Medical observation image processing method and device, electronic equipment and storage medium

Abstract

The application provides a medical observation image processing method and device, electronic equipment and storage medium. The medical observation image processing method comprises: acquiring coordinate parameters of a center line of a medical mold model in a global three-dimensional coordinate system; determining the trajectory direction of each center point on the center line based on the coordinate parameters; establishing a local three-dimensional coordinate system of each center point based on each center point and the trajectory direction thereof; determining each cross-sectional image corresponding to each center point of the medical mold model based on the local three-dimensional coordinate system of each center point; and generating a medical observation image sequence based on each cross-sectional image of the medical mold model. The medical observation image processing method enhances the continuity of the medical observation image sequence.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of computer technology, and in particular, to a medical observation image processing method and device, electronic equipment and storage medium. BACKGROUND

[0002] In CT image analysis, it is often necessary to track and analyze a specific organ in an image sequence. There are usually two methods for tracking and analyzing. One is that a doctor directly observes the image sequence, which is easy to cause tracking errors. The other is that a three-dimensional reconstruction is performed on the image sequence, and a medical observation image sequence of a specific organ is extracted for observation.

[0003] In the prior art, there is a deviation between the normal of each image in the medical observation image sequence of the specific organ and the normal of the cross section of the specific organ, which causes a difference between the organ state displayed in the medical observation image sequence of the specific organ and the real state of the organ. Adjacent medical observation images cannot correspond well, and the medical observation images are discontinuous. Therefore, the continuity of the medical observation image sequence is poor. SUMMARY

[0004] Therefore, the embodiments of the present application provide a medical observation image processing method and device, electronic equipment and storage medium to solve the above problems.

[0005] According to a first aspect of the embodiments of the present application, a medical observation image processing method is provided, including: obtaining coordinate parameters of a center line of a medical mold model in a global three-dimensional coordinate system; determining a trajectory direction of each center point on the center line based on the coordinate parameters; establishing a local three-dimensional coordinate system of each center point based on each center point and its trajectory direction; determining each cross-sectional image corresponding to each center point of the medical mold model based on the local three-dimensional coordinate system of each center point; and generating a medical observation image sequence based on each cross-sectional image of the medical mold model.

[0006] In another implementation manner of the present application, the determination of the trajectory direction of each center point on the center line based on the coordinate parameters includes: determining the normal or tangent of each center point on the center line based on the coordinate parameters; and the establishment of the local three-dimensional coordinate system of each center point based on each center point and its trajectory direction includes: establishing the local three-dimensional coordinate system of each center point in the global three-dimensional coordinate system based on the normal or tangent of each center point.

[0007] In another implementation manner of the present application, the local three-dimensional coordinate system has an X axis, a Y axis and a Z axis; based on the normal or tangent of each center point, the local three-dimensional coordinate system of each center point is established in the global three-dimensional coordinate system, comprising: determining the origin of the local three-dimensional coordinate system based on the three-dimensional coordinates of each center point in the global coordinate system and the preset cross-sectional edge length; establishing the local three-dimensional coordinate system of each center point based on the origin of the local three-dimensional coordinate system, wherein the normal is in the plane formed by the X axis and the Y axis, or the tangent is consistent with the direction of the Z axis.

[0008] In another implementation manner of the present application, based on the coordinate parameters, the normal of each center point on the center line is determined, comprising: extracting the position parameters of each center point and the adjacent center point of each center point on the center line from the coordinate parameters; performing vector calculation on the position parameters of each center point and the adjacent center point to obtain each vector between each center point and the adjacent center point; and calculating the normal or tangent of the center point on the center line according to the positional relationship between each vector.

[0009] In another implementation manner of the present application, according to the positional relationship between each vector, the normal or tangent of the center point on the center line is calculated, comprising: based on the positional relationship between each vector, determining the initial direction normal or initial direction tangent of the center point, the direction vector of the adjacent center point and the translation normal or translation tangent of the initial direction normal or initial direction tangent of the center point to the adjacent center point; and performing vector calculation according to the positional relationship between the initial direction normal or initial direction tangent of the center point, the direction vector of the adjacent center point and the translation normal or translation tangent to obtain the normal or tangent of the center point on the center line.

[0010] In another implementation manner of the present application, based on the local three-dimensional coordinate system of each center point, the medical mold model and each cross-sectional image corresponding to each center point are determined, comprising: determining the plane formed by the X axis and the Y axis in the local three-dimensional coordinate system of each center point, and the plane is the plane where the cross section of the medical mold model is located; and determining the medical mold model and each cross-sectional image corresponding to each center point in the plane according to the coordinate point of each center point and the preset cross-sectional edge length.

[0011] In another implementation manner of the present application, the medical observation image processing method further comprises: acquiring a medical global three-dimensional image; performing image segmentation processing on the medical global three-dimensional image by an image segmentation algorithm to obtain a medical local three-dimensional image; and creating a medical mold model based on the medical local three-dimensional image.

[0012] According to a second aspect of the embodiments of the present application, a medical observation image processing apparatus is provided, comprising: a data acquisition module, configured to acquire coordinate parameters of a center line of a medical mold model in a global three-dimensional coordinate system; a data processing module, configured to determine a trajectory direction of each center point in the center line based on the coordinate parameters, and establish a local three-dimensional coordinate system of each center point based on each center point and the trajectory direction of the center point, and further configured to determine each cross-sectional image corresponding to each center point of the medical mold model based on the local three-dimensional coordinate system of each center point; and a sequence generation module, configured to generate a medical observation image sequence based on each cross-sectional image of the medical mold model.

[0013] According to a third aspect of the embodiments of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the medical observation image processing method according to any one of the above aspects when executing the computer program.

[0014] According to a fourth aspect of the embodiments of the present application, a computer storage medium is provided, and the computer storage medium stores a computer program, and the computer program implements the steps of the medical observation image processing method according to any one of the above aspects when executed by a processor.

[0015] In the medical observation image processing method according to the embodiments of the present application, since the local three-dimensional coordinate system of each center point is established according to each center point of the medical mold model and the trajectory direction of the center point, the rotation degree of each cross-sectional image obtained in the local three-dimensional coordinate system and the medical mold model along the center line is matched, and the continuity of the medical observation image sequence is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. The advantages and benefits of the solutions will become clear to those skilled in the art by reading the following detailed description of the embodiments. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered as limiting the present application. In the drawings:

[0017] Figure 1 The flowchart of the steps of the medical observation image processing method according to an embodiment of the present application.

[0018] Figure 2 The schematic diagram of the calculation process of the trajectory direction in the medical observation image processing method according to another embodiment of the present application.

[0019] Figure 3 The schematic diagram of the structure of the cross-sectional image in the medical observation image processing method according to another embodiment of the present application.

[0020] Figure 4 This is a structural block diagram of a medical observation image processing device according to another embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of an electronic device according to another embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and thoroughly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art should fall within the protection scope of the present invention.

[0023] Figure 1 A flowchart illustrating the steps of a medical observation image processing method provided in this embodiment of the invention is shown below. Figure 1 As shown, this embodiment mainly includes the following steps:

[0024] S101. Obtain the coordinate parameters of the centerline of the medical mold model in the global three-dimensional coordinate system.

[0025] For example, a medical model of the target organ to be tracked and analyzed in a CT image sequence is obtained. The centerline of the target organ is determined based on the medical model, and can be extracted using a centerline extraction algorithm. The coordinate parameters of the centerline in the global three-dimensional coordinate system are determined, i.e., the global three-dimensional coordinates of each center point of the centerline in the global three-dimensional coordinate system. Taking cardiovascular image analysis as an example, the centerline of a vascular model is extracted using a centerline extraction algorithm, and the global three-dimensional coordinates of each center point on the centerline of the vascular model are determined. The centerline extraction algorithm can be either a distance-transform-based algorithm or a topology-refinement-based algorithm; there is no specific limitation on the algorithm used.

[0026] S102. Based on the coordinate parameters, determine the trajectory direction of each center point on the center line.

[0027] Exemplarily, the adjacent center points are connected, the corresponding vectors between the adjacent center points are calculated, i.e., the global three-dimensional coordinates of the adjacent center points in the center line are brought into a vector calculation formula to perform coordinate calculation, and the corresponding vectors between the adjacent center points are obtained. The corresponding vectors between the adjacent center points are brought into a calculation formula of the normal or tangent direction to obtain the direction normal or tangent direction of each center point of the center line in the global three-dimensional coordinate system. According to the vector relationship between the vectors between the center points and the direction normal or tangent direction corresponding to the vectors, and the trajectory direction, the vectors and the direction normal or tangent direction corresponding to the vectors are calculated to obtain the trajectory direction of each center point.

[0028] S103, based on each center point and its trajectory direction, a local three-dimensional coordinate system of each center point is established.

[0029] Exemplarily, the final direction vector of each center point is determined according to the direction normal or tangent direction of each center point, and the local three-dimensional coordinate system of each center point is obtained by performing vector calculation on the final direction vector of each center point and the direction normal or tangent direction. According to the preset cross-sectional edge length according to user demand, the global three-dimensional coordinate points of the preset cross-sectional edge length and each center point are calculated to obtain the origin of the local coordinate system corresponding to each center point. The plane formed by the X-axis and the Y-axis in the plane of the normal direction corresponding to each center point, or the Z-axis direction is taken as the tangent direction corresponding to each center point, and the local three-dimensional coordinate system of each center point is established.

[0030] S104, based on the local three-dimensional coordinate system of each center point, the medical mold model and each cross-sectional image corresponding to each center point are determined.

[0031] Exemplarily, according to the preset cross-sectional edge length according to user demand, the center point of the cross section of the medical mold model is taken as the center point of the cross-sectional image, and the corresponding cross-sectional image is saved. Taking cardiovascular image analysis as an example, the preset cross-sectional image is a rectangular image with an edge length of d, the center point of the cross section of the blood vessel model is taken as the center point of the rectangular image, two points (0, d, 0) and (0, 0, d) are taken on the coordinate axis in the cross-sectional direction, vertical lines are drawn at the two points and intersected, and a rectangular image containing the cross section of the blood vessel model is obtained. The rectangular image is saved to obtain the cross-sectional image corresponding to the center point, wherein the preset cross-sectional edge length d is greater than the diameter of the cross section of the blood vessel model.

[0032] S105, based on each cross-sectional image of the medical mold model, a medical observation image sequence is generated.

[0033] Exemplarily, each cross-sectional image of the medical mold model is saved in order and numbered to generate a continuous medical observation image sequence.

[0034] In the medical observation image processing method of the embodiment of the present application, since the local three-dimensional coordinate system of each center point is established according to each center point of the medical mold model and the trajectory direction of the medical mold model, the rotation degree of each cross-sectional image obtained in the local three-dimensional coordinate system and the medical mold model along the center line is matched, and then the adjacent cross-sectional image can be well matched, and the continuity of the medical observation image sequence is enhanced.

[0035] In another implementation of the present application, Figure 2 The calculation process of the trajectory direction in the medical observation image processing method provided by the embodiment of the present application is shown in the schematic diagram as Figure 2 The embodiment mainly includes: determining the normal or tangent of each center point on the center line based on the coordinate parameters; and establishing the local three-dimensional coordinate system of each center point in the global three-dimensional coordinate system based on the normal or tangent of each center point.

[0036] Exemplarily, the coordinate parameters of each center point, i.e., the global three-dimensional coordinates of each center point, are obtained, the global three-dimensional coordinates of each center point are subjected to vector calculation, the direction normal or tangent of each center point on the center line is obtained, and the specific calculation method is as follows: Figure 2

[0037] Let v be the center point, the number of the center points be n, the first point be marked as v0, and the direction vector of the v0 and v1 points be:

[0038]

[0039] The direction vector of v2 to v n-2 is calculated as follows:

[0040] If the vector is parallel to the vector , the direction normal of the v i point is the same as the direction normal of the v i-1 point, and if not parallel, the calculation method is as follows:

[0041] The vector is the direction vector of the v i-1 point, the vector is the initial direction normal of the v i point, the vector is obtained by cross-multiplying the vector and unitizing, the vector is the parallel vector of the vector moving to the v i-1 point, the vector is the direction normal of the v i point, the vector is the direction normal of the v i-1 point, and the vector f1 and f2 are intermediate calculation variables, and are proportionality coefficients.

[0042]

[0043]

[0044]

[0045]

[0046] like f2 = -f2:

[0047]

[0048] Among them, the last point v i-1 The direction normal is equal to point v i-2 The direction and normal.

[0049] Based on the direction normal or tangential of each center point, the coordinates of each center point in the global three-dimensional coordinate system are calculated. According to the user's requirements, the side length of the cross section is preset, and the global three-dimensional coordinates of each center point are calculated to obtain the origin of the local coordinate system corresponding to each center point. The local three-dimensional coordinate system of the center point is then established in the global coordinate system.

[0050] In the embodiment of the present invention, the direction normal or tangential of each center point is calculated based on the coordinate parameters of each center point. The coordinate parameters can be directly obtained by software. The calculation process of the direction normal or tangential of each center point is simple and easy to understand. A local three-dimensional coordinate system of the center point is established in the global coordinate system. The cross-sectional image obtained in the local three-dimensional coordinate system has a more accurate shape.

[0051] In another implementation of the present invention, Figure 3 This is a schematic diagram of the structure of a cross-sectional image in a medical observation image processing method provided in an embodiment of the present invention, as shown below. Figure 3 As shown, this embodiment mainly includes: a local three-dimensional coordinate system with an X-axis, a Y-axis, and a Z-axis; determining the origin of the local three-dimensional coordinate system based on the three-dimensional coordinates of each center point in the global coordinate system and the preset cross-sectional side length; establishing a local three-dimensional coordinate system for each center point based on the origin of the local three-dimensional coordinate system, wherein the normal is in the plane formed by the X-axis and the Y-axis, or the tangential is consistent with the Z-axis direction.

[0052] For example, a local three-dimensional coordinate system is created for each center point.

[0053] At point v0:

[0054]

[0055] In v n-1 point:

[0056]

[0057] At other points v i :

[0058]

[0059]

[0060] vector These serve as the X, Y, and Z axes, respectively. The cross-sectional side length d is preset according to user requirements. The preset cross-sectional side length and point v are then used as the axes. i Calculate the corresponding 3D coordinates at the global 3D coordinate system to obtain the origin o of the local coordinate system corresponding to each center point, and create point v. i Local three-dimensional coordinate system at:

[0061]

[0062]

[0063]

[0064]

[0065] It's point v i The direction and normal.

[0066] In the embodiment of the present invention, the global three-dimensional coordinate point of the center point is taken as the origin, and a local three-dimensional coordinate system of the center point is established in the global coordinate system. The cross-sectional image is obtained in the local three-dimensional coordinate system. The side length of the cross section can be set by the user according to the user's needs, so that the cross-sectional shape of the medical mold model contained in the obtained cross-sectional image is more complete.

[0067] In another implementation of the present invention, determining the normal of each center point on the center line based on coordinate parameters includes: extracting the position parameters of each center point and its adjacent center points on the center line from the coordinate parameters; performing vector calculations on the position parameters of each center point and its adjacent center points to obtain each vector between each center point and its adjacent center points; and calculating the normal or tangential of the center point on the center line according to the positional relationship between the vectors.

[0068] Exemplarily, global three-dimensional coordinates corresponding to each center point and global three-dimensional coordinates of adjacent center points of the center point are extracted from the coordinate parameters, vector calculation is performed on the global three-dimensional coordinates of the center point and the adjacent center points, direction vectors corresponding to the center point and the adjacent center points are obtained, and the normal or tangent of the center point on the center line is calculated according to the positional relationship and vector relationship between the vectors.

[0069] In the scheme of the embodiment of the application, the global three-dimensional coordinates of each center point are obtained, the normal or tangent of each center point on the center line is obtained through vector calculation, the required data for calculation is easy to obtain, the calculation process is simple and easy to understand, and the efficiency of the medical observation image processing method is improved.

[0070] In another implementation manner of the application, the normal or tangent of the center point on the center line is calculated according to the positional relationship between the vectors, and the method comprises the following steps: based on the positional relationship between the vectors, the initial direction normal or initial direction tangent of the center point, the direction vector of the adjacent center point and the translation normal or translation tangent of the initial direction normal or initial direction tangent of the center point to the adjacent center point are determined; and vector calculation is performed according to the positional relationship between the initial direction normal or initial direction tangent of the center point, the direction vector of the adjacent center point and the translation normal or translation tangent, so as to obtain the normal or tangent of the center point on the center line.

[0071] In another implementation manner of the application, a plane formed by the X-axis and the Y-axis in the local three-dimensional coordinate system of each center point is determined, and the plane is the plane in which the cross section of the medical mold model is located; and according to the coordinate point of each center point and the preset cross section side length, each cross section image corresponding to the medical mold model and each center point is determined in the plane.

[0072] Exemplarily, as shown in Figure 3 The plane formed by the m-axis and the np-axis is the plane in which the cross section of the medical mold model is located, a point (0, d, 0) is taken on the m-axis, a point (0, 0, d) is taken on the np-axis, a vertical line is drawn at the point (0, d, 0) and the point (0, 0, d) respectively, and a rectangular image with a side length of d is formed, and the rectangular image is a point v i The points on the cross section side line of each pipeline corresponding to each center point are subjected to coordinate calculation in the local three-dimensional coordinate system, so that the cross section shape of the medical mold model in the obtained cross section image is more accurate.

[0073] In another implementation manner of the application, the medical observation image processing method further comprises the following steps: obtaining a medical global three-dimensional image; performing image segmentation processing on the medical global three-dimensional image through an image segmentation algorithm to obtain a medical local three-dimensional image; and creating a medical mold model based on the medical local three-dimensional image.

[0074] Exemplarily, a medical global three-dimensional image is acquired by a CT scan, the medical global three-dimensional image containing bones, skin, and various organs, etc., the medical global three-dimensional image is subjected to image segmentation processing by an image segmentation algorithm, and a required medical local three-dimensional image is extracted, and a medical mold model is created according to the medical local three-dimensional image. For example, in cardiovascular image analysis, a blood vessel three-dimensional image required for observation can be extracted from the global three-dimensional image by using the image segmentation algorithm, and a blood vessel model is created according to the blood vessel three-dimensional image. The organ image required for observation is extracted from the medical global three-dimensional image for separate observation, avoiding the occurrence of tracking errors, and improving the accuracy of the observation results.

[0075] Figure 4 A structural block diagram of a medical observation image processing device provided by an embodiment of the present application is shown in Figure 4 The embodiment mainly includes:

[0076] The data acquisition module 401 is configured to acquire coordinate parameters of a center line of the medical mold model in a global three-dimensional coordinate system.

[0077] The data processing module 402 is configured to determine a trajectory direction of each center point in the center line based on the coordinate parameters, establish a local three-dimensional coordinate system of each center point based on each center point and the trajectory direction thereof, and determine each cross-sectional image corresponding to each center point of the medical mold model based on the local three-dimensional coordinate system of each center point.

[0078] The sequence generation module 403 is configured to generate a medical observation image sequence based on each cross-sectional image of the medical mold model.

[0079] In the medical observation image processing device of the embodiment of the present application, since the local three-dimensional coordinate system of each center point is established according to each center point of the medical mold model and the trajectory direction thereof, each cross-sectional image obtained in the local three-dimensional coordinate system is matched with the rotation degree of the medical mold model along the center line, and thus can be well matched with adjacent cross-sectional images, thereby enhancing the continuity of the medical observation image sequence.

[0080] In another implementation manner of the present application, the data processing module 402 is further configured to determine the trajectory direction of each center point in the center line based on the coordinate parameters, including: determining a normal direction or a tangent direction of each center point on the center line based on the coordinate parameters; and establishing the local three-dimensional coordinate system of each center point based on each center point and the trajectory direction thereof, including: establishing the local three-dimensional coordinate system of each center point in the global three-dimensional coordinate system based on the normal direction or the tangent direction of each center point.

[0081] In another implementation manner of the present application, the data processing module 402 is further configured to: the local three-dimensional coordinate system has an X axis, a Y axis and a Z axis; based on the normal or tangent of each center point, the local three-dimensional coordinate system of each center point is established in the global three-dimensional coordinate system, including: determining the origin of the local three-dimensional coordinate system based on the three-dimensional coordinates of each center point in the global coordinate system and the preset cross-sectional edge length; and establishing the local three-dimensional coordinate system of each center point based on the origin of the local three-dimensional coordinate system, wherein the normal is in the plane formed by the X axis and the Y axis, or the tangent is consistent with the direction of the Z axis.

[0082] In another implementation manner of the present application, the data processing module 402 is further configured to: based on the coordinate parameters, determine the normal of each center point on the center line, including: extracting the position parameters of each center point and adjacent center points of each center point on the center line from the coordinate parameters; performing vector calculation on the position parameters of each center point and the adjacent center points to obtain each vector between each center point and the adjacent center points; and calculating the normal or tangent of the center point on the center line according to the positional relationship between the vectors.

[0083] In another implementation manner of the present application, the data processing module 402 is further configured to: calculate the normal or tangent of the center point on the center line according to the positional relationship between the vectors, including: based on the positional relationship between the vectors, determining the initial direction normal or initial direction tangent of the center point, the direction vector of the adjacent center point, and the translation normal or translation tangent of the initial direction normal or initial direction tangent of the center point to the adjacent center point; and performing vector calculation according to the positional relationship between the initial direction normal or initial direction tangent of the center point, the direction vector of the adjacent center point, and the translation normal or translation tangent to obtain the normal or tangent of the center point on the center line.

[0084] In another implementation manner of the present application, the data processing module 402 is further configured to: based on the local three-dimensional coordinate system of each center point, determine the medical mold model and each cross-sectional image corresponding to each center point, including: determining the plane formed by the X axis and the Y axis in the local three-dimensional coordinate system of each center point, and the plane is the plane where the cross section of the medical mold model is located; and determining the medical mold model and each cross-sectional image corresponding to each center point in the plane according to the coordinate point of each center point and the preset cross-sectional edge length.

[0085] In another implementation manner of the present application, the data acquisition module 401 is further configured to: the medical observation image processing method further includes: acquiring a medical global three-dimensional image; performing image segmentation processing on the medical global three-dimensional image through an image segmentation algorithm to obtain a medical local three-dimensional image; and creating a medical mold model based on the medical local three-dimensional image.

[0086] The apparatus of the embodiment is used to implement the corresponding method in the plurality of method embodiments described above, and has the beneficial effects of the corresponding method embodiments, which will not be described here again. In addition, the function implementation of each module in the apparatus of the embodiment can be referred to the description of the corresponding part in the method embodiments described above, which will not be described here again either.

[0087] As shown in Figure 5 The electronic device 500 can include a processor 501, a memory 503, and a communication bus 504, a communication interface 505.

[0088] Among them:

[0089] The processor 501, the memory 503, and the communication interface 505 complete the communication with each other through the communication bus 504.

[0090] The communication interface 505 is configured to communicate with other electronic devices or servers.

[0091] The processor 501 is configured to execute the program 502, and specifically can execute the steps of any one of the medical observation image processing methods in the embodiments described above.

[0092] Specifically, the program 502 can include program code including computer operation instructions.

[0093] The processor 501 can be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement one or more embodiments of the present application. One or more processors included in the smart device can be the same type of processor, such as one or more CPUs; or can be different types of processors, such as one or more CPUs and one or more ASICs.

[0094] The memory 503 is configured to store the program 502. The memory 503 can include a high-speed RAM memory, and can also include a non-volatile memory such as at least one disk memory.

[0095] The program 502 can be specifically used for causing the processor 501 to perform the steps of any one of the medical observation image processing methods described in the embodiments. The specific implementation of each step in the program 502 can refer to the corresponding description of the steps and units performed by any one of the medical observation image processing methods described above, and will not be described here. It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, the specific working processes of the devices and modules described above can refer to the corresponding process description in the foregoing method embodiments.

[0096] The exemplary embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method of the embodiments of the present application.

[0097] The method according to the embodiments of the present application described above can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk or a magneto-optical disk, or be downloaded through a network originally stored in a remote recording medium or a non-transitory machine-readable medium and then stored in a local recording medium, so that the method described herein can be processed by such software using a general-purpose computer, a special-purpose processor, or programmable or special-purpose hardware (such as ASIC or FPGA). It can be understood that the computer, processor, microprocessor controller or programmable hardware includes a storage component (for example, RAM, ROM, flash memory, etc.) that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown herein, the execution of the code will convert the general-purpose computer into a special-purpose computer for executing the method shown herein.

[0098] So far, specific embodiments of the present application have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0099] It should be noted that all directional indications, such as upper, lower, left, right, back, etc., are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0100] In the description of the present application, the terms "first", "second" are only used for the convenience of describing different components or names, and cannot be understood as indicating or implying the order relationship, relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can be explicitly or implicitly included at least one of the features.

[0101] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0102] It should be noted that, although the specific embodiments of the present application are described in detail with reference to the accompanying drawings, it should not be understood as limiting the scope of protection of the present application. Various modifications and variations made by those skilled in the art within the scope described in the claims are still within the scope of protection of the present application.

[0103] The examples of the embodiments of the present application are intended to simply illustrate the technical features of the embodiments of the present application, so that those skilled in the art can intuitively understand the technical features of the embodiments of the present application, and are not intended as improper limitations on the embodiments of the present application.

[0104] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for processing medical observation images, characterized in that, include: Obtain the coordinate parameters of the centerline of the medical mold model in the global three-dimensional coordinate system; Based on the coordinate parameters, determine the trajectory direction of each center point on the center line; Based on each center point and its trajectory direction, a local three-dimensional coordinate system for each center point is established; Based on the local three-dimensional coordinate system of each center point, determine the cross-sectional images of the medical mold model corresponding to each center point; Based on the cross-sectional images of the medical mold model, a sequence of medical observation images is generated; Determining the trajectory direction of each center point on the centerline based on the coordinate parameters includes: Based on the coordinate parameters, determine the normal or tangential direction of each center point on the center line; The step of establishing a local three-dimensional coordinate system for each center point based on each center point and its trajectory direction includes: Based on the normal or tangential direction of each center point, a local three-dimensional coordinate system for each center point is established in the global three-dimensional coordinate system.

2. The method as described in claim 1, characterized in that, The local three-dimensional coordinate system has an X-axis, a Y-axis, and a Z-axis; The step of establishing a local three-dimensional coordinate system for each center point in the global three-dimensional coordinate system based on the normal or tangential direction of each center point includes: Based on the three-dimensional coordinates of each center point in the global three-dimensional coordinate system and the preset cross-sectional side length, the origin of the local three-dimensional coordinate system is determined. Based on the origin of the local three-dimensional coordinate system, establish local three-dimensional coordinate systems for each center point, wherein the normal direction lies in the plane formed by the X-axis and Y-axis, or the tangential direction is consistent with the Z-axis direction.

3. The method as described in claim 1, characterized in that, Determining the normal vector of each center point on the center line based on the coordinate parameters includes: Extract the position parameters of each center point and its adjacent center points on the center line from the coordinate parameters; Vector calculations are performed on the position parameters of each center point and the adjacent center points to obtain the vectors between each center point and the adjacent center points. Based on the positional relationship between the vectors, the normal or tangential direction of the center point on the center line is calculated.

4. The method as described in claim 3, characterized in that, The step of calculating the normal or tangential direction of the center point on the center line based on the positional relationship between the vectors includes: Based on the positional relationship between the vectors, the initial direction normal or initial direction tangent of the center point, the direction vector of the adjacent center point, and the translation normal or translation tangent of the initial direction normal or initial direction tangent of the center point are determined to the adjacent center point. Vector calculations are performed based on the initial direction normal or initial direction tangential of the center point, the direction vectors of the adjacent center points, and the positional relationship between the translational normal or translational tangential to obtain the normal or tangential of the center point on the center line.

5. The method as described in claim 2, characterized in that, The determination of the cross-sectional images of the medical mold model corresponding to each of the center points based on the local three-dimensional coordinate system of each center point includes: Determine the plane formed by the X-axis and Y-axis in the local three-dimensional coordinate system of each center point, where the plane is the plane containing the cross-section of the medical mold model; Based on the coordinates of each center point and the preset cross-sectional side length, the medical mold model and the corresponding cross-sectional images of each center point are determined in the plane.

6. The method as described in claim 1, characterized in that, Also includes: Acquire global 3D medical images; The medical global 3D image is segmented using an image segmentation algorithm to obtain a medical local 3D image; Based on the aforementioned local 3D medical image, the medical mold model is created.

7. A medical observation image processing device, characterized in that, include: Data acquisition module: used to acquire the coordinate parameters of the centerline of the medical mold model in the global three-dimensional coordinate system; Data processing module: used to determine the trajectory direction of each center point in the centerline based on the coordinate parameters; to establish a local three-dimensional coordinate system for each center point based on each center point and its trajectory direction; and to determine the cross-sectional images of the medical mold model and each center point based on the local three-dimensional coordinate system of each center point. Sequence generation module: used to generate a sequence of medical observation images based on the cross-sectional images of the medical mold model; Determining the trajectory direction of each center point on the centerline based on the coordinate parameters includes: Based on the coordinate parameters, determine the normal or tangential direction of each center point on the center line; The step of establishing a local three-dimensional coordinate system for each center point based on each center point and its trajectory direction includes: Based on the normal or tangential direction of each center point, a local three-dimensional coordinate system for each center point is established in the global three-dimensional coordinate system.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the medical observation image processing method as described in any one of claims 1 to 6.

9. A computer storage medium, characterized in that, The computer storage medium stores a computer program, which, when executed by a processor, implements the steps of the medical observation image processing method as described in any one of claims 1 to 6.

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