Data processing method, device, terminal device and computer-readable storage medium

Abstract

This application applies to the field of data processing technology and provides a data processing method, apparatus, terminal device, and computer-readable storage medium, including: obtaining a first captured image of a non-surgical area of ​​a target object before surgery; obtaining a second captured image of the surgical area of ​​the target object during surgery; performing image stitching processing based on the first and second captured images to obtain a stitched image of the target object during surgery; and calculating the actual value of a first surgical indicator during surgery based on the stitched image to instruct the user to adjust the surgical procedure based on the actual value of the first surgical indicator. The above method can provide real-time and objective guidance to doctors during surgery, effectively improving the success rate of surgery.

Description

Technical Field

[0001] The present application belongs to the field of data processing technology, and in particular relates to a data processing method, apparatus, terminal device, and computer-readable storage medium. Background Art

[0002] Osteotomy correction surgery for patients with spinal deformity, especially those with ankylosing spondylitis kyphosis, mainly involves correcting the sagittal sequence of the spine and pelvis to a relatively normal shape through spinal osteotomy correction surgery to achieve reconstruction of the sagittal plane of the spine.

[0003] Existing techniques typically simulate surgical correction results before surgery, while relying primarily on the surgeon's subjective experience during the procedure. This approach makes it impossible to assess surgical results in real time and objectively guide the surgeon's surgical procedures, which in turn affects the success rate of the surgery. Summary of the Invention

[0004] The embodiments of the present application provide a data processing method, apparatus, terminal device, and computer-readable storage medium, which can guide doctors' operations in real time and objectively, effectively improving the success rate of operations.

[0005] In a first aspect, an embodiment of the present application provides a data processing method, comprising:

[0006] Acquiring a first captured image of a non-operative area of ​​a target object before surgery;

[0007] acquiring a second captured image of a surgical area of ​​the target object during surgery;

[0008] performing image stitching processing based on the first captured image and the second captured image to obtain a stitched image of the target object during surgery;

[0009] An actual value of a first surgical indicator during surgery is calculated based on the stitched image to instruct a user to adjust a surgical operation based on the actual value of the first surgical indicator.

[0010] In an embodiment of the present application, a second captured image of the surgical area of ​​the target object during surgery is acquired in real time. This second captured image is then spliced ​​with a first captured image of the non-surgical area of ​​the target object before surgery, resulting in a real-time simulated rendering of the target object during surgery. The actual value of the first surgical indicator during surgery is calculated based on this simulated rendering, which is equivalent to an objective real-time evaluation of the surgical outcome. This method can assist doctors in determining the surgical outcome in real time and making timely adjustments during surgery, thereby achieving the goal of real-time and objective surgical guidance and effectively improving the success rate of surgery.

[0011] In a possible implementation of the first aspect, acquiring a first captured image of a non-surgical area of ​​the target object before surgery includes:

[0012] acquiring a third captured image of the target object before surgery;

[0013] detecting a first marking point in the third captured image, where the first marking point is used to indicate a boundary position between an operating area and a non-operating area;

[0014] The first captured image is segmented from the third captured image according to the position marking points.

[0015] In a possible implementation of the first aspect, performing image stitching processing based on the first captured image and the second captured image to obtain a stitched image of the target object during surgery includes:

[0016] Detecting a second marking point in the first captured image, where the second marking point is used to indicate a boundary position between an operating area and a non-operating area;

[0017] Detecting a third marking point in the second captured image, where the third marking point is used to indicate a boundary position between the surgical area and the non-surgical area, wherein the second marking point and the third marking point have a one-to-one correspondence;

[0018] According to the correspondence between the second marking point and the third marking point, image stitching processing is performed on the first captured image and the second captured image to obtain the stitched image.

[0019] In a possible implementation of the first aspect, calculating an actual value of a first surgical indicator during surgery based on the stitched image includes:

[0020] calculating an actual value of a second surgical indicator during the surgery according to the stitched image;

[0021] determining a rotation angle according to a reference value of the second surgical indicator and an actual value of the second surgical indicator;

[0022] Rotate the stitched image according to the rotation angle to obtain a rotated image;

[0023] An actual value of the first surgical indicator during the surgery is calculated according to the rotation image.

[0024] In a possible implementation of the first aspect, when the target object is a spine, the second surgical indicator includes a pelvic tilt angle;

[0025] The determining of the rotation angle according to the first reference value of the second surgical indicator and the actual value of the second surgical indicator includes:

[0026] An angle difference between a reference value of the pelvic tilt angle and an actual value of the pelvic tilt angle is calculated, where the angle difference is the rotation angle.

[0027] In a possible implementation of the first aspect, the reference value of the pelvic tilt angle is calculated by the formula PT0 = 0.359 × (PI_LL0) + 0.241 × PI0 + 11.502, where PT0 represents the reference value of the pelvic tilt angle, PI_LL0 represents the reference value of the matching degree between the pelvic incident angle and the lumbar lordosis angle, and PI0 represents the reference value of the pelvic incident angle.

[0028] In a possible implementation of the first aspect, after calculating the actual value of the first surgical indicator during the surgery according to the stitched image, the method further includes:

[0029] calculating a difference between an actual value of the first surgical indicator and a reference value of the first surgical indicator;

[0030] The difference value is displayed to the user to instruct the user to adjust the surgical operation according to the difference value.

[0031] In a second aspect, an embodiment of the present application provides a data processing device, including:

[0032] A first acquisition unit is used to acquire a first captured image of a non-operation area of ​​a target object before surgery;

[0033] a second acquiring unit, configured to acquire a second captured image of the surgical area of ​​the target object during surgery;

[0034] an image stitching unit, configured to perform image stitching processing based on the first captured image and the second captured image to obtain a stitched image of the target object during surgery;

[0035] The indicator calculation unit is used to calculate the actual value of the first surgical indicator during the surgery based on the spliced ​​image, so as to instruct the user to adjust the surgical operation according to the first actual value.

[0036] In a third aspect, an embodiment of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the data processing method as described in any one of the first aspects above is implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the data processing method as described in any one of the above-mentioned first aspects.

[0038] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the data processing method described in any one of the above-mentioned first aspects.

[0039] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 is a schematic diagram of a spine provided by another embodiment of the present application;

[0042] Figure 2 Schematic diagram of the data processing method provided in the embodiment of the present application;

[0043] Figure 3 is a schematic diagram of the image stitching process provided in an embodiment of the present application;

[0044] Figure 4 is a structural diagram of a data processing device provided in an embodiment of the present application;

[0045] Figure 5 This is a structural diagram of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0047] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0048] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0049] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0050] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0051] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized.

[0052] Patients with spinal deformities, especially those with kyphosis due to ankylosing spondylitis, often experience structural deformities in the coronal and sagittal planes, severely impacting their daily lives. Conventional conservative treatments are unable to correct spinal deformities. Currently, corrective spinal osteotomy is an effective treatment for this condition. Specifically, osteotomy is performed on selected target vertebrae to correct the spine to a relatively normal morphology and restore a relatively balanced sagittal spinal alignment.

[0053] Prior art typically simulates the results of surgical correction before surgery, but relies heavily on the surgeon's subjective experience during the procedure. This approach fails to assess surgical results in real time and objectively guides the surgeon's surgical procedures, thus impacting the success rate of the surgery.

[0054] Based on the above problems, an embodiment of the present application provides a data processing method. In this method, images of the non-surgical area of ​​the target object before surgery and images of the surgical area during surgery are spliced ​​together to simulate the surgical effect in real time during surgery. The actual values ​​of surgical indicators during surgery are calculated based on the spliced ​​images to evaluate the surgical effect in real time and objectively. The method in the embodiment of the present application can assist doctors in judging the surgical effect in real time during surgery and making timely adjustments, thereby achieving the purpose of real-time and objective surgical guidance, effectively improving the success rate of surgery.

[0055] It should be noted that the method in the embodiments of the present application can be applied not only to spinal correction surgery, but also to other surgeries, such as limb amputation / bone setting / correction surgery, minimally invasive surgery, interventional surgery and surgical surgery, etc., without specific limitation here.

[0056] In the following description of the embodiment of the present application, spinal correction surgery is used as an example. The following first introduces the professional terms involved in the embodiment of the present application. Figure 1 , is a schematic diagram of the spine provided in an embodiment of the present application.

[0057] Pelvic tilt (PT) is the angle between the vertical line and the midpoint of the upper endplate of the first sacral vertebra (S1).

[0058] Pelvic incidence (PI) is the angle between the line connecting the midpoint of the upper endplate of S1 and the midpoint of the line connecting the two femoral heads and the vertical line of the upper endplate of S1.

[0059] Sacral slope (SS): the angle between the upper endplate of S1 and the horizontal line.

[0060] Global kyphosis (GK) is the angle between the upper endplate of the most inclined upper vertebra and the lower endplate of the most inclined lower vertebra.

[0061] Thoracic kyphosis (TK): The angle between the upper endplate of the fourth thoracic vertebra and the lower endplate of the twelfth thoracic vertebra.

[0062] Lumbar lordosis (LL): The angle between the upper endplate of the first lumbar vertebra (lumbar 1, L1) and the upper endplate of S1 (LL is negative when the lumbar spine is lordotic and positive when the lumbar spine is kyphotic).

[0063] Sagittal vertical axis (SVA) is the horizontal distance between the plumb line of cervical vertebrae 7 (C7) and the posterosuperior corner of S1 (SVA is positive when the plumb line of C7 is in front of the posterosuperior corner of S1, and negative when the plumb line of C7 is behind the posterosuperior corner of S1).

[0064] The T1 pelvic angle (TPA) is the angle between the line connecting the midpoint of the thoracic 1 (T1) vertebral body and the midpoint of the line connecting the two femoral heads and the line connecting the midpoint of the upper end plate of S1 and the midpoint of the line connecting the two femoral heads.

[0065] PI and LL mismatch (PI-LL): The difference between the pelvic incidence angle and the lumbar lordosis angle.

[0066] See also Figure 2 , is a flow chart of a data processing method provided in an embodiment of the present application. As an example and not a limitation, the method may include the following steps:

[0067] S201 , obtaining a first captured image of a non-operative area of ​​a target object before surgery.

[0068] The target object in the embodiments of the present application refers to the surgical site. For example, in the application scenario of spinal correction surgery, the target object in the embodiments of the present application refers to the spine, which includes the cervical vertebrae, thoracic vertebrae, lumbar vertebrae, sacral vertebrae, and coccyx. For another example, in the application scenario of leg correction surgery, the target object in the embodiments of the present application refers to the bones of the lower limbs. For another example, in the application scenario of coronary artery surgery, the target object in the embodiments of the present application refers to the heart.

[0069] The captured images in the embodiments of the present application may be X-rays, magnetic resonance imaging images, computed tomography images, other medical images, RGB images, 3D images, etc. In other words, any image that can display the shape, position, details, and other characteristics of the target object may be used as the captured image in the embodiments of the present application, and no specific limitation is imposed herein.

[0070] The first captured image represents the non-surgical area of ​​the target object. For example, if the target object is the spine and osteotomy is required for the fifth thoracic vertebra, the surgical area of ​​the target object may be the fifth thoracic vertebra, and the non-surgical area may be the portion of the spine excluding the fifth thoracic vertebra, namely, from the cervical vertebra to the fourth thoracic vertebra, and from the sixth thoracic vertebra to the coccyx. Of course, in some applications, when osteotomy is required for the fifth thoracic vertebra, pedicle screw fixation may also be required, so the surgical area is not limited to the fifth thoracic vertebra; it may extend from the second to the eighth thoracic vertebrae. In this case, the surgical area of ​​the target object is the second to the eighth thoracic vertebrae. In other words, the surgical area of ​​the target object should be determined based on the specific surgical situation. For another example, if the target object is the heart and stent placement is required for the left coronary artery, the surgical area of ​​the target object is the left coronary artery, and the non-surgical area is the portion of the heart excluding the left coronary artery.

[0071] In practice, the camera's position can be adjusted and fixed to focus on the non-surgical area of ​​the target patient. However, this method is inflexible: if the target patient moves or the camera shakes slightly, the captured area will change. Furthermore, manual adjustments are required for each surgery, which is cumbersome.

[0072] To solve the above problem, in one embodiment, a method for acquiring a first captured image includes:

[0073] Acquire a third captured image of the target object before surgery; detect a first marking point in the third captured image, where the first marking point is used to indicate the boundary position between the surgical area and the non-surgical area; and segment the first captured image from the third captured image based on the position marking point.

[0074] In the above embodiment, the third captured image includes the entire target object. For example, when the target object is the spine, the third captured image may be an X-ray of the entire spine. For another example, when the target object is a lower limb bone, the third captured image may be an X-ray of the lower limb bone.

[0075] In actual applications, the user may input the surgical target position in advance in the terminal device, and the terminal device detects the surgical target position in the third captured image and records it as the first marking point.

[0076] Optionally, the doctor can plan the surgical target location before surgery; the terminal device detects the boundary of the surgical target location in the third captured image and uses the detected point on the boundary as the first marking point. The surgical target location can be the name of an organ / part or a specific location point.

[0077] For example, when the surgical target position is the name of an organ / part, for spinal correction surgery, if the surgical target fixed position is thoracic vertebrae 5-11, correspondingly, the detection points on the upper edge of the (upper end plate) of thoracic vertebra 5 and the lower edge of the (lower end plate) of thoracic vertebra 11 are the first marking points (such as the midpoint of T5 and the midpoint of T11), that is, the part between the upper edge of thoracic vertebra 5 and the lower edge of thoracic vertebra 11 is the surgical area, and the part of the spine except the surgical area is the non-surgical area.

[0078] For another example, when the surgical target position is a specific location point, for spinal correction surgery, if the surgical target position is the location where the pedicle screws are to be implanted (the doctor needs to input the location information of each screw in advance), the location points of the upper instrumented vertebra (UIV) and the lower instrumented vertebra (LIV) are determined as the first marking points, and the part between the upper instrumented vertebra and the lower instrumented vertebra is the surgical area, and the part of the spine except the surgical area is the non-surgical area.

[0079] It should be noted that the image detection method and image segmentation method in the embodiments of the present application can adopt existing image processing technology and are not specifically limited here.

[0080] S202: Acquire a second captured image of the operating area of ​​the target object during the operation.

[0081] The method for acquiring the second captured image is the same as the method for acquiring the first captured image. For details, reference may be made to the embodiment of the method for acquiring the first captured image in S301 , which will not be described in detail here.

[0082] In practical applications, a second captured image can be acquired each time a step of the operation is completed during the surgery, or a capturing frequency can be preset to acquire a second captured image every preset period.

[0083] S203: Perform image stitching processing based on the first captured image and the second captured image to obtain a stitched image of the target object during surgery.

[0084] In the embodiment of the present application, the principle of image stitching is to stitch the first captured image and the second captured image into a complete target object to simulate the surgical effect.

[0085] In one embodiment, the image stitching method may include:

[0086] Detecting a second marking point in the first captured image, where the second marking point is used to indicate a boundary position between the surgical area and the non-surgical area;

[0087] Detecting a third marking point in the second captured image, where the third marking point is used to indicate a boundary position between the surgical area and the non-surgical area, wherein the second marking point and the third marking point have a one-to-one correspondence;

[0088] According to the correspondence between the second marking point and the third marking point, image stitching processing is performed on the first captured image and the second captured image to obtain the stitched image.

[0089] In the embodiment of the present application, the second and third marker points can be the marker points used for image segmentation detected in S301 and S302. This can save detection time. However, if the number of marker points detected in S301 and S302 is small, these marker points may not accurately represent the boundary between the surgical area and the non-surgical area. In this case, further marker points at the boundary between the surgical area and the non-surgical area in the captured image can be retrieved, and a sufficient number of second and third marker points can be used to accurately represent the boundary between the surgical area and the non-surgical area.

[0090] Optionally, image stitching processing is performed on the first captured image and the second captured image according to the correspondence between the second marking point and the third marking point. One implementation manner is:

[0091] Determine a stitching direction based on the correspondence between the second marking point and the third marking point; calculate a first distance between two first endpoints in the second marking point; calculate a second distance between two second endpoints in the third marking point, wherein the two first endpoints correspond one-to-one to the two second endpoints; scale the first captured image and the second captured image based on a ratio of the first distance and the second distance to obtain a scaled first captured image and a scaled second captured image; and stitch the scaled first captured image and the scaled second captured image together according to the above-mentioned stitching direction to obtain a stitched image.

[0092] Optionally, according to the correspondence between the second marking point and the third marking point, image stitching processing is performed on the first captured image and the second captured image. Another implementation manner is:

[0093] A first boundary line between the surgical area and the non-surgical area is fitted based on the second marking point, and a second boundary line between the surgical area and the non-surgical area is fitted based on the third marking point; a splicing direction of the first boundary line and the second boundary line is determined based on the correspondence between the second marking point and the third marking point; the first captured image and the second captured image are scaled according to the ratio of the first boundary line and the second boundary line to obtain a scaled first captured image and a scaled second captured image; and the scaled first captured image and the scaled second captured image are spliced ​​together according to the above-mentioned splicing direction to obtain a spliced ​​image.

[0094] Of course, existing image stitching methods may also be used, as long as they can stitch the first captured image and the second captured image into an image containing the complete target object, and no specific limitation is made here.

[0095] For example, see Figure 3 , is a schematic diagram of the image stitching process provided by the embodiment of the present application. Figure 3 As shown, the first step is preoperative identification and marking, in which the doctor can mark the image (i.e., the surgical target location, such as Figure 3 The UIV and LIV of the image 41 in the image are inputted and the marking information is inputted into the terminal device. In the second step, the terminal device performs image segmentation on the preoperative target object according to the input marking information and obtains an image containing the non-surgical area (such as Figure 3 42) and images containing surgical areas (such as Figure 3 43 shown). The third step is to take an image of the surgical area of ​​the target object in real time during the operation (eg Figure 3 44 shown). The fourth step is to stitch the intraoperative image of the target object's surgical area and the preoperative image of the target object's non-surgical area to obtain a stitched image (as shown in FIG. Figure 3 45) shown.

[0096] S204 : Calculate an actual value of a first surgical indicator during the surgery according to the stitched image, so as to instruct the user to adjust the surgical operation according to the actual value of the first surgical indicator.

[0097] Taking spinal correction surgery as an example, the primary surgical indicators include GK, TK, LL, PT, SVA, and TPA (for the definitions of these indicators, see the description in the previous embodiment). Before surgery, the surgeon plans the surgical plan and predicts the primary surgical indicators corresponding to surgical success, which are then input into the terminal device. During surgery, the terminal device calculates the actual values ​​of the primary surgical indicators based on the real-time stitched images and displays these values ​​to the surgeon to guide the surgical procedure.

[0098] In one embodiment, after calculating the actual value of the first surgical indicator during the surgery based on the stitched image, the method further includes:

[0099] Calculating a difference between an actual value of the first surgical indicator and a reference value of the first surgical indicator; and displaying the difference to a user to instruct the user to adjust the surgical operation according to the difference.

[0100] In the embodiment of the present application, the reference value represents the numerical value of the surgical indicator corresponding to the surgical plan planned by the doctor before the operation and the expected surgical effect.

[0101] Compared with the method of directly displaying the actual value of the first surgical indicator to the user, the method in the embodiment of the present application can more intuitively represent the difference between the current surgical effect and the target surgical effect, save the user's time in comparing data, effectively improve surgical efficiency, and provide a higher user experience.

[0102] In actual applications, the desired position of the target object after surgery is different from the position of the target object before surgery. Therefore, the position of the target object in the stitched image will also be different from the desired position of the target object after surgery. This will cause the calculated actual value of the first surgical indicator to fail to reflect the actual surgical effect. To solve the above problem, in one embodiment, the calculation method of the actual value of the first surgical indicator may include:

[0103] calculating an actual value of a second surgical indicator during the surgery according to the stitched image;

[0104] determining a rotation angle according to a reference value of the second surgical indicator and an actual value of the second surgical indicator;

[0105] Rotate the stitched image according to the rotation angle to obtain a rotated image;

[0106] An actual value of the first surgical indicator during the surgery is calculated according to the rotation image.

[0107] In the embodiments of the present application, the second surgical indicator may be one or more of the first surgical indicators, or may be an indicator different from the first surgical indicator. Taking spinal correction surgery as an example, the first surgical indicators may include GK, TK, LL, PT, SVA, and TPA; since the pelvic tilt angle can reflect the posture of the spine in the captured image, the second surgical indicator may include PT.

[0108] By using the above method, the stitched image is rotated so that the position of the target object in the stitched image is consistent with the expected position of the target object after surgery. At this time, the actual value of the calculated first surgical indicator can more truly reflect the surgical effect.

[0109] Exemplarily, when the target object is a spine, the second surgical indicator includes a pelvic tilt angle. Accordingly, determining the rotation angle based on the first reference value of the second surgical indicator and the actual value of the second surgical indicator includes:

[0110] An angle difference between a reference value of the pelvic tilt angle and an actual value of the pelvic tilt angle is calculated, where the angle difference is the rotation angle.

[0111] As described above, when the target object is the spine, the first surgical index may include GK, TK, LL, PT, SVA, and TPA. Figure 1 and Figure 2It can be seen from the figure that these indicators are related to the relative angles and relative distances of various parts of the spine. The pelvic tilt angle of the patient before and after spinal correction surgery is different, that is, the posture of the spine in the image taken before the surgery is different from the posture of the spine in the stitched image after the surgery. This will result in different relative angles and relative distances used when calculating the actual value and reference value of the first surgical indicator. In this application scenario, the stitched image is rotated according to the calculated rotation angle (such as Figure 3 46), the pelvis can be rotated to the target position so that the pelvic tilt angle in the stitched image is the same as the pelvic tilt angle corresponding to the reference value. At this time, the actual value of the first surgical indicator is calculated to ensure that the calculated value can accurately reflect the surgical effect.

[0112] It should be noted that the actual value of the second surgical indicator in the embodiment of the present application refers to the value corresponding to the second surgical indicator in the currently obtained stitched image. The actual value of the first surgical indicator refers to the value corresponding to the first surgical indicator in the rotated image obtained after rotation.

[0113] Alternatively, the reference value of the pelvic tilt angle can be obtained by the formula PT0 = 1.14 + 0.71 × PI0 - 0.52 × LL Maximal -0.19×TK Maximal , wherein the PT0 represents the reference value of the pelvic tilt angle, the PI0 represents the reference value of the pelvic incidence angle, and LL Maximal Indicates the maximum value of LL, TK Maximal Indicates the maximum value of TK.

[0114] Optionally, a reference value for the pelvic tilt angle is calculated using the formula PT0 = 0.359 × (PI_LL0) + 0.241 × PI0 + 11.502, where PI_LL0 represents the reference value for the matching degree between the pelvic incidence angle and the lumbar lordosis angle. It should be noted that in spinal orthopedic surgery, the pelvic incidence angle is relatively constant before, during, and after surgery and can be considered unchanging. This calculation method predicts a more accurate reference value for the pelvic tilt angle than the previous one.

[0115] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0116] Corresponding to the data processing method described in the above embodiment, Figure 4 This is a structural block diagram of the data processing device provided in an embodiment of the present application. For the sake of convenience, only the parts related to the embodiment of the present application are shown.

[0117] Reference Figure 4, the device comprises:

[0118] The first acquiring unit 51 is configured to acquire a first captured image of a non-operation area of ​​a target object before the operation.

[0119] The second acquiring unit 52 is configured to acquire a second captured image of the operating area of ​​the target object during the operation.

[0120] The image stitching unit 53 is configured to perform image stitching processing based on the first captured image and the second captured image to obtain a stitched image of the target object during surgery.

[0121] The indicator calculation unit 54 is configured to calculate an actual value of a first surgical indicator during surgery based on the stitched image, so as to instruct the user to adjust the surgical operation according to the first actual value.

[0122] Optionally, the first acquiring unit 51 is further configured to:

[0123] acquiring a third captured image of the target object before surgery;

[0124] detecting a first marking point in the third captured image, where the first marking point is used to indicate a boundary position between an operating area and a non-operating area;

[0125] The first captured image is segmented from the third captured image according to the position marking points.

[0126] Optionally, the image stitching unit 53 is further configured to:

[0127] Detecting a second marking point in the first captured image, where the second marking point is used to indicate a boundary position between the surgical area and the non-surgical area;

[0128] Detecting a third marking point in the second captured image, where the third marking point is used to indicate a boundary position between the surgical area and the non-surgical area, wherein the second marking point and the third marking point have a one-to-one correspondence;

[0129] According to the correspondence between the second marking point and the third marking point, image stitching processing is performed on the first captured image and the second captured image to obtain the stitched image.

[0130] Optionally, the indicator calculation unit 54 is further configured to:

[0131] calculating an actual value of a second surgical indicator during the surgery according to the stitched image;

[0132] determining a rotation angle according to a reference value of the second surgical indicator and an actual value of the second surgical indicator;

[0133] Rotate the stitched image according to the rotation angle to obtain a rotated image;

[0134] An actual value of the first surgical indicator during the surgery is calculated according to the rotation image.

[0135] Optionally, when the target object is a spine, the second surgical indicator includes a pelvic tilt angle.

[0136] Accordingly, the indicator calculation unit 54 is further configured to:

[0137] An angle difference between a reference value of the pelvic tilt angle and an actual value of the pelvic tilt angle is calculated, where the angle difference is the rotation angle.

[0138] Optionally, the reference value of the pelvic inclination angle is calculated by the formula PT0 = 0.359 × (PI_LL0) + 0.241 × PI0 + 11.502, where PT0 represents the reference value of the pelvic inclination angle, PI_LL0 represents the reference value of the matching degree between the pelvic incident angle and the lumbar lordosis angle, and PI0 represents the reference value of the pelvic incident angle.

[0139] Optionally, the device 4 further includes:

[0140] The indicator display unit 55 is used to calculate the actual value of the first surgical indicator during the operation based on the stitched image, calculate the difference between the actual value of the first surgical indicator and the reference value of the first surgical indicator; and display the difference value to the user to instruct the user to adjust the surgical operation according to the difference value.

[0141] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0142] in addition, Figure 4 The data processing device shown can be a software unit, a hardware unit, or a combination of software and hardware units built into an existing terminal device, or can be integrated into the terminal device as an independent accessory, or can exist as an independent terminal device.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0144] Figure 5 This is a schematic diagram of the structure of the terminal device provided in the embodiment of the present application. Figure 5 As shown, the terminal device 6 of this embodiment includes: at least one processor 60 ( Figure 5 Only one is shown in the figure) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein the processor 60 implements the steps of any of the above-mentioned data processing method embodiments when executing the computer program 62.

[0145] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 5 It is only an example of the terminal device 6 and does not constitute a limitation on the terminal device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0146] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0147] In some embodiments, the memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or memory of the terminal device 6. In other embodiments, the memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 6. Furthermore, the memory 61 may also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 61 is used to store an operating system, application programs, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is about to be output.

[0148] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0149] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0150] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, a computer-readable medium cannot be an electric carrier signal or a telecommunication signal.

[0151] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0152] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0153] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0154] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0155] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A data processing method, characterized in that: include: Acquiring a first captured image of a non-operative area of ​​a target object before surgery; acquiring a second captured image of a surgical area of ​​the target object during surgery; performing image stitching processing based on the first captured image and the second captured image to obtain a stitched image of the target object during surgery; calculating an actual value of a first surgical indicator during the surgery according to the stitched image, so as to instruct a user to adjust the surgical operation according to the actual value of the first surgical indicator; The performing image stitching processing based on the first captured image and the second captured image to obtain a stitched image of the target object during surgery includes: Detecting a second marking point in the first captured image, where the second marking point is used to indicate a boundary position between an operating area and a non-operating area; Detecting a third marking point in the second captured image, where the third marking point is used to indicate a boundary position between the surgical area and the non-surgical area, wherein the second marking point and the third marking point have a one-to-one correspondence; According to the correspondence between the second marking point and the third marking point, image stitching processing is performed on the first captured image and the second captured image to obtain the stitched image.

2. The data processing method according to claim 1, wherein: The obtaining of a first captured image of a non-operative area of ​​the target object before surgery includes: acquiring a third captured image of the target object before surgery; detecting a first marking point in the third captured image, where the first marking point is used to indicate a boundary position between an operating area and a non-operating area; The first captured image is segmented from the third captured image according to the position marking points.

3. The data processing method according to claim 1, wherein: Calculating the actual value of the first surgical indicator during the surgery according to the spliced ​​image includes: calculating an actual value of a second surgical indicator during the surgery according to the stitched image; determining a rotation angle according to a reference value of the second surgical indicator and an actual value of the second surgical indicator; Rotate the stitched image according to the rotation angle to obtain a rotated image; An actual value of the first surgical indicator during the surgery is calculated according to the rotation image.

4. The data processing method according to claim 3, wherein: When the target object is a spine, the second surgical indicator includes a pelvic tilt angle; The determining of the rotation angle according to the reference value of the second surgical indicator and the actual value of the second surgical indicator includes: An angle difference between a reference value of the pelvic tilt angle and an actual value of the pelvic tilt angle is calculated, where the angle difference is the rotation angle.

5. The data processing method according to claim 4, wherein: The reference value of the pelvic tilt angle is given by the formula Calculated, the represents the reference value of the pelvic tilt angle, represents the reference value of the matching degree between the pelvic incidence angle and the lumbar lordosis angle, Indicates the reference value of the pelvic incidence angle.

6. The data processing method according to claim 1, wherein: After calculating the actual value of the first surgical indicator during the surgery based on the stitched image, the method further includes: calculating a difference between an actual value of the first surgical indicator and a reference value of the first surgical indicator; The difference value is displayed to the user to instruct the user to adjust the surgical operation according to the difference value.

7. A data processing device, characterized in that: include: A first acquisition unit is used to acquire a first captured image of a non-operation area of ​​a target object before surgery; a second acquiring unit, configured to acquire a second captured image of the surgical area of ​​the target object during surgery; an image stitching unit, configured to perform image stitching processing based on the first captured image and the second captured image to obtain a stitched image of the target object during surgery; an indicator calculation unit, configured to calculate an actual value of a first surgical indicator during surgery based on the stitched image, so as to instruct a user to adjust a surgical operation based on the actual value of the first surgical indicator; The image stitching unit is further configured to detect a second marking point in the first captured image, the second marking point being used to indicate a boundary position between the surgical area and the non-surgical area; detect a third marking point in the second captured image, the third marking point being used to indicate a boundary position between the surgical area and the non-surgical area, wherein the second marking point and the third marking point have a one-to-one correspondence; and perform image stitching processing on the first captured image and the second captured image based on the correspondence between the second marking point and the third marking point to obtain the stitched image.

8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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