Information processing method and related device

Abstract

The embodiment of the present application provides an information processing method and related devices, wherein the method includes: taking the first coordinate of each marker of at least two markers at the first moment as the first reference coordinate; the first moment is the acquisition moment of the first image that meets the first preset condition in at least two images, the at least two images are CT images acquired by a 4D CT apparatus, and the first reference coordinate corresponds to the marker; obtaining the second coordinate of each marker of the at least two markers at the second moment; the multiple second coordinates corresponding to the multiple second moments are related to the breathing amplitude of the user at the multiple second moments; when the relationship between the second coordinate of each marker of the at least two markers and the corresponding first reference coordinate meets the second preset condition, outputting the first prompt information. The method provided by the embodiment of the present application can assist the puncture tool in puncture to improve the accuracy and save the time spent on puncture.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computer technology, and more particularly to information processing methods and related devices. Background Art

[0002] A puncture is a diagnostic and treatment technique that involves inserting a needle into a body cavity to extract secretions for testing, or injecting gas or contrast agents into the body cavity for imaging examination, or injecting drugs into the body cavity. Lesions are the areas where diseases are concentrated or the main areas of complex symptoms or infections. Puncture examination or treatment of lung lesions is a typical operation.

[0003] At present, clinical puncture mainly relies on the doctor's experience, which has low accuracy and takes a long time. Summary of the invention

[0004] The embodiment of the present application provides an information processing method and related devices, which can assist a puncture tool in puncturing, thereby improving the accuracy and saving the time spent on puncturing.

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

[0006] The first coordinate of each marker of at least two markers at a first moment is used as a first reference coordinate; the first moment is the acquisition moment of the first image of at least two images that meets the first preset condition, the at least two images are CT images acquired by a four-dimensional computed tomography (4D CT) device, and the first reference coordinate corresponds to the marker;

[0007] Acquire a second coordinate of each marker of the at least two markers at a second moment; the first moment is earlier than the second moment, and a plurality of second coordinates corresponding to a plurality of the second moments are related to the breathing amplitude of the user at the plurality of the second moments;

[0008] When the relationship between the second coordinate of each of the at least two markers and the corresponding first reference coordinate meets the second preset condition, the first prompt information is output.

[0009] In a possible implementation, the first preset condition includes any one or more of the following: the lungs have the most gas, the clarity is greater than or equal to a first threshold, and the first target is closest to the body surface.

[0010] In a possible implementation manner, before taking the first coordinate of each marker of the at least two markers at the first moment as the first reference coordinate, the method further includes:

[0011] Acquire third coordinates corresponding to the first marker at multiple third moments; the third moment belongs to a moment when the user performs CT, and the first marker is one of the at least two markers;

[0012] Determine a first breathing curve according to the third coordinates corresponding to the first marker at the plurality of third moments; the abscissa of the first breathing curve is used to represent the plurality of third moments, and the ordinate of the first breathing curve is used to represent the breathing amplitude of the user at the plurality of third moments;

[0013] The respiratory amplitude corresponding to the first image is used as a reference respiratory amplitude; the respiratory amplitude corresponding to the first image is determined from a 4D CT apparatus;

[0014] The third moment corresponding to the breathing amplitude that is the same as the reference breathing amplitude in the first breathing curve is used as the first moment.

[0015] In a possible implementation, determining the first respiratory curve according to the third coordinates corresponding to the first marker at the plurality of third moments includes:

[0016] Using a third coordinate corresponding to any one of the plurality of third moments as a second reference coordinate;

[0017] respectively calculating the displacement between the third coordinates corresponding to other moments among the plurality of third moments and the second reference coordinates, the displacement corresponding to the third moment;

[0018] According to the sequence of the plurality of third moments, the displacement is plotted into a first curve;

[0019] A curve obtained by normalizing the first curve is used as the first breathing curve.

[0020] In a possible implementation manner, the outputting the first prompt information includes:

[0021] Acquire a fourth coordinate of the first device; the fourth coordinate is a coordinate of the first structure of the first device;

[0022] When the distance between the fourth coordinate and the third reference coordinate is less than or equal to the second threshold, the first prompt information is output, and the third reference coordinate is determined according to the first image.

[0023] In a possible implementation manner, before outputting the first prompt information, the method further includes:

[0024] Acquire a first model; the first model is obtained by modeling the first image using an image segmentation algorithm; the first model is used to reconstruct the internal organs of the user and the position of the first target;

[0025] The coordinates corresponding to the first position in the first model are used as the third reference coordinates; the first position is determined according to the positions of the internal organs of the user and the first target.

[0026] In a possible implementation, the method further includes:

[0027] Acquire a first angle of the first device;

[0028] When the first angle points to the position of the first target, the second prompt information is output.

[0029] In a second aspect, an embodiment of the present application provides an information processing device, including:

[0030] a determination unit, configured to use a first coordinate of each of the at least two markers at a first moment as a first reference coordinate; the first moment is a time at which a first image that satisfies a first preset condition is acquired among the at least two images, the at least two images are CT images acquired by a four-dimensional computed tomography (4D CT) device, and the first reference coordinate corresponds to the marker;

[0031] an acquisition unit, configured to acquire a second coordinate of each of the at least two markers at a second moment; the first moment is earlier than the second moment, and a plurality of the second coordinates corresponding to the plurality of the second moments are related to the breathing amplitude of the user at the plurality of the second moments;

[0032] The output unit is used to output the first prompt information when the relationship between the second coordinate of each marker of the at least two markers and the corresponding first reference coordinate meets the second preset condition.

[0033] In a possible implementation, the first preset condition includes any one or more of the following: the lungs have the most gas, the clarity is greater than or equal to a first threshold, and the first target is closest to the body surface.

[0034] In a possible implementation, the acquisition unit is further used to acquire third coordinates corresponding to the first marker at multiple third moments; the third moment belongs to a moment when the user performs CT, and the first marker is one of the at least two markers;

[0035] The determination unit is further used to determine a first breathing curve according to the third coordinates corresponding to the first marker at the multiple third moments; the abscissa of the first breathing curve is used to represent the multiple third moments, and the ordinate of the first breathing curve is used to represent the breathing amplitude of the user at the multiple third moments;

[0036] The determination unit is further configured to use the respiratory amplitude corresponding to the first image as a reference respiratory amplitude; the respiratory amplitude corresponding to the first image is determined from a 4D CT device;

[0037] The determining unit is further configured to take a third moment in the first breathing curve corresponding to a breathing amplitude that is the same as the reference breathing amplitude as the first moment.

[0038] In a possible implementation manner, the determining unit is further configured to use a third coordinate corresponding to any one of the plurality of third moments as a second reference coordinate;

[0039] The device also includes a calculation unit for respectively calculating the displacement between the third coordinates corresponding to other moments among the plurality of third moments and the second reference coordinate, the displacement corresponding to the third moment;

[0040] The device also includes a drawing unit, which is used to draw the displacement into a first curve according to the sequence of the plurality of third moments;

[0041] The determining unit is further configured to perform normalization processing on the first curve to obtain a curve as the first breathing curve.

[0042] In a possible implementation manner, the acquisition unit is further used to acquire a fourth coordinate of the first device; the fourth coordinate is a coordinate of the first structure of the first device;

[0043] The output unit is further configured to output first prompt information when the distance between the fourth coordinate and the third reference coordinate is less than or equal to a second threshold, and the third reference coordinate is determined according to the first image.

[0044] In a possible implementation, the acquisition unit is further used to acquire a first model; the first model is obtained by modeling the first image using an image segmentation algorithm; the first model is used to reconstruct the internal organs of the user and the position of the first target;

[0045] The determination unit is further configured to use the coordinates corresponding to the first position in the first model as the third reference coordinates; the first position is determined according to the positions of the internal organs of the user and the first target.

[0046] In a possible implementation manner, the acquisition unit is further used to acquire a first angle of the first device;

[0047] The output unit is also used to output second prompt information when the first angle points to the position of the first target.

[0048] In a third aspect, an embodiment of the present application discloses an electronic device, comprising: a processor and a memory, wherein the memory stores a computer program, and the processor calls the computer program stored in the memory to execute a method as in the first aspect or any possible implementation of the first aspect.

[0049] In a fourth aspect, the present application also provides another electronic device, comprising: a processor, a sending device, an input device, an output device and a memory, wherein the memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the electronic device executes the method in the first aspect or any possible implementation manner of the first aspect.

[0050] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on one or more processors, the method in the first aspect or any possible implementation of the first aspect is executed.

[0051] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes program instructions, and when the program instructions are executed by a processor, the processor executes a method as in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the following is a brief introduction to the drawings required for use in the embodiments of the present application or the background technology.

[0053] Figure 1 It is a flowchart of an information processing method provided by an embodiment of the present application;

[0054] Figure 2 is a schematic diagram of a scenario for determining the coordinates of a marker provided in an embodiment of the present application;

[0055] Figure 3 is a schematic diagram of a respiratory curve generated by a 4D CT apparatus provided in an embodiment of the present application;

[0056] Figure 4 is a schematic diagram of a respiratory curve generated using the coordinates of a marker provided in an embodiment of the present application;

[0057] Figure 5 is a schematic diagram of a puncture needle provided in an embodiment of the present application;

[0058] Figure 6 It is a flow chart of a method for determining respiratory gating reference data provided by an embodiment of the present application;

[0059] Figure 7 It is a flowchart of another information processing method provided by an embodiment of the present application;

[0060] Figure 8is a structural diagram of an information processing device provided in an embodiment of the present application;

[0061] Fig. 9 It is a structural diagram of another information processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear contrary indication in its context. It should also be understood that the term "and / or" used in the present application refers to and includes any or all possible combinations of one or more listed items. The terms "first" and "second" etc. in the specification, claims and drawings of the present application are used to distinguish different objects, rather than to describe a specific order.

[0063] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the above claims.

[0064] Lung disease is a common disease in daily life. The lesion, that is, the location where the disease is concentrated or the main location of the syndrome or infection, is often located inside or near the lungs, requiring doctors to insert a puncture needle into the user's body to extract secretions for testing, or inject drugs into the body for treatment.

[0065] At present, the method used clinically mainly relies on the doctor's experience. For example, first, the doctor sticks some auxiliary positioning markers on the human body based on experience to perform computed tomography (CT) to obtain a scanned image. Then, according to the distance and angle relationship between the marker on the scanned image and the lesion, the appropriate needle insertion point is determined on the skin. Then, after marking the puncture needle insertion position, the puncture needle is inserted into the human body through the skin according to the angle between the needle insertion point and the position of the lesion. A CT scan is required for each puncture position after each insertion distance, and the scanned image is used to determine whether the needle insertion angle and the needle insertion position can be aligned with the position of the lesion. If the needle insertion angle and the needle insertion position cannot align with the position of the lesion, the puncture needle needs to be pulled out and the needle insertion angle needs to be readjusted until the puncture needle is seen to have reached the position of the lesion from the scanned image.

[0066] However, the lungs are one of the organs necessary for human breathing. The ups and downs of breathing can cause the location of the lesion and the movement of internal organs of the body. When using the above method, the accuracy is low and the puncture takes a long time.

[0067] Based on the above problems, the embodiments of the present application provide an information processing method and related devices. Through some embodiments of the present application, the puncture tool can be assisted in puncture to improve the accuracy and save the time spent on puncture. It can be understood that the information processing method provided in the embodiments of the present application can be executed by an information processing device, wherein the information processing device can be any electronic device that can execute the technical solution disclosed in the embodiments of the method of the present application. Exemplarily, the information processing device can be a computer, a tablet computer, a desktop computer, etc.

[0068] It should be understood that the method embodiments provided in the present application can also be implemented by a processor executing a computer program code. The embodiments of the present application are described below in conjunction with the accompanying drawings in the embodiments of the present application. Figure 1 , Figure 1 is a flowchart of an information processing method provided by an embodiment of the present application, such as Figure 1 As shown, the method includes:

[0069] 101: Taking a first coordinate of each marker of at least two markers at a first moment as a first reference coordinate; the first moment is a capture moment of a first image of at least two images that meets a first preset condition, the at least two images are CT images captured by a four-dimensional computed tomography (4D CT) device, and the first reference coordinate corresponds to the marker.

[0070] In the embodiment of the present application, the marker may be referred to as an optical marker ball, or a reflective marker, or a reflective marker point (mark point), etc. The marker is arranged on the target object, and the coordinates of the marker can be obtained by means of an electronic device. It is understood that the coordinates can be referred to as spatial coordinates, or three-dimensional coordinates.

[0071] For example, in one implementation, the marker is connected to a power source to actively emit light, and then the spatial position, i.e., the coordinates, of the marker can be obtained by an optical camera. In another implementation, a reflective material can be applied to the surface of the marker, and the reflective material can reflect infrared light. When the infrared light reflected by the marker is received by a sensor matrix on multiple lenses, the coordinates of the marker can be obtained.

[0072] In the embodiment of the present application, the number of markers is at least two, and the markers are arranged on the user's body surface, such as the lungs. For ease of understanding, please refer to Figure 2 , Figure 2 This is a schematic diagram of a scene for determining the coordinates of a marker provided in an embodiment of the present application.

[0073] like Figure 2 As shown, part 201 is the user, and part 202 is a marker attached to the lung surface of the user 201. Figure 2 12 markers are shown as an example. Part 203 is an optical marker tracking system, which can scan the markers to determine the three-dimensional coordinate data of the markers. For example, the optical marker tracking system 203 can use its own scanning port as the coordinate origin to determine the three-dimensional coordinate data of each scanned marker.

[0074] In the embodiment of the present application, the first moment is the acquisition moment of the first image that meets the first preset condition among the at least two images, and the at least two images are CT images acquired by a four-dimensional computed tomography 4D CT apparatus. It can be understood that, compared with a traditional CT apparatus, a 4D CT apparatus can capture the motion trajectory of a pressure sensor to obtain a user's breathing waveform, and perform a low-pitch autonomous spiral scan based on the obtained breathing waveform, so that the patient can breathe completely freely during the scanning process without holding his breath.

[0075] Therefore, after the 4D CT instrument receives the instruction to perform CT on the user, it can collect at least two CT images of the user in a free breathing state. In this embodiment, the image that meets the first preset condition among the at least two images can be called the first image, and the acquisition time of the first image is the first moment.

[0076] In some embodiments, the first preset condition includes any one or more of the following: the lungs have the most gas, the clarity is greater than or equal to the first threshold, and the first target is closest to the body surface.

[0077] It is understandable that the more lung gas a user has, the more blank spaces are left in the CT image, and the first image with the most lung gas can be determined by calculating the blank space ratio of the CT image.

[0078] It is understandable that the clarity of the image can be achieved through a variety of algorithms and measured through a variety of indicators, which is not limited in this application. For example, the clarity of the image can be calculated by means of a Brenner gradient function, a Tenengrad gradient function, a Laplacian gradient function, a grayscale variance function, and a grayscale variance product function, and accordingly, the first threshold can be determined according to different functions, which is not limited in this application.

[0079] It can be understood that assisting puncture when there is the most lung gas and the clarity is greater than or equal to the first threshold can improve the accuracy of puncture.

[0080] In the embodiment of the present application, the first target may be a lesion tissue or other target that needs to be obtained by puncture operation, which is not limited in the present application. The information processing device may determine the position of the first target in the image and the position of the user's body surface in the image through an object detection algorithm, and then calculate the distance between the two to determine the first image in which the first target is closest to the body surface. It is understandable that the first target being closest to the body surface can reduce damage to the user's internal organs or tissues and save puncture time.

[0081] It is understandable that, since the 4D CT apparatus has an additional time dimension compared to the traditional CT apparatus, the information processing device can directly obtain the breathing curve generated by the user during the CT process from the 4D CT apparatus, which can be called the second breathing curve. Figure 3 , Figure 3 Schematic diagram of a respiratory curve generated by a 4D CT apparatus provided in an embodiment of the present application, wherein the horizontal axis of the rectangular coordinate system represents time, and the vertical axis represents respiratory amplitude.

[0082] The 4D CT apparatus can capture the respiratory waveform of at least one respiratory phase, for example, capture the CT images corresponding to the respiratory waveforms of 10 dynamic phases, and a complete respiratory curve can be obtained based on these 10 dynamic phases.

[0083] For example, in a possible implementation, the 4D CT apparatus may divide the waveform of the first respiratory phase obtained into 10 equal parts, such as Figure 3 As shown, 0% defaults to the highest point of the inspiratory phase, and 50% to the lowest point of the expiratory phase. It can be understood that after continuous bed entry, the 4D CT instrument can obtain 9 phase waveforms in sequence. By processing in the same way as the first respiratory phase and merging with the waveform of the first respiratory phase, a 4D CT image with 10 dynamic phases can be obtained. Finally, the 4D CT instrument can combine the 10 dynamic images for maximum intensity projection reconstruction (maximum intensity projection, MIP).

[0084] In some embodiments, the information processing device may use the collection moment corresponding to the 50% exhalation phase or the 0% inhalation phase as the first moment according to the second respiratory curve.

[0085] In the embodiment of the present application, the information processing device uses the first coordinate of each marker at the first moment as the first reference coordinate, and the first reference coordinate corresponds to the marker. It can be understood that the coordinates of different markers at the first moment are used as the first reference coordinates, so any first reference coordinate is associated with the marker whose first reference coordinate is collected at the first moment, that is, the first reference coordinate corresponds to the marker.

[0086] Taking at least two markers as three markers as an example, the three markers are marker A, marker B and marker C. At the first moment, the coordinates of marker A are [A1, A2, A3], the coordinates of marker B are [B1, B2, B3] and the coordinates of marker C are [C1, C2, C3]. Therefore, the coordinates [A1, A2, A3], [B1, B2, B3] and [C1, C2, C3] are all first reference coordinates, and the first reference coordinates [A1, A2, A3] correspond to marker A, the first reference coordinates [B1, B2, B3] correspond to marker B, and the first reference coordinates [C1, C2, C3] correspond to marker C.

[0087] 102: Obtain a second coordinate of each marker of the at least two markers at a second moment; the first moment is earlier than the second moment, and a plurality of second coordinates corresponding to a plurality of the second moments are related to the breathing amplitude of the user at the plurality of the second moments.

[0088] In this embodiment, the second moment is a moment after the first moment. In this embodiment, the second coordinates corresponding to the second moments are related to the breathing amplitude of the user at the second moments. It is understandable that in a free breathing state, the user's breathing is carried out over time, and the user has different breathing amplitudes at different moments, and different breathing amplitudes will cause the coordinates of the marker to change. Therefore, the second coordinates corresponding to the second moments can reflect the breathing amplitude of the user at the second moments.

[0089] 103: When the relationship between the second coordinate of each marker among the at least two markers and the corresponding first reference coordinate meets a second preset condition, output first prompt information.

[0090] It can be understood that each first reference coordinate corresponds to a marker in step 101, and each marker corresponds to a second coordinate in step 102. Therefore, for any marker, the first reference coordinate of the marker can be determined from step 101, and the second coordinate at the second moment can be determined from step 102.

[0091] In an implementation method for determining whether the relationship between the second coordinate of each marker and the corresponding first reference coordinate meets a preset condition, the information processing device can calculate the distance between the second coordinate corresponding to each marker and the first reference coordinate corresponding to the marker, and determine that the second preset condition is met when the distance between the second coordinate corresponding to each marker and the first reference coordinate corresponding to the marker is less than a first threshold.

[0092] It can be understood that the first threshold value can be determined according to actual conditions. For example, the first threshold value can be 1 cm, 0.5 cm, etc., and this application does not limit this.

[0093] In another implementation method of determining whether the relationship between the second coordinate of each marker and the corresponding first reference coordinate satisfies a preset condition, the information processing device can calculate the distance between the second coordinate corresponding to each marker and the first reference coordinate corresponding to the marker, and determine that the second preset condition is met when the distances between the second coordinates corresponding to markers exceeding the first ratio among at least two markers and the first reference coordinates corresponding to the marker are both less than a first threshold.

[0094] It can be understood that the first ratio can be determined according to actual conditions. For example, the first ratio can be 85%, 90%, etc., and the present application does not limit this.

[0095] In the embodiment of the present application, the method of outputting the first prompt information is not limited. For example, the information processing device can output a prompt sound in the form of voice; it can also display the prompt information on the display screen in the form of an image; it can also control the vibration of other electronic devices as a prompt. For example, the prompt information can be used to prompt the user that the state meets the preset conditions and the puncture operation can be performed.

[0096] In summary, in an embodiment of the present application, the first coordinate of each of the at least two markers at the first moment is used as the first reference coordinate; the first moment is the acquisition moment of the first image that meets the first preset condition in the at least two images, and the at least two images are CT images acquired by a four-dimensional computed tomography (4D CT) device; the second coordinate of each of the at least two markers at the second moment is obtained; the first moment is earlier than the second moment, and since the multiple second coordinates corresponding to the multiple second moments are related to the breathing amplitude of the user at the multiple second moments, that is, the coordinates of the marker at the multiple second moments are used to reflect the breathing amplitude of the user at the multiple second moments, the above-mentioned acquisition of the second coordinate of each of the at least two markers at the second moment can be understood as determining the breathing amplitude of the user in the second state; when the relationship between the second coordinate of each marker and the first reference coordinate of the marker in the first state meets the second preset condition, the first prompt information is output.

[0097] Since the first image satisfies the first preset condition, the coordinates of each marker at the first moment are used as the first reference coordinates; and, that is, when the user's breathing amplitude is close to the breathing amplitude corresponding to the first moment, outputting the first prompt information to assist puncture can reduce the error caused by breathing, thereby improving the accuracy.

[0098] In addition, compared with puncturing based on experience, judging whether the user's current state is close to the state at the first moment by the coordinates of the marker and outputting prompt information when the preset conditions are met can save the time spent on puncture.

[0099] In some embodiments, before taking the first coordinate of each marker of the at least two markers at the first moment as the first reference coordinate, the information processing method further includes:

[0100] Acquire third coordinates corresponding to the first marker at multiple third moments; the third moment belongs to a moment when the user performs CT, and the first marker is one of the at least two markers;

[0101] Determine a first breathing curve according to the third coordinates corresponding to the first marker at the plurality of third moments; the abscissa of the first breathing curve is used to represent the plurality of third moments, and the ordinate of the first breathing curve is used to represent the breathing amplitude of the user at the plurality of third moments;

[0102] The respiratory amplitude corresponding to the first image is used as a reference respiratory amplitude; the respiratory amplitude corresponding to the first image is determined from a 4D CT apparatus;

[0103] The third moment corresponding to the breathing amplitude that is the same as the reference breathing amplitude in the first breathing curve is used as the first moment.

[0104] In this embodiment, the first marker is one of the at least two markers, and the third moment belongs to the moment when the user is undergoing CT. It can be understood that the acquisition of the user's CT image by the 4D CT apparatus is performed within a time period, and the third moment is the moment within the time period. A third coordinate is collected at each third moment, and it can be understood that each third moment corresponds to a third coordinate.

[0105] This embodiment does not limit the number of the third moments, that is, the information processing device collects 100, 200, or 500 third coordinates at the third moments according to actual conditions. In some embodiments, the information processing device can collect the third coordinates during the CT process of the user to analyze the breathing changes of the user during the whole process.

[0106] In some embodiments, determining the first respiratory curve according to the third coordinates corresponding to the first marker at the plurality of third moments includes:

[0107] Using a third coordinate corresponding to any one of the plurality of third moments as a second reference coordinate;

[0108] respectively calculating the displacement between the third coordinates corresponding to other moments among the plurality of third moments and the second reference coordinates, the displacement corresponding to the third moment;

[0109] According to the sequence of the plurality of third moments, the displacement is plotted into a first curve;

[0110] A curve obtained by normalizing the first curve is used as the first breathing curve.

[0111] For easier understanding, see Figure 4 , Figure 4 is a schematic diagram of a respiratory curve generated using the coordinates of a marker provided in an embodiment of the present application. Figure 4 As shown, Figure 4 The curve in can be understood as the first respiratory curve, the horizontal axis of the rectangular coordinate system represents time, and the vertical axis represents the respiratory amplitude. a and time t c It can be understood as the moment when the user inhales the most; t b It can be understood as the moment when the user exhales the most.

[0112] In a possible implementation, the information processing device can Figure 2 The coordinates of a marker in part 202 at any time are used as the second reference coordinates. Then, the displacement between the coordinates of the marker at other times and the second reference coordinates is calculated, so each displacement is associated with a third moment, that is, the displacement corresponds to the third moment. Finally, a curve is drawn according to the displacement size, and the curve can be normalized to be used as the first respiratory curve.

[0113] Optionally, the information processing device may use the marker that is more affected by the user's breathing among at least two markers as the first marker, so that the first breathing curve is clearer and more intuitive. Exemplarily, the information processing device may obtain the third coordinates corresponding to each marker at multiple third moments, calculate the first displacement corresponding to each marker, and the first displacement is the maximum displacement between the third coordinates of the first marker within multiple third moments. Finally, the information processing device uses the marker with the largest first displacement as the first marker.

[0114] In this embodiment, the information processing device uses the breathing amplitude corresponding to the first image as the reference breathing amplitude; it can be understood that the information processing device can obtain the at least two images from the 4D CT device. Since the 4D CT device captures the movement trajectory of the pressure sensor to obtain the user's breathing waveform, the information processing device can directly determine the breathing amplitude corresponding to each image, that is, the breathing amplitude corresponding to the first image is determined from the 4D CT device.

[0115] The third moment corresponding to the breathing amplitude in the first breathing curve that is the same as the reference breathing amplitude is taken as the first moment. For example, the breathing amplitude corresponding to the first image is 20% of exhalation, such as Figure 4 As shown, exhalation 20% corresponds to the time t in the first breathing curve. 1 and time t 2 , because the internal state of the user under normal breathing state is similar under the same breathing amplitude, the time t 1 and time t 2 Any moment in is taken as the first moment.

[0116] In this embodiment, the user's breathing amplitude and breathing changes are determined by the coordinates of the markers attached to the user's lung surface at different times. This is more accurate and stable than determining the user's breathing amplitude through a breathing mask. Since the determined user's breathing state (or it can be understood as a breathing curve) is more accurate, the accuracy of puncture by the auxiliary puncture tool can be further improved.

[0117] In some further embodiments, the outputting of the first prompt information includes:

[0118] Acquire a fourth coordinate of the first device; the fourth coordinate is a coordinate of the first structure of the first device;

[0119] When the distance between the fourth coordinate and the third reference coordinate is less than or equal to the second threshold, the first prompt information is output, and the third reference coordinate is determined according to the first image.

[0120] In this embodiment, the first device can be understood as a puncture needle or other puncture tools. It is understandable that the first device is often composed of multiple structures. Taking the puncture needle as an example, the puncture needle may include a handle and a needle. In this embodiment, the first structure can be understood as the structure that first contacts the user's body surface in actual operation, so that the puncture operation of the information processing device-assisted puncture tool is more accurate. For example, when the first device is a puncture needle, the first structure is the needle tip of the puncture needle.

[0121] In this embodiment, the information processing device determines a third reference coordinate according to the first image. The third reference coordinate can be understood as the puncture point of the puncture tool.

[0122] Since the outputting of the first prompt information includes: outputting the first prompt information when the distance between the fourth coordinate and the third reference coordinate is less than or equal to the second threshold value, it can be understood that the first prompt information is output when the relationship between the second coordinate of each marker among the at least two markers and the corresponding first reference coordinate meets the second preset condition, and when the distance between the fourth coordinate and the third reference coordinate is less than or equal to the second threshold value.

[0123] In this embodiment, in one implementation method, the information processing device can process the coordinates of the marker and the coordinates of the first device respectively at the same time, and then determine whether the relationship between the second coordinate of each marker of at least two markers and the corresponding first reference coordinate meets the second preset condition, and the distance between the fourth coordinate and the third reference coordinate is less than or equal to the second threshold value. When both conditions are met at the same time, the first prompt information is output.

[0124] In another implementation, the information processing device may first process the coordinates of the first device, and when the distance between the fourth coordinate and the third reference coordinate is less than or equal to the second threshold, further process the coordinates of the marker to determine whether the relationship between the second coordinate of each of at least two markers and the corresponding first reference coordinate meets the second preset condition, and output the first prompt information when the relationship between the second coordinate of each of at least two markers and the corresponding first reference coordinate meets the second preset condition.

[0125] It is understandable that the second threshold value can be set according to actual conditions. Since the second threshold value is the distance between the coordinates, for example, the first threshold value can be 1 cm, or 1.5 cm, etc., which is not limited in this application.

[0126] Through the above method, the information processing device can also assist the puncture tool in locating the third reference position, further improving the accuracy of the puncture performed by the auxiliary puncture tool.

[0127] In some embodiments, before outputting the first prompt information, the information processing method further includes:

[0128] Acquire a first model; the first model is obtained by modeling the first image using an image segmentation algorithm; the first model is used to reconstruct the internal organs of the user and the position of the first target;

[0129] The coordinates corresponding to the first position in the first model are used as the third reference coordinates; the first position is determined according to the positions of the internal organs of the user and the first target.

[0130] In this embodiment, after the user completes the CT, the information processing device needs to obtain the three-dimensional reconstruction result of the CT image.

[0131] In one implementation, the information processing device may obtain the first model from other devices, such as a CT machine or other processing devices. In another implementation, the information processing device may obtain the lung CT image acquired by the user in the first state, and then use an image segmentation algorithm to perform three-dimensional reconstruction to obtain the first model.

[0132] After the information processing device acquires the first model, it can determine the first position on the user's body surface based on the reconstructed organ in the first model and the position of the first target. The first position can be used for the puncture operation of the first device, and then the coordinates corresponding to the first position are used as the third reference coordinates.

[0133] It can be understood that when the information processing device determines the first position according to the internal organs of the user and the position of the first target, in one implementation, the first position is the position on the user's body surface that is closest to the first target.

[0134] In another implementation, the distance between the first position and the first target is less than a first distance threshold, and the number of organs or tissues contacted by the path formed between the first position and the first target is less than a first quantity threshold. It can be understood that the first distance threshold and the first quantity threshold can be set according to actual conditions, and the present application does not limit this.

[0135] In another implementation, the information processing device may also receive a first instruction, which is used to indicate the first position. That is, when the user's internal condition is more complicated, for example, some tissues are fragile and not suitable for contact, the information processing device may determine the first position according to the first instruction. For example, the information processing device may include an input device, through which the information of the first position is received; or the information processing device may include a touchable display screen, which determines the first position in response to a touch or click operation.

[0136] In some further embodiments, the information processing method further includes:

[0137] Acquire a first angle of the first device;

[0138] When the first angle points to the position of the first target, the second prompt information is output.

[0139] In this embodiment, after the information processing device outputs the first prompt information, the first angle of the first device is also obtained. For ease of understanding, take the puncture needle as an example, please refer to Figure 5 , Figure 5 It is a schematic diagram of a puncture needle provided in an embodiment of the present application.

[0140] like Figure 5 As shown, part 501 is a puncture needle, which is connected to a bracket 502 , and four markers, namely marker 503 , marker 504 , marker 505 and marker 506 , are attached to the bracket 502 .

[0141] According to mathematical knowledge, two points can determine a straight line, and three points on different straight lines can determine a plane. The information processing device can select any three markers from the above four markers, obtain the planes they are located on through the three-dimensional coordinates of the three markers, and then determine the angle of the puncture needle 501.

[0142] In this embodiment, when the first angle points to the position of the first target, the second prompt information is output. The second prompt information can be used to prompt the propulsion direction of the first device. In the embodiment of the present application, the method of outputting the second prompt information is not limited. Exemplarily, the information processing device can output the prompt sound in the form of voice; or it can display the prompt information on the display screen in the form of an image.

[0143] In this embodiment, the information processing device further prompts the angle of the first device, further improving the accuracy of the auxiliary puncture tool for puncture and saving the time spent on puncture. In addition, because the information processing device assists in prompting the angle of the puncture tool during advancement, the number of medical image scans during the puncture process can be reduced.

[0144] To facilitate understanding of the information processing method provided in the embodiment of the present application, the following takes the marker as an optical marker ball and the first device as a puncture needle as an example. Figure 6 and Figure 7 The information processing method proposed in this application is explained.

[0145] For example, see Figure 6 , Figure 6 1 is a flow chart of a method for determining respiratory gating reference data provided by an embodiment of the present application. Figure 6 As shown, the method includes:

[0146] 601: Detecting connection with an optical marking system.

[0147] In this step, the information processing device detects the connection with the optical marking system so that the coordinates of the optical marking balls can be obtained through the optical marking system later. It can be understood that the optical marking balls are attached to the user's body surface, such as the lungs and chest. In addition, the number of optical marking balls is at least two.

[0148] 602: Detect the connection with the 4D CT instrument.

[0149] In this step, the information processing device detects the connection with the 4D CT apparatus so as to obtain CT images and other data through the 4D CT apparatus. It is understandable that before the 4D CT apparatus starts working, the scanning bed where the user is located needs to be within the 4D CT scanning window.

[0150] In the embodiment of the present application, the above steps 601 and 602 can be understood as the preparatory work before determining the respiratory gating reference data.

[0151] After step 601 and step 602, the information processing device executes step 6031: acquiring 4D CT data.

[0152] In this step, the information processing device can obtain 4D CT data through a 4D CT device. The 4D CT data includes a lung CT image of the patient, that is, CT image data, and also includes a respiratory waveform diagram of at least one respiratory phase when the user is scanning.

[0153] It is understandable that since the 4D CT machine can capture the movement trajectory of the pressure sensor to obtain the patient's respiratory waveform and perform low-pitch autonomous spiral scanning based on the obtained respiratory waveform, the patient can breathe completely freely during the scanning process without holding his breath.

[0154] 6041: Determine the breathing curve A.

[0155] In this step, the information processing device obtains the respiratory curve generated by the 4D CT apparatus from the 4D CT apparatus, and uses the respiratory curve A as the respiratory curve.

[0156] On the other hand, the information processing device executes step 6032: acquiring the spatial coordinate data of the optical marker ball in real time.

[0157] In this step, the information processing device acquires the spatial coordinate data of each optical marking ball in real time. The spatial coordinate data can also be called three-dimensional coordinate data.

[0158] 6042: Determine breathing curve B.

[0159] In this step, the information processing device generates a breathing curve B based on the spatial coordinate data of the optical marker ball.

[0160] It is understandable that the difference between the breathing curve A and the breathing curve B is that the breathing curve A is generated by the 4D CT apparatus, while the breathing curve B is generated by the information processing device according to the coordinates of the optical marker ball. Figure 4 The relevant description will not be repeated here.

[0161] 605: Using the CT data corresponding to time M in the 4D CT data as surgical planning data.

[0162] It can be understood that in the respiratory curve A generated by the 4D CT data obtained by the 4D CT instrument, each moment may correspond to a respiratory amplitude and a CT image. In this step, the information processing device uses the CT data corresponding to the moment M in the 4D CT data as the surgical planning data, and the CT image corresponding to the moment M meets the preset conditions. Optionally, the CT image corresponding to the moment M is the clearest among all the CT images.

[0163] In this step, the information processing device may select a clearer CT image from all CT images, which may be understood as the first image; then, determine the acquisition time corresponding to the CT image, and use the acquisition time as time M. For example, the time when the patient's lungs have more gas, or the time when the lesion is closer to the skin surface, may be selected as time M to improve the accuracy of puncture.

[0164] Exemplarily, the moment M may be a time point relative to a reference moment. For example, the moment when CT starts may be used as the reference moment, or a moment after CT is performed may be used as the reference moment.

[0165] 606: Determine the breathing amplitude A1 on the breathing curve A at time M.

[0166] After the information processing device determines the moment M, the information processing device determines the breathing amplitude A1 corresponding to the moment M according to the breathing curve A.

[0167] 607: Determine the corresponding breathing amplitude B1 on the breathing curve B according to the breathing amplitude A1.

[0168] In this step, the information processing device finds a breathing amplitude B1 on the breathing curve B that is the same as the breathing amplitude A1 according to the breathing amplitude A1.

[0169] 608: Use the spatial coordinate data of the optical marker ball corresponding to the breathing amplitude B1 as reference coordinate data.

[0170] In this step, the information processing device uses the spatial coordinate data of the optical marker ball corresponding to the breathing amplitude B1 in the breathing curve B as the reference coordinate data. Figure 4 The relevant description will not be repeated here.

[0171] In the embodiment of the present application, since the number of the optical marker balls is at least two, in a possible implementation, the information processing device uses the spatial coordinate data corresponding to any one of the at least two optical marker balls at the CT acquisition time as the respiratory gating reference data.

[0172] In another possible implementation, the information processing device uses the spatial coordinate data corresponding to each of the at least two optical marker balls at the CT acquisition moment as the respiratory gating reference data.

[0173] 609: Determine the needle entry point and target point based on the acquired 4D CT data.

[0174] In this step, the information processing device can use an image segmentation algorithm to perform three-dimensional modeling on the above 4D CT image to obtain a three-dimensional model. The three-dimensional model is used to display the location of the patient's internal organs and lesions. Then, according to the location of the internal organs and lesions, the needle entry point and the puncture target point are determined on the three-dimensional model. The puncture target point can be understood as the location of the lesion, and the needle entry point can be understood as the location on the human body surface for inserting the puncture needle.

[0175] Exemplarily, the information processing device may mark the determined puncture needle entry point and puncture target point on the three-dimensional model.

[0176] It can be understood that in the embodiment of the present application, the execution order of steps 605-608 and step 609 is not limited, and steps 605-608 can be executed first, or step 609 can be executed first.

[0177] After determining the respiratory gating reference data in step 608 and determining the needle insertion point and the target point in step 609, the information processing device further performs the following steps. Figure 7 , Figure 7 FIG. 1 is a flow chart of another information processing method provided by an embodiment of the present application. Figure 7 As shown, the method includes:

[0178] 701: Confirm that the user's scanning bed exits the CT scanning window.

[0179] 702: Determine to start the auxiliary puncture operation.

[0180] In the embodiment of the present application, the above steps 701 and 702 can be understood as the preparation work before puncture.

[0181] 703: Acquire the spatial coordinate data of the optical marker ball on the user in real time.

[0182] In this step, the information processing device obtains the spatial coordinate data of the optical marker ball on the user in real time. It is understandable that human breathing is continuous, and the user's breathing state, that is, the user's breathing amplitude, needs to be determined in real time through the spatial coordinate data of the optical marker.

[0183] 704: align and compare the spatial coordinate data of the optical marker ball collected in real time with the respiratory gating reference data.

[0184] In this step, the information processing device calculates the displacement between the spatial coordinate data of the optical marker ball at the current moment and the respiratory gating reference data, so as to determine whether the spatial coordinate data and the respiratory gating reference data are aligned.

[0185] According to step 705, in one implementation, when the spatial coordinate data corresponding to any optical marker ball at the CT acquisition moment is used as the respiratory gating reference data, the information processing device calculates the displacement between the spatial coordinate data of any optical marker ball at the current moment and the respiratory gating reference data, so as to determine whether the spatial coordinate data and the respiratory gating reference data are aligned.

[0186] In another implementation, when the spatial coordinate data corresponding to each optical marker ball at the time of CT acquisition is used as the respiratory gating reference data, the information processing device calculates the displacement between the spatial coordinate data of each optical marker ball at the current moment and the corresponding optical marker ball in the respiratory gating reference data, so as to determine whether the spatial coordinate data and the respiratory gating reference data are aligned.

[0187] 705: Determine whether the spatial coordinate data and the respiratory gating reference data are aligned.

[0188] In this step, the information processing device can determine whether the spatial coordinate data and the respiratory gating reference data are aligned through displacement.

[0189] Exemplarily, when the spatial coordinate data corresponding to any optical marker ball at the CT acquisition moment is used as the respiratory gating reference data, the information processing device determines whether the displacement between the spatial coordinate data corresponding to the CT acquisition moment and the respiratory gating reference data is less than a threshold.

[0190] Exemplarily, when the spatial coordinate data corresponding to each optical marker ball at the CT acquisition moment is used as the respiratory gating reference data, the information processing device determines whether the displacement between each spatial coordinate data corresponding to the CT acquisition moment and the corresponding spatial coordinate data in the respiratory gating reference data is less than a threshold.

[0191] If the judgment result of step 705 is negative, the information processing device executes step 706: prompting that it is unsafe and suspending puncture.

[0192] In this step, the information processing device may prompt the operator (eg, doctor) to suspend the puncture by means of voice broadcast or image warning that it is unsafe.

[0193] If the result of the determination in step 705 is yes, that is, if it is determined that the breathing amplitude of the user meets the requirement, the information processing device executes step 707: determining the position of the puncture needle.

[0194] It is understandable that the puncture needle is connected to a bracket, and an optical marker ball is attached to the bracket, such as Figure 5 As shown. The information processing device can determine the position of the puncture needle through the optical marker ball. Exemplarily, the position of the puncture needle can be the spatial coordinates of the puncture needle.

[0195] After step 707, the information processing device executes step 708: determining whether the puncture needle reaches the needle insertion point.

[0196] In this step, the information processing device can determine whether the puncture needle has reached the needle insertion point based on the displacement between the spatial coordinates of the puncture needle and the spatial coordinates of the needle insertion point. For example, if the displacement is less than the distance threshold, it is determined that the puncture needle has reached the needle insertion point; if the displacement is greater than the distance threshold, it is determined that the puncture needle has not reached the needle insertion point.

[0197] If the judgment result of step 708 is no, step 709 is executed: reacquiring the position of the puncture needle.

[0198] After executing step 709 , the information processing device re-executes step 708 .

[0199] If the judgment result of step 708 is yes, step 710 is executed: determining the angle of the puncture needle.

[0200] In this step, if Figure 5 As shown, the information processing device can determine the angle of the puncture needle through the optical marking ball on the bracket.

[0201] 711: Determine whether the angle of the puncture needle is pointing to the target.

[0202] If the judgment result of step 711 is negative, the information processing apparatus re-executes steps 710 and 711 .

[0203] If the judgment result of step 711 is yes, the information processing device executes step 712: prompting to perform puncture.

[0204] In this step, the information processing device may prompt the user to perform puncture by means of voice broadcast or image warning.

[0205] After the information processing device determines that the target puncture guidance is completed, another CT scan can be performed on the user who has completed the puncture. When the information processing device obtains the CT image data and the calculation accuracy of the CT image data meets the requirements, it is determined that the puncture sampling is completed.

[0206] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0207] See also Figure 8 , Figure 8 80 is a schematic diagram of the structure of an information processing device provided in an embodiment of the present application. The information processing device 80 is used to execute the above-mentioned information processing method. It should be understood that any device that can implement the information processing method provided in this application belongs to the protection scope of this application. Exemplarily, the information processing device 80 can be a mobile phone, a desktop computer, a portable notebook, etc., and this embodiment of the present application does not limit it. Figure 8 As shown, the information processing device 80 includes a determination unit 801, an acquisition unit 802, and an output unit 803. The description of each unit is as follows:

[0208] A determining unit 801 is configured to use a first coordinate of each marker of at least two markers at a first moment as a first reference coordinate; the first moment is a time at which a first image that satisfies a first preset condition is acquired among at least two images, the at least two images are CT images acquired by a four-dimensional computed tomography (4D CT) device, and the first reference coordinate corresponds to the marker;

[0209] An acquiring unit 802 is configured to acquire a second coordinate of each of the at least two markers at a second moment; the first moment is earlier than the second moment, and a plurality of second coordinates corresponding to a plurality of the second moments are related to the breathing amplitude of the user at the plurality of the second moments;

[0210] The output unit 803 is used to output the first prompt information when the relationship between the second coordinate of each marker of the at least two markers and the corresponding first reference coordinate meets the second preset condition.

[0211] In a possible implementation, the first preset condition includes any one or more of the following: the lungs have the most gas, the clarity is greater than or equal to a first threshold, and the first target is closest to the body surface.

[0212] In a possible implementation, the acquisition unit 802 is further configured to acquire third coordinates corresponding to the first marker at a plurality of third moments; the third moment belongs to a moment when the user performs CT, and the first marker is one of the at least two markers;

[0213] The determining unit 801 is further configured to determine a first breathing curve according to the third coordinates corresponding to the first marker at the plurality of third moments; the abscissa of the first breathing curve is used to represent the plurality of third moments, and the ordinate of the first breathing curve is used to represent the breathing amplitude of the user at the plurality of third moments;

[0214] The determining unit 801 is further configured to use the respiratory amplitude corresponding to the first image as a reference respiratory amplitude; the respiratory amplitude corresponding to the first image is determined from a 4D CT device;

[0215] The determining unit 801 is further configured to take a third moment in the first breathing curve corresponding to a breathing amplitude that is the same as the reference breathing amplitude as the first moment.

[0216] In a possible implementation, the determining unit 801 is further configured to use a third coordinate corresponding to any one of the plurality of third moments as a second reference coordinate;

[0217] The device further includes a calculation unit 804, which is used to respectively calculate the displacement between the third coordinates corresponding to other moments in the plurality of third moments and the second reference coordinates, the displacement corresponding to the third moment;

[0218] The device further includes a drawing unit 805, which is used to draw the displacement into a first curve according to the sequence of the plurality of third moments;

[0219] The determination unit 801 is further configured to perform normalization processing on the first curve to obtain a curve as the first breathing curve.

[0220] In a possible implementation manner, the acquiring unit 802 is further configured to acquire a fourth coordinate of the first device; the fourth coordinate is a coordinate of the first structure of the first device;

[0221] The output unit 803 is further configured to output first prompt information when the distance between the fourth coordinate and the third reference coordinate is less than or equal to a second threshold, and the third reference coordinate is determined according to the first image.

[0222] In a possible implementation, the acquisition unit 802 is further used to acquire a first model; the first model is obtained by modeling the first image using an image segmentation algorithm; the first model is used to reconstruct the internal organs of the user and the position of the first target;

[0223] The determination unit 801 is further configured to use the coordinates corresponding to the first position in the first model as the third reference coordinates; the first position is determined according to the positions of the internal organs of the user and the first target.

[0224] In a possible implementation manner, the acquiring unit 802 is further configured to acquire a first angle of the first device;

[0225] The output unit 803 is further configured to output second prompt information when the first angle points to the position of the first target.

[0226] See also Fig. 9 , Fig. 9is a schematic diagram of the structure of another information processing device provided in an embodiment of the present application. The information processing device 90 can be used to implement the above-mentioned information processing method. Exemplarily, the information processing device 90 can be a mobile phone, a desktop computer, a portable notebook or other devices.

[0227] like Fig. 9 As shown. The information processing device 90 includes at least one processor 902, a transceiver 901 for communicating with other devices / devices through a transmission medium, and an output module 905 for outputting prompt information. The processor 902 can use the transceiver 901 to send and receive data and / or signaling, and can also control the output module 905 to output prompt information, so as to implement the method in the above method embodiment. Exemplarily, the output module 905 can be a display screen, or a speaker, etc., wherein the display screen can be used to display pictures or videos, etc., and the speaker can output prompt sounds, etc. through vibration.

[0228] Optionally, the information processing device 90 may further include at least one memory 903 for storing program instructions and / or data. The memory 903 is coupled to the processor 902. The coupling in the embodiment of the present application is an indirect coupling or communication connection between devices, units or modules, which may be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules. The processor 902 may operate in coordination with the memory 903. The processor 902 may execute program instructions stored in the memory 903. At least one of the at least one memory may be included in the processor.

[0229] The specific connection medium between the transceiver 901, the processor 902, the memory 903 and the output module 905 is not limited in the embodiment of the present application. Fig. 9 In the embodiment, the memory 903, the processor 902, the transceiver 901 and the output module 905 are connected via a bus 904. Fig. 9 The connection between other components is only for illustration and is not intended to be limiting. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0230] In the embodiments of the present application, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0231] It can be understood that when the information processing device 90 is the above-mentioned information processing device 80, the actions performed by the determination unit 801, the calculation unit 804 and the drawing unit 805 can be performed by the processor 902, the actions performed by the acquisition unit 802 can be performed by the transceiver 901, and the actions performed by the output unit 803 can be performed by the output module 905.

[0232] The present application also provides a computer-readable storage medium, in which computer codes are stored. When the computer codes are executed on a computer, the computer executes the method of the above embodiment.

[0233] The present application also provides a computer program product, which includes a computer code or a computer program. When the computer code or the computer program runs on a computer, the method in the above embodiment is executed.

[0234] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the above claims.

Claims

1. An information processing method, characterized in that: The method comprises: The first coordinate of each marker of at least two markers at the first moment is used as the first reference coordinate; the first moment is the acquisition moment of the first image of at least two images that meets the first preset condition, the at least two images are CT images acquired by a four-dimensional computed tomography 4D CT device, and the first reference coordinate corresponds to the marker; the first preset condition includes any one or more of the following: the lungs have the most gas, the clarity is greater than or equal to the first threshold, and the first target is closest to the body surface; Acquire a second coordinate of each of the at least two markers at a second moment; the first moment is earlier than the second moment, and a plurality of the second coordinates corresponding to a plurality of the second moments are related to the breathing amplitude of the user at the plurality of the second moments; When the relationship between the second coordinate of each marker among the at least two markers and the corresponding first reference coordinate meets the second preset condition, output the first prompt information; wherein, when the distance between the second coordinate corresponding to each marker and the corresponding first reference coordinate is less than a threshold value, the second preset condition is met; Before taking the first coordinate of each marker of the at least two markers at the first moment as the first reference coordinate, the method further comprises: Acquire third coordinates corresponding to a first marker at a plurality of third moments; the third moments belong to moments during which the user performs CT, and the first marker is one of the at least two markers; Determine a first breathing curve according to the third coordinates corresponding to the first marker at the plurality of third moments; the abscissa of the first breathing curve is used to represent the plurality of third moments, and the ordinate of the first breathing curve is used to represent the breathing amplitude of the user at the plurality of third moments; using the respiratory amplitude corresponding to the first image as a reference respiratory amplitude; the respiratory amplitude corresponding to the first image is determined from a 4D CT apparatus; The third moment corresponding to the breathing amplitude that is the same as the reference breathing amplitude in the first breathing curve is used as the first moment.

2. The method according to claim 1, characterized in that The determining of the first respiratory curve according to the third coordinates corresponding to the first marker at the plurality of third moments comprises: Using a third coordinate corresponding to any one of the plurality of third moments as a second reference coordinate; respectively calculating the displacement between the third coordinates corresponding to other moments among the plurality of third moments and the second reference coordinates, the displacement corresponding to the third moment; According to the sequence of the plurality of third moments, plotting the displacement into a first curve; A curve obtained by normalizing the first curve is used as the first breathing curve.

3. The method according to claim 1 or 2, characterized in that: The outputting of the first prompt information includes: Acquire a fourth coordinate of the first device; the fourth coordinate is a coordinate of the first structure of the first device; When the distance between the fourth coordinate and the third reference coordinate is less than or equal to a second threshold, first prompt information is output, and the third reference coordinate is determined according to the first image.

4. The method according to claim 3, characterized in that Before outputting the first prompt information, the method further includes: Acquire a first model; the first model is obtained by modeling the first image using an image segmentation algorithm; the first model is used to reconstruct the internal organs of the user and the position of the first target; The coordinates corresponding to the first position in the first model are used as the third reference coordinates; the first position is determined according to the positions of the internal organs of the user and the first target.

5. The method according to claim 3, characterized in that: The method further comprises: Acquire a first angle of the first device; When the first angle points to the position of the first target, second prompt information is output.

6. An information processing device, characterized in that: The device comprises: A determination unit is used to use a first coordinate of each marker of at least two markers at a first moment as a first reference coordinate; the first moment is a time of acquisition of a first image of at least two images that meets a first preset condition, the at least two images are CT images acquired by a four-dimensional computed tomography (4D CT) device, and the first reference coordinate corresponds to the marker; the first preset condition includes any one or more of the following: the lungs have the most gas, the clarity is greater than or equal to a first threshold, and the first target is closest to the body surface; an acquisition unit, configured to acquire a second coordinate of each of the at least two markers at a second moment; the first moment is earlier than the second moment, and the user corresponds to a second state at the second moment, and a plurality of the second coordinates corresponding to a plurality of the second moments are related to the breathing amplitude of the user at the plurality of the second moments; an output unit, configured to output first prompt information when the relationship between the second coordinate of each marker among the at least two markers and the corresponding first reference coordinate meets a second preset condition; wherein the second preset condition is met when the distance between the second coordinate corresponding to each marker and the corresponding first reference coordinate is less than a threshold value; The acquisition unit is further used to acquire third coordinates corresponding to the first marker at multiple third moments; the third moment belongs to a moment when the user performs CT, and the first marker is one of the at least two markers; The determining unit is further used to determine a first breathing curve according to the third coordinates corresponding to the first marker at the multiple third moments; the abscissa of the first breathing curve is used to represent the multiple third moments, and the ordinate of the first breathing curve is used to represent the breathing amplitude of the user at the multiple third moments; The determining unit is further configured to use the respiratory amplitude corresponding to the first image as a reference respiratory amplitude; the respiratory amplitude corresponding to the first image is determined from a 4D CT device; The determining unit is further configured to use a third moment corresponding to a breathing amplitude in the first breathing curve that is the same as the reference breathing amplitude as the first moment.

7. An electronic device, characterized in that: include: A processor and a memory, wherein a computer program is stored in the memory, and the processor calls the computer program stored in the memory to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program runs on one or more processors, the method according to any one of claims 1 to 5 is executed.

Images