simulation environment, and a puncture operation interactive interface is established, including: acquiring medical image data of a target patient; performing image segmentation and registration on an anatomical structure of the target patient based on the medical image data, and reconstructing a three-dimensional virtual model of the patient, wherein the three-dimensional virtual model contains blood vessel information, internal vessel organ information of the liver, and liver peripheral lesion information; connecting the three-dimensional virtual model with a virtual reality display device, and loading the three-dimensional virtual model into a virtual reality preoperative simulation environment; establishing a puncture operation interactive interface in the virtual reality preoperative simulation environment.

[0008] In a preferred scheme, puncture path operation information of an operator is acquired based on a virtual reality preoperative simulation environment, and a puncture operation coefficient is acquired based on the puncture path operation information, including: acquiring puncture path operation information of an operator based on a virtual reality preoperative simulation environment, wherein the puncture path operation information includes spatial position information, attitude information, and operation stability information; acquiring corresponding spatial position values, attitude values, and operation stability values based on the puncture path operation information; acquiring puncture path operation weights, wherein the puncture path operation weights include spatial position weights, attitude weights, and operation stability weights; acquiring a puncture operation coefficient based on the spatial position values, the attitude values, the operation stability values, and the puncture path operation weights.

[0009] In a preferred scheme, a collision detection state of a virtual puncture instrument and blood vessels and organs is acquired based on a three-dimensional virtual model, including: establishing a bounding box based on the external geometric morphology of the blood vessels and organs in the three-dimensional virtual model; Obtaining the spatial position of the virtual puncture instrument, and performing rough collision detection on the spatial position of the virtual puncture instrument and the bounding box, when the virtual puncture instrument does not enter the bounding box, pausing fine detection, and when the virtual puncture instrument enters the bounding box, triggering fine detection; Obtaining the dangerous region information of the detection region of the blood vessels and organs in the three-dimensional virtual model, wherein the dangerous region information includes non-dangerous regions and dangerous regions; Converting the three-dimensional model of the blood vessels and organs in the three-dimensional virtual model into a voxelized representation, and obtaining the corresponding voxel resolution detection information according to the dangerous region information, wherein the voxel resolution detection information includes low voxel resolution corresponding to the non-dangerous regions and high voxel resolution corresponding to the dangerous regions, and detecting in real time whether the voxel where the needle tip of the virtual puncture instrument is located belongs to the blood vessel or organ region; When the voxel where the needle tip of the virtual puncture instrument is located enters the blood vessel and organ region, obtaining the distance field data of the virtual puncture instrument needle tip and the blood vessels and organs in the three-dimensional virtual model; Based on the distance field data, determining the minimum distance from the virtual puncture instrument needle tip to the surface of the blood vessels and organs in the three-dimensional virtual model, wherein when the minimum distance is less than a preset threshold, it is determined as contact, and when the minimum distance is less than zero, it is determined as penetration.

[0010] In a preferred scheme, based on the collision detection state, the interaction information when the virtual puncture instrument contacts different tissue types in the three-dimensional virtual model is obtained, and based on the interaction information, the interaction value is obtained, including: Based on the collision detection state, the interaction information when the virtual puncture instrument contacts different tissue types in the three-dimensional virtual model is obtained, wherein the interaction information includes the skin penetration resistance and liver capsule penetration resistance of the virtual puncture instrument needle tip; Based on the interaction information, the corresponding skin penetration resistance value and liver capsule penetration resistance value are obtained; Obtaining puncture environment information, wherein the puncture environment information includes bleeding range information and tissue deformation information, and obtaining the corresponding bleeding range value and tissue deformation value; Obtaining the corresponding bleeding range coefficient, tissue deformation coefficient, baseline bleeding range value and baseline tissue deformation value, and obtaining the puncture environment deviation value by combining the bleeding range value and the tissue deformation value; Obtaining a deviation table, wherein the deviation table includes a plurality of puncture environment deviation value intervals and the corresponding interaction weight of each puncture environment deviation value interval, wherein the interaction weight includes the skin penetration resistance weight and the liver capsule penetration resistance weight; Based on the puncture environment deviation value corresponding to the puncture environment deviation value interval, the corresponding interaction weight is obtained from the deviation table; Based on the skin penetration resistance value, the liver capsule penetration resistance value and the interaction weight, the interaction value is obtained.

[0011] In a preferred embodiment, the historical operation data of the operator is obtained, and the feasibility score and risk level of the puncture path are obtained based on the puncture operation coefficient and the interaction value, including: Obtain the historical operation data of the operator, wherein the historical operation data includes the operation habit and a plurality of historical operation scores; Obtain the collection time length of the historical operation data; Obtain the historical score trend value based on the collection time length and the plurality of historical operation scores; Obtain the weight table, wherein the weight table includes a plurality of historical score trend value intervals and a risk weight corresponding to each historical score trend value interval, and the risk weight includes a puncture weight and an interaction weight; Obtain the corresponding risk weight from the weight table based on the historical score trend value interval corresponding to the historical score trend value; Obtain the feasibility score and risk level of the puncture path based on the risk weight, the puncture operation coefficient and the interaction value.

[0012] In a preferred embodiment, the feasibility score and risk level of the puncture path are obtained based on the risk weight, the puncture operation coefficient and the interaction value, including: Obtain the feasibility score of the puncture path based on the risk weight, the puncture operation coefficient and the interaction value; Obtain the level table, wherein the level table includes a plurality of feasibility score intervals and a risk level corresponding to each feasibility score interval; Obtain the corresponding risk level from the level table based on the feasibility score interval corresponding to the feasibility score.

[0013] In a preferred embodiment, the puncture path is dynamically visualized and displayed in the virtual reality preoperative simulation environment based on the feasibility score and the risk level, and a plurality of candidate paths are generated to determine the target puncture path in combination with the operation habit, and the preoperative simulation result is output, including: Dynamically visualize and display the puncture path in the virtual reality preoperative simulation environment based on the risk level; Extract the operation habit based on the historical operation data; Obtain a set of puncture paths for liver puncture, select the puncture path that meets the operation habit from the set of puncture paths, and mark it as a candidate path; Obtain the feasibility score of each candidate path, and aggregate the feasibility score of each candidate path and the feasibility score of the current puncture path to obtain an aggregation result; Sort the plurality of feasibility scores in the aggregation result in descending order, select the puncture path corresponding to the first feasibility score as the target puncture path, and output the preoperative simulation result.

[0014] The application further provides a liver puncture preoperative simulation system based on virtual reality technology, which is used for the liver puncture preoperative simulation method based on virtual reality technology and comprises the following components: a virtual interaction module, which is used for acquiring medical image data of a target patient, reconstructing a three-dimensional virtual model of the patient based on the medical image data, loading the three-dimensional virtual model into a virtual reality preoperative simulation environment, and establishing a puncture operation interaction interface; a puncture operation module, which is used for acquiring puncture path operation information of an operator based on the virtual reality preoperative simulation environment, and acquiring a puncture operation coefficient based on the puncture path operation information; a collision detection module, which is used for acquiring a collision detection state of a virtual puncture instrument and blood vessels and organs based on the three-dimensional virtual model; an interaction module, which is used for acquiring interaction information of the virtual puncture instrument and the blood vessels and organs in the three-dimensional virtual model when the virtual puncture instrument contacts the blood vessels and organs based on the collision detection state, and acquiring an interaction value based on the interaction information; a puncture risk module, which is used for acquiring historical operation data of the operator, and acquiring a feasibility score and a risk level of a puncture path in combination with the puncture operation coefficient and the interaction value; a simulation result module, which is used for dynamically visually displaying the puncture path based on the feasibility score and the risk level in the virtual reality preoperative simulation environment, generating a plurality of candidate paths to determine a target puncture path in combination with action habits of the operator, and outputting a preoperative simulation result.

[0015] In addition, the application provides a liver puncture preoperative simulation terminal based on virtual reality technology, which comprises the following components: one or more processors; a storage device, on which one or more programs are stored; when the one or more programs are executed by the one or more processors, the one or more processors implement the liver puncture preoperative simulation method based on virtual reality technology.

[0016] The application has the following technical effects: The application quantifies the risk and skill points of complex operations into feasibility scores and risk levels, reduces the randomness of subjective judgment, facilitates preoperative comparison of the advantages and disadvantages of different paths and explanation of the selection reasons, can find the critical state of needle tip approaching blood vessels or dangerous organs in advance and prompt the operator through voxel-level collision judgment and real-time distance field judgment, thereby avoiding high-risk puncture trajectories in the simulation stage, reducing the probability of complications in real operations, fusing the historical action habits and scoring trends of the operator to generate candidate paths that conform to his operation style, facilitating skilled doctors to quickly confirm the optimal route, and providing reachable paths that conform to the current ability level of the training doctor, shortening the learning curve, adopting two-level detection of bounding boxes and voxelization, ensuring detection efficiency in large scenes, and providing fine-grained judgment in key areas, suitable for real-time interactive simulation requirements, dynamic visualization makes it easier for team members to reach a consensus, which is beneficial for multidisciplinary discussion and patient communication, and improves the quality of preoperative preparation. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a method flowchart provided by the application; Figure 2 is a system module diagram provided by the application. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the specific embodiments of the application will be described in detail below with reference to the accompanying drawings.

[0019] In the following description, many specific details are set forth in order to provide a thorough understanding of the application, but the application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the concept of the application, therefore the application is not limited to the specific embodiments disclosed below.

[0020] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the application. "In a preferred embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment that excludes other embodiments.

[0021] Thirdly, the application is described in detail in conjunction with the schematic diagram, and in the detailed description of the embodiments of the application, the schematic diagram is only an example and should not limit the scope of protection of the application herein.

[0022] Please refer to the accompanying Figure 1 As shown in the accompanying drawings, a preoperative simulation method for liver puncture based on virtual reality technology is provided, which comprises: S1, acquire medical image data of a target patient, reconstruct a three-dimensional virtual model of the patient based on the medical image data, load the three-dimensional virtual model into a virtual reality preoperative simulation environment, and establish a puncture operation interactive interface; S2, acquire puncture path operation information of an operator based on the virtual reality preoperative simulation environment, and acquire a puncture operation coefficient based on the puncture path operation information; S3, acquire a collision detection state of a virtual puncture instrument and blood vessels and organs based on the three-dimensional virtual model; S4, acquire interaction information of the virtual puncture instrument and the blood vessels and organs in the three-dimensional virtual model when they are in contact based on the collision detection state, and acquire an interaction value based on the interaction information; S5, acquire historical operation data of the operator, and acquire a feasibility score and a risk level of a puncture path in combination with the puncture operation coefficient and the interaction value; S6, dynamically visually display the puncture path based on the feasibility score and the risk level in the virtual reality preoperative simulation environment, generate a plurality of candidate paths to determine a target puncture path in combination with the action habits of the operator, and output a preoperative simulation result.

[0023] As in the above steps S1 to S6, image segmentation and multi-modal registration are performed from the medical images (such as CT, MRI, ultrasound, etc.) of the patient, a three-dimensional anatomical model containing blood vessels, liver parenchyma, lesions and surrounding dangerous organs is reconstructed, and considering the dependence on single image data, the adaptation to low-quality images or anatomical variation patients is insufficient, real-time image data such as ultrasound, DSA, etc. can be introduced during actual reconstruction, the artifacts and noise of low-quality images are repaired through deep learning image enhancement techniques, the model reconstruction accuracy is improved, the model is connected with virtual reality display and input device to build a puncture operation interaction interface with spatial positioning and force feedback (or tactile prompt) capability, the operator performs path planning and simulation operation in an immersive environment, the spatial position information (needle tip trajectory), attitude information (needle shaft angle) and operation stability (shaking index) of the operator are collected in real time in the virtual environment, according to the preset weight (position, attitude, stability weight), and the puncture operation coefficient is synthesized, which is used to reflect the current operator's contribution to the path execution quality, the bounding box is used for rough collision screening to ensure efficiency, and the three-dimensional model of the instrument needle tip is voxelized, whether the needle tip voxel enters the blood vessel or organ region is judged in real time, when the needle tip enters the related voxel, the minimum distance from the needle tip to the tissue surface is calculated by calling the distance field data, and the contact or penetration state is judged by a threshold value, the mechanical interaction information of different tissue types (skin, liver capsule, lesion, blood vessel wall, etc.) is defined, such as puncture resistance, friction, etc., the detected tissue contact type is mapped to a specific resistance value (skin penetration resistance, liver capsule penetration resistance), and the interaction weight is combined to synthesize the interaction value, which is used to measure the physical risk and puncture difficulty, the historical operation data of the operator is obtained, the historical score trend is calculated and mapped to a risk weight through a risk weight table, the risk weight, current puncture operation coefficient and current interaction value are fused according to the rules to calculate the feasibility score of the puncture path, the risk level (such as low / medium / high risk) is determined according to the feasibility score in the level table, and the feasibility score and risk level of the path are displayed in real time in the virtual reality interface with color, thickness, animation and other visual elements, so that the operator can clearly see the path risk, a plurality of candidate paths conforming to the habit are selected from the pre-generated or historical database based on the action habit of the operator, the feasibility score of each candidate path is calculated and sorted, and finally the path with the highest score is selected as the target puncture path. The output of the complete preoperative simulation result (path, risk explanation, key distance / penetration point, recommended angle / depth, etc.) is used for preoperative decision and teaching evaluation, the complex surgical risk and skill points are quantified as feasibility score and risk level, the randomness of subjective judgment is reduced, the advantages and disadvantages of different paths are compared before surgery, and the selection reason is explained, through voxel-level collision judgment and real-time distance field judgment, the critical state of the needle tip approaching blood vessels or dangerous organs can be discovered in advance and the operator is prompted, so that high-risk puncture trajectories are avoided in the simulation stage, and the probability of complications in real surgery is reduced.Fusion of the operator's historical action habits and scoring trends, generate candidate paths that conform to its operation style, both facilitate skilled doctors to quickly confirm the optimal route, and also provide training doctors with paths that meet their current ability level, shorten the learning curve, use bounding boxes and two-level detection of voxelization, which not only guarantees the detection efficiency in large scenes, but also provides fine-grained judgment in key areas, suitable for real-time interactive simulation requirements, dynamic visualization makes it easier for team members to reach a consensus, which is beneficial for multidisciplinary discussion and patient communication, and improves the quality of preoperative preparation.

[0024] It should be noted that considering patients with intrahepatic bile duct dilatation or tumor compression leading to blood vessel displacement, medical images may not accurately capture these dynamic anatomical changes, and by establishing an anatomical variation database, including cases such as cirrhosis and vascular malformations, automatically adjusting model parameters through feature matching, highlighting abnormal structures such as displaced blood vessels and enlarged organs, and providing path avoidance prompts.

[0025] In a preferred embodiment, medical image data of a target patient is obtained, a three-dimensional virtual model of the patient is reconstructed based on the medical image data, the three-dimensional virtual model is loaded into a virtual reality preoperative simulation environment, and a puncture operation interactive interface is established, including: S101, obtaining medical image data of a target patient; S102, image segmentation and registration of the anatomical structure of the target patient based on the medical image data, reconstructing a three-dimensional virtual model of the patient, wherein the three-dimensional virtual model contains blood vessel information, internal vessel organ information of the liver, and liver peripheral lesion information; S103, data docking of the three-dimensional virtual model and a virtual reality display device, and loading the three-dimensional virtual model into a virtual reality preoperative simulation environment; S104, establishing a puncture operation interactive interface in the virtual reality preoperative simulation environment.

[0026] As in the above steps S101 to S104, the medical image data of the target patient, such as CT, MRI or ultrasound data, which can truly reflect the anatomical conditions of the patient's liver and its surrounding structures, is obtained, which is the basis for three-dimensional reconstruction. Based on the obtained medical image data, different anatomical structures are segmented and identified by image segmentation technology, such as liver, blood vessels, bile ducts, lesions and surrounding dangerous organs. The image data of different layers or different modalities is unified into the same coordinate system, so as to realize complete and accurate three-dimensional virtual model reconstruction. The three-dimensional model contains blood vessel network, internal vascular system of liver, lesion position and adjacent dangerous organ structure information. The reconstructed three-dimensional virtual model is connected with the virtual reality display device through data interface, and the model is loaded through the interface or data protocol. The model is rendered into the virtual reality preoperative simulation environment to form an immersive three-dimensional scene consistent with the patient's anatomical structure. A puncture operation interactive interface is constructed in the virtual reality preoperative simulation environment, which allows the operator to operate the virtual puncture instrument in the virtual space through the handle, force feedback device or motion capture system. The interactive interface can reflect the operator's operation input in real time and dynamically interact with the three-dimensional virtual model, so as to realize the simulation operation of the preoperative puncture path. Through three-dimensional reconstruction based on the patient's own medical image data, a virtual model highly consistent with the real anatomy can be obtained, realizing individualized preoperative simulation, avoiding relying solely on standardized models and ignoring individual differences. The liver blood vessels, vascular system, lesions and surrounding dangerous organs are three-dimensionally visualized in the virtual environment, and the operator can intuitively master the anatomical spatial relationship and plan a reasonable puncture path.

[0027] In a preferred embodiment, the puncture path operation information of the operator is obtained based on the virtual reality preoperative simulation environment, and the puncture operation coefficient is obtained based on the puncture path operation information, including: S201, obtaining the puncture path operation information of the operator based on the virtual reality preoperative simulation environment, wherein the puncture path operation information includes spatial position information, attitude information and operation stability information; S202, obtaining the corresponding spatial position value, attitude value and operation stability value based on the puncture path operation information; S203, obtaining the puncture path operation weight, wherein the puncture path operation weight includes spatial position weight, attitude weight and operation stability weight; S204, obtaining the puncture operation coefficient based on the spatial position value, the attitude value, the operation stability value and the puncture path operation weight.

[0028] In the virtual reality preoperative simulation environment, the relevant information of the operator operating the virtual puncture instrument is acquired in real time through the motion capture device, the handle, the force feedback device or the position tracking system in steps S201 to S204 described above. The collected puncture path operation information includes spatial position information (position coordinates of the needle tip in a three-dimensional virtual space, used for tracking the path trajectory), attitude information (angle and direction of the needle shaft, reflecting rationality and accuracy of the operation posture of the operator), and operation stability information (flicker, speed change or acceleration in the operation process, used for evaluating smoothness and safety of the operation). The collected original operation data are converted into quantifiable indexes, including spatial position value (obtained according to distance or trajectory of the needle tip deviating from the ideal path), attitude value (obtained according to angle deviation of the needle shaft from the ideal angle), and operation stability value (obtained according to data such as flicker amplitude, speed change or acceleration fluctuation). The importance weights of the operation indexes are preset, including spatial position weight, attitude weight and operation stability weight. These weights reflect the relative influence of different indexes on the puncture path execution quality and risk. The spatial position value, the attitude value and the operation stability value are combined with the respective corresponding weights to calculate a puncture operation coefficient. The coefficient is used to quantitatively evaluate the operation level of the operator in the virtual environment for executing the puncture path, and provides basic data for path feasibility evaluation and risk judgment. The calculation formula of the puncture operation coefficient is wherein G represents the puncture operation coefficient, represents the spatial position weight, K represents the spatial position value, represents the attitude weight, Z represents the attitude value, represents the operation stability weight, and W represents the operation stability value. By converting the spatial position, attitude and stability information of the operator in the virtual environment into quantifiable indexes, the puncture operation level can be objectively evaluated, and errors caused by subjective judgment are reduced. The puncture operation coefficient can feedback the operation level of the operator in real time, and facilitate targeted training of the operation accuracy, attitude and stability in the training process, and help doctors improve puncture skills.

[0029] In a preferred embodiment, the collision detection state of the virtual puncture instrument with the blood vessels and organs is obtained based on the three-dimensional virtual model, including: S301, establishing a bounding box based on the external geometric morphology of the blood vessels and organs in the three-dimensional virtual model; S302, acquiring the spatial position of the virtual puncture instrument, and performing rough collision detection on the spatial position of the virtual puncture instrument and the bounding box. When the virtual puncture instrument does not enter the bounding box, fine detection is suspended. When the virtual puncture instrument enters the bounding box, fine detection is triggered. S303, acquire the dangerous area information of the detection area of the blood vessels and organs in the three-dimensional virtual model, wherein the dangerous area information includes non-dangerous areas and dangerous areas; S304, convert the three-dimensional model of the blood vessels and organs in the three-dimensional virtual model into a voxelized representation, and acquire the corresponding voxel resolution detection information according to the dangerous area information, wherein the voxel resolution detection information includes low voxel resolution corresponding to the non-dangerous areas and high voxel resolution corresponding to the dangerous areas, and the virtual puncture instrument needle tip is detected in real time whether the voxel belongs to the blood vessel or organ area; S305, when the virtual puncture instrument needle tip enters the blood vessel and organ area, acquire the distance field data of the virtual puncture instrument needle tip and the blood vessels and organs in the three-dimensional virtual model; S306, based on the distance field data, determine the minimum distance from the virtual puncture instrument needle tip to the surface of the blood vessels and organs in the three-dimensional virtual model, wherein when the minimum distance is less than a preset threshold, it is determined as contact, and when the minimum distance is less than zero, it is determined as penetration.

[0030] As in steps S301 to S306 described above, in order to improve the collision detection efficiency, first, a bounding box is generated based on the external geometry of the blood vessels and organs in the three-dimensional virtual model, which is the minimum circumscribed rectangle or cube of the blood vessels or organs, for quickly judging whether the virtual puncture instrument is likely to interact with a specific tissue, providing spatial constraints for rough detection, and quickly performing collision detection on the spatial position of the virtual puncture instrument and the bounding box. If the instrument does not enter any bounding box, complex calculations are not required, thereby improving the overall detection efficiency. If the instrument enters the bounding box area, more detailed collision detection is triggered. The detection area is assigned a risk level information, including high-risk areas (such as large blood vessels, critical organ surfaces) using high-resolution voxel detection, and non-risk areas using low-resolution voxel detection, thereby reducing the overall computational burden while ensuring the detection accuracy of the risk area. This information can be obtained from image segmentation results, clinical rules or operator designation. The three-dimensional virtual model is voxelized, and the blood vessels and organs are divided into small cube units (voxels). It is detected in real time whether the voxel where the needle tip of the virtual puncture instrument is located belongs to the blood vessel or organ area, thereby realizing the transition from rough detection to fine detection and improving the accuracy of collision judgment. When the voxel where the needle tip is located enters the blood vessel or organ area, the distance field data from the needle tip to the tissue surface is obtained, which is used to quantify the relative position of the needle tip and the tissue boundary. The distance of the needle tip from the tissue surface is judged based on the distance field data. The minimum distance between the needle tip and the blood vessel or organ surface is calculated. When the minimum distance is less than a predetermined threshold, it is determined that the needle tip is in contact with the tissue. When the minimum distance is less than zero, it is determined that the needle tip penetrates the tissue. Through this fine judgment, the interaction state of the virtual puncture instrument and the critical tissue can be obtained in real time. The two-level detection strategy of bounding box and voxelization ensures the detection efficiency and realizes fine and voxel-level contact and penetration judgment, making the risk assessment of the virtual puncture path more accurate. High-resolution voxels are used in critical (high-risk) areas to achieve voxel-level contact and penetration judgment, reduce false positives and false negatives caused by geometric overlap or bounding boxes alone, and improve the accuracy of risk prompts. Through distance field calculation and minimum distance judgment, the contact or penetration of the needle tip with the blood vessel or organ can be judged in real time to provide immediate risk prompts to the operator and avoid high-risk operations.

[0031] In a preferred embodiment, interaction information when the virtual puncture instrument contacts different tissue types in the three-dimensional virtual model is obtained based on the collision detection state. An interaction value is obtained based on the interaction information, including: S401, obtaining interaction information when the virtual puncture instrument contacts different tissue types in the three-dimensional virtual model based on the collision detection state, wherein the interaction information includes the resistance of the needle tip of the virtual puncture instrument penetrating the skin and the resistance of penetrating the liver capsule; S402, obtaining the corresponding skin penetration resistance value and liver capsule penetration resistance value based on the interaction information; S403, obtain puncture environment information, wherein the puncture environment information includes bleeding range information and tissue deformation information, and obtain corresponding bleeding range values and tissue deformation values; S404, obtain corresponding bleeding range coefficients, tissue deformation coefficients, baseline bleeding range values and baseline tissue deformation values, and obtain puncture environment deviation values in combination with the bleeding range values and the tissue deformation values; S405, obtain a deviation table, wherein the deviation table includes a plurality of puncture environment deviation value intervals and corresponding interaction weights for each puncture environment deviation value interval, wherein the interaction weights include skin penetration resistance weights and liver capsule penetration resistance weights; S406, obtain corresponding interaction weights from the deviation table based on the puncture environment deviation value corresponding to the puncture environment deviation value interval; S407, obtain interaction values based on the skin penetration resistance values, the liver capsule penetration resistance values and the interaction weights.

[0032] As described above in steps S401 to S407, based on the collision detection results, when the virtual puncture instrument contacts or penetrates different types of tissues (such as skin, organs and liver capsule, lesion tissue, etc.) in the three-dimensional virtual model, corresponding interaction information is obtained, which reflects the physical interaction characteristics between the instrument and the tissue, including skin penetration resistance (the resistance felt when the needle tip penetrates the skin), liver capsule penetration resistance (the resistance when the needle tip penetrates the liver surface capsule), by obtaining the interaction information of different tissue types, the mechanical response of the needle tip to the tissue during operation can be quantified, the collected interaction information is converted into numerical form, including skin penetration resistance values and liver capsule penetration resistance values, which are used to reflect the actual force of the needle tip and the tissue during puncture. Through dynamic feedback in the virtual reality environment, relevant environment information during puncture is obtained, including bleeding range information (such as the size of the bleeding range after the needle tip damages blood vessels) and tissue deformation information (the degree of deformation of the liver surface or deep tissue under the action of the needle tip), the environment information is numerically valued, and in combination with the baseline values (bleeding range values and tissue deformation values in the ideal state) and puncture environment coefficients (proportion coefficients preset according to the importance of the puncture environment, i.e. bleeding range coefficients and tissue deformation coefficients), the puncture environment deviation values are calculated, which are used to reflect the difference between the current operation and the ideal state. The calculation formula of the puncture environment deviation value is , wherein H represents the puncture environment deviation value, x represents the bleeding range coefficient, represents the bleeding range value, represents the baseline bleeding range value, b represents the tissue deformation coefficient, represents the tissue deformation value, The environmental deviation value is mapped to a corresponding deviation interval according to the deviation table, and an interaction weight corresponding to the interval is obtained, the interaction weight includes a skin penetration resistance weight and a liver capsule penetration resistance weight, the interaction weight is used to dynamically correct the importance of the tissue resistance, that is, under different environmental conditions, the contribution proportions of the skin resistance and the liver capsule resistance to the final interaction value are different, the resistance values of the tissues are combined with the corresponding weights to calculate a comprehensive interaction value, the value quantifies the overall interaction intensity of the virtual puncture instrument with different tissues in the puncture process, and a calculation formula of the interaction value is , wherein J represents the interaction value, f represents the skin penetration resistance weight, F represents the skin penetration resistance value, m represents the liver capsule penetration resistance weight, M represents the liver capsule penetration resistance value, f+m=1, the resistance of the needle tip penetrating different tissues can be quantified, the virtual operation is closer to the real operation feeling, the realism and reliability of the preoperative simulation are improved, the comprehensive interaction value can reflect the resistance peak value and the dangerous operation section that can be encountered in the puncture process, the path feasibility score is provided, and the risk of injuring blood vessels or key organs is reduced, the tissue structures and tissue mechanical properties of different patients are different, the interaction value is quantified, and personalized puncture path evaluation can be provided for specific patients.

[0033] In a preferred embodiment, the historical operation data of the operator is obtained, and the puncture path feasibility score and the risk level are obtained by combining the puncture operation coefficient and the interaction value, including: S501, obtaining historical operation data of an operator, wherein the historical operation data includes operation habit of the operator and a plurality of historical operation scores; S502, obtaining a collection time length of the historical operation data; S503, obtaining a historical score trend value based on the collection time length and the plurality of historical operation scores; S504, obtaining a weight table, wherein the weight table includes a plurality of historical score trend value intervals and a risk weight corresponding to each historical score trend value interval, the risk weight includes a puncture weight and an interaction weight; S505, obtaining a corresponding risk weight from the weight table based on a historical score trend value interval corresponding to the historical score trend value; S506, obtaining a puncture path feasibility score and a risk level based on the risk weight, the puncture operation coefficient and the interaction value.

[0034] As in the steps S501-S506 described above, the historical operation data of the operator is obtained, including the operation habits of the operator (such as the angle, force, operation speed and other characteristics of the hand-held needle) and a plurality of operation scores corresponding in the past operation, which can reflect the long-term operation characteristics and technical level of the operator. The collection time length information of the historical operation data, i.e. the time range covered by the data, is obtained. According to the historical operation scores and the collection time length, the historical score trend value is calculated, which is used to reflect the change trend of the operation level of the operator. The calculation formula of the historical score trend value is , wherein P represents the historical score trend value, i represents the number of the plurality of historical operation scores, i = 1, 2, 3…n, represents the i-th historical operation score, and t represents the collection time length. A weight table is set to divide the historical score trend value into a plurality of intervals, and each interval is assigned a corresponding risk weight. The risk weight includes a puncture weight (reflecting the influence of the operation habit of the operator on the puncture path feasibility) and an interaction weight (reflecting the influence of the operation of the operator on the interaction of the instrument and the tissue). According to the interval in which the calculated historical score trend value is located, the corresponding risk weight is extracted from the weight table. In this way, the historical operation level of the operator can be matched with the potential risk of the puncture path, and a quantitative basis for the path feasibility score can be provided. The table can be established by expert rules or trained based on historical samples using data (classification, regression model or discretization rule). The historical risk weight, the current puncture operation coefficient and the interaction value are comprehensively calculated to obtain the feasibility score and the risk level of the puncture path. The feasibility score quantifies the rationality of the path execution, and the risk level reflects the danger degree that the path may encounter in the real operation. By incorporating the historical operation habit and the score trend into the evaluation, personalized puncture path feasibility and risk analysis can be provided for different operators.

[0035] In a preferred embodiment, the feasibility score and the risk level of the puncture path are obtained based on the risk weight, the puncture operation coefficient and the interaction value, including: S5061, obtaining the feasibility score of the puncture path based on the risk weight, the puncture operation coefficient and the interaction value; S5062, obtaining a level table, wherein the level table includes a plurality of feasibility score intervals and a risk level corresponding to each feasibility score interval; S5063, obtaining the corresponding risk level from the level table based on the feasibility score interval corresponding to the feasibility score.

[0036] As in the steps S5051-S5063 described above, the risk weight, the puncture operation coefficient and the interaction value are comprehensively calculated to obtain the feasibility score of the puncture path. The calculation formula of the feasibility score is , wherein The feasibility score is expressed as a feasibility score, g is expressed as a puncture weight, G is expressed as a puncture operation coefficient, j is expressed as an interaction weight, J is expressed as an interaction value, g+j=1, a grade table is set, the feasibility score is divided into multiple intervals, and a corresponding risk level (such as high risk, medium risk, and low risk) is assigned to each interval. The feasibility score interval represents the rationality range of the path execution, and the risk level mapping reflects the degree of danger that the path may encounter in actual surgery. Through the grade table, the numerical feasibility score can be directly converted into a risk level, which is convenient for operators to understand and make decisions. The table can be developed by expert rules or trained based on historical samples using data (classification, regression model or discretization rule). According to the score interval of the puncture path feasibility score, the corresponding risk level is obtained from the grade table. The feasibility score provides a numerical index of the rationality of the puncture path operation, making the path evaluation more scientific and accurate. The risk level converts the complex numerical calculation result into easy-to-understand level information, enabling the operator to quickly identify high-risk paths and optimize the operation strategy. By combining the feasibility score and the risk level, the operator can compare and select different paths in the preoperative simulation, improving the safety and reliability of path planning.

[0037] In a preferred embodiment, the puncture path is dynamically visualized and displayed in the virtual reality preoperative simulation environment based on the feasibility score and the risk level, and a plurality of candidate paths are determined to determine the target puncture path in combination with the action habit of the operator, and the preoperative simulation result is output, including: S601, dynamically visualizing and displaying the puncture path in the virtual reality preoperative simulation environment based on the risk level; S602, extracting the action habit of the operator based on historical surgery data; S603, obtaining a set of puncture paths for liver puncture, and selecting puncture paths that meet the action habit of the operator from the set of puncture paths and marking them as candidate paths; S604, obtaining the feasibility score of each candidate path, and summarizing the feasibility score of each candidate path and the feasibility score of the current puncture path to obtain a summary result; S605, sorting the multiple feasibility scores in the summary result in descending order, selecting the puncture path corresponding to the first feasibility score as the target puncture path, and outputting the preoperative simulation result.

[0038] As in the above steps S601 to S605, according to the risk level, the puncture path is dynamically visualized and displayed in the virtual reality preoperative simulation environment, and different risk levels of the path can be distinguished by color, thickness or transparency, etc. Visual elements, such as high-risk path displayed in red and low-risk path displayed in green, dynamic display enables the operator to observe the movement state of the needle tip on the path and the potential risk point in real time, and the action habit features are extracted from the historical operation data of the operator, such as the angle preference of the hand-held needle, the needle tip insertion speed, the hand stability, etc. All possible path sets of liver puncture are obtained, and the paths conforming to the operator's habits are screened out by combining the operator's action habits, and these paths are marked as candidate paths. The candidate path is the optimal path set screened out individually, which can balance the operation comfort and risk control. The feasibility scores of each candidate path and the feasibility score of the current puncture path are summarized to form a comprehensive score result. The multiple feasibility scores in the summary result are sorted from high to low, and the path with the highest score is selected as the target puncture path and marked and output in the virtual reality preoperative simulation environment. The preoperative simulation result output includes the visual display of the target path, the risk level prompt and the related operation suggestion, which provides intuitive guidance for the operator's preoperative planning. Dynamic visual display enables the operator to perceive the risk distribution and feasibility of the puncture path in real time, improves the understanding and judgment ability of the operation scheme, and generates candidate paths by combining the operator's historical action habits. The simulation result can balance the operation comfort and safety, realize individual preoperative planning, the candidate path screening and feasibility score summarizing mechanism ensure that the risk of the target path is the lowest, reduce the possibility of injuring blood vessels or vital organs, and improve the safety of intraoperative operation. The visual display and target path prompt provide intuitive reference for training and skill improvement, so that the operator can master the optimal puncture path and operation skill through simulation practice.

[0039] Please refer to the accompanying Figure 2 The application also provides a liver puncture preoperative simulation system based on virtual reality technology, which is used for the above-mentioned liver puncture preoperative simulation method based on virtual reality technology, and comprises: A virtual interaction module is configured to acquire medical image data of a target patient, reconstruct a three-dimensional virtual model of the patient based on the medical image data, load the three-dimensional virtual model into a virtual reality preoperative simulation environment, and establish a puncture operation interaction interface. A puncture operation module is configured to acquire puncture path operation information of an operator based on the virtual reality preoperative simulation environment, and acquire a puncture operation coefficient based on the puncture path operation information. A collision detection module is configured to acquire a collision detection state of a virtual puncture instrument and blood vessels and organs based on the three-dimensional virtual model. an interaction module, configured to obtain interaction information of the virtual puncture instrument and the blood vessels and organs in the three-dimensional virtual model when the virtual puncture instrument contacts the blood vessels and organs based on the collision detection state, and obtain an interaction value based on the interaction information; a puncture risk module, configured to obtain historical operation data of the operator, and obtain a feasibility score and a risk level of the puncture path in combination with a puncture operation coefficient and the interaction value; a simulation result module, configured to perform dynamic visual display on the puncture path in the virtual reality preoperative simulation environment based on the feasibility score and the risk level, generate a plurality of candidate paths in combination with action habits of the operator to determine a target puncture path, and output a preoperative simulation result.

[0040] The above-mentioned virtual interaction module is responsible for obtaining medical image data (such as CT or MRI) of a target patient, and reconstructing a three-dimensional virtual model of the patient through image segmentation and registration technology. The three-dimensional model includes blood vessels, internal vessel organs of the liver, and liver peripheral lesion information. The model is loaded into a virtual reality preoperative simulation environment, and a puncture operation interaction interface is established, so that the operator can perform immersive operation in the virtual environment. The puncture operation module obtains the path information of the puncture operation performed by the operator in the virtual reality environment, including spatial position, posture, and operation stability data. Based on this information, the puncture operation coefficient is calculated to provide a quantitative index for evaluating the path feasibility and operation safety. The collision detection module performs real-time collision detection on the virtual puncture instrument and the blood vessels and organs in the three-dimensional virtual model. Rough detection is performed through an external geometric bounding box, and fine detection is performed through a voxelization method to determine whether the needle tip contacts or penetrates the blood vessels and organs. The interaction module obtains interaction information when the virtual puncture instrument contacts different tissue types, including skin penetration resistance and liver capsule penetration resistance. According to the resistance value and the preset weight, the comprehensive interaction value is calculated to reflect the operation characteristics and potential risks of the needle tip in the tissue. The puncture risk module obtains the historical operation data of the operator, including operation habits and historical score trends. The historical risk weight, current puncture operation coefficient, and interaction value are combined to calculate the feasibility score and risk level of each puncture path, providing a scientific basis for path selection. The simulation result module dynamically visualizes the puncture path in the virtual reality environment according to the feasibility score and risk level, extracts the operation habit of the operator, filters the candidate paths that meet the habit from all possible puncture paths, sorts the feasibility scores, selects the best path as the target puncture path, and outputs the preoperative simulation results, including path visualization, risk level prompt, and operation suggestion. Dynamic visualization of the puncture path and risk level enables the operator to intuitively understand the path safety, improves the preoperative decision-making efficiency, generates candidate paths based on the historical operation habits of the operator, realizes personalized path optimization, considers operation comfort and safety, calculates the feasibility score and risk level based on historical data, operation coefficient, and tissue interaction information, improves the scientific nature of path selection, reduces intraoperative risk, fine collision detection and interaction calculation can predict potential danger points, reduce the risk of damaging blood vessels or organs, and ensure patient safety.

[0041] In addition, a liver puncture preoperative simulation terminal based on virtual reality technology includes: One or more processors; A storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors implement a liver puncture preoperative simulation method based on virtual reality technology.

[0042] The above merely describes the preferred embodiments of the present application, and it should be pointed out that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application. The structures, devices and operation methods not specifically described and explained in the present application are implemented according to the conventional means in the art, unless specifically described and limited.

Claims

1. A preoperative simulation method for liver biopsy based on virtual reality technology, characterized in that, include: Acquire medical imaging data of the target patient, reconstruct a three-dimensional virtual model of the patient based on the medical imaging data, load the three-dimensional virtual model into the virtual reality preoperative simulation environment, and establish a puncture operation interactive interface; The operator's puncture path operation information is obtained based on the virtual reality preoperative simulation environment, and the puncture operation coefficient is obtained based on the puncture path operation information. The collision detection status of virtual puncture instruments with blood vessels and organs is obtained based on a 3D virtual model; Based on the collision detection status, the interaction information when the virtual puncture instrument comes into contact with blood vessels and organs in the three-dimensional virtual model is obtained, and the interaction value is obtained based on the interaction information. Obtain the operator's historical surgical data, and combine the puncture operation coefficient and interaction value to obtain the feasibility score and risk level of the puncture path; In a virtual reality preoperative simulation environment, the puncture path is dynamically visualized based on feasibility scores and risk levels. Multiple candidate paths are generated in combination with the operator's movement habits to determine the target puncture path, and the preoperative simulation results are output.

2. The preoperative simulation method for liver puncture based on virtual reality technology according to claim 1, characterized in that, Acquire medical imaging data of the target patient, reconstruct a 3D virtual model of the patient based on the medical imaging data, load the 3D virtual model into a virtual reality preoperative simulation environment, and establish an interactive interface for the puncture operation, including: Acquire medical imaging data of the target patient; Based on medical imaging data, the anatomical structure of the target patient is segmented and registered to reconstruct a three-dimensional virtual model of the patient. The three-dimensional virtual model includes vascular information, information on the internal vascular organs of the liver, and information on lesions around the liver. The three-dimensional virtual model is connected to the virtual reality display device, and the three-dimensional virtual model is loaded into the virtual reality preoperative simulation environment; Establish an interactive interface for puncture procedures within a virtual reality preoperative simulation environment.

3. The preoperative simulation method for liver puncture based on virtual reality technology according to claim 1, characterized in that, Based on the preoperative simulation environment of virtual reality, the operator's puncture path operation information is obtained, and the puncture operation coefficient is obtained based on the puncture path operation information, including: The puncture path operation information of the operator is obtained based on the virtual reality preoperative simulation environment. The puncture path operation information includes spatial position information, posture information and operation stability information. Based on the puncture path operation information, obtain the corresponding spatial position value, attitude value and operation stability value; Obtain the puncture path operation weights, which include spatial position weights, attitude weights, and operation stability weights. The puncture operation coefficient is obtained based on spatial location value, attitude value, operational stability value, and puncture path operation weight.

4. The preoperative simulation method for liver puncture based on virtual reality technology according to claim 1, characterized in that, The collision detection status of virtual puncture instruments with blood vessels and organs is obtained based on a 3D virtual model, including: A bounding box is established based on the external geometry of blood vessels and organs in a 3D virtual model; Obtain the spatial position of the virtual puncture instrument and perform coarse collision detection between the spatial position of the virtual puncture instrument and the bounding box. When the virtual puncture instrument does not enter the bounding box, pause fine detection. When the virtual puncture instrument enters the bounding box, trigger fine detection. Obtain the danger zone information of the detection area of ​​blood vessels and organs in the three-dimensional virtual model, where the danger zone information includes non-dangerous areas and dangerous areas; The three-dimensional models of blood vessels and organs in the three-dimensional virtual model are converted into voxel representations, and the corresponding voxel resolution detection information is obtained according to the danger area information. The voxel resolution detection information includes low voxel resolution corresponding to non-dangerous areas and high voxel resolution corresponding to dangerous areas. The voxel where the virtual puncture instrument needle tip is located is detected in real time to determine whether it belongs to the blood vessel or organ area. When the voxel containing the tip of the virtual puncture instrument enters the blood vessel and organ region, the distance field data between the tip of the virtual puncture instrument and the blood vessel and organ in the three-dimensional virtual model is acquired. Based on distance field data, the minimum distance from the tip of the virtual puncture instrument to the surface of blood vessels and organs in the three-dimensional virtual model is determined. When the minimum distance is less than a preset threshold, it is determined to be contact; when the minimum distance is less than zero, it is determined to be penetration.

5. The preoperative simulation method for liver puncture based on virtual reality technology according to claim 1, characterized in that, Based on collision detection status, interaction information is obtained when the virtual puncture instrument comes into contact with different tissue types in the 3D virtual model. Interaction values ​​are then obtained based on this interaction information, including: Based on collision detection, information on the interaction between the virtual puncture instrument and different tissue types in the 3D virtual model is obtained. This interaction information includes the resistance of the virtual puncture instrument needle tip to penetrate the skin and the resistance to penetrate the liver capsule. Based on the interaction information, the corresponding resistance values ​​for skin penetration and liver capsule penetration are obtained; Acquire puncture environment information, including bleeding range information and tissue deformation information, and obtain the corresponding bleeding range value and tissue deformation value; Obtain the corresponding bleeding range coefficient, tissue deformation coefficient, baseline bleeding range value, and baseline tissue deformation value, and combine the bleeding range value and tissue deformation value to obtain the puncture environment deviation value; Obtain a deviation table, which includes multiple puncture environment deviation value ranges and the interaction weights corresponding to each puncture environment deviation value range. The interaction weights include the skin penetration resistance weight and the liver capsule penetration resistance weight. Based on the puncture environment deviation value range corresponding to the puncture environment deviation value, obtain the corresponding interaction weight from the deviation table; The interaction value is obtained based on the resistance value of skin penetration, the resistance value of liver capsule penetration, and the interaction weight.

6. The preoperative simulation method for liver puncture based on virtual reality technology according to claim 1, characterized in that, Obtain the operator's historical surgical data and combine it with the puncture operation coefficient and interaction value to obtain the feasibility score and risk level of the puncture path, including: Obtain the operator's historical surgical data, which includes the operator's movement habits and multiple historical operation scores; Acquisition time of historical surgical data; Historical score trend values ​​are obtained based on the collection duration and multiple historical operation scores. Obtain the weight table, which includes multiple historical score trend value intervals and the risk weight corresponding to each historical score trend value interval. The risk weights include puncture weights and interaction weights. Obtain the corresponding risk weight from the weight table based on the historical score trend value range corresponding to the historical score trend value; The feasibility score and risk level of the puncture path are obtained based on risk weight, puncture operation coefficient and interaction value.

7. The preoperative simulation method for liver puncture based on virtual reality technology according to claim 6, characterized in that, The feasibility score and risk level of the puncture path are obtained based on risk weights, puncture operation coefficients, and interaction values, including: The feasibility score of the puncture path is obtained based on risk weight, puncture operation coefficient and interaction value; Obtain the rating table, which includes multiple feasibility rating intervals and the risk level corresponding to each feasibility rating interval; The corresponding risk level is obtained from the rating table based on the feasibility score range corresponding to the feasibility score.

8. The preoperative simulation method for liver puncture based on virtual reality technology according to claim 1, characterized in that, In a virtual reality preoperative simulation environment, the puncture path is dynamically visualized based on feasibility scores and risk levels. Multiple candidate paths are generated by combining the operator's movement habits to determine the target puncture path, and the preoperative simulation results are output, including: Dynamically visualize the puncture path based on risk level in a virtual reality preoperative simulation environment; Extracting operator movement habits based on historical surgical data; Obtain a set of puncture paths for liver biopsy, filter puncture paths that match the operator's movement habits from the set of puncture paths, and mark them as candidate paths; Obtain the feasibility score for each candidate path, and summarize the feasibility scores of each candidate path and the current puncture path to obtain the summary result. Sort the multiple feasibility scores in the summary results in descending order, select the puncture path corresponding to the first feasibility score, mark the target puncture path, and output the preoperative simulation results.

9. A liver biopsy preoperative simulation system based on virtual reality technology, applied to the liver biopsy preoperative simulation method based on virtual reality technology as described in any one of claims 1 to 8, characterized in that, include: The virtual interaction module is used to acquire the medical imaging data of the target patient, reconstruct a three-dimensional virtual model of the patient based on the medical imaging data, load the three-dimensional virtual model into the virtual reality preoperative simulation environment, and establish a puncture operation interactive interface. The puncture operation module obtains the operator's puncture path operation information based on the virtual reality preoperative simulation environment, and obtains the puncture operation coefficient based on the puncture path operation information. The collision detection module acquires the collision detection status between the virtual puncture instrument and blood vessels and organs based on a 3D virtual model. The interaction module obtains interaction information when the virtual puncture instrument comes into contact with blood vessels and organs in the three-dimensional virtual model based on the collision detection status, and obtains the interaction value based on the interaction information. The puncture risk module is used to obtain the operator's historical surgical data and combine the puncture operation coefficient and interaction value to obtain the feasibility score and risk level of the puncture path; The simulation results module is used to dynamically visualize the puncture path based on feasibility scores and risk levels in a virtual reality preoperative simulation environment. It also generates multiple candidate paths based on the operator's movement habits to determine the target puncture path and outputs the preoperative simulation results.

10. A preoperative simulation terminal for liver biopsy based on virtual reality technology, characterized in that, include: One or more processors; A storage device on which one or more programs are stored; When one or more programs are executed by one or more processors, the one or more processors implement the liver biopsy preoperative simulation method based on virtual reality technology as described in any one of claims 1 to 8.

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