Respiratory motion compensation data processing method, medical image generation method and apparatus

Abstract

This application relates to a method for calculating respiratory motion compensation data, a method for generating medical images, an apparatus, a medical image generation system, a surgical system, a computer device, a storage medium, and a computer program product. The method includes: acquiring the current gas volume input to an object using a gas flow acquisition device; obtaining the current target displacement of a first target part of the object in a first direction; calculating the initial volume change of the first target part in the first direction based on the current target displacement; calculating the target volume change of the first target part in a second direction based on the current gas volume and the initial volume change; obtaining the current target displacement of respiratory motion in the second direction based on the target volume change; and obtaining respiratory motion compensation data based on the current target displacement in the first and second directions. This method can improve the accuracy of respiratory motion compensation.

Description

Technical Field

[0001] This application relates to the field of intelligent medical technology, and in particular to a respiratory motion compensation data processing method, a medical image generation method, a device, a medical image generation system, a surgical system, a computer device, a storage medium, and a computer program product. Background Technology

[0002] With the development of computer technology and medical imaging technology, surgical navigation systems have been increasingly widely used. Surgical navigation systems generate a 3D model based on the patient's preoperative static medical images and register this 3D model with the positional information collected intraoperatively by sensors within the patient's body to establish a mapping relationship between the intraoperative patient coordinate system and the preoperative 3D model coordinate system. During the surgery, the sensors then acquire the real-time position, reflecting this position back into the 3D model, thus achieving intraoperative navigation. However, for organs affected by respiration, such as the bronchi, the data acquired by sensors intraoperatively is dynamic data influenced by respiration. Therefore, minimizing the impact of respiratory motion on navigation accuracy is crucial in these types of navigation surgeries.

[0003] In traditional techniques, the displacement of several electromagnetic patches attached to the patient's chest is typically used to simulate the displacement of organs within the thoracic cavity, thereby compensating for data acquired by sensors during the procedure.

[0004] However, this displacement can only obtain the change in the orientation of the thoracic cavity in front of and behind the body, making the final compensation result inaccurate. Summary of the Invention

[0005] Therefore, it is necessary to provide a respiratory motion compensation data processing method, medical image generation method, device, medical image generation system, surgical system, computer equipment, storage medium, and computer program product that can improve the accuracy of respiratory motion compensation in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a method for processing respiratory motion compensation data, the method comprising:

[0007] The current amount of gas input to the object is collected using a gas flow acquisition device;

[0008] Obtain the current target displacement of the first target part of the collected object in the first direction;

[0009] Compensation data for respiratory motion is calculated based on the current gas volume and the current target displacement in the first direction.

[0010] Secondly, this application also provides a method for generating medical images, the method comprising:

[0011] Acquire the real-time location of the third target site and preoperative medical images;

[0012] Obtain the compensation data calculated based on the above-mentioned respiratory motion compensation data processing method;

[0013] The location to be processed is calculated based on the compensation data and the real-time location.

[0014] The location to be processed is mapped onto the preoperative medical image.

[0015] Thirdly, this application also provides a respiratory motion compensation data processing device, the respiratory motion compensation data processing device comprising:

[0016] The gas quantity acquisition module is used to acquire the current gas quantity input to the object through a gas flow acquisition device.

[0017] The first target displacement acquisition module is used to acquire the current target displacement of the first target part of the object in the first direction.

[0018] The compensation data acquisition module is used to calculate the compensation data of the breathing motion based on the current gas volume and the current target displacement in the first direction.

[0019] Fourthly, this application also provides a medical image generation apparatus, the medical image generation apparatus comprising:

[0020] The data acquisition module is used to acquire the real-time location of the third target site and preoperative medical images;

[0021] The second compensation data calculation module is used to acquire the calculated compensation data, which is calculated based on the current gas volume and the current target displacement in the first direction; it is also calculated based on the current target displacement in the first direction and the current target displacement in the second direction; the current target displacement in the first direction is obtained by collecting the current target displacement of the first target part of the object in the first direction; the current gas volume and the current target displacement in the second direction are the current gas volume input into the object collected by the gas flow acquisition device;

[0022] The pending location calculation module is used to calculate the pending location based on the compensation data and the real-time location.

[0023] A mapping module is used to map the location to be processed onto the preoperative medical image.

[0024] Fifthly, this application also provides a medical image generation system, the medical image generation system comprising:

[0025] Gas flow acquisition equipment is used to acquire the current amount of gas input to an object;

[0026] A displacement acquisition device is used to acquire the target displacement of the first target part of the object in a first direction.

[0027] The processor communicates with both the gas flow acquisition device and the displacement acquisition device, and the processor is used to execute the method described in any of the above embodiments.

[0028] Sixthly, this application also provides a surgical system, which includes the aforementioned medical image generation system.

[0029] In a seventh aspect, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described in any of the above embodiments.

[0030] Eighthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the above embodiments.

[0031] Ninthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the above embodiments.

[0032] The aforementioned respiratory motion compensation data calculation method, medical image generation method, device, medical image generation system, surgical system, computer equipment, storage medium, and computer program product first acquire the current gas volume input to the object, and calculate the initial volume change of the first target part in the first direction by acquiring the current target displacement of the first target part in the first direction. Thus, based on the current gas volume and the initial volume change, the target volume change of the first target part in the second direction can be determined, and then the current target displacement in the second direction can be determined based on the target volume change. Therefore, respiratory motion compensation data is obtained based on the current target displacement in the first and second directions, improving the accuracy of respiratory motion compensation. Moreover, the current gas volume is directly measured by the gas flow acquisition device, eliminating the need to establish communication with the ventilator, resulting in lower costs. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the surgical system in one embodiment;

[0034] Figure 2 This is a schematic diagram of a medical image generation system in one embodiment;

[0035] Figure 3 This is a flowchart illustrating a method for calculating respiratory motion compensation data in one embodiment;

[0036] Figure 4 This is a schematic diagram illustrating the relationship between gas flow rate and respiratory cycle and time in one embodiment;

[0037] Figure 5 This is a schematic diagram of thoracic cavity motion in the sagittal plane in one embodiment;

[0038] Figure 6 This is a schematic diagram of thoracic cavity motion in the coronal plane in one embodiment;

[0039] Figure 7 This is a schematic diagram illustrating the calculation of the increased volume of the thoracic cavity based on changes in its position, as shown in one embodiment.

[0040] Figure 8 This is a flowchart illustrating the steps for calculating the current target displacement of the breathing motion in the second direction in one embodiment.

[0041] Figure 9 This is a schematic diagram illustrating the displacement changes of the diaphragm during active and passive breathing in one embodiment.

[0042] Figure 10 This is a schematic diagram illustrating the mapping relationship from the end phase of passive inhalation to the end phase of active inhalation in one embodiment;

[0043] Figure 11 This is a schematic diagram illustrating the mapping relationship from the passive breathing phase to the end of the passive inspiration phase in one embodiment;

[0044] Figure 12 This is a schematic diagram illustrating the full-cycle mapping relationship between active and passive respiratory phases in one embodiment;

[0045] Figure 13 This is a schematic diagram illustrating the acquisition of the current target displacement of a first target location in a first direction using an electromagnetic positioning method in one embodiment.

[0046] Figure 14 This is a schematic diagram illustrating the acquisition of the current target displacement of a first target location in a first direction using a radar positioning method in one embodiment.

[0047] Figure 15 This is a schematic diagram illustrating the current target displacement of a first target location in a first direction obtained by a displacement calculation method based on a depth camera in one embodiment.

[0048] Figure 16 This is a schematic diagram illustrating the current target displacement of a first target location in a first direction obtained by a displacement calculation method based on an optical positioning system in one embodiment.

[0049] Figure 17 This is a flowchart illustrating a medical image generation method in one embodiment;

[0050] Figure 18 This is a flowchart illustrating a medical image generation method in another embodiment;

[0051] Figure 19 This is a structural block diagram of a respiratory motion compensation data calculation device in one embodiment;

[0052] Figure 20 This is a structural block diagram of a medical image generation device in one embodiment;

[0053] Figure 21 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] This application provides a surgical system. See also... Figure 1 As shown, the surgical system includes a medical image generation system 101, see [link / reference]. Figure 2 As shown, the medical image generation system 101 includes a gas flow acquisition device 202, a displacement acquisition device 201, and a processor 203. The processor 203 communicates with both the gas flow acquisition device 202 and the displacement acquisition device 201. The gas flow acquisition device 202 can acquire the current gas volume input to the object, and the displacement acquisition device 201 can acquire the target displacement of the first target part of the object in a first direction. Thus, the processor 203 can calculate the respiratory motion compensation data based on the current gas volume and the target displacement of the first target part in the first direction. Specifically, the processor 203 can calculate the initial volume change of the first target part in the first direction based on the target displacement of the first target part in the first direction. Based on the current gas volume and the initial volume change, the target volume change can be obtained. Then, based on the target volume change, the current target displacement of the respiratory motion in the second direction can be obtained. Thus, the respiratory motion compensation data can be obtained based on the current target displacement in the first direction and the current target displacement in the second direction.

[0056] To enable those skilled in the art to fully understand this application, the aforementioned gas flow acquisition device 202 can be installed at the connection between the ventilator tubing and the patient's endotracheal tube, thus measuring the flow velocity within the tube to calculate the current gas volume over a period of time. The displacement acquisition device 201 can acquire the spatial position of the patient's chest in real time, and specifically, this displacement acquisition device may include at least one of an electromagnetic positioning device, a radar positioning device, a depth camera 1501, and an optical positioning device.

[0057] In one alternative embodiment, see Figure 1 The surgical system also includes an optical positioning system (not shown in the figure), which is used to acquire the real-time position of the third target site during or before the operation. The position to be processed is calculated based on the compensation data and the real-time position, and the position to be processed is compensated into the preoperative medical image.

[0058] In one alternative embodiment, please continue to see Figure 1 The surgical system may also include a medical imaging device 102, which is used to acquire preoperative medical images of the subject before surgery. Specifically, these preoperative medical images are acquired during the subject's active breathing. In an optional embodiment, the preoperative medical images may be acquired at the end of the inspiratory phase during active breathing. During the surgery, a mapping relationship is first established between the images acquired during the surgery and the preoperative medical images. This mapping relationship is obtained by acquiring the position of a target in the corresponding surgical scene before surgery and registering that target position with the target position in the preoperative medical images. Thus, during the surgery, the real-time position of the third target site, acquired in real-time, can be converted to the preoperative medical images according to this mapping relationship, allowing the doctor to promptly view the position of the third target site. Since the real-time position may deviate due to respiratory movements, this embodiment also compensates for the real-time position using compensation data to obtain a position to be processed, and then maps this position to the corresponding preoperative medical images.

[0059] In one alternative embodiment, see Figure 1 The surgical system may also include an augmented reality device 103, in which the optical system may be used only to acquire the position of the target in the corresponding surgical scene to establish the above mapping relationship, while the augmented reality device 103 is used to acquire the real-time position of the third target part, so that the position to be processed is calculated based on the compensation data and the real-time position, and the position to be processed is compensated into the preoperative medical image.

[0060] In one embodiment, such as Figure 3 As shown, a method for processing respiratory motion compensation data is provided, which can be applied to... Figure 2Taking processor 203 as an example, the explanation includes the following steps:

[0061] S302: Collect the current amount of gas input to the object through a gas flow acquisition device.

[0062] Specifically, the current gas volume refers to the amount of gas introduced into the object over a period of time. The object can refer to any object, such as a gas flow acquisition device installed at the connection between the ventilator tubing and the object's tubing. This allows for the measurement of the flow velocity within the tubing to calculate the current gas volume over a period of time.

[0063] Specifically, in combination Figure 4 As shown, Figure 4 This is a schematic diagram illustrating the relationship between gas flow rate and respiratory cycle time in one embodiment. The gas flow rate acquisition device can obtain the actual gas volume entering the bronchi and lungs of the subject. Figure 4 In the diagram, the horizontal axis represents time, and the vertical axis represents gas flow rate. The dashed area represents the actual volume of gas entering the bronchi and lungs of the subject. The gas flow rate exhibits periodicity and can be used as the respiratory cycle, mapped to respiratory phases. Examples include expiratory phase, end-expiratory phase, inspiratory phase, and end-inspiratory phase, but this is not limited to these. The number of phases and the corresponding intervals for each phase can be customized according to specific needs. Thus, each respiratory phase can be determined using the gas flow rate acquisition device. Compared to using costly tracking and positioning devices that simply calculate the respiratory cycle and phases, using a gas flow rate acquisition device can significantly reduce costs. Furthermore, using a gas flow rate acquisition device to directly measure the current gas volume and determine the respiratory phase does not require communication with the ventilator, reducing the cost of adapting to multiple ventilators.

[0064] In one embodiment, the processor acquires the gas flow rate collected by the gas flow acquisition device at various time points, and then performs calculations, such as integration, to obtain the current amount of gas introduced into the object during that time period. In an alternative embodiment, the processor can determine the current respiratory phase based on the current gas volume or based on the magnitude and sign of the gas flow rate. In other embodiments, when it is not necessary to display the respiratory phase, the processor does not need to determine and output the respiratory phase.

[0065] S304: Obtain the current target displacement of the first target part of the collected object in the first direction.

[0066] Specifically, in this embodiment, the first target area can refer to the chest, combined with Figure 5 and Figure 6 As shown, during respiration, not only does the thoracic cavity move, but the diaphragm also moves. Specifically, during inhalation, the thoracic cavity and diaphragm expand outward; during exhalation, the thoracic cavity and diaphragm contract inward. Figure 5The movement of the thoracic cavity relative to the anterior-posterior axis of the body and the movement of the diaphragm relative to the head-to-toe direction are simulated from the sagittal plane; for example... Figure 6 The movement of the diaphragm relative to the head-to-toe direction of the human body was simulated from the coronal plane; this embodiment focuses on analyzing the impact of diaphragm movement on bronchial movement during respiration.

[0067] The current displacement in the first direction refers to the displacement of the thoracic cavity relative to the front and back of the human body from the sagittal plane. This current displacement in the first direction can be obtained by at least one of an electromagnetic positioning device, a radar positioning device, a depth camera 1501, and an optical positioning device. The specific calculation method of the current displacement in the first direction can be found below.

[0068] Specifically, the processor can receive data collected by the displacement acquisition device, and then process and analyze the data to obtain the current displacement in the first direction.

[0069] S306: Compensation data for respiratory motion is calculated based on the current gas volume and the current target displacement in the first direction.

[0070] In one embodiment, the step of calculating the respiratory motion compensation data based on the current gas volume and the current target displacement in the first direction includes: calculating the initial volume change of the first target part in the first direction based on the current target displacement in the first direction; calculating the target volume change of the first target part in the second direction based on the current gas volume and the initial volume change; obtaining the current target displacement of the respiratory motion in the second direction based on the target volume change; and obtaining the respiratory motion compensation data based on the current target displacement in the first direction and the current target displacement in the second direction.

[0071] Specifically, the initial volume change refers to the change in chest volume in the first direction caused by respiratory movements. See [link to relevant documentation] for details. Figure 7 As shown, the displacement of the subject's chest is acquired by a displacement acquisition device. Based on this displacement and the surface area of ​​the chest, the initial volume change VF of the subject's chest in the first direction can be calculated. The surface area of ​​the chest can be pre-calculated, for example, by pre-measurement or by calculation based on preoperative medical images.

[0072] Specifically, since respiratory movements cause changes in the first target area in multiple directions, this explanation will only focus on the first and second directions. However, those skilled in the art can understand this in conjunction with the accompanying drawings. The first direction is not only the direction of the sagittal plane relative to the front and back of the human body, but also includes the direction in which the displacement vector can be decomposed. Similarly, the second direction is not only the direction of the coronal plane relative to the head and toes of the human body, but also includes the direction in which the displacement vector can be decomposed. Here, we will only use the first and second directions to broadly represent two different directions.

[0073] Among them, the combination Figure 7 Since respiratory movements cause volume changes in multiple directions, the total amount of gas input into the object should be equal to the sum of the volume changes in each direction. Therefore, the current amount of gas introduced into the object at a certain moment is obtained through a gas flow acquisition device, and the initial volume change in the first direction is obtained through a displacement acquisition device. The difference between the two is the target volume change in the second direction.

[0074] Combination Figure 7 ,in, Figure 7 The total ventilation volume VT of the ventilator at a certain moment can be obtained by the gas flow acquisition device. The volume change VD caused by the ventilation volume to the diaphragm is VD = VT - VF, which is the target volume change at this time.

[0075] Specifically, the current target displacement of the respiratory movement in the second direction is also the displacement of the diaphragm caused by the respiratory movement. For this purpose, the processor can obtain the pre-stored surface area of ​​the diaphragm, so that the current target displacement can be calculated by the target volume change and the surface area of ​​the diaphragm.

[0076] The surface area of ​​the diaphragm can be obtained in advance through measurement, such as calculation from preoperative medical images.

[0077] Specifically, the compensation data includes the current target displacement in the first direction and the current target displacement in the second direction. After the real-time position of the third target location is subsequently acquired, the position to be processed is calculated based on the compensation data, and then this position is mapped onto the preoperative medical image.

[0078] The processor can send the calculated compensation data to other controllers, or receive the real-time position of the third target site from other controllers. It can then compensate the real-time position based on the compensation data at the same time to obtain the position to be processed that is in the same respiratory phase as the preoperative medical image. Finally, the position to be processed is mapped to improve accuracy.

[0079] The above-described method for calculating respiratory motion compensation data first obtains the current gas volume input to the object, and then calculates the initial volume change of the first target part in the first direction by acquiring the current target displacement of the first target part in the first direction. Thus, based on the current gas volume and the initial volume change, the target volume change of the first target part in the second direction can be determined, and then the current target displacement in the second direction can be determined based on the target volume change. Therefore, respiratory motion compensation data is obtained based on the current target displacement in the first and second directions, improving the accuracy of respiratory motion compensation. Furthermore, since the current gas volume is directly measured by a gas flow acquisition device, there is no need to establish communication with the ventilator, resulting in lower costs.

[0080] To ensure that those skilled in the art fully understand the calculation method for the current target displacement of respiratory motion in the second direction, this application provides two implementation methods. However, those skilled in the art will recognize that other methods for calculating the current target displacement of respiratory motion in the second direction are also within the scope of protection of this application. One method involves first converting any breathing phase during passive breathing to a first target phase during passive breathing, and then converting the converted first target phase during passive breathing to a second target breathing phase during active breathing to obtain the current target displacement of respiratory motion in the second direction. In other real-time methods, the current target displacement of respiratory motion in the second direction can be obtained by directly converting any breathing phase during passive breathing to the second target breathing phase during active breathing, without requiring a transition to the first target phase during passive breathing. The two implementation methods described above will be detailed below.

[0081] In one embodiment, see Figure 8 As shown, the current target displacement in the second direction of the respiratory motion is obtained based on the target volume change, including:

[0082] S802: Obtain the first volume change of the first target site in the second direction under the first target breathing phase during passive breathing.

[0083] Specifically, passive breathing refers to breathing under the influence of a ventilator, while active breathing is breathing initiated by the subject without the aid of a ventilator. The first target respiratory phase can be any predetermined phase under passive breathing. In one optional embodiment, for ease of acquisition and comparison, the first target respiratory phase is the end phase of passive inspiration.

[0084] The first volume change is the first volume change of the first target part in the second direction when the subject is passively breathing, which is the change in the thoracic cavity caused by the movement of the diaphragm.

[0085] Among them, as above Figure 4 As shown, the respiratory phase of the subject can be determined based on the amount of gas introduced into the subject. Therefore, even before surgery, when the subject is already in passive respiration, the processor can obtain the amount of gas introduced into the subject using a gas flow rate acquisition device, determine the time of the first target respiratory phase, read the data from the displacement acquisition device at that time, and determine the volume change of the first target site in the first direction during the first target respiratory phase of passive respiration based on the displacement acquisition device data. Finally, based on the amount of gas introduced into the subject obtained from the gas flow rate acquisition device and the volume change of the first target site in the first direction during the first target respiratory phase of passive respiration, the first volume change is calculated. After calculating the first volume change, the processor can store this first volume change, so that it can be directly retrieved during subsequent calculations.

[0086] S804: Based on the target volume change and the first volume change, determine the first displacement of the second target part of the object under the first target breathing phase from the current breathing phase to the first target breathing phase during passive breathing.

[0087] Specifically, the first displacement is the displacement of the second target part of the object from any phase of passive breathing to the first target breathing phase of passive breathing, which is the displacement of the diaphragm.

[0088] In one embodiment, determining the first displacement of the second target site from the current breathing phase to the first target breathing phase during passive breathing, based on the target volume change and the first volume change, includes: calculating the volume change to be processed based on the target volume change and the first volume change; and determining the first displacement of the second target site from the current breathing phase to the first target breathing phase during passive breathing, based on the volume change to be processed and the surface area of ​​the second target site.

[0089] To facilitate calculation, the processor calculates the target volume change at any phase of passive breathing, then calculates the difference between the target volume change and the first volume change, and uses this difference and the surface area of ​​the second target part, i.e. the surface area of ​​the diaphragm, to calculate the first displacement.

[0090] For ease of understanding, combined with Figure 9 As shown, Figure 9 This diagram illustrates the displacement changes of the diaphragm during active and passive breathing. In the given embodiment, during respiration, not only does the thoracic cavity move, but the diaphragm also moves. During inhalation, the thoracic cavity and diaphragm expand outward, and during exhalation, they contract inward. However, there are significant differences in the movement of the diaphragm between active and passive breathing. When the subject is anesthetized and in a passive breathing state, the elasticity of the diaphragm decreases, and the diaphragm contracts with a reduced amplitude of movement. Figure 9In the diagram, from left to right, the first line represents the end of passive expiration, when the diaphragm contracts the most; the second line represents the end of passive inspiration; the third line represents the end of active expiration; and the fourth line represents the end of active inspiration, when the diaphragm expands the most.

[0091] Therefore, the processor first obtains the target volume change caused by the diaphragm through the gas flow acquisition device, and then obtains the first volume change corresponding to the first target respiratory phase of passive breathing. Then, the first displacement can be calculated based on the surface area of ​​the diaphragm.

[0092] S806: The second displacement of the second target site when the first target breathing phase of passive breathing is obtained to the second target breathing phase of active breathing.

[0093] Specifically, the second displacement is the displacement of the second target part of the object from the first target breathing phase of passive breathing to the second target breathing phase of active breathing, which is the displacement of the diaphragm.

[0094] Among them, according to Figure 9 As shown, the processor can pre-calculate the second displacement, which can then be directly read during subsequent use. The specific method for obtaining the second displacement is detailed below.

[0095] S808: The current target displacement of the breathing motion in the second direction is calculated based on the first displacement and the second displacement.

[0096] Specifically, the current target displacement of the breathing movement in the second direction is equal to the sum of the first displacement and the second displacement.

[0097] In the above embodiments, by mapping any breathing phase of passive breathing to the first target breathing phase of passive breathing, and then mapping the first target breathing phase of passive breathing to the second target breathing phase of active breathing, the current target displacement of breathing motion in the second direction is calculated.

[0098] In one embodiment, the calculation method for the second displacement may include multiple methods, two of which are exemplified here. However, those skilled in the art will understand that other methods for calculating the second displacement are also within the scope of protection of this application. Specifically, when obtaining the second displacement of the second target site from the first target breathing phase of passive breathing to the second target breathing phase of active breathing, the method further includes: collecting the first gas volume during preoperative active breathing at the second target breathing phase and the second gas volume during intraoperative passive breathing at the first target breathing phase using a gas flow acquisition device; acquiring the first target displacement of the first target site during preoperative active breathing at the second target breathing phase and the second target displacement of the first target site during passive breathing at the first target breathing phase; calculating the second volume change during preoperative active breathing at the second target breathing phase based on the first gas volume and the first target displacement; calculating the third volume change during passive breathing at the first target breathing phase based on the second gas volume and the second target displacement; and calculating the second displacement of the second target site from the first target breathing phase of passive breathing to the second target breathing phase of active breathing based on the second volume change, the third volume change, and the surface area of ​​the second target site.

[0099] Specifically, in this embodiment, the main purpose is to calculate the second displacement of the second target site, i.e., the displacement of the diaphragm, when the first target breathing phase of passive breathing turns into the second target breathing phase of active breathing.

[0100] To calculate the second displacement, the surface area of ​​the diaphragm must first be obtained, which can be calculated based on preoperative medical images.

[0101] To calculate the second displacement, it is also necessary to obtain the volume change of the respiratory motion in the second direction at the first target respiratory phase and the second target respiratory phase. The specific calculation method of this volume change is the same as above, which is obtained by data acquisition and processing by gas flow acquisition device and displacement acquisition device.

[0102] The method for obtaining the volume change of respiratory motion in the second direction during the first target respiratory phase may include: obtaining the second gas volume during passive breathing in the first target respiratory phase, obtaining the second target displacement of the first target site during passive breathing in the first target respiratory phase, calculating the volume change of the first target site in the first direction during passive breathing in the first target respiratory phase based on the second target displacement, and thus calculating the third volume change based on the second ventilation volume and the volume change.

[0103] The method for obtaining the volume change of respiratory motion in the second direction during the second target respiratory phase may include: collecting the first gas volume during preoperative active breathing in the second target respiratory phase using a gas flow acquisition device, obtaining the first target displacement of the first target site during preoperative active breathing in the second target respiratory phase, and calculating the volume change of the first target site in the first direction during active breathing in the second target respiratory phase based on the first target displacement. Thus, the fourth volume change can be calculated based on the first ventilation volume and the volume change.

[0104] Finally, the processor 203 calculates the difference between the third volume change and the fourth volume change. Then, based on this difference and the surface area of ​​the diaphragm, it can calculate the second displacement of the second target part, i.e., the displacement of the diaphragm, when the first target breathing phase of passive breathing turns into the second target breathing phase of active breathing.

[0105] In one optional embodiment, the first target respiratory phase is the same as the second target respiratory phase; when obtaining the second displacement of the second target site from the first target respiratory phase of passive breathing to the second target respiratory phase of active breathing, the method includes: collecting the first gas volume under the second target respiratory phase during active breathing before surgery and the second gas volume under the first target respiratory phase during passive breathing during surgery using a gas flow acquisition device; calculating the gas volume difference based on the first gas volume and the second gas volume; and calculating the second displacement of the second target site from the first target respiratory phase of passive breathing to the second target respiratory phase of active breathing based on the gas volume difference and the surface area of ​​the second target site.

[0106] Specifically, in this embodiment, the first target respiratory phase is the same as the second target respiratory phase, optionally the end-inspiratory phase. Based on the three-dimensional model of the active inspiratory phase obtained from preoperative medical imaging, the surface area S of the diaphragm can be calculated. A gas flow sensor can be connected before anesthesia. After anesthesia, the difference in ventilation between the active and passive inspiratory phases can be calculated. In other words, the first gas volume during preoperative active breathing at the second target respiratory phase, and the second gas volume during intraoperative passive breathing at the first target respiratory phase, are directly collected using a gas flow acquisition device. The gas volume difference is calculated based on the first and second gas volumes, and then the second displacement of the second target site can be calculated based on the surface area. This establishes a mapping relationship from the end-inspiratory phase to the end-inspiratory phase of the subject. Figure 10 As shown, point P1(x1, y1, z1) at the end of the passive inhalation phase is mapped to point P2(x2, y2, z2) at the end of the active inhalation phase, resulting in a displacement x2 = x1 + Δx along the x-direction.

[0107] In order to facilitate a full understanding of this embodiment by those skilled in the art, combined with Figure 11 and Figure 12 As shown, the first target respiratory phase is the end phase of passive inspiration, and the second target respiratory phase is the end phase of active inspiration. In other embodiments, other respiratory phases may be used, and no specific limitation is made here.

[0108] The surface area S of the diaphragm can be calculated from the three-dimensional model of the end-phase of active inspiration obtained from preoperative medical imaging. Using the gas flow acquisition device 202 and the displacement acquisition device 201, the displacement change Δz at various points in the chest from any phase of passive breathing to the end-phase of passive inspiration can be calculated. In this way, the gas volume change V1 caused by the chest and the volume change V2 caused by the diaphragm can be calculated, thereby calculating the displacement field of the sensor caused by the combined action of the chest and the diaphragm. Displacement along the x-direction If the displacement along the z-direction is Δz, then the coordinate p1 acquired by the sensor and compensated to the coordinate p2 at the end of the passive inhalation phase can be expressed as:

[0109]

[0110] Where x2 = x1 + Δx, y2 = y1, z2 = z1 + Δz.

[0111] In this way, based on the volume calculation method of gas flow acquisition device 202 and displacement acquisition device 201, the displacement field of the sensor under the combined action of the chest and diaphragm during any phase of passive breathing to the passive inhalation phase can be calculated. The coordinate p1 acquired by the sensor, compensated to the coordinate p2 at the end of the passive inhalation phase, can be expressed as:

[0112]

[0113] As mentioned above, the displacement field of the sensor from the passive end-inspiratory phase to the active end-inspiratory phase is affected by the combined action of the chest and diaphragm muscles. The coordinate p2 acquired by the sensor, compensated to the coordinate p3 at the end of the active inhalation phase, can be expressed as:

[0114]

[0115] This allows the coordinates acquired by the sensor at any phase of the subject's passive breathing to be compensated to the coordinates at the end of the subject's active inspiration during preoperative CT scans, thereby establishing a full-cycle mapping relationship between the subject's active and passive breathing phases:

[0116]

[0117] The above embodiment describes a method of first converting any breathing phase during passive breathing to the first target phase during passive breathing, and then converting the converted first target phase during passive breathing to the second target breathing phase during active breathing, so as to obtain the current target displacement of the breathing motion in the second direction.

[0118] In one embodiment, obtaining the current target displacement of respiratory motion in the second direction based on the target volume change includes: acquiring the fourth volume change of the first target part in the second direction under the second target respiratory phase during active breathing; determining the third displacement of the second target part of the object from the current respiratory phase to the second target respiratory phase during active breathing based on the target volume change and the fourth volume change; and obtaining the current target displacement of respiratory motion in the second direction based on the third displacement.

[0119] In this embodiment, any respiratory phase during passive breathing is directly converted to the second target respiratory phase during active breathing. Therefore, before the operation, the fourth volume change of the first target site in the second direction under the second target respiratory phase during active breathing is obtained, that is, the volume change caused by diaphragmatic movement. Then, based on the target volume change caused by diaphragmatic movement under the current passive breathing and the difference of the fourth volume change, the volume change from passive breathing to the second target respiratory phase of active breathing is calculated. Thus, the third displacement of the second target site of the object is calculated based on the diaphragm surface area, which is the diaphragm displacement from any phase of passive breathing to the second target respiratory phase of active breathing.

[0120] In one embodiment, the method for obtaining the surface area of ​​the second target site includes: acquiring a preoperative medical image taken during preoperative active breathing at the second target respiratory phase; and calculating the surface area of ​​the second target site based on the preoperative medical image.

[0121] Optionally, the second target respiratory phase is the inspiratory phase of active breathing, when the diaphragm is at its maximum expansion, resulting in a more accurate calculated surface area. The processor 203 acquires the preoperative medical image and identifies the second target region within it, calculating the surface area based on the identified region. The identification method can be image segmentation, such as image segmentation methods trained on a model, etc., and is not specifically limited here.

[0122] In one embodiment, obtaining the current target displacement of the first target part of the collected object in a first direction includes: acquiring the current target displacement of the first target part of the object in a first direction by at least one of an electromagnetic positioning method, a radar positioning method, a displacement calculation method based on a depth camera 1501, and a displacement calculation method based on an optical positioning system.

[0123] For ease of understanding, the above methods will be described in detail below:

[0124] Among them, see Figure 13 As shown, Figure 13 This is a schematic diagram illustrating the acquisition of the current target displacement of a first target location in a first direction using an electromagnetic positioning method in one embodiment. A magnetic navigation positioning system is used to capture the movement of the object's chest cavity. A magnetic field generator 1301 is fixed above the object's chest, and electromagnetic sensors 1302 are evenly distributed across the object's chest. The processor 203 can acquire the coordinates of the electromagnetic sensors 1302 in the coordinate system of the magnetic field generator 1301, and then calculate the change in the object's chest volume VF based on the displacement of the electromagnetic sensors 1302 over a period of time.

[0125] Among them, see Figure 14 As shown, Figure 14 This is a schematic diagram illustrating the acquisition of the current target displacement in a first direction using a radar positioning method in one embodiment. Specifically, a radar device 1401 is used to acquire the motion of the object's chest cavity. The radar device 1401 is fixed directly above the object's chest, and the distance from different positions on the object's chest to the radar device 1401 can be acquired using electromagnetic beams. This allows determination of the displacement of the object's chest over a period of time, thereby obtaining the change in the object's chest volume VF over that period.

[0126] Among them, see Figure 15 As shown, Figure 15 This is a schematic diagram illustrating the acquisition of the current target displacement of a first target location in a first direction using a displacement calculation method based on a depth camera in one embodiment. Specifically, a depth camera 1501 is used to acquire the motion of the object's chest cavity. The depth camera 1501 is fixed directly above the object's chest, and the distance from the object's chest to the depth camera 1501 can be obtained through the depth camera 1501. This allows determination of the displacement of the object's chest over a period of time, thereby obtaining the change in the object's chest volume VF.

[0127] Among them, see Figure 16 As shown, Figure 16 This is a schematic diagram illustrating the current target displacement of a first target location in a first direction obtained through a displacement calculation method based on an optical positioning system in one embodiment. The optical tracking positioning system 1601 captures the movement of the object's chest cavity, and the optical tracking device 1602 is fixed to the object's chest. The optical positioning device tracks the positional changes of the optical tracking device 1602 during respiration, thereby obtaining the change in the object's chest volume VF.

[0128] In one embodiment, such as Figure 17 As shown, a medical image generation method is provided, which can be applied to... Figure 2Taking processor 203 as an example, the explanation includes the following steps:

[0129] S1702: Acquire the real-time location of the third target site and preoperative medical images.

[0130] Specifically, the real-time location of the third target site refers to the location obtained during the surgery. The third target site can be the bronchus, for example, the real-time location of the third target site can be obtained through sensors.

[0131] Preoperative medical images are images acquired from the subject using medical imaging equipment 102 before surgery, such as those acquired using CT scanners.

[0132] S1704: Obtain the compensation data calculated according to the respiratory motion compensation data processing method in any of the above embodiments.

[0133] Specifically, the methods for obtaining compensation data can be found above, and will not be specifically limited here.

[0134] S1706: The location to be processed is calculated based on the compensation data and real-time location.

[0135] S1708: Map the location to be processed to a preoperative medical image.

[0136] Among them, combined Figure 12 The real-time position is compensated to be in the same active breathing phase as the preoperative medical image through compensation data. In this way, the compensated position to be processed is then mapped back to the preoperative medical image, which can avoid errors caused by respiratory motion.

[0137] Specifically, in combination Figure 18 As shown, Figure 18 The flowchart below shows a medical image generation method in another embodiment. In this embodiment, a gas flow sensor is first installed at the connection between the ventilator tubing and the patient's endotracheal tube, and a tracking and positioning device is installed in the patient's chest cavity to obtain the volume change of the patient's chest cavity as accurately as possible. The processor obtains the gas flow value at a certain moment in real time, as well as the position change tracked by the tracking and positioning device. The processor calculates the total intake volume at the current time and the volume change based on the chest cavity position change. Thus, the processor can calculate the volume change of the diaphragm based on the total intake volume and the volume change of the chest cavity. Based on the diaphragm change pattern under passive breathing, the processor calculates the diaphragm movement and bronchial movement caused by respiratory movements.

[0138] In the above embodiments, during surgery, the respiratory rate is calculated based on the gas flow meter, and the respiratory phase is acquired in real time. Compared with the calculation of respiratory phase based on a large amount of image information, the cost is low. Moreover, this patent calculates the volume change caused by the diaphragm by the changes in gas volume and chest volume, and combines the changes in the diaphragm during passive breathing. Compared with only obtaining the movement of breathing in the chest through patches, it more accurately analyzes the impact of breathing on the lungs.

[0139] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0140] Based on the same inventive concept, this application also provides a respiratory motion compensation data calculation device and a medical image generation device for implementing the respiratory motion compensation data calculation method and medical image generation method described above. The solution provided by this device is similar to the implementation scheme described in the above method. Therefore, the specific limitations of one or more respiratory motion compensation data calculation devices and medical image generation devices provided below can be found in the limitations of the respiratory motion compensation data calculation method and medical image generation method described above, and will not be repeated here.

[0141] In one embodiment, such as Figure 19 As shown, a respiratory motion compensation data calculation device is provided, including: a gas volume acquisition module 1901, a first target displacement acquisition module 1902, and a compensation data acquisition module 1903, wherein:

[0142] The gas quantity acquisition module 1901 is used to acquire the current gas quantity input to the object through the gas flow acquisition device 202.

[0143] The first target displacement acquisition module 1902 is used to acquire the current target displacement of the first target part of the acquired object in the first direction.

[0144] The compensation data acquisition module 1903 is used to calculate the compensation data of the breathing motion based on the current gas volume and the current target displacement in the first direction.

[0145] In one embodiment, the compensation data acquisition module 1903 may include:

[0146] The initial volume change calculation module is used to calculate the initial volume change of the first target location in the first direction based on the current target displacement in the first direction.

[0147] The target volume change calculation module is used to calculate the target volume change of the first target location in the second direction based on the current gas volume and the initial volume change.

[0148] The second target displacement acquisition module is used to obtain the current target displacement of the respiratory motion in the second direction based on the target volume change.

[0149] The compensation data acquisition module is used to obtain compensation data for respiratory motion based on the current target displacement in the first direction and the current target displacement in the second direction.

[0150] In one embodiment, the second target displacement acquisition module includes:

[0151] The first volume change acquisition unit is used to acquire the first volume change of the first target part in the second direction under the first target breathing phase during passive breathing.

[0152] The first displacement acquisition unit is used to determine the first displacement of the second target part of the object under the first target breathing phase from the current breathing phase to the first target breathing phase during passive breathing, based on the target volume change and the first volume change.

[0153] The second displacement acquisition unit is used to acquire the second displacement of the second target part when the first target breathing phase of passive breathing turns into the second target breathing phase of active breathing.

[0154] The first current target displacement acquisition unit is used to calculate the current target displacement of the breathing motion in the second direction based on the first displacement and the second displacement.

[0155] In one embodiment, the first displacement acquisition unit includes:

[0156] The sub-unit for obtaining the volume change to be processed is used to calculate the volume change to be processed based on the target volume change and the first volume change.

[0157] The first displacement acquisition subunit is used to determine the first displacement of the second target part under the first target breathing phase from the current breathing phase to the passive breathing phase, based on the change in volume to be processed and the surface area of ​​the second target part.

[0158] In one embodiment, the second displacement acquisition unit includes:

[0159] The second gas volume acquisition subunit is used to acquire the first gas volume during preoperative active breathing at the second target respiratory phase and the second gas volume during intraoperative passive breathing at the first target respiratory phase via the gas flow acquisition device 202.

[0160] The second target displacement acquisition subunit is used to acquire the first target displacement of the first target site under the second target breathing phase when the subject is actively breathing before surgery, and the second target displacement of the first target site under the first target breathing phase when the subject is passively breathing.

[0161] The second volume change acquisition subunit is used to calculate the second volume change under the second target breathing phase when the subject is actively breathing before surgery, based on the first gas volume and the first target displacement.

[0162] The third volume change acquisition subunit is used to calculate the third volume change of the object under the first target breathing phase when the object is passively breathing, based on the second gas quantity and the second target displacement.

[0163] The second displacement acquisition subunit is used to calculate the second displacement of the second target part when the first target breathing phase of passive breathing turns into the second target breathing phase of active breathing, based on the second volume change, the third volume change, and the surface area of ​​the second target part.

[0164] In one embodiment, the first target respiratory phase is the same as the second target respiratory phase; the second displacement acquisition unit includes:

[0165] The second gas volume acquisition subunit is used to acquire the first gas volume during preoperative active breathing at the second target respiratory phase and the second gas volume during intraoperative passive breathing at the first target respiratory phase via the gas flow acquisition device 202.

[0166] The gas quantity difference calculation subunit is used to calculate the gas quantity difference based on the first gas quantity and the second gas quantity.

[0167] The second displacement acquisition subunit is used to calculate the second displacement of the second target part when the first target breathing phase of passive breathing turns into the second target breathing phase of active breathing, based on the gas volume difference and the surface area of ​​the second target part.

[0168] In one embodiment, the aforementioned second target displacement acquisition module includes:

[0169] The fourth volume change acquisition unit is used to acquire the fourth volume change of the first target site in the second direction under the second target respiratory phase during active breathing.

[0170] The third displacement acquisition unit is used to determine the third displacement of the second target part of the object under the second target breathing phase from the current breathing phase to the second target breathing phase during active breathing, based on the target volume change and the fourth volume change.

[0171] The second current target displacement acquisition unit is used to obtain the current target displacement of the breathing motion in the second direction based on the third displacement.

[0172] In one embodiment, the above-described apparatus further includes:

[0173] The preoperative medical image acquisition module is used to acquire preoperative medical images taken during the second target respiratory phase during preoperative active breathing.

[0174] The surface area calculation module is used to calculate the surface area of ​​the second target site based on preoperative medical images.

[0175] In one embodiment, the first target displacement acquisition module 1902 is used to acquire the current target displacement of the first target part of the object in a first direction by at least one of the electromagnetic positioning method, radar positioning method, displacement calculation method based on depth camera 1501 and displacement calculation method based on optical positioning system.

[0176] In one embodiment, such as Figure 20 As shown, a medical image generation device is provided, comprising: a data acquisition module 2001, a second compensation data calculation module 2002, a position calculation module 2003, and a mapping module 2004, wherein:

[0177] The data acquisition module 2001 is used to acquire the real-time location of the third target site and preoperative medical images.

[0178] The second compensation data calculation module 2002 is used to obtain the calculated compensation data, which is the compensation data calculated according to the respiratory motion compensation data processing method in any of the above embodiments.

[0179] The pending location calculation module 2003 is used to calculate the pending location based on the compensation data and the real-time location.

[0180] The mapping module 2004 is used to map the location to be processed onto the preoperative medical image.

[0181] Each module in the aforementioned respiratory motion compensation data processing device and medical image generation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0182] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 21 As shown, the computer device includes a processor (i.e., processor 203 mentioned above), memory, communication interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for calculating respiratory motion compensation data and a method for generating medical images. The display screen can be an LCD screen or an e-ink screen. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse.

[0183] Those skilled in the art will understand that Figure 21 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0184] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0185] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0186] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0187] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can 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 random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0188] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0189] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for processing respiratory motion compensation data, characterized in that, The method includes: The current amount of gas input to the object is collected using a gas flow acquisition device; The current target displacement of the first target part of the collected object in a first direction is obtained; wherein, the first target part is the chest, and the current displacement in the first direction refers to the displacement of the thoracic cavity relative to the front and back of the human body from the sagittal plane. Compensation data for respiratory motion is calculated based on the current gas volume and the current target displacement in the first direction; The calculation of respiratory motion compensation data based on the current gas volume and the current target displacement in the first direction includes: The initial volume change of the first target location in the first direction is calculated based on the current target displacement in the first direction. The target volume change of the first target location in the second direction is calculated based on the current gas volume and the initial volume change. The current target displacement of the breathing motion in the second direction is obtained based on the target volume change. Compensation data for respiratory motion is obtained based on the current target displacement in the first direction and the current target displacement in the second direction.

2. The respiratory motion compensation data processing method according to claim 1, characterized in that, The step of obtaining the current target displacement of the respiratory motion in the second direction based on the target volume change includes: During passive breathing, the first volume change of the second target site in the second direction under the first target respiratory phase is obtained. The second target site is the diaphragm. The first volume change in the second direction is the change in the thoracic cavity caused by the movement of the diaphragm along the coronal plane relative to the head-to-feet direction of the human body. Based on the target volume change and the first volume change, determine the first displacement of the second target part of the object from the current breathing phase to the first target breathing phase during passive breathing; The second displacement of the second target site when the first target breathing phase of passive breathing is obtained to the second target breathing phase of active breathing; The current target displacement of the breathing motion in the second direction is calculated based on the first displacement and the second displacement.

3. The respiratory motion compensation data processing method according to claim 2, characterized in that, The step of determining the first displacement of the second target site from the current respiratory phase to the first target respiratory phase during passive breathing, based on the target volume change and the first volume change, includes: The volume change to be processed is calculated based on the target volume change and the first volume change. Based on the change in volume to be processed and the surface area of ​​the second target location, determine the first displacement of the second target location from the current breathing phase to the first target breathing phase during passive breathing.

4. The respiratory motion compensation data processing method according to claim 2, characterized in that, When acquiring the second displacement of the second target site from the first target respiratory phase of passive breathing to the second target respiratory phase of active breathing, the displacement includes: The gas flow acquisition device collects the first gas volume during preoperative active breathing at the second target respiratory phase, and the second gas volume during intraoperative passive breathing at the first target respiratory phase. Acquire the first target displacement of the first target site under the second target respiratory phase when the subject is actively breathing before surgery, and the second target displacement of the first target site under the first target respiratory phase when the subject is passively breathing. The second volume change of the subject during preoperative active breathing under the second target breathing phase is calculated based on the first gas volume and the first target displacement. The third volume change of the object during the first target breathing phase is calculated based on the second gas volume and the second target displacement. Based on the second volume change, the third volume change, and the surface area of ​​the second target location, the second displacement of the second target location is calculated when the first target breathing phase of passive breathing turns into the second target breathing phase of active breathing.

5. The respiratory motion compensation data processing method according to claim 2, characterized in that, The first target respiratory phase is the same as the second target respiratory phase; when acquiring the second displacement of the second target site from the first target respiratory phase of passive breathing to the second target respiratory phase of active breathing, the displacement includes: The gas flow acquisition device collects the first gas volume during preoperative active breathing at the second target respiratory phase, and the second gas volume during intraoperative passive breathing at the first target respiratory phase. The gas quantity difference is calculated based on the first gas quantity and the second gas quantity; Based on the gas volume difference and the surface area of ​​the second target location, the second displacement of the second target location is calculated when the first target breathing phase of passive breathing turns into the second target breathing phase of active breathing.

6. The respiratory motion compensation data processing method according to claim 1, characterized in that, The step of obtaining the current target displacement of the respiratory motion in the second direction based on the target volume change includes: Acquire the fourth volume change of the second target site in the second direction under the second target respiratory phase during active breathing; Based on the target volume change and the fourth volume change, determine the third displacement of the second target part of the object from the current breathing phase to the second target breathing phase during active breathing; The current target displacement of the breathing motion in the second direction is obtained based on the third displacement.

7. The respiratory motion compensation data processing method according to any one of claims 2 to 6, characterized in that, The method for obtaining the surface area of ​​the second target region includes: Acquire preoperative medical images taken during the second target respiratory phase during preoperative active breathing; The surface area of ​​the second target site is calculated based on the preoperative medical images.

8. The respiratory motion compensation data processing method according to any one of claims 1 to 6, characterized in that, The step of obtaining the current target displacement of the first target part of the collected object in a first direction includes: The current target displacement of the first target part of the object in the first direction is obtained by at least one of the following methods: electromagnetic positioning method, radar positioning method, displacement calculation method based on depth camera, and displacement calculation method based on optical positioning system.

9. A method for generating medical images, characterized in that, The medical image generation method includes: Acquire the real-time location of the third target site and preoperative medical images; Obtain compensation data calculated based on the respiratory motion compensation data processing method according to any one of claims 1 to 8; The location to be processed is calculated based on the compensation data and the real-time location. The location to be processed is mapped onto the preoperative medical image.

10. A respiratory motion compensation data processing device, characterized in that, The respiratory motion compensation data processing device includes: The gas quantity acquisition module is used to acquire the current gas quantity input to the object through a gas flow acquisition device. The first target displacement acquisition module is used to acquire the current target displacement of the first target part of the object in a first direction; wherein, the first target part is the chest, and the current displacement in the first direction refers to the displacement of the thoracic cavity relative to the front and back of the human body from the sagittal plane. The compensation data acquisition module is used to calculate compensation data for respiratory motion based on the current gas volume and the current target displacement in a first direction, including: calculating the initial volume change of the first target part in the first direction based on the current target displacement in the first direction; calculating the target volume change of the first target part in a second direction based on the current gas volume and the initial volume change; obtaining the current target displacement of respiratory motion in the second direction based on the target volume change; and obtaining compensation data for respiratory motion based on the current target displacement in the first direction and the current target displacement in the second direction.

11. A medical image generation device, characterized in that, The medical image generation device includes: The data acquisition module is used to acquire the real-time location of the third target site and preoperative medical images; The second compensation data calculation module is used to acquire calculated compensation data, which is calculated based on the current gas volume and the current target displacement in a first direction. The current target displacement in the first direction is obtained by acquiring the current target displacement of the first target part of the object in the first direction. The current gas volume is the current gas volume input into the object by a gas flow acquisition device. The first target part is the chest, and the current displacement in the first direction refers to the displacement of the thoracic cavity relative to the front and back of the human body from a sagittal plane perspective. The method for determining the compensation data includes: calculating the initial volume change of the first target part in the first direction based on the current target displacement in the first direction; calculating the target volume change of the first target part in the second direction based on the current gas volume and the initial volume change; obtaining the current target displacement of respiratory movement in the second direction based on the target volume change; and obtaining compensation data for respiratory movement based on the current target displacement in the first direction and the current target displacement in the second direction. The pending location calculation module is used to calculate the pending location based on the compensation data and the real-time location. A mapping module is used to map the location to be processed onto the preoperative medical image.

12. A medical image generation system, characterized in that, The medical image generation system includes: Gas flow acquisition equipment is used to acquire the current amount of gas input to an object; A displacement acquisition device is used to acquire the target displacement of the first target part of the object in a first direction. The processor communicates with the gas flow acquisition device and the displacement acquisition device respectively, and the processor is used to execute the respiratory motion compensation data processing method according to any one of claims 1 to 8 or the medical image generation method according to claim 9.

13. A surgical system, characterized in that, The surgical system includes the medical image generation system of claim 12.

14. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the respiratory motion compensation data processing method according to any one of claims 1 to 8 or the steps of the medical image generation method according to claim 9.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the respiratory motion compensation data processing method according to any one of claims 1 to 8 or the steps of the medical image generation method according to claim 9.

16. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the respiratory motion compensation data processing method according to any one of claims 1 to 8 or the steps of the medical image generation method according to claim 9.

Images