Display method, device, computer device and storage medium for preoperative planning

Abstract

The application relates to a preoperative planning display method and device, computer equipment and a storage medium. The method comprises the following steps: a display setting interface is displayed, a target medical instrument to be displayed and a target display mode are acquired based on the display setting interface; a target medical image is displayed, and a surgical path to be executed is acquired based on the target medical image; and the target medical instrument and the surgical path are displayed in the target medical image according to the target display mode. The method can meet the display requirements of different use scenarios and different medical instruments.

Description

[0001] This invention patent application is a divisional application of Chinese invention patent application filed on June 24, 2021, with application number 202110706417X and title "Display method, apparatus, computer equipment and storage medium for preoperative planning". Technical Field

[0002] This application relates to the field of image display technology, and in particular to a display method, apparatus, computer device, and storage medium for preoperative planning. Background Technology

[0003] To achieve better and more efficient surgical treatment results, doctors usually conduct surgical planning before the operation. Preoperative planning mainly involves accurately locating the lesion using the acquired medical imaging data, formulating a practical and effective surgical plan, and planning the path and operation of medical instruments in the human body.

[0004] Currently, planning the path of medical devices within the human body requires displaying the devices in medical images. For example, displaying interventional needles in medical images, or marker balls used to position surgical robots.

[0005] However, most of the display software currently in use can only provide a single display solution and cannot meet the display needs of different usage scenarios and different medical devices. Summary of the Invention

[0006] Therefore, it is necessary to provide a display method, device, computer equipment, and storage medium for preoperative planning that can provide multiple display solutions to meet the display needs of different usage scenarios and different medical devices, in order to address the above-mentioned technical problems.

[0007] A method for displaying preoperative planning, the method comprising:

[0008] Display the display settings interface and obtain the target medical device to be displayed and the target display method based on the display settings interface;

[0009] Display the target medical image and obtain the surgical path to be performed based on the target medical image;

[0010] Based on the target display method, the target medical device and surgical path are displayed in the target medical image.

[0011] In one embodiment, the display settings interface includes a device settings area and a display mode settings area; the above-mentioned acquisition of the target medical device to be displayed and the target display mode based on the display settings interface includes:

[0012] The target medical device selected by the user from multiple candidate medical devices is obtained based on the device setting area;

[0013] The target drawing attributes and target drawing elements set by the user are obtained from the display mode setting area, and the target display mode is generated based on the target drawing attributes and target drawing elements.

[0014] In one embodiment, a device import control is provided in the display settings interface; before obtaining the target medical device selected by the user from multiple candidate medical devices based on the device settings area, the method further includes:

[0015] The system receives trigger operations for the device import control based on the display settings interface, and imports a pre-generated medical device library according to the trigger operations for the device import control; the medical device library includes multiple candidate medical devices.

[0016] The medical device library is displayed in the equipment setup area.

[0017] In one embodiment, prior to importing the pre-generated medical device library based on a triggering operation on the device import control, the method further includes:

[0018] Obtain device information for each candidate medical device; device information includes at least one of the following: shape and size of the candidate medical device.

[0019] A medical device library is generated based on the device information of multiple candidate medical devices.

[0020] In one embodiment, the display settings interface includes a drawing list import control. Before obtaining the user-defined target drawing attributes and target drawing elements based on the display mode settings area, the method further includes:

[0021] The system receives trigger operations for the drawing list import control based on the display settings interface, and displays multiple candidate drawing lists according to the trigger operations for the drawing list import control.

[0022] Based on the user's selection, select one from multiple candidate drawing lists as the target drawing list and import the target drawing list;

[0023] The display mode settings area shows the target drawing list; the target drawing list contains multiple candidate drawing attributes and multiple candidate drawing elements;

[0024] Correspondingly, the above-mentioned acquisition of user-set target drawing attributes and target drawing elements based on the display mode setting area includes:

[0025] Based on the display mode setting area, obtain the user's setting operations for candidate drawing attributes and candidate drawing elements, and obtain the target drawing attributes and target drawing elements.

[0026] In one embodiment, prior to displaying multiple candidate drawing lists based on a triggering operation on the drawing list import control, the method further includes:

[0027] Get the candidate drawing attributes and candidate drawing elements for the first rendering mode, and generate the first candidate drawing list;

[0028] The candidate rendering attributes of the first rendering mode include at least one of physical rendering, texture mapping, mesh mode and display mode; the display mode includes simplified display and realistic display; the candidate rendering elements of the first rendering mode include at least one two-dimensional primitive of points and lines and at least one three-dimensional primitive of cubes and spheres.

[0029] In one embodiment, prior to displaying multiple candidate drawing lists based on a triggering operation on the drawing list import control, the method further includes:

[0030] Obtain the candidate drawing attributes and candidate drawing elements for the second rendering mode, and generate a second candidate drawing list;

[0031] The candidate drawing attributes for the second rendering mode include at least one of texture mapping and pinpoint view; the candidate drawing elements for the second rendering mode include at least one two-dimensional primitive of circle, rectangle, point, and line.

[0032] In one embodiment, the above-mentioned acquisition of the surgical path based on the target medical image includes:

[0033] The surgical path entry point and target point location are obtained based on the target medical image;

[0034] The surgical path is generated based on the entry point and target point locations.

[0035] A display device for preoperative planning, the device comprising:

[0036] The settings module is used to display the display settings interface and obtain the target medical device to be displayed and the target display method based on the display settings interface;

[0037] The path planning module is used to display the target medical image and obtain the surgical path to be performed based on the target medical image;

[0038] The display module is used to display the target medical device and surgical path in the target medical image according to the target display method.

[0039] In one embodiment, the display settings interface includes an instrument settings area and a display mode settings area; the aforementioned settings module includes:

[0040] The device selection submodule is used to obtain the target medical device selected by the user from multiple candidate medical devices based on the device setting area;

[0041] The display mode generation submodule is used to obtain the target drawing attributes and target drawing elements set by the user based on the display mode setting area, and generate the target display mode based on the target drawing attributes and target drawing elements.

[0042] In one embodiment, the display settings interface includes a device import control; the device further includes:

[0043] The medical device library import module is used to receive trigger operations for the medical device import control based on the display settings interface, and import a pre-generated medical device library according to the trigger operations for the medical device import control; the medical device library includes multiple candidate medical devices;

[0044] The medical device library display module is used to display the medical device library in the device setting area.

[0045] In one embodiment, the device further includes:

[0046] The device information acquisition module is used to acquire device information for each candidate medical device; the device information includes at least one of the following: shape and size of the candidate medical device.

[0047] The medical device library generation module is used to generate a medical device library based on the device information of multiple candidate medical devices.

[0048] In one embodiment, the display settings interface includes a drawing list import control, and the device further includes:

[0049] The first list display module is used to receive trigger operations for the drawing list import control based on the display settings interface, and to display multiple candidate drawing lists according to the trigger operations for the drawing list import control.

[0050] The list import module is used to select one of multiple candidate drawing lists as the target drawing list based on the user's selection operation, and then import the target drawing list.

[0051] The second list display module is used to display the target drawing list in the display mode settings area; the target drawing list contains multiple candidate drawing attributes and multiple candidate drawing elements;

[0052] Correspondingly, the above-mentioned display mode generation submodule is specifically used to obtain the user's setting operations for candidate drawing attributes and candidate drawing elements based on the display mode setting area, and to obtain the target drawing attributes and target drawing elements.

[0053] In one embodiment, the device further includes:

[0054] The first list generation module is used to obtain the candidate drawing attributes and candidate drawing elements of the first rendering mode, and generate the first candidate drawing list;

[0055] The candidate rendering attributes of the first rendering mode include at least one of physical rendering, texture mapping, mesh mode and display mode; the display mode includes simplified display and realistic display; the candidate rendering elements of the first rendering mode include at least one two-dimensional primitive of points and lines and at least one three-dimensional primitive of cubes and spheres.

[0056] In one embodiment, the device further includes:

[0057] The second list generation module is used to obtain the candidate drawing attributes and candidate drawing elements of the second rendering mode, and generate the second candidate drawing list;

[0058] The candidate drawing attributes for the second rendering mode include at least one of texture mapping and pinpoint view; the candidate drawing elements for the second rendering mode include at least one two-dimensional primitive of circle, rectangle, point, and line.

[0059] In one embodiment, the path planning module is specifically used to obtain the entry point and target point of the surgical path based on the target medical image; and to generate the surgical path based on the entry point and target point.

[0060] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program performing the following steps:

[0061] Display the display settings interface and obtain the target medical device to be displayed and the target display method based on the display settings interface;

[0062] Display the target medical image and obtain the surgical path to be performed based on the target medical image;

[0063] Based on the target display method, the target medical device and surgical path are displayed in the target medical image.

[0064] A computer-readable storage medium having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0065] Display the display settings interface and obtain the target medical device to be displayed and the target display method based on the display settings interface;

[0066] Display the target medical image and obtain the surgical path to be performed based on the target medical image;

[0067] Based on the target display method, the target medical device and surgical path are displayed in the target medical image.

[0068] The aforementioned preoperative planning display method, apparatus, computer device, and storage medium, in the preoperative planning display method, involve the computer device first displaying a display settings interface and obtaining the target medical device and target display mode based on the display settings interface; then, the computer device displays the target medical image and obtains the surgical path to be performed based on the target medical image; finally, the computer device displays the target medical device and surgical path in the target medical image according to the target display mode. In this embodiment, the computer device can provide different display schemes for different user needs, thus meeting the display requirements of different usage scenarios and different medical devices. Attached Figure Description

[0069] Figure 1 This is an application environment diagram of a preoperative planning display method in one embodiment;

[0070] Figure 2 This is one of the flowcharts illustrating a preoperative planning display method in one embodiment;

[0071] Figure 3 This is a schematic diagram showing the settings interface in one embodiment;

[0072] Figure 4 This is a flowchart illustrating the steps of acquiring the target medical device and the target display method in one embodiment;

[0073] Figure 5 This is a second flowchart illustrating a preoperative planning display method in one embodiment;

[0074] Figure 6 This is a schematic diagram of the instrument library pop-up window in one embodiment;

[0075] Figure 7 This is the third flowchart illustrating the preoperative planning display method in one embodiment;

[0076] Figure 8 This is a flowchart of the preoperative planning display method in one embodiment;

[0077] Figure 9 This is a schematic diagram illustrating the drawing of a list pop-up window in one embodiment;

[0078] Figure 10 This is the fifth flowchart illustrating a preoperative planning display method in one embodiment;

[0079] Figure 11 This is a flowchart of a preoperative planning display method in one embodiment, number six.

[0080] Figure 12a This is one of the schematic diagrams showing an example in one embodiment;

[0081] Figure 12b This is a second schematic diagram showing an example in one embodiment;

[0082] Figure 12c This is the third schematic diagram showing an example in one embodiment;

[0083] Figure 12d This is the fourth schematic diagram showing an example in one embodiment;

[0084] Figure 12e This is the fifth schematic diagram showing an example in one embodiment;

[0085] Figure 12f This is the sixth schematic diagram showing an example in one embodiment;

[0086] Figure 13 This is a structural block diagram of a display device planned preoperatively in one embodiment;

[0087] Figure 14 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0088] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0089] The preoperative planning display method provided in this application can be applied to, for example... Figure 1 The application environment shown may include a computer device 101 and a medical scanning device 102. The computer device 101 can communicate with the medical scanning device 102 via a network. The computer device 101 may be, but is not limited to, various personal computers, laptops, and tablets, and the medical scanning device 102 may be, but is not limited to, a CT (Computed Tomography) device, a PET (Positron Emission Computed Tomography)-CT device, and an MR (Magnetic Resonance) device.

[0090] This application environment may also include a PACS (Picture Archiving and Communication Systems) server 103, and computer equipment 101 and medical scanning equipment 102 can all communicate with the PACS server 103 via a network. The aforementioned PACS server 103 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0091] In one embodiment, such as Figure 2 As shown, a method for displaying preoperative planning is provided, which can be applied to... Figure 1 Taking a computer device as an example, the explanation includes the following steps:

[0092] Step 201: Display the display settings interface and obtain the target medical device to be displayed and the target display method based on the display settings interface.

[0093] The medical device includes at least one of the needle-like devices such as markers, registration balls, puncture needles, and ablation needles. The display method includes at least one of drawing attributes and drawing elements.

[0094] During the preoperative planning process, the computer device first displays the display settings interface; then, the user selects the target medical device to be displayed from a variety of medical devices and the target display mode to be displayed from a variety of display modes according to the display settings interface, so that the computer device can obtain the target medical device and the target display mode.

[0095] For example, if the user selects a puncture needle and a simplified display, the computer device will recognize the target medical device as a puncture needle, and the target display method may include physical rendering, texture mapping, simplified display, etc.

[0096] Step 202: Display the target medical image and obtain the surgical path to be performed based on the target medical image.

[0097] After the computer device acquires the target medical device and the target display method, it displays the target medical image. The user makes preoperative plans in the target medical image, and then the computer device acquires the surgical path to be executed.

[0098] In one embodiment, the computer device acquires the entry point and target point of the surgical path based on the target medical image; and generates the surgical path based on the entry point and target point. For example, the user draws the entry point and target point of the puncture needle in the target medical image, and the computer device generates the surgical path based on the entry point and target point of the puncture needle.

[0099] In one embodiment, a user draws a surgical path in a target medical image, and a computer device acquires the surgical path drawn by the user. This disclosure does not limit the method of acquiring the surgical path.

[0100] Step 203: Display the target medical device and surgical path in the target medical image according to the target display method.

[0101] After acquiring the target medical device, the target display mode, and the surgical path, the computer device displays the target medical device and the surgical path in the target medical image, and the display mode is the target display mode.

[0102] For example, simplifying the display of the puncture needle and puncture path in the target medical image.

[0103] In the aforementioned preoperative planning display method, the computer device first displays a display settings interface and obtains the target medical device and target display mode based on the display settings interface; then, the computer device displays the target medical image and obtains the surgical path to be performed based on the target medical image; finally, the computer device displays the target medical device and surgical path in the target medical image according to the target display mode. In this embodiment of the disclosure, the computer device can provide different display schemes for different user needs, thus meeting the display requirements of different usage scenarios and different medical devices.

[0104] In one embodiment, such as Figure 3 As shown, the display settings interface includes an instrument settings area and a display mode settings area; for example... Figure 4 As shown, the steps described above for obtaining the target medical device to be displayed and the target display method based on the display settings interface may include:

[0105] Step 301: Obtain the target medical device selected by the user from multiple candidate medical devices based on the device setting area.

[0106] like Figure 3 As shown, the display settings interface includes a device settings area, which can display multiple candidate medical devices, including puncture needles and ablation needles of various models and sizes.

[0107] Users can select a target medical device from multiple candidate medical devices in various ways. For example, the candidate medical devices displayed in the device setting area include puncture needle A, puncture needle B, and ablation needle C; the user can click on puncture needle A with a mouse or by touching the screen. After receiving the click operation, the computer device will identify puncture needle A as the target medical device. This embodiment of the disclosure does not limit the selection method.

[0108] Step 302: Obtain the target drawing attributes and target drawing elements set by the user based on the display mode setting area, and generate the target display mode according to the target drawing attributes and target drawing elements.

[0109] like Figure 3 As shown, the display settings interface also includes a display mode settings area, which can display various display modes, including drawing attributes and drawing elements.

[0110] Users can set target drawing attributes and target drawing elements, and the computer device generates the target display method based on the target drawing attributes and target drawing elements set by the user.

[0111] For example, user-defined target rendering attributes include physical rendering, texture mapping, mesh mode, and display mode; target rendering elements include primitives such as points and lines; and computer devices generate target display modes based on the aforementioned target rendering attributes and target rendering elements.

[0112] In the process of obtaining the target medical device and target display mode based on the display settings interface, the computer device obtains the target medical device selected by the user from multiple candidate medical devices based on the device settings area; it obtains the target drawing attributes and target drawing elements set by the user based on the display mode settings area, and generates the target display mode based on the target drawing attributes and target drawing elements. In this embodiment of the disclosure, the computer device can provide multiple candidate medical devices for the user to choose from, and can provide a target display mode according to the user's settings, thus meeting the user's display needs for usage scenarios and medical devices.

[0113] In one embodiment, such as Figure 5 As shown, based on the above embodiments, the embodiments of this disclosure may further include:

[0114] Step 303: Receive the trigger operation for the device import control based on the display settings interface, and import the pre-generated medical device library according to the trigger operation for the device import control.

[0115] The computer device pre-generates a medical device library, which includes multiple candidate medical devices.

[0116] like Figure 3 As shown, the display settings interface includes a device import control. Users can input trigger operations to the device import control, and upon receiving the trigger operation, the computer device imports the pre-generated medical device library.

[0117] For example, when a user clicks the device import control with the mouse, a pop-up window appears on the computer device display. This pop-up window contains at least one device library identifier, such as... Figure 6As shown, the pop-up window contains a medical device library X. If the computer device detects that the user clicks the device library icon in the pop-up window with the mouse and clicks the confirmation button, multiple candidate medical devices from the medical device library X are imported. The above triggering operation can also be a touch operation, which is not limited in this embodiment.

[0118] Step 304: Display the medical device library in the device setup area.

[0119] Before importing a medical device library, the device settings area on a computer device can be blank or display other candidate medical devices. After importing the medical device library, the computer device displays multiple candidate medical devices from the library in the device settings area, such as... Figure 3 As shown.

[0120] In the above embodiments, the computer device receives a trigger operation on the device import control based on the display settings interface, imports a pre-generated medical device library according to the trigger operation on the device import control, and displays the medical device library in the device settings area. In this embodiment of the disclosure, importing a medical device library can provide a variety of candidate medical devices for the user to choose from, providing a basis for selecting a target medical device.

[0121] In one embodiment, such as Figure 7 As shown, based on the above embodiments, the embodiments of this disclosure may further include:

[0122] Step 305: Obtain the device information for each candidate medical device.

[0123] The device information includes at least one of the following: the shape and size of the candidate medical device.

[0124] There are several ways for a computer device to acquire medical device information. One method may include: the user inputs the shape and size of each candidate medical device into the computer device, and the computer device then acquires the device information for each candidate medical device. Another method may include: the computer device provides each candidate medical device with selectable shapes and sizes, and acquires the shape and size information of each medical device based on the user's selection operation. This disclosure does not limit the method of acquiring device information.

[0125] Step 306: Generate a medical device library based on the device information of the multiple candidate medical devices obtained.

[0126] A computer device can store the acquired device information of multiple candidate medical devices into a device list, thereby generating a medical device library based on the device list. Other methods can also be used to generate the medical device library, and this disclosure does not limit this approach.

[0127] In the above embodiments, before importing the medical device library, the computer device first obtains the device information of each candidate medical device, and generates a medical device library based on the obtained device information of multiple candidate medical devices. In this way, the computer device can import the medical device library and provide a variety of candidate medical devices for the user to choose from, thereby meeting the user's display needs for medical devices.

[0128] In one embodiment, such as Figure 8 Based on the above embodiments, the embodiments of this disclosure may further include:

[0129] Step 307: Receive the trigger operation for the drawing list import control based on the display settings interface, and display multiple candidate drawing lists according to the trigger operation for the drawing list import control.

[0130] like Figure 3 As shown, the display settings interface includes a drawing list import control. Users can input trigger operations to the drawing list import control, and upon receiving the trigger operation, the computer device will display multiple candidate drawing lists.

[0131] For example, when a user clicks the draw list import control with the mouse, the computer displays a pop-up window containing multiple candidate draw list identifiers. Figure 9 As shown, the pop-up window contains three candidate drawing lists: drawing list Y1, drawing list Y2, and drawing list Y3.

[0132] Step 308: Select one from multiple candidate drawing lists as the target drawing list based on the user's selection operation, and import the target drawing list.

[0133] After the computer device displays multiple candidate drawing lists, the user can input a selection operation, and the computer device will select the target drawing list from the multiple candidate drawing lists based on the selection operation.

[0134] For example, if a user clicks on drawing list Y1 with a mouse, the computer device receives the click operation, selects drawing list Y1 as the target drawing list based on the click operation, and imports drawing list Y1. The user can also click on drawing list Y1 using touch operation; this embodiment of the disclosure does not limit the selection operation.

[0135] Step 309: Display the target drawing list in the display mode settings area.

[0136] After selecting the target drawing list, the computer device displays the target drawing list in the display mode settings area. The target drawing list contains multiple candidate drawing attributes and multiple candidate drawing elements.

[0137] Understandably, different drawing lists may include different candidate drawing attributes and candidate drawing elements.

[0138] Correspondingly, step 302 may include: obtaining the user's setting operations for candidate drawing attributes and candidate drawing elements based on the display mode setting area, and obtaining the target drawing attributes and target drawing elements.

[0139] After the computer device displays multiple candidate drawing attributes and multiple candidate drawing elements in the target drawing list in the display mode setting area, the user can input setting operations. The computer device selects the target drawing attribute from the multiple candidate drawing attributes and the target drawing element from the multiple candidate drawing elements according to the setting operations. Then, the computer device generates the target display mode based on the target drawing attribute and the target drawing element.

[0140] In the above embodiments, before obtaining the target drawing attributes and target drawing elements based on the display mode setting area, the computer device receives a trigger operation on the drawing list import control based on the display settings interface, and displays multiple candidate drawing lists according to the trigger operation on the drawing list import control; based on the user's selection operation, one is selected from the multiple candidate drawing lists as the target drawing list, and the target drawing list is imported. In this way, the computer device can provide multiple candidate drawing attributes and candidate drawing elements for the user to choose from, thereby meeting the user's display needs for the display mode.

[0141] In one embodiment, such as Figure 10 As shown, based on the above embodiments, the embodiments of this disclosure may further include:

[0142] Step 310: Obtain the candidate drawing attributes and candidate drawing elements of the first rendering mode, and generate the first candidate drawing list.

[0143] The candidate rendering attributes of the first rendering mode include at least one of physical rendering, texture mapping, mesh mode and display mode; the display mode includes simplified display and realistic display; the candidate rendering elements of the first rendering mode include at least one two-dimensional primitive of points and lines and at least one three-dimensional primitive of cubes and spheres.

[0144] Before displaying multiple candidate rendering lists, the computer can first generate multiple candidate rendering lists. The process of generating the first candidate rendering list may include: the computer device acquiring candidate rendering attributes and candidate rendering elements for a first rendering mode, and then generating a first candidate rendering list corresponding to the first rendering mode based on the candidate rendering attributes and candidate rendering elements. The aforementioned first rendering mode may include VR / Mesh.

[0145] For example, the candidate rendering attributes for the first rendering mode VR / Mesh include physically rendered, texture mapping, mesh mode, and display mode. The candidate rendering elements for the first rendering mode include points, lines, cubes, and spheres. The computer device will then summarize physically rendered, texture mapping, mesh mode, display mode, points, lines, cubes, and spheres to generate the first candidate rendering list.

[0146] In the above embodiments, before displaying multiple candidate rendering lists, the computer device obtains candidate rendering attributes and candidate rendering elements of the first rendering mode, and generates a first candidate rendering list. This disclosure provides users with candidate rendering attributes and candidate rendering elements for VR / Mesh rendering, which can meet users' display needs for VR / Mesh rendering.

[0147] In one embodiment, such as Figure 11 As shown, based on the above embodiments, the embodiments of this disclosure may further include:

[0148] Step 311: Obtain the candidate drawing attributes and candidate drawing elements of the second rendering mode, and generate the second candidate drawing list.

[0149] The candidate drawing attributes for the second rendering mode include at least one of texture mapping and pinpoint view; the candidate drawing elements for the second rendering mode include at least one two-dimensional primitive of circle, rectangle, point, and line.

[0150] Before displaying multiple candidate rendering lists, the computer can first generate multiple candidate rendering lists. The process of generating a second candidate rendering list may include: the computer device acquiring candidate rendering attributes and candidate rendering elements for a second rendering mode, and then generating a second candidate rendering list corresponding to the second rendering mode based on the candidate rendering attributes and candidate rendering elements. The aforementioned second candidate rendering list includes MPR (Multi-Role Profile).

[0151] For example, the candidate rendering attributes of the second rendering mode MPR include texture maps and pinpoint view, and the candidate rendering elements of the second rendering mode MPR include circles, rectangles, points, and lines. The computer device will then summarize the texture maps, pinpoint view, circles, rectangles, points, and lines to generate a second candidate rendering list.

[0152] In the above embodiments, before displaying multiple candidate drawing lists, the computer device obtains candidate drawing attributes and candidate drawing elements of the second rendering mode, and generates a second candidate drawing list. This disclosure provides users with candidate drawing attributes and candidate drawing elements for the MPR rendering method, which can meet users' display needs for this rendering method.

[0153] Below are some practical application examples of preoperative planning display methods.

[0154] In one embodiment, the computer device displays a display settings interface. Based on the display settings interface, the target medical device, including a registered sphere, is obtained. The target display method includes: using VR / Mesh rendering, using physically based rendering and texture mapping for target drawing attributes, using a surface drawing mode for the mesh mode, and a simplified display mode. The target drawing elements use sphere primitives. The computer device displays the target medical image according to the target display method. Figure 12a A solid ball inside a circle, giving it a strong three-dimensional feel.

[0155] In one embodiment, the computer device displays a display settings interface. Based on the display settings interface, the target medical device is identified as a registered small ball. The target display method includes: using MPR rendering, employing texture mapping and MPR viewpoint for target drawing attributes, and using primitives such as points and circles for target drawing elements. The computer device displays the target medical image according to the target display method. Figure 12b Points and coils in the diagram.

[0156] In one embodiment, the computer device displays a display settings interface. Based on the display settings interface, the target medical device is identified as a needle-shaped surgical device (spherical needle tip). The target display method includes: using VR / Mesh rendering, employing physical rendering, texture mapping, and surface drawing mode for the target drawing elements. The display mode is simplified, and the target drawing elements use primitives such as spheres and cylinders. According to the target display method, the computer device displays a solid, three-dimensional simplified surgical device model in the target medical image, showing a cylindrical needle tip and a hemispherical needle tip.

[0157] In one embodiment, the computer device displays a display settings interface. Based on the display settings interface, the target medical device is identified as a needle-shaped surgical device (spherical needle tip). The target display method includes: using VR / Mesh rendering, employing physically based rendering and texture mapping for the target drawing elements, using a surface drawing mode for the mesh mode, and displaying a realistic display. The target drawing elements use primitives such as spheres and cylinders. According to the target display method, the computer device displays a solid, three-dimensional, realistic needle-shaped surgical device in the target medical image.

[0158] In one embodiment, the computer device displays a display settings interface. Based on the display settings interface, the target medical device is identified as a needle-shaped surgical device (conical needle tip). The target display method includes: using VR / Mesh rendering, employing physically based rendering and texture mapping for target drawing attributes, using a surface drawing mode for the mesh mode, and using a simplified display method. The target drawing elements use primitives such as spheres and cones. According to the target display method, the computer device displays a solid, three-dimensional model in the target medical image, with a cylindrical main body and a conical needle tip.

[0159] In one embodiment, the computer device displays a display settings interface. Based on the display settings interface, the target medical device is identified as a needle-shaped surgical device. The target display method includes: using MPR rendering, with target drawing attributes using texture mapping and MPR viewpoint, and target drawing elements using primitives such as dashed circles, solid circles, bright lines, dark lines, and points. According to the target display method, the computer device displays the needle path entry point and target point in the target medical image as dashed circles, the needle path portion above the current MPR as a bright line, the needle path portion below the current MPR as a dark line, and the intersection point of the current MPR and the needle path as a point, such as... Figure 12c As shown.

[0160] In one embodiment, the computer device displays a display settings interface. Based on the display settings interface, the target medical device is identified as a needle-shaped surgical device. The target display method includes: using MPR rendering, with target drawing attributes using texture mapping and MPR viewpoint, and target drawing elements using primitives such as bright lines, dark lines, and points. According to the target display method, the computer device displays the needle path's entry point and target point as solid dots in the target medical image; the needle path portion above the current MPR is displayed as a bright line; the needle path portion below the current MPR is displayed as a dark line; and the intersection of the current MPR and the needle path is displayed as a point, such as... Figure 12d As shown.

[0161] In one embodiment, the computer device displays a display settings interface. Based on the display settings interface, the target medical device is identified as a needle-shaped surgical device. The target display method includes: using MPR rendering, with target drawing attributes using texture mapping and needle path perspective, and target drawing elements using primitives such as dashed coils, solid coils, and dots. The computer device displays the target medical image according to the target display method. If the current needle path intersects with the MPR, the surgical path is displayed using a combination of dashed coils, solid coils, and dots. If the current needle path is separate from the MPR and the needle path is above the MPR, the surgical path is displayed using a combination of solid coils and dots, with the solid coils being highlighted. If the current needle path is separate from the MPR and the needle path is below the MPR, the surgical path is displayed using a combination of dashed coils, solid coils, and dots, with the solid coils being dark. Figure 12e As shown.

[0162] In one embodiment, the target medical device is a needle-shaped surgical device. If the needle-shaped surgical device is more like a thin, straight, flat cuboid, then in the VR / Mesh rendering mode, selecting the cube primitive can present a three-dimensional thin, straight, flat cuboid.

[0163] In one embodiment, if physical rendering is turned off, then a stereoscopic effect will not be presented in VR / Mesh rendering mode.

[0164] In one embodiment, the needle path display in MPR rendering mode uses dashed and solid line primitives from the MPR perspective. The needle path portion above the current MPR is displayed as a solid straight line primitive, and the needle path portion below the current MPR is displayed as a dashed straight line primitive. Figure 12f As shown.

[0165] In the above embodiments, the dots are displayed using solid dot primitives. In practical applications, cross-shaped dot primitives can also be selected for display, such as... Figure 12f As shown.

[0166] As can be seen from the above examples, the embodiments of this disclosure provide a variety of display solutions that can meet the display needs of different usage scenarios and different medical devices.

[0167] It should be understood that, although Figures 2 to 11 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 2 to 11 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0168] In one embodiment, such as Figure 13 As shown, a display device for preoperative planning is provided, comprising:

[0169] The setting module 401 is used to display the display setting interface and obtain the target medical device to be displayed and the target display method based on the display setting interface;

[0170] The path planning module 402 is used to display the target medical image and obtain the surgical path to be executed based on the target medical image;

[0171] Display module 403 is used to display the target medical device and surgical path in the target medical image according to the target display method.

[0172] In one embodiment, the display settings interface includes an instrument settings area and a display mode settings area; the settings module 401 includes:

[0173] The device selection submodule is used to obtain the target medical device selected by the user from multiple candidate medical devices based on the device setting area;

[0174] The display mode generation submodule is used to obtain the target drawing attributes and target drawing elements set by the user based on the display mode setting area, and generate the target display mode based on the target drawing attributes and target drawing elements.

[0175] In one embodiment, the display settings interface includes a device import control; the device further includes:

[0176] The medical device library import module is used to receive trigger operations for the medical device import control based on the display settings interface, and import a pre-generated medical device library according to the trigger operations for the medical device import control; the medical device library includes multiple candidate medical devices;

[0177] The medical device library display module is used to display the medical device library in the device setting area.

[0178] In one embodiment, the device further includes:

[0179] The device information acquisition module is used to acquire device information for each candidate medical device; the device information includes at least one of the following: shape and size of the candidate medical device.

[0180] The medical device library generation module is used to generate a medical device library based on the device information of multiple candidate medical devices.

[0181] In one embodiment, the display settings interface includes a drawing list import control, and the device further includes:

[0182] The first list display module is used to receive trigger operations for the drawing list import control based on the display settings interface, and to display multiple candidate drawing lists according to the trigger operations for the drawing list import control.

[0183] The list import module is used to select one of multiple candidate drawing lists as the target drawing list based on the user's selection operation, and then import the target drawing list.

[0184] The second list display module is used to display the target drawing list in the display mode settings area; the target drawing list contains multiple candidate drawing attributes and multiple candidate drawing elements;

[0185] Correspondingly, the above-mentioned display mode generation submodule is specifically used to obtain the user's setting operations for candidate drawing attributes and candidate drawing elements based on the display mode setting area, and to obtain the target drawing attributes and target drawing elements.

[0186] In one embodiment, the device further includes:

[0187] The first list generation module is used to obtain the candidate drawing attributes and candidate drawing elements of the first rendering mode, and generate the first candidate drawing list;

[0188] The candidate rendering attributes of the first rendering mode include at least one of physical rendering, texture mapping, mesh mode and display mode; the display mode includes simplified display and realistic display; the candidate rendering elements of the first rendering mode include at least one two-dimensional primitive of points and lines and at least one three-dimensional primitive of cubes and spheres.

[0189] In one embodiment, the device further includes:

[0190] The second list generation module is used to obtain the candidate drawing attributes and candidate drawing elements of the second rendering mode, and generate the second candidate drawing list;

[0191] The candidate drawing attributes for the second rendering mode include at least one of texture mapping and pinpoint view; the candidate drawing elements for the second rendering mode include at least one two-dimensional primitive of circle, rectangle, point, and line.

[0192] In one embodiment, the path planning module 402 is specifically used to obtain the entry point and target point of the surgical path based on the target medical image; and to generate the surgical path based on the entry point and target point.

[0193] Specific limitations regarding the display device for preoperative planning can be found in the above description of the display method for preoperative planning, and will not be repeated here. Each module in the aforementioned display device for preoperative planning can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0194] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 14As shown. The computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a pre-operative planning display method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse.

[0195] Those skilled in the art will understand that Figure 14 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0196] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0197] Display the display settings interface and obtain the target medical device to be displayed and the target display method based on the display settings interface;

[0198] Display the target medical image and obtain the surgical path to be performed based on the target medical image;

[0199] Based on the target display method, the target medical device and surgical path are displayed in the target medical image.

[0200] In one embodiment, the display settings interface includes an instrument settings area and a display mode settings area; when the processor executes the computer program, it also performs the following steps:

[0201] The target medical device selected by the user from multiple candidate medical devices is obtained based on the device setting area;

[0202] The target drawing attributes and target drawing elements set by the user are obtained from the display mode setting area, and the target display mode is generated based on the target drawing attributes and target drawing elements.

[0203] In one embodiment, a device import control is provided in the display settings interface; the processor also performs the following steps when executing the computer program:

[0204] The system receives trigger operations for the device import control based on the display settings interface, and imports a pre-generated medical device library according to the trigger operations for the device import control; the medical device library includes multiple candidate medical devices.

[0205] The medical device library is displayed in the equipment setup area.

[0206] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0207] Obtain device information for each candidate medical device; device information includes at least one of the following: shape and size of the candidate medical device.

[0208] A medical device library is generated based on the device information of multiple candidate medical devices.

[0209] In one embodiment, the display settings interface includes a list import control, and the processor, when executing the computer program, further implements the following steps:

[0210] The system receives trigger operations for the drawing list import control based on the display settings interface, and displays multiple candidate drawing lists according to the trigger operations for the drawing list import control.

[0211] Based on the user's selection, select one from multiple candidate drawing lists as the target drawing list and import the target drawing list;

[0212] The display mode settings area shows the target drawing list; the target drawing list contains multiple candidate drawing attributes and multiple candidate drawing elements;

[0213] Based on the display mode setting area, obtain the user's setting operations for candidate drawing attributes and candidate drawing elements, and obtain the target drawing attributes and target drawing elements.

[0214] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0215] Get the candidate drawing attributes and candidate drawing elements for the first rendering mode, and generate the first candidate drawing list;

[0216] The candidate rendering attributes of the first rendering mode include at least one of physical rendering, texture mapping, mesh mode and display mode; the display mode includes simplified display and realistic display; the candidate rendering elements of the first rendering mode include at least one two-dimensional primitive of points and lines and at least one three-dimensional primitive of cubes and spheres.

[0217] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0218] Obtain the candidate drawing attributes and candidate drawing elements for the second rendering mode, and generate a second candidate drawing list;

[0219] The candidate drawing attributes for the second rendering mode include at least one of texture mapping and pinpoint view; the candidate drawing elements for the second rendering mode include at least one two-dimensional primitive of circle, rectangle, point, and line.

[0220] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0221] The surgical path entry point and target point location are obtained based on the target medical image;

[0222] The surgical path is generated based on the entry point and target point locations.

[0223] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0224] Display the display settings interface and obtain the target medical device to be displayed and the target display method based on the display settings interface;

[0225] Display the target medical image and obtain the surgical path to be performed based on the target medical image;

[0226] Based on the target display method, the target medical device and surgical path are displayed in the target medical image.

[0227] In one embodiment, the display settings interface includes an instrument settings area and a display mode settings area; when the computer program is executed by the processor, it also performs the following steps:

[0228] The target medical device selected by the user from multiple candidate medical devices is obtained based on the device setting area;

[0229] The target drawing attributes and target drawing elements set by the user are obtained from the display mode setting area, and the target display mode is generated based on the target drawing attributes and target drawing elements.

[0230] In one embodiment, a device import control is provided in the display settings interface; when the computer program is executed by the processor, it also performs the following steps:

[0231] The system receives trigger operations for the device import control based on the display settings interface, and imports a pre-generated medical device library according to the trigger operations for the device import control; the medical device library includes multiple candidate medical devices.

[0232] The medical device library is displayed in the equipment setup area.

[0233] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0234] Obtain device information for each candidate medical device; device information includes at least one of the following: shape and size of the candidate medical device.

[0235] A medical device library is generated based on the device information of multiple candidate medical devices.

[0236] In one embodiment, the display settings interface includes a list import control, and when the computer program is executed by the processor, the following steps are also performed:

[0237] The system receives trigger operations for the drawing list import control based on the display settings interface, and displays multiple candidate drawing lists according to the trigger operations for the drawing list import control.

[0238] Based on the user's selection, select one from multiple candidate drawing lists as the target drawing list and import the target drawing list;

[0239] The display mode settings area shows the target drawing list; the target drawing list contains multiple candidate drawing attributes and multiple candidate drawing elements;

[0240] Based on the display mode setting area, obtain the user's setting operations for candidate drawing attributes and candidate drawing elements, and obtain the target drawing attributes and target drawing elements.

[0241] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0242] Get the candidate drawing attributes and candidate drawing elements for the first rendering mode, and generate the first candidate drawing list;

[0243] The candidate rendering attributes of the first rendering mode include at least one of physical rendering, texture mapping, mesh mode and display mode; the display mode includes simplified display and realistic display; the candidate rendering elements of the first rendering mode include at least one two-dimensional primitive of points and lines and at least one three-dimensional primitive of cubes and spheres.

[0244] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0245] Obtain the candidate drawing attributes and candidate drawing elements for the second rendering mode, and generate a second candidate drawing list;

[0246] The candidate drawing attributes for the second rendering mode include at least one of texture mapping and pinpoint view; the candidate drawing elements for the second rendering mode include at least one two-dimensional primitive of circle, rectangle, point, and line.

[0247] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0248] The surgical path entry point and target point location are obtained based on the target medical image;

[0249] The surgical path is generated based on the entry point and target point locations.

[0250] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0251] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0252] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for displaying preoperative planning, characterized in that, The method includes: The display settings interface includes a device settings area and a display mode settings area. The target medical device to be displayed is obtained based on the device settings area, and a target display mode is generated based on the display mode settings area. The target display mode includes a rendering mode, target drawing attributes, and target drawing elements. The target drawing attributes include at least one of physically based rendering, texture mapping, mesh mode, simplified display, realistic display, MPR view, and needle path view. The target drawing elements include at least one of points, solid points, crosshairs, lines, circles, rectangles, cylinders, cones, dashed circles, solid circles, bright lines, dark lines, cubes, and spheres. Display the target medical image and obtain the surgical path to be performed based on the target medical image; Based on the rendering mode, the target rendering attributes, and the target rendering elements, the target medical device and the surgical path are displayed in the target medical image.

2. The method according to claim 1, characterized in that, The rendering modes include VR / Mesh and MPR.

3. The method according to claim 1, characterized in that, The step of acquiring the target medical device to be displayed based on the device setting area and generating the target display mode based on the display mode setting area includes: The target medical device selected by the user from multiple candidate medical devices is obtained based on the device setting area; Based on the display mode setting area, the user-set rendering mode, target drawing attributes, and target drawing elements are obtained, and the target display mode is generated according to the rendering mode, target drawing attributes, and target drawing elements.

4. The method according to claim 3, characterized in that, The display settings interface includes a device import control; before obtaining the target medical device selected by the user from multiple candidate medical devices based on the device settings area, the method further includes: The system receives a trigger operation on the device import control based on the display settings interface, and imports a pre-generated medical device library according to the trigger operation on the device import control; the medical device library includes multiple candidate medical devices. The medical device library is displayed in the device setting area.

5. The method according to claim 4, characterized in that, Prior to importing the pre-generated medical device library based on the trigger operation for the device import control, the method further includes: Obtain device information for each of the candidate medical devices; the device information includes at least one of the shape and size of the candidate medical device; The medical device library is generated based on the device information of the multiple candidate medical devices obtained.

6. The method according to claim 3, characterized in that, The display settings interface includes a drawing list import control. Before obtaining the user-set rendering mode, target drawing attributes, and target drawing elements based on the display mode settings area, the method further includes: Based on the display settings interface, a trigger operation is received for the drawing list import control, and multiple candidate drawing lists are displayed according to the trigger operation for the drawing list import control; Based on the user's selection operation, one of the multiple candidate drawing lists is selected as the target drawing list, and the target drawing list is imported. The target drawing list is displayed in the display mode setting area; the target drawing list contains multiple candidate drawing attributes and multiple candidate drawing elements; Correspondingly, obtaining the target drawing attributes and target drawing elements set by the user based on the display mode setting area includes: Based on the display mode setting area, the user's setting operations for the candidate drawing attributes and the candidate drawing elements are obtained, and the target drawing attributes and the target drawing elements are obtained.

7. The method according to claim 6, characterized in that, Before displaying multiple candidate drawing lists based on the triggering operation of the drawing list import control, the method further includes: Get the candidate drawing attributes and candidate drawing elements for the first rendering mode, and generate the first candidate drawing list; The candidate rendering attributes of the first rendering mode include at least one of physical rendering, texture mapping, mesh mode, and display mode; the display mode includes simplified display and realistic display; the candidate rendering elements of the first rendering mode include at least one two-dimensional primitive of points and lines, and at least one three-dimensional primitive of cubes and spheres.

8. The method according to claim 6, characterized in that, Before displaying multiple candidate drawing lists based on the triggering operation of the drawing list import control, the method further includes: Obtain the candidate drawing attributes and candidate drawing elements for the second rendering mode, and generate a second candidate drawing list; The candidate drawing attributes of the second rendering mode include at least one of texture mapping and pinpoint view; the candidate drawing elements of the second rendering mode include at least one two-dimensional primitive of circle, rectangle, point and line.

9. The method according to claim 1, characterized in that, The process of obtaining the surgical path to be performed based on the target medical image includes: The entry point and target point of the surgical path are obtained based on the target medical image; The surgical path is generated based on the entry point location and the target point location.

10. A display device for preoperative planning, characterized in that, The device includes: The settings module is used to display the settings interface, which includes a device settings area and a display mode settings area. The module acquires the target medical device to be displayed based on the device settings area and generates a target display mode based on the display mode settings area. The target display mode includes a rendering mode, target drawing attributes, and target drawing elements. The target drawing attributes include at least one of physically based rendering, texture mapping, mesh mode, simplified display, realistic display, MPR view, and needle path view. The target drawing elements include at least one of points, solid points, crosshairs, lines, circles, rectangles, cylinders, cones, dashed circles, solid circles, bright lines, dark lines, cubes, and spheres. The path planning module is used to display the target medical image and obtain the surgical path to be performed based on the target medical image; The display module is used to display the target medical device and the surgical path in the target medical image according to the rendering mode, the target drawing attributes and the target drawing elements.

11. The apparatus according to claim 10, characterized in that, The settings module includes an instrument selection submodule and a display mode generation submodule; The device selection submodule is used to obtain the target medical device selected by the user from multiple candidate medical devices based on the device setting area; The display mode generation submodule is used to obtain the user-set rendering mode, target drawing attributes and target drawing elements based on the display mode setting area, and generate the target display mode according to the rendering mode, the target drawing attributes and the target drawing elements.

12. The apparatus according to claim 11, characterized in that, The display settings interface includes a device import control; the device also includes: The medical device library import module is used to receive a trigger operation on the medical device import control based on the display settings interface, and import a pre-generated medical device library according to the trigger operation on the medical device import control; the medical device library includes multiple candidate medical devices; The medical device library display module is used to display the medical device library in the medical device setting area.

13. The apparatus according to claim 11, characterized in that, The display settings interface includes a list import control, and the device further includes: The first list display module is used to receive a trigger operation for the drawing list import control based on the display settings interface, and to display multiple candidate drawing lists according to the trigger operation for the drawing list import control. The list import module is used to select one of the multiple candidate drawing lists as the target drawing list based on the user's selection operation, and import the target drawing list. The second list display module is used to display the target drawing list in the display mode setting area; the target drawing list contains multiple candidate drawing attributes and multiple candidate drawing elements; Correspondingly, the display mode generation submodule is specifically used to obtain the user's setting operations for the candidate drawing attributes and the candidate drawing elements based on the display mode setting area, and to obtain the target drawing attributes and the target drawing elements.

14. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 9.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

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