View angle adjustment method, device and equipment for image registration and medium

Abstract

The application relates to a view angle adjusting method, device, equipment and medium for image registration. The method comprises the following steps: acquiring a three-dimensional image of a target part, wherein the three-dimensional image comprises a plurality of operation marker points on the target part; determining an operation marker point corresponding to a view angle adjusting instruction input by a user according to the view angle adjusting instruction; the operation marker point corresponding to the view angle adjusting instruction is any one of the operation marker points; and rotating the three-dimensional image to a target view angle corresponding to the operation marker point according to a preset view angle adjusting strategy, wherein the target view angle is a field of view in which the operation marker point is located when the user directly views the three-dimensional image. The method can improve the efficiency of determining the actual operation point position.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technology field, and in particular to a view angle adjusting method, device, equipment and medium for image registration. BACKGROUND

[0002] With the development of medical technology, in the medical operation process, the medical operation process can be assisted by medical images to more accurately complete the medical operation. For example, the medical image can be a computed tomography (CT) image, an X-ray scan image, etc.

[0003] In the related art, first, multiple operation points of a medical operation are planned in a medical image, the medical image corresponding to the operation points is displayed in the order of the operation points, and then the actual operation point position is determined according to the medical image to perform the medical operation.

[0004] However, in the related art, there is a problem of low efficiency in determining the actual operation point position. SUMMARY

[0005] Therefore, it is necessary to provide a view angle adjusting method, device, equipment and medium for image registration to improve the efficiency of determining the actual operation point position.

[0006] In a first aspect, the present application provides a view angle adjusting method for image registration, the method comprising:

[0007] obtaining a three-dimensional image of a target site, the three-dimensional image comprising multiple operation marker points on the target site;

[0008] determining an operation marker point corresponding to a view angle adjusting instruction input by a user according to the view angle adjusting instruction; the operation marker point corresponding to the view angle adjusting instruction is any one of the operation marker points;

[0009] controlling the three-dimensional image to rotate to a target view angle corresponding to the operation marker point according to a preset view angle adjusting strategy, the target view angle being a view angle at which the operation marker point is in the field of view of the user when the user views the three-dimensional image.

[0010] In one of the embodiments, controlling the three-dimensional image to rotate to the target view angle corresponding to each operation marker point according to the preset view angle adjusting strategy comprises:

[0011] obtaining a target view angle corresponding to the operation marker point and a current view angle of the three-dimensional image;

[0012] obtaining a conversion angle between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point;

[0013] obtaining a target view angle corresponding to the operation marker point and a current view angle of the three-dimensional image;According to the conversion angle, the three-dimensional image is rotated to a target view angle corresponding to the operation marker point.

[0014] In one of the embodiments, the target view angle corresponding to the operation marker point includes a first target view angle determined according to a first two-dimensional image of the target part, and a second target view angle determined according to a second two-dimensional image of the target part.

[0015] The conversion angle between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point is obtained, including:

[0016] The first conversion angle is determined according to the current view angle of the three-dimensional image and the first target view angle, and the second conversion angle is determined according to the current view angle of the three-dimensional image and the second target view angle.

[0017] The conversion angle of the three-dimensional image is determined according to the first conversion angle and the second conversion angle, respectively.

[0018] In one of the embodiments, the first conversion angle is determined according to the current view angle of the three-dimensional image and the first target view angle, and the second conversion angle is determined according to the current view angle of the three-dimensional image and the second target view angle, including:

[0019] When the current view angle of the three-dimensional image is adjusted to the first target view angle, the adjustment angle of the three-dimensional image is determined as the first conversion angle; and when the current view angle of the three-dimensional image is adjusted to the second target view angle, the adjustment angle of the three-dimensional image is determined as the second conversion angle.

[0020] In one of the embodiments, the method further includes:

[0021] The current view angle of the three-dimensional image is adjusted to the first target view angle or the second target view angle, the real-time angle conversion instruction is received, and the adjustment of the current view angle is performed.

[0022] In one of the embodiments, the method further includes:

[0023] The prompt information is output in the information prompt area in the display interface; the prompt information includes the conversion angle of the three-dimensional image; the prompt information is used to prompt the user to convert the three-dimensional image according to the conversion angle of the three-dimensional image.

[0024] In response to the conversion operation in the display interface, the real-time conversion angle of the three-dimensional image is displayed in the information prompt area in the display interface.

[0025] In one of the embodiments, the conversion angle of the three-dimensional image is obtained, including:

[0026] The next operation marker point corresponding to the operation marker point is obtained.

[0027] According to the visual angle difference between the operation mark point and the next operation mark point, the rotation angle of the three-dimensional image is determined.

[0028] In one embodiment, according to the visual angle difference between the operation mark point and the next operation mark point, the rotation angle of the three-dimensional image is determined, including:

[0029] The current visual angle corresponding to the operation mark point and the target visual angle corresponding to the next operation mark point are obtained.

[0030] According to the current visual angle corresponding to the operation mark point and the target visual angle corresponding to the next operation mark point, the visual angle difference between the operation mark point and the next operation mark point is determined.

[0031] According to the visual angle difference between the operation mark point and the next operation mark point, the rotation angle of the three-dimensional image is determined.

[0032] In one embodiment, according to the rotation angle of the three-dimensional image, the three-dimensional image is controlled to rotate to the target visual angle corresponding to the operation mark point, and the method further includes:

[0033] The three-dimensional image is subjected to image preprocessing operation to obtain a preprocessed three-dimensional image; the preprocessed three-dimensional image is at the center position of the display screen.

[0034] In one embodiment, the three-dimensional image is subjected to image preprocessing operation to obtain a preprocessed three-dimensional image, including:

[0035] The magnification coefficient of the three-dimensional image is obtained.

[0036] According to the magnification coefficient, the three-dimensional image is subjected to magnification processing to obtain a magnified three-dimensional image.

[0037] The target part in the magnified three-dimensional image is moved; wherein the moved three-dimensional image is at the screen center of the display screen.

[0038] In one embodiment, the target part in the magnified three-dimensional image is moved, including:

[0039] The center position of the three-dimensional image and the display area center position are obtained.

[0040] The offset distance and offset direction of the center position of the three-dimensional image relative to the display area center position are obtained.

[0041] The three-dimensional image is controlled to move according to the offset direction and offset distance, so that the center position of the moved three-dimensional image coincides with the display area center position.

[0042] In one embodiment, the three-dimensional image of the target part is obtained, including:

[0043] acquire a tomographic image of a target site;

[0044] convert the tomographic image according to a preset image conversion rule to obtain a three-dimensional image of the target site.

[0045] In a second aspect, the present application further provides a view angle adjusting device for image registration, which comprises:

[0046] a first acquisition module configured to acquire a three-dimensional image of a target site, the three-dimensional image comprising a plurality of operation marker points on the target site;

[0047] a second acquisition module configured to determine an operation marker point corresponding to a view angle adjusting instruction input by a user according to the view angle adjusting instruction; the operation marker point corresponding to the view angle adjusting instruction being any one of the operation marker points;

[0048] a rotation module configured to control the three-dimensional image to rotate to a target view angle corresponding to the operation marker point according to a preset view angle adjusting strategy, the target view angle being a view angle at which the operation marker point is in a field of view of the user when the user views the three-dimensional image.

[0049] In a third aspect, the present application further provides a computer device, which comprises a memory and a processor, the memory storing a computer program, and the processor implementing the content of any one of the embodiments of the view angle adjusting method for image registration according to the first aspect when executing the computer program.

[0050] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the content of any one of the embodiments of the view angle adjusting method for image registration according to the first aspect when executed by a processor.

[0051] In a fifth aspect, the present application further provides a computer program product, which comprises a computer program, and the computer program implements the content of any one of the embodiments of the view angle adjusting method for image registration according to the first aspect when executed by a processor.

[0052] The method, device, equipment and medium for adjusting the view angle for image registration, acquire a three-dimensional image of a target part, the three-dimensional image including a plurality of operation marker points on the target part, determine an operation marker point corresponding to a user input view angle adjustment instruction according to the user input view angle adjustment instruction, the operation marker point corresponding to the view angle adjustment instruction being any one of the operation marker points, and control the three-dimensional image to rotate to a target view angle of the operation marker point according to a preset view angle adjustment strategy, the target view angle being a view field in which the operation marker point is in the user's field of view when the user views the three-dimensional image. For each operation marker point, the method adjusts the three-dimensional image according to the preset view angle adjustment strategy, so that the three-dimensional image is quickly rotated to the target view angle of the operation marker point to determine the actual position of the operation marker point. Meanwhile, the plurality of operation marker points on the three-dimensional image are determined in advance, and the view angle of the three-dimensional image is rotated, so that the time for rotating the three-dimensional image is reduced, and the efficiency for determining the actual position of the operation marker point is improved. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 An application environment diagram of the method for adjusting the view angle for image registration in an embodiment;

[0054] Figure 2 A flowchart of the method for adjusting the view angle for image registration in an embodiment;

[0055] Figure 3 An operation sequence diagram of the operation marker points of the target part in an embodiment;

[0056] Figure 4 A diagram of the user viewing the three-dimensional image in an embodiment;

[0057] Figure 5 A flowchart of the method for adjusting the view angle for image registration in an embodiment;

[0058] Figure 6 A flowchart of the method for adjusting the view angle for image registration in an embodiment;

[0059] Figure 7 A diagram of the two-dimensional image in an embodiment;

[0060] Figure 8 A flowchart of the method for adjusting the view angle for image registration in an embodiment;

[0061] Figure 9 A flowchart of the method for adjusting the view angle for image registration in an embodiment;

[0062] Figure 10 A flowchart of the method for adjusting the view angle for image registration in an embodiment;

[0063] Figure 11 A diagram of the original position of a three-dimensional image in a display screen in an embodiment;

[0064] Figure 12 A diagram of the center position of a three-dimensional image in a display screen in an embodiment;

[0065] Figure 13 A flowchart of a perspective adjustment method for image registration in an embodiment;

[0066] Figure 14 A flowchart of a perspective adjustment method for image registration in an embodiment;

[0067] Figure 15 A flowchart of a perspective adjustment method for image registration in an embodiment;

[0068] Figure 16 A flowchart of a perspective adjustment method for image registration in an embodiment;

[0069] Figure 17 A diagram of a three-dimensional image parallel to the femoral neck axis and the medullary cavity axis in an embodiment;

[0070] Figure 18 A diagram of a three-dimensional image in an embodiment;

[0071] Figure 19 A diagram of a two-dimensional image in an embodiment;

[0072] Figure 20 A flowchart of an operating point planning in an embodiment;

[0073] Figure 21 A flowchart of a perspective adjustment method for image registration in an embodiment;

[0074] Figure 22 A flowchart of a point cloud marker in an embodiment;

[0075] Figure 23 A flowchart of an X-ray image registration in an embodiment;

[0076] Figure 24 A structural diagram of a perspective adjustment device for image registration in an embodiment. DETAILED DESCRIPTION

[0077] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0078] The method for adjusting the view angle for image registration provided by the embodiments of the present application can be applied to the application environment as shown in Figure 1 The computer device can be a server, and the computer device includes a processor, a memory and a network interface connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store data used in the process of adjusting the view angle for image registration. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement a method for adjusting the view angle for image registration. The computer device can be implemented by a single computer device or a computer device cluster composed of multiple computer devices.

[0079] In one embodiment, as shown in Figure 2 A method for adjusting the view angle for image registration is provided. The method is applied to a server in Figure 1 for example, and includes the following steps.

[0080] S201, obtaining a three-dimensional image of a target part, the three-dimensional image including a plurality of operation marker points on the target part.

[0081] The target part can be a part of a simulation body or a prosthesis, for example, the target part can be a hip bone or a femur of a simulation body or a prosthesis. The three-dimensional image of the target part is obtained by converting two-dimensional images of the target part collected by a medical device, for example, the medical device can be a computed tomography (CT) device, and the two-dimensional images of the target part collected by the CT device are CT images, and the three-dimensional image of the target part is obtained by converting the two-dimensional CT images; the medical device can also be an X-ray device, and the two-dimensional images of the target part collected by the X-ray device are X-ray images, and the three-dimensional image of the target part is obtained by converting the two-dimensional X-ray images.

[0082] Optionally, the server can send an image acquisition instruction of the target site to the medical device. After receiving the image acquisition instruction, the medical device scans the target site to obtain a two-dimensional image of the target site, and sends the two-dimensional image of the target site to the server. The server converts the two-dimensional image of the target site into a three-dimensional image according to the conversion relationship between the two-dimensional image and the three-dimensional image. Optionally, the server can search for an identifier identical to the identifier of the target site from the three-dimensional image database according to the identifier of the target site to obtain a three-dimensional image corresponding to the identifier, i.e., the three-dimensional image of the target site. This embodiment does not limit the manner of obtaining the three-dimensional image of the target site.

[0083] The plurality of operation marker points on the target site represent operations performed according to the operation marker points in the operation process of the target site. The plurality of operation marker points can be arranged in an array.

[0084] S202, determining an operation marker point corresponding to the view angle adjustment instruction according to the view angle adjustment instruction input by the user; the operation marker point corresponding to the view angle adjustment instruction is any one of the operation marker points.

[0085] In this embodiment, the order of operations of the plurality of operation marker points can be random. Before each operation marker point is operated, the user needs to input a view angle adjustment instruction. After receiving the view angle adjustment instruction, the server can determine the operation marker point to be operated according to the identifier carried by the view angle adjustment instruction. The operation marker point is any one of the plurality of operation marker points in the three-dimensional image.

[0086] It can be understood that there can also be an operation order between the operation marker points. The operation order can be obtained by sorting the plurality of operation marker points on the target site according to a preset operation rule. Figure 3 The schematic diagram showing the operation order of the operation marker points of the target site, Figure 3 The three operation marker points have an operation order as shown in Figure 3 The server completes the registration of the plurality of operation marker points according to the operation order during the registration of the plurality of operation marker points.

[0087] S203, rotating the three-dimensional image to a target view angle corresponding to the operation marker point according to a preset view angle adjustment strategy, the target view angle being a view angle at which the operation marker point is in the field of view of the user when the user views the three-dimensional image.

[0088] Each operation marker point on the target site corresponds to a best view angle observed by the user, as shown in Figure 4 Figure 4 ​The schematic diagram shown in FIG. 1 represents the user's view of the three-dimensional image, i.e. the optimal view angle of the user is the target view angle corresponding to the operation marker point. The target view angles corresponding to different operation marker points can be the same or different.

[0089] In this embodiment, after the server determines the operation marker point that needs to be registered at present, the server adjusts the three-dimensional image from the current view angle to the target view angle corresponding to the operation marker point by acquiring the target view angle corresponding to the operation marker point and the current view angle of the three-dimensional image according to the preset view angle adjustment strategy. At this time, the user can accurately observe the current operation marker point in the three-dimensional image, which facilitates the operation of the current operation marker point.

[0090] Further, after the operation corresponding to the operation marker point is completed, the server receives the next view angle adjustment instruction input by the user, determines the target view angle of the next operation marker point according to the next view angle adjustment instruction, and determines the target view angle of the last operation marker point after rotation as the current view angle of the three-dimensional image. In this way, the rotation operation of the three-dimensional image corresponding to the next operation marker point can be completed. In this way, the operations of all operation marker points can be completed.

[0091] In the above-mentioned view angle adjustment method for image registration, the three-dimensional image of the target part is acquired, the three-dimensional image includes a plurality of operation marker points on the target part, and the operation marker point corresponding to the view angle adjustment instruction is determined according to the view angle adjustment instruction input by the user. The operation marker point corresponding to the view angle adjustment instruction is any one of the operation marker points. The three-dimensional image is controlled to rotate to the target view angle corresponding to the operation marker point according to the preset view angle adjustment strategy, and the target view angle is the view angle when the operation marker point is in the field of view of the user viewing the three-dimensional image. For each operation marker point, the method adjusts the three-dimensional image according to the preset view angle adjustment strategy, so that the three-dimensional image is quickly rotated to the target view angle of the operation marker point to determine the actual position of the operation marker point. At the same time, the operation marker point that needs to be operated on the three-dimensional image is determined in advance according to the view angle adjustment instruction input by the user, and the view angle of the three-dimensional image is rotated, which can reduce the rotation time of the three-dimensional image and improve the efficiency of determining the actual position of the operation marker point.

[0092] On the basis of the above-mentioned embodiments, the present embodiment is an introduction and description of the specific content of the step S203 in the above-mentioned Figure 2 view angle adjustment strategy to control the three-dimensional image to rotate to the target view angle corresponding to each operation marker point. Figure 5 As shown in FIG. 3, the step S203 includes the following contents:

[0093] S301, acquiring the target view angle corresponding to the operation marker point and the current view angle of the three-dimensional image.

[0094] The current view angle of the three-dimensional image refers to a view angle in which the three-dimensional image is currently located. When the three-dimensional image is not rotated, the initial view angle of the three-dimensional image is determined as the current view angle of the three-dimensional image. When the three-dimensional image has been rotated once, the view angle of the last rotation is determined as the current view angle of the three-dimensional image, that is, the target view angle of the last operation marker point is the current view angle of the three-dimensional image.

[0095] Optionally, the server can extract the target view angle corresponding to the operation marker point from the database according to the identification information of the operation marker point. Optionally, the server can obtain the historical view angle of a historical operation marker point same as the operation marker point, and take the historical view angle of the historical operation marker point as the target view angle of the operation marker point. The embodiment does not limit the manner of obtaining the target view angle corresponding to the operation marker point.

[0096] Optionally, the server can calculate the current view angle of the three-dimensional image according to the initial view angle of the three-dimensional image and the view angle that has been rotated. Optionally, the server can also collect the angle of the three-dimensional image through an angle sensor to determine the current view angle of the three-dimensional image. The embodiment also does not limit the manner of obtaining the current view angle of the three-dimensional image.

[0097] S302, obtaining a conversion angle between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point.

[0098] In the embodiment, the server can calculate the angle difference between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point, and determine the absolute value of the angle difference as the conversion angle between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point.

[0099] Further, the server can also determine the conversion direction of the three-dimensional image according to the angle difference between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point. For example, the conversion direction of the three-dimensional image can be clockwise rotation or counterclockwise rotation.

[0100] S303, controlling the three-dimensional image to rotate to the target view angle corresponding to the operation marker point according to the conversion angle.

[0101] In the embodiment, the server can determine whether the three-dimensional image rotates clockwise or counterclockwise according to the conversion direction of the three-dimensional image, and then control the three-dimensional image to rotate according to the conversion direction and the conversion angle, so that the three-dimensional image is converted from the current view angle to the target view angle corresponding to the operation marker point.

[0102] In the above-mentioned view angle adjusting method for image registration, the target view angle corresponding to the operation marker point and the current view angle of the three-dimensional image are obtained, the conversion angle between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point is obtained, and the three-dimensional image is controlled to rotate to the target view angle corresponding to the operation marker point according to the conversion angle. According to the current view angle of the three-dimensional image and the target view angle of the operation marker point, the conversion angle of the three-dimensional image can be quickly obtained, so that the three-dimensional image can be controlled to rotate according to the conversion angle, the time for one rotation of the three-dimensional image is reduced, and the efficiency of determining the actual position of an operation marker point is improved.

[0103] On the basis of the above-mentioned embodiment, the target view angle corresponding to the operation marker point includes a first target view angle determined according to the first two-dimensional image of the target part and a second target view angle determined according to the second two-dimensional image of the target part. This embodiment is an introduction and description of the specific content of the step S302 in the above-mentioned Figure 5 Figure 6 As shown in FIG. 4, the step S302 includes the following content:

[0104] S401, the first conversion angle is determined according to the current view angle of the three-dimensional image and the first target view angle, and the second conversion angle is determined according to the current view angle of the three-dimensional image and the second target view angle.

[0105] Since the target part is three-dimensional, in order to more accurately determine the actual operation point on the target part, two two-dimensional images of the target part, i.e., the first two-dimensional image and the second two-dimensional image, can be collected at different angles. Figure 7 FIG. 3 is a schematic diagram of a two-dimensional image. The two-dimensional image can be the first two-dimensional image or the second two-dimensional image. The collection angles of the first two-dimensional image and the second two-dimensional image can be two perpendicular angles. For example, the first two-dimensional image can be a two-dimensional image of the front of the target part, and the second two-dimensional image can be a two-dimensional image of the side of the target part.

[0106] In this embodiment, the server can calculate the angle difference between the current view angle of the three-dimensional image and the first target view angle, and determine the angle difference as the first conversion angle of the three-dimensional image, i.e., the first conversion angle. At the same time, the server can calculate the angle difference between the current view angle of the three-dimensional image and the second target view angle, and determine the angle difference as the second conversion angle of the three-dimensional image, i.e., the second conversion angle.

[0107] S402, the conversion angle of the three-dimensional image is determined according to the first conversion angle and the second conversion angle, respectively.

[0108] ​In the embodiment, the first conversion angle and the second conversion angle are both for determining the actual position of an operation marker point at different angles. In the process, the three-dimensional image needs to be rotated twice, i.e., the three-dimensional image corresponds to two conversion angles. The conversion order of the first conversion angle and the second conversion angle can not be limited, i.e., the server can determine the first conversion angle as the first conversion angle of the three-dimensional image, and then determine the difference between the second conversion angle and the first conversion angle as the second conversion angle of the three-dimensional image. Alternatively, the server can determine the second conversion angle as the first conversion angle of the three-dimensional image, and then determine the difference between the first conversion angle and the second conversion angle as the second conversion angle of the three-dimensional image.

[0109] In the above-mentioned view adjustment method for image registration, the first conversion angle is determined according to the current view angle of the three-dimensional image and the first target view angle, and the second conversion angle is determined according to the current view angle of the three-dimensional image and the second target view angle. The conversion angle of the three-dimensional image is determined according to the first conversion angle and the second conversion angle. By the two target view angles corresponding to one operation marker point, the conversion angles of the two target view angles and the current view angle of the three-dimensional image can be accurately determined, so that the required conversion angle of the three-dimensional image can be accurately determined, and the position of the actual operation point corresponding to the operation marker point is more accurate.

[0110] On the basis of the above-mentioned embodiment, the embodiment is an introduction and description of the specific content of "determining the first conversion angle according to the current view angle of the three-dimensional image and the first target view angle, and determining the second conversion angle according to the current view angle of the three-dimensional image and the second target view angle" in step S401 in the above-mentioned embodiment. Figure 6 The above-mentioned step includes the following contents: when the current view angle of the three-dimensional image is adjusted to the first target view angle, the adjustment angle of the three-dimensional image is determined as the first conversion angle; and when the current view angle of the three-dimensional image is adjusted to the second target view angle, the adjustment angle of the three-dimensional image is determined as the second conversion angle.

[0111] It can be understood that after the server obtains the first target view angle and the second target view angle of the operation marker point, the three-dimensional image can be converted from the current view angle to the first target view angle, or the three-dimensional image can be converted from the current view angle to the second target view angle. If the three-dimensional image is converted from the current view angle to the first target view angle, the angle difference between the current view angle of the three-dimensional image and the first target view angle is determined as the first conversion angle; if the three-dimensional image is converted from the current view angle to the second target view angle, the angle difference between the current view angle of the three-dimensional image and the second target view angle is determined as the second conversion angle.

[0112] In the above-mentioned view angle adjustment method for image registration, when the current view angle of the three-dimensional image is adjusted to the first target view angle, the adjustment angle of the three-dimensional image is determined as the first conversion angle; and when the current view angle of the three-dimensional image is adjusted to the second target view angle, the adjustment angle of the three-dimensional image is determined as the second conversion angle. According to the current view angle of the three-dimensional image and the first target view angle, the adjustment angle of the three-dimensional image can be accurately obtained, and according to the current view angle of the three-dimensional image and the second target view angle, the adjustment angle of the three-dimensional image can also be accurately obtained, so that the first conversion angle and the second conversion angle can be more accurately obtained.

[0113] In the above-mentioned Figure 6 Based on the above-mentioned embodiment, the present embodiment is to introduce and illustrate the specific content of outputting adjustment information through a display interface. The above-mentioned method further includes the following content: after the current view angle of the three-dimensional image is adjusted to the first target view angle or the second target view angle, a real-time angle switching instruction is received and the current view angle is adjusted.

[0114] In the present embodiment, when the current view angle of the three-dimensional image is the first target view angle or the second target view angle, it indicates that the three-dimensional image has been rotated to the first target view angle or the second target view angle. At this time, adjustment information of the three-dimensional image is displayed to the user through a display interface. The user can send a real-time angle switching instruction through a mouse instruction movement or a mouse wheel scrolling. The server can adjust the three-dimensional image according to the real-time angle switching instruction to obtain an adjusted three-dimensional image.

[0115] In the above-mentioned view angle adjustment method for image registration, after the current view angle of the three-dimensional image is adjusted to the first target view angle or the second target view angle, a real-time angle switching instruction is received and the current view angle is adjusted. The method displays adjustment information of the three-dimensional image to the user through a display interface, so that the server can accurately adjust the three-dimensional image according to the real-time angle switching instruction sent by the user, and the adjusted three-dimensional image is more accurate.

[0116] In the above-mentioned Figure 6 Based on the above-mentioned embodiment, the present embodiment is to introduce and illustrate the specific content of displaying the real-time conversion angle of the three-dimensional image in the information prompt area in the display interface. As shown in Figure 8 The above-mentioned method further includes the following content:

[0117] S501, output prompt information in an information prompt area in a display interface; the prompt information includes a conversion angle of a three-dimensional image; and the prompt information is used to prompt a user to convert the three-dimensional image according to the conversion angle of the three-dimensional image.

[0118] In the embodiment, when the server obtains the conversion angle of the three-dimensional image, the server can display the prompt information in the information prompt area of the display interface, and prompt the user to perform the conversion operation according to the conversion angle required by the three-dimensional image, so as to convert the three-dimensional image to the target view angle. Further, the server can also output the prompt information in the form of voice, so that the user can receive the prompt information in time, thereby improving the conversion efficiency of the three-dimensional image.

[0119] S502, in response to the conversion operation in the display interface, displaying the real-time conversion angle of the three-dimensional image in the information prompt area in the display interface.

[0120] In the embodiment, during the conversion of the three-dimensional image, the server displays the real-time conversion angle of the three-dimensional image in the display interface according to the conversion operation of the user in the display interface, so that the user can adjust the conversion process in time according to the real-time conversion angle.

[0121] In the above-mentioned view angle adjustment method for image registration, the prompt information is output in the information prompt area in the display interface, the prompt information includes the conversion angle of the three-dimensional image, and the real-time conversion angle of the three-dimensional image is displayed in the information prompt area in the display interface in response to the conversion operation in the display interface. The method can output the conversion angle of the three-dimensional image to the user in the display interface, and the display interface can display the real-time conversion angle of the three-dimensional image during the conversion of the three-dimensional image according to the prompt information, so as to reduce the conversion time of the three-dimensional image and improve the conversion efficiency of the three-dimensional image.

[0122] Based on the above-mentioned embodiment, the embodiment is a detailed description of the specific content of the step S302 of "obtaining the conversion angle of the three-dimensional image". Figure 3 As shown in the embodiment, the step S302 includes the following contents: Figure 5 Figure 9 S601, obtaining the next operation marker point corresponding to the operation marker point.

[0123] In the embodiment, since there is an operation sequence between the plurality of operation marker points, when the server determines the actual operation position corresponding to an operation marker point, the server can determine the next operation marker point corresponding to the operation marker point according to the operation sequence of the plurality of operation marker points. Except for the operation marker point arranged at the last, the other operation marker points all have the next operation marker point.

[0124] S602, determining the conversion angle of the three-dimensional image according to the view angle difference between the operation marker point and the next operation marker point.

[0125] S602, determining the conversion angle of the three-dimensional image according to the view angle difference between the operation marker point and the next operation marker point.

[0126] ​In the embodiment, the server can calculate the difference between the target view angle of the next operation mark point and the target view angle of the operation mark point, determine the difference as the view angle difference between the operation mark point and the next operation mark point, and when the current view angle of the three-dimensional image is the target view angle of the operation mark point, the view angle difference between the operation mark point and the next operation mark point is the conversion angle of the three-dimensional image.

[0127] In the view angle adjustment method for image registration, the next operation mark point corresponding to the operation mark point is obtained, and the conversion angle of the three-dimensional image is determined according to the view angle difference between the operation mark point and the next operation mark point. The method can quickly obtain the conversion angle required by the three-dimensional image, reduce the determination time of the conversion angle of the three-dimensional image, and improve the efficiency of determining the conversion angle of the three-dimensional image.

[0128] Based on the above-mentioned Figure 9 embodiment, the embodiment introduces and explains the specific content of the step S602 in the above-mentioned Figure 9 “determining the rotation angle of the three-dimensional image according to the view angle difference between the operation mark point and the next operation mark point”. As Figure 10 shown, the step S602 includes the following content:

[0129] S701, obtaining the current view angle corresponding to the operation mark point and the target view angle corresponding to the next operation mark point.

[0130] In the embodiment, the server can obtain the target view angle of the operation mark point and the target view angle of the next operation mark point from the database according to the mark information of the operation mark point and the mark information of the next operation mark, and determine the target view angle of the operation mark point as the current view angle corresponding to the operation mark point.

[0131] S702, determining the view angle difference between the operation mark point and the next operation mark point according to the current view angle corresponding to the operation mark point and the target view angle corresponding to the next operation mark point.

[0132] In the embodiment, the server can calculate the difference between the target view angle of the next operation mark point and the current view angle of the operation mark point, and determine the absolute value of the difference as the view angle difference between the operation mark point and the next operation mark point.

[0133] S703, determining the conversion angle of the three-dimensional image according to the view angle difference between the operation mark point and the next operation mark point.

[0134] In the embodiment, when the three-dimensional image needs to be converted from the current view angle of the operation marker point to the target view angle of the next operation marker point, the view angle difference between the operation marker point and the next operation marker point is the conversion angle of the three-dimensional image.

[0135] In the view angle adjusting method for image registration, the current view angle corresponding to the operation marker point and the target view angle corresponding to the next operation marker point are obtained, the view angle difference between the operation marker point and the next operation marker point is determined according to the current view angle corresponding to the operation marker point and the target view angle corresponding to the next operation marker point, and the conversion angle of the three-dimensional image is determined according to the view angle difference between the operation marker point and the next operation marker point. According to the method, the view angle difference between the operation marker point and the next operation marker point can be more accurately obtained according to the current view angle of the operation marker point and the target view angle of the next operation marker point, so that the conversion angle of the three-dimensional image can be accurately obtained.

[0136] In the above Figure 2 Based on the embodiment, the embodiment introduces the specific content of the image preprocessing operation of the three-dimensional image. The method can further include the following content: performing the image preprocessing operation on the three-dimensional image to obtain the preprocessed three-dimensional image; and the preprocessed three-dimensional image is located at the center position of the display screen.

[0137] The image preprocessing operation can include zooming in and out processing, up and down and left and right moving processing, and the like.

[0138] In the embodiment, the server can obtain the proportion of the outline of the three-dimensional image in the display screen. If the proportion is greater than the maximum proportion, the three-dimensional image is zoomed out so that the proportion of the three-dimensional image in the display screen is within the preset range. If the proportion is less than the minimum proportion, the three-dimensional image is zoomed in so that the proportion of the three-dimensional image in the display screen is within the preset range.

[0139] Further, Figure 11 a schematic view showing the original position of the three-dimensional image in the display screen, Figure 12 a schematic view showing the center position of the three-dimensional image in the display screen. The server can obtain the position of the center point of the three-dimensional image and the position of the center of the screen. If the position of the center point of the three-dimensional image and the position of the center of the screen do not coincide, the three-dimensional image is adjusted so that the position of the center point of the three-dimensional image and the position of the center of the screen coincide. At this time, the preprocessed three-dimensional image is located at the center position of the display screen.

[0140] In the above-mentioned perspective adjusting method for image registration, the three-dimensional image is preprocessed to obtain a preprocessed three-dimensional image. The preprocessed three-dimensional image is at the center of the display screen, so that the three-dimensional image can be more reasonably displayed to the user through the display screen.

[0141] Based on the above-mentioned embodiment, the embodiment is to introduce the specific content of the step of "preprocessing the three-dimensional image to obtain a preprocessed three-dimensional image". As shown in the figure, the step can include the following content: Figure 13

[0142] S801, obtaining an amplification coefficient of the three-dimensional image.

[0143] In the embodiment, when the proportion of the three-dimensional image in the display screen is small, the three-dimensional image needs to be amplified. Optionally, the server can determine the amplification coefficient of the three-dimensional image according to the proportion of the three-dimensional image in the display screen and the preset proportion of the three-dimensional image in the display screen. Optionally, the server can also obtain a historical three-dimensional image with the same proportion as the three-dimensional image in the display screen, and determine the historical amplification coefficient corresponding to the historical three-dimensional image as the amplification coefficient of the three-dimensional image.

[0144] S802, amplifying the three-dimensional image according to the amplification coefficient to obtain an amplified three-dimensional image.

[0145] In the embodiment, the server can amplify the three-dimensional image according to the amplification coefficient to obtain an amplified three-dimensional image, and the error between the proportion of the amplified three-dimensional image in the display screen and the preset proportion is less than the preset error threshold.

[0146] S803, moving a target part in the amplified three-dimensional image; wherein the moved three-dimensional image is at the center of the display screen.

[0147] In the embodiment, the server can obtain the center position of the amplified three-dimensional image, control the target part in the amplified three-dimensional image to move according to the difference between the three-dimensional image and the center position of the display screen, so that the moved three-dimensional image is at the center of the display screen. In this way, when the user looks at the display screen, the three-dimensional image in the display screen can be observed more clearly and intuitively.

[0148] ​In the above-mentioned view angle adjusting method for image registration, the magnification coefficient of the three-dimensional image is obtained, the three-dimensional image is magnified according to the magnification coefficient to obtain a magnified three-dimensional image, and the target part in the magnified three-dimensional image is moved; wherein the moved three-dimensional image is located at the screen center of the display screen. According to the magnification system of the three-dimensional image, the three-dimensional image can be magnified more accurately, so that the user can observe the target part more clearly, and the three-dimensional image is moved to the center position of the display screen, so that the user can observe the information in the three-dimensional image more intuitively.

[0149] Based on the above-mentioned Figure 13 embodiment, the embodiment is to introduce and explain the specific content of "moving the target part in the magnified three-dimensional image" in step S803 in the above-mentioned Figure 13 embodiment. As shown in the above-mentioned Figure 14 embodiment, step S803 includes the following contents:

[0150] S901, obtaining the center position point of the three-dimensional image and the center position of the display area.

[0151] In the embodiment, when the display area is a quadrilateral, the server can obtain the intersection point of the two diagonal lines of the display area, and determine the intersection point as the center position of the display area. At the same time, the server can also determine the center position of the three-dimensional image according to the two-force balance condition.

[0152] S902, obtaining the offset distance and offset direction of the center position point of the three-dimensional image relative to the center position of the display area.

[0153] In the embodiment, the server can calculate the difference of the center position point of the three-dimensional image relative to the center position of the display area in the X-axis and Y-axis directions, and determine the offset distance of the center position point of the three-dimensional image relative to the center position of the display area according to the difference in the X-axis and Y-axis directions. At the same time, the server can determine the offset direction according to the direction of the center position point of the three-dimensional image relative to the center position of the display area.

[0154] S903, controlling the three-dimensional image to move according to the offset direction and the offset distance, so that the center position of the moved three-dimensional image coincides with the center position of the display area.

[0155] In the embodiment, the server can control the three-dimensional image to move from the center position point of the three-dimensional image to the center position of the display area according to the offset distance and the offset direction, and the center position of the moved three-dimensional image coincides with the center position of the display area.

[0156] In the above-mentioned perspective adjusting method for image registration, the center position point of the three-dimensional image and the display area center position are obtained, the offset distance and offset direction of the center position point of the three-dimensional image relative to the display area center position are obtained, and the three-dimensional image is controlled to move according to the offset direction and offset distance, so that the center position of the moved three-dimensional image coincides with the display area center position. According to the center position point of the three-dimensional image and the display area center position, the offset distance and offset direction of the center position point of the three-dimensional image relative to the display area center position can be accurately obtained, so that the three-dimensional image can be accurately controlled to move according to the offset distance and offset direction, so that the center position of the three-dimensional image coincides with the display area center position.

[0157] On the basis of the above-mentioned Figure 2 embodiment, the embodiment is to introduce and explain the specific content of the step S201 of “obtaining the three-dimensional image of the target part” in the above-mentioned Figure 2 embodiment. As shown in the figure, the step S201 includes the following content: Figure 15

[0158] S1001, obtaining a tomographic image of a target part.

[0159] Optionally, the server can query the tomographic image corresponding to the identification information of the target part from a plurality of tomographic images of parts according to the identification information of the target part, to obtain the tomographic image of the target part. Optionally, the server can send a scanning instruction of the target part to the tomographic scanning device, and when the tomographic scanning device receives the scanning instruction of the target part, the tomographic scanning device performs tomographic scanning on the target part to obtain the tomographic image of the target part.

[0160] S1002, converting and processing the tomographic image according to a preset image conversion rule to obtain a three-dimensional image of the target part.

[0161] Optionally, the server can convert the two-dimensional tomographic image into a corresponding three-dimensional image, i.e., the three-dimensional image of the target part, according to a volume rendering technique (VRT) or a shaded surface display (SSD) or the like. Optionally, the server can input the tomographic image of the target part into a preset conversion model, and convert and process the tomographic image of the target part through the preset conversion model to obtain the three-dimensional image of the target part.

[0162] ​The method for adjusting the view angle for image registration includes the following steps:

[0163] In one embodiment, as shown in Figure 16 The method for adjusting the view angle for image registration includes the following steps:

[0164] S1101, obtaining a tomographic image of a target site;

[0165] S1102, converting the tomographic image according to a preset image conversion rule to obtain a three-dimensional image of the target site;

[0166] S1103, determining an operation marker point corresponding to the view angle adjustment instruction according to a user input view angle adjustment instruction;

[0167] S1104, obtaining a magnification coefficient of the three-dimensional image;

[0168] S1105, magnifying the three-dimensional image according to the magnification coefficient to obtain a magnified three-dimensional image;

[0169] S1106, obtaining a center position point of the three-dimensional image and a display area center position;

[0170] S1107, obtaining an offset distance and an offset direction of the center position point of the three-dimensional image relative to the display area center position;

[0171] S1108, controlling the three-dimensional image to move according to the offset direction and the offset distance, so that the center position of the moved three-dimensional image coincides with the display area center position;

[0172] S1109, obtaining a target view angle corresponding to the operation marker point and a current view angle of the three-dimensional image;

[0173] S1110, determining a first conversion angle when the current view angle of the three-dimensional image is adjusted to a first target view angle, and determining a second conversion angle when the current view angle of the three-dimensional image is adjusted to a second target view angle;

[0174] S1111, determining a conversion angle of the three-dimensional image according to the first conversion angle and the second conversion angle, respectively;

[0175] S1112, controlling the three-dimensional image to rotate to the target view angle corresponding to the operation marker point according to the conversion angle.

[0176] S1113, obtaining a next operation marker point corresponding to the operation marker point;

[0177] S1114, obtaining a current view angle corresponding to the operation marker point and a target view angle corresponding to the next operation marker point;

[0178] S1115, determining a view angle difference between the operation marker point and the next operation marker point according to the current view angle corresponding to the operation marker point and the target view angle corresponding to the next operation marker point;

[0179] S1116, determining a conversion angle of the three-dimensional image according to the view angle difference between the operation marker point and the next operation marker point.

[0180] Figure 17 For a schematic diagram of the three-dimensional image parallel to the femoral neck axis and the medullary cavity axis, for example, when the operation approach of the three-dimensional image is the posterolateral approach, the plane where the femoral neck axis and the medullary cavity axis are located can be obtained, and the three-dimensional image is adjusted to be parallel to the plane where the femoral neck axis and the medullary cavity axis are located.

[0181] Figure 18 For a schematic diagram of the three-dimensional image, Figure 19 For a schematic diagram of a two-dimensional image, the server can adjust the view angle of the three-dimensional image according to the position of the registration point in the two-dimensional image, so that the view angle of the three-dimensional image is the same as the view angle of the two-dimensional image, and there is a corresponding relationship between the marker point in the three-dimensional image and the registration point in the two-dimensional image.

[0182] Figure 20 A flowchart for planning an operation point is shown, when the target part is the hip joint part of the simulation body, S1201, the hip joint part of the simulation body is scanned by a medical device; S1202, the hip joint tissue is segmented; S1203, a plurality of operation marker points of the hip joint part are planned according to the segmented tissue; S1204, the planning results of the plurality of operation marker points are obtained.

[0183] Figure 21A flowchart for representing a view adjustment method for image registration is shown in FIG. 13. S1301 represents a three-dimensional image of a hip joint. The view adjustment method for image registration includes a point cloud registration process and an X-ray image registration process. The point cloud registration process can include S1302-S1306. Coarse registration points and fine registration points are extracted from the three-dimensional image. The registration points are selected. The three-dimensional image is rotated to a target view. The target position of the three-dimensional image is simulated by a device to detect the surface of the target position of the body. The X-ray image registration process can include S1307-S1312. The hip joint is scanned by an X-ray to obtain two two-dimensional images. The three-dimensional image is rotated to a target view of the first two-dimensional image. Registration points are determined on the first two-dimensional image by referring to the marker points of the three-dimensional image. The three-dimensional image is rotated to a target view of the second two-dimensional image. Registration points are determined on the second two-dimensional image by referring to the marker points of the three-dimensional image.

[0184] Figure 22 A flowchart for representing a point cloud marker is shown in FIG. 14. S1401 represents an initial view of a three-dimensional image. S1402 represents an enlarged processing of the initial view of the three-dimensional image. S1403 represents a movement of the three-dimensional image to a center position of a screen. S1404 represents a judgment of an operation approach. The three-dimensional image is adjusted to be parallel to a plane in which a femoral neck and a medullary cavity axis are located. S1405 represents an adjustment of a view of the three-dimensional image according to a marker point.

[0185] Figure 23 A flowchart for representing an X-ray image registration is shown in FIG. 15. S1501 represents a target view of two two-dimensional images. S1502 represents a rotation of a three-dimensional image to a target view of a first two-dimensional image. S1503 represents a determination of registration points on the first two-dimensional image by referring to marker points of the three-dimensional image. S1504 represents a rotation of the three-dimensional image from the target view of the first two-dimensional image to a target view of a second two-dimensional image. S1505 represents a determination of registration points on the second two-dimensional image by referring to the marker points of the three-dimensional image.

[0186] It should be understood that, although each step in the flowchart involved in each of the above embodiments is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times. The execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or stages in other steps or stages.

[0187] Based on the same inventive concept, the embodiments of the present application also provide a view angle adjusting device for image registration for implementing the view angle adjusting method for image registration as described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more embodiments of the view angle adjusting device for image registration provided below can refer to the limitations of the view angle adjusting method for image registration in the above, which will not be described here again.

[0188] In one embodiment, as shown in Figure 24 a view angle adjusting device for image registration is provided, comprising: a first acquisition module 11, a second acquisition module 12 and a rotating module 13, wherein:

[0189] The first acquisition module 11 is configured to acquire a three-dimensional image of a target part, and the three-dimensional image comprises a plurality of operation marker points on the target part;

[0190] The second acquisition module 12 is configured to determine an operation marker point corresponding to a view angle adjusting instruction input by a user according to the view angle adjusting instruction; the operation marker point corresponding to the view angle adjusting instruction is any one of the operation marker points;

[0191] The rotating module 13 is configured to control the three-dimensional image to rotate to a target view angle corresponding to each operation marker point according to a preset view angle adjusting strategy, and the target view angle is a view field in which each operation marker point is in the user's direct view of the three-dimensional image.

[0192] In one embodiment, the rotating module 13 described above comprises: a first acquisition unit, a second acquisition unit and a control unit, wherein:

[0193] The first acquisition unit is configured to acquire a target view angle corresponding to the operation marker point and a current view angle of the three-dimensional image;

[0194] The second acquisition unit is configured to acquire a conversion angle between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point;

[0195] The control unit is configured to control the three-dimensional image to rotate to the target view angle corresponding to the operation marker point according to the conversion angle.

[0196] In one embodiment, the second acquisition unit described above is further configured to determine a first conversion angle according to the current view angle of the three-dimensional image and a first target view angle, and determine a second conversion angle according to the current view angle of the three-dimensional image and a second target view angle; and determine the conversion angle of the three-dimensional image according to the first conversion angle and the second conversion angle, respectively.

[0197] In one embodiment, the second obtaining unit is further configured to receive a real-time angle conversion instruction and adjust the current view angle of the three-dimensional image after the current view angle of the three-dimensional image is adjusted to the first target view angle.

[0198] In one embodiment, the second obtaining unit is further configured to output prompt information in an information prompt area in the display interface; the prompt information includes a conversion angle of the three-dimensional image; the prompt information is used to prompt a user to convert the three-dimensional image according to the conversion angle of the three-dimensional image; and in response to a conversion operation in the display interface, the real-time conversion angle of the three-dimensional image is displayed in the information prompt area in the display interface.

[0199] In one embodiment, the second obtaining unit is further configured to obtain a next operation marker point corresponding to the operation marker point.

[0200] The conversion angle of the three-dimensional image is determined according to the view angle difference between the operation marker point and the next operation marker point.

[0201] In one embodiment, the second obtaining unit is further configured to obtain a current view angle corresponding to the operation marker point and a target view angle corresponding to the next operation marker point.

[0202] The view angle difference between the operation marker point and the next operation marker point is determined according to the current view angle corresponding to the operation marker point and the target view angle corresponding to the next operation marker point.

[0203] The conversion angle of the three-dimensional image is determined according to the view angle difference between the operation marker point and the next operation marker point.

[0204] In one embodiment, the control unit is further configured to perform image preprocessing on the three-dimensional image to obtain a preprocessed three-dimensional image; and the preprocessed three-dimensional image is located at a center position of a display screen.

[0205] In one embodiment, the control unit is further configured to obtain an amplification coefficient of the three-dimensional image.

[0206] The three-dimensional image is amplified according to the amplification coefficient to obtain an amplified three-dimensional image.

[0207] A target part in the amplified three-dimensional image is moved; and the moved three-dimensional image is located at a screen center of the display screen.

[0208] In one embodiment, the control unit is further configured to obtain a center position of the three-dimensional image and a center position of a display area.

[0209] An offset distance and an offset direction of the center position of the three-dimensional image relative to the center position of the display area are obtained.

[0210] The three-dimensional image is controlled to move according to the offset direction and the offset distance, so that the center position of the moved three-dimensional image coincides with the center position of the display area.

[0211] In one embodiment, the control unit is further configured to acquire a tomographic image of the target site.

[0212] The tomographic image is converted according to a preset image conversion rule to obtain a three-dimensional image of the target site.

[0213] The modules in the view angle adjusting device for image registration can be implemented by software, hardware, or a combination thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the modules.

[0214] In one embodiment, a computer device is provided, which includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the content of any one of the embodiments of the view angle adjusting method for image registration is implemented.

[0215] In one embodiment, a computer readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the content of any one of the embodiments of the view angle adjusting method for image registration is implemented.

[0216] In one embodiment, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor, the content of any one of the embodiments of the view angle adjusting method for image registration is implemented.

[0217] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0218] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0219] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0220] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A view angle adjustment method for image registration, characterized by, The method comprises: acquiring a three-dimensional image of a target site, the three-dimensional image comprising a plurality of operation marker points pre-planned on the target site; determining an operation marker point corresponding to a view angle adjustment instruction input by a user, the operation marker point corresponding to the view angle adjustment instruction being any one of the operation marker points; controlling the three-dimensional image to rotate to a target view angle corresponding to the operation marker point according to a preset view angle adjustment strategy, the target view angle being a view angle at which the operation marker point is in a field of view of the user when the user views the three-dimensional image, the target view angle corresponding to the operation marker point comprising a first target view angle determined according to a first two-dimensional image of the target site and a second target view angle determined according to a second two-dimensional image of the target site; wherein the controlling the three-dimensional image to rotate to the target view angle corresponding to the operation marker point according to the preset view angle adjustment strategy comprises: acquiring a target view angle corresponding to the operation marker point and a current view angle of the three-dimensional image; determining a first conversion angle of the three-dimensional image if the three-dimensional image is adjusted from the current view angle to the first target view angle, and determining a second conversion angle of the three-dimensional image if the three-dimensional image is adjusted from the current view angle to the second target view angle; determining a conversion angle of the three-dimensional image according to the first conversion angle and the second conversion angle, respectively; controlling the three-dimensional image to rotate to the target view angle corresponding to the operation marker point according to the conversion angle.

2. The method of claim 1, wherein, The method further comprises: after the current view angle of the three-dimensional image is adjusted to the first target view angle or the second target view angle, receiving a real-time angle conversion instruction and adjusting the current view angle.

3. The method of claim 1, wherein, The method further comprises: outputting prompt information in an information prompt area in a display interface, the prompt information comprising a conversion angle of the three-dimensional image, the prompt information being used to prompt the user to convert the three-dimensional image according to the conversion angle of the three-dimensional image; in response to a conversion operation in the display interface, displaying a real-time conversion angle of the three-dimensional image in the information prompt area in the display interface.

4. The method according to any one of claims 1 to 3, characterized in that, The acquiring the conversion angle between the current view angle of the three-dimensional image and the target view angle corresponding to the operation marker point comprises: acquiring a next operation marker point corresponding to the operation marker point; determining a conversion angle of the three-dimensional image according to a view angle difference between the operation marker point and the next operation marker point.

5. The method of claim 4, wherein, The determining the rotation angle of the three-dimensional image according to the view angle difference between the operation marker point and the next operation marker point comprises: acquiring a current view angle corresponding to the operation marker point and a target view angle corresponding to the next operation marker point; determining a view angle difference between the operation marker point and the next operation marker point according to the current view angle corresponding to the operation marker point and the target view angle corresponding to the next operation marker point; determining a conversion angle of the three-dimensional image according to the view angle difference between the operation marker point and the next operation marker point.

6. The method according to any one of claims 1 to 3, characterized in that, According to the conversion angle of the three-dimensional image, the three-dimensional image is controlled to rotate to a target view angle corresponding to the operation marker point, and the method further comprises: The three-dimensional image is subjected to image preprocessing operation to obtain a preprocessed three-dimensional image; the preprocessed three-dimensional image is located at the center position of the display screen.

7. The method of claim 6, wherein, The three-dimensional image is subjected to image preprocessing operation to obtain a preprocessed three-dimensional image, comprising: An amplification coefficient of the three-dimensional image is obtained; According to the amplification coefficient, the three-dimensional image is subjected to amplification processing to obtain an amplified three-dimensional image; A target part in the amplified three-dimensional image is moved; wherein the moved three-dimensional image is located at the screen center of the display screen.

8. The method of claim 7, wherein, The target part in the amplified three-dimensional image is moved, comprising: A center position point of the three-dimensional image and a display area center position are obtained; An offset distance and an offset direction of the center position point of the three-dimensional image relative to the display area center position are obtained; The three-dimensional image is controlled to move according to the offset direction and the offset distance, so that the center position of the moved three-dimensional image coincides with the display area center position.

9. A view adjustment apparatus for image registration, characterized by, The device comprises: A first obtaining module is configured to obtain a three-dimensional image of a target part, wherein the three-dimensional image comprises a plurality of operation marker points pre-planned on the target part; A second obtaining module is configured to determine an operation marker point corresponding to a view angle adjustment instruction input by a user according to the view angle adjustment instruction; the operation marker point corresponding to the view angle adjustment instruction is any one of the operation marker points; A rotating module is configured to control the three-dimensional image to rotate to a target view angle corresponding to the operation marker point according to a preset view angle adjustment strategy; the target view angle is a view angle at which the operation marker point is in a field of view when the user directly views the three-dimensional image; the target view angle corresponding to the operation marker point comprises a first target view angle determined according to a first two-dimensional image of the target part and a second target view angle determined according to a second two-dimensional image of the target part; The rotating module comprises: A first obtaining unit is configured to obtain a target view angle corresponding to the operation marker point and a current view angle of the three-dimensional image; A second obtaining unit is configured to determine a first conversion angle of the three-dimensional image in a case where the three-dimensional image is adjusted from the current view angle to the first target view angle, and determine a second conversion angle of the three-dimensional image in a case where the three-dimensional image is adjusted from the current view angle to the second target view angle; the conversion angle of the three-dimensional image is determined according to the first conversion angle and the second conversion angle; A control unit is configured to control the three-dimensional image to rotate to the target view angle corresponding to the operation marker point according to the conversion angle.

10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method in any one of claims 1 to 8.

11. A computer readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 8.

12. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 8.

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