A method, apparatus, storage medium for assisting insertion of a positioning device

Abstract

The specification discloses a method, device and storage medium for assisting insertion of a positioning device, obtaining a medical image of a human body, extracting a contour of the human body from the medical image as a standard contour, obtaining an insertion plan determined according to the medical image, collecting a body surface image of the human body, extracting a contour of the human body from the body surface image as a real-time contour, comparing the standard contour and the real-time contour, determining a difference between the standard contour and the real-time contour, judging whether the current real-time contour of the human body meets a specified condition according to the difference, and if yes, generating and displaying a prompt information for prompting a doctor to insert the positioning device according to the insertion plan. The method determines the difference between the standard contour and the real-time contour to determine whether the current patient can be inserted with the positioning device, reduces insertion errors caused by breathing, and improves the accuracy of the position of the inserted positioning device.

Description

TECHNICAL FIELD

[0001] The present specification relates to the medical field, and in particular, to a method, device and storage medium for assisting insertion of a positioning device. BACKGROUND

[0002] With the development of medical technology, doctors can scan a human body through various medical imaging devices, and determine the position of a lesion of a patient according to a scanning result. In order to ensure the treatment effect, the doctor usually inserts a positioning device into the position of the lesion of the patient according to personal experience and the scanning result. Then, the human body is scanned again, and whether the position of the positioning device is accurately installed is determined according to the scanning result. If not, the position of the positioning device needs to be adjusted, and the human body is scanned again, and the installation position of the positioning device is determined according to the scanning result. Through repeated adjustment of the position of the positioning device and repeated scanning of the human body, the accurate installation position of the positioning device is determined. Finally, the patient is treated according to the position of the positioning device. Therefore, it is difficult to ensure the accuracy of the position of the inserted positioning device only by the personal experience of the doctor and the scanning result, and the breathing of the patient will further reduce the accuracy of the inserted position.

[0003] Therefore, the present specification provides a method for assisting insertion of a positioning device, which reduces the insertion error caused by breathing and improves the accuracy of the inserted position of the positioning device. SUMMARY

[0004] The present specification provides a method, device, storage medium and electronic equipment for assisting insertion of a positioning device to at least partially solve the above problems existing in the prior art.

[0005] The present specification adopts the following technical solutions:

[0006] The present specification provides a method for assisting insertion of a positioning device, comprising:

[0007] Obtaining a medical image of a human body, and extracting a contour of the human body from the medical image as a standard contour;

[0008] Obtaining an insertion plan of a positioning device determined according to the position of a lesion in the medical image;

[0009] Collecting a body surface image of the human body, and extracting a contour of the human body from the body surface image as a real-time contour;

[0010] Comparing the standard contour and the real-time contour to determine the difference between the standard contour and the real-time contour;

[0011] Determining whether the current real-time contour of the human body meets a specified condition according to the difference;

[0012] If yes, a prompt information is generated and displayed, which is used to prompt the doctor to insert the positioning device according to the insertion plan.

[0013] Optionally, whether the real-time contour of the human body currently conforms to a specified condition is determined according to the difference, and specifically includes:

[0014] Whether the difference is less than a preset threshold is determined.

[0015] If yes, it is determined that the real-time contour of the human body currently conforms to the specified condition.

[0016] Otherwise, it is determined that the real-time contour of the human body currently does not conform to the specified condition.

[0017] Optionally, the prompt information is generated and displayed, and specifically includes:

[0018] According to the difference, the time of collecting the body surface image, and the breathing cycle of the human body, a target time is determined, which minimizes the difference.

[0019] The prompt information is generated according to the target time, and is displayed.

[0020] Optionally, the prompt information is generated and displayed, and specifically includes:

[0021] The medical image and the body surface image are fused as a fusion image.

[0022] According to the fusion image and the insertion plan, the prompt information is generated and displayed.

[0023] Optionally, according to the fusion image and the insertion plan, the prompt information is generated and displayed, and specifically includes:

[0024] The position of the positioning device is monitored in real time, and according to the position of the positioning device and the fusion image, the position of the positioning device in the fusion image is determined.

[0025] Optionally, the position of the positioning device is monitored in real time, and specifically includes:

[0026] The image of the positioning device is collected in real time.

[0027] According to the image of the positioning device, the relative position relationship between the positioning device and the human body is determined.

[0028] According to the relative position relationship between the positioning device and the human body, the position of the positioning device is monitored in real time.

[0029] Optionally, the method further includes:

[0030] The fusion image is displayed.

[0031] According to the position of the positioning device in the fusion image, the positioning device is displayed on the fusion image, and the positioning device displayed on the fusion image is updated in real time according to the real-time monitoring of the position of the positioning device.

[0032] Optionally, the method further comprises:

[0033] If it is determined according to the difference that the real-time contour of the human body does not meet the specified condition, the patient is controlled to breathe by using a breathing machine to determine a target time point that minimizes the difference;

[0034] A prompt information is generated according to the target time point and is displayed.

[0035] The present specification provides an apparatus for assisting insertion of a positioning device, the apparatus comprising:

[0036] An image acquisition module is configured to acquire a medical image of a human body, extract a contour of the human body from the medical image as a standard contour, and acquire an insertion plan of a positioning device determined according to a position of a lesion in the medical image;

[0037] A real-time contour determination module is configured to acquire a body surface image of the human body, extract a contour of the human body from the body surface image as a real-time contour;

[0038] A difference determination module is configured to compare the standard contour and the real-time contour to determine a difference between the standard contour and the real-time contour;

[0039] A determination module is configured to determine whether the real-time contour of the human body meets a specified condition according to the difference.

[0040] A prompt module is configured to generate and display prompt information if the real-time contour of the human body meets the specified condition, the prompt information being used to prompt a doctor to insert the positioning device according to the insertion plan.

[0041] Optionally, the determination module is specifically configured to determine whether the difference is less than a preset threshold value, and if the difference is less than the preset threshold value, it is determined that the real-time contour of the human body meets the specified condition, otherwise, it is determined that the real-time contour of the human body does not meet the specified condition.

[0042] Optionally, the prompt module is specifically configured to determine a target time point that minimizes the difference according to the difference, a time point at which the body surface image is acquired, and a breathing cycle of the human body, generate prompt information according to the target time point, and display the prompt information.

[0043] Optionally, the prompt module is specifically configured to fuse the medical image and the body surface image as a fusion image, generate and display prompt information according to the fusion image and the insertion plan.

[0044] Optionally, the prompting module is specifically configured to monitor the position of the positioning device in real time, determine the position of the positioning device in the fusion image according to the position of the positioning device and the fusion image, and generate and display the prompt information according to the position of the positioning device in the fusion image and the insertion plan.

[0045] Optionally, the prompting module is specifically configured to collect an image of the positioning device in real time, determine the relative position relationship between the positioning device and the human body according to the image of the positioning device, and monitor the position of the positioning device in real time according to the relative position relationship between the positioning device and the human body.

[0046] Optionally, the device further comprises a display module configured to display the fusion image, display the positioning device on the fusion image according to the position of the positioning device in the fusion image, and update the positioning device displayed on the fusion image in real time according to the monitored position of the positioning device.

[0047] Optionally, the device further comprises a difference minimization module configured to control the patient to breathe by using a breathing machine to determine a target time instant that minimizes the difference if the current real-time contour of the human body does not meet the specified condition according to the difference, and generate and display the prompt information according to the target time instant.

[0048] The present specification provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method for assisting insertion of a positioning device.

[0049] The present specification provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method for assisting insertion of a positioning device when executing the program.

[0050] The above at least one technical solution adopted by the present specification can achieve the following beneficial effects:

[0051] In the method for assisting insertion of a positioning device provided by the present specification, a medical image of a human body is acquired, a contour of the human body is extracted from the medical image as a standard contour, an insertion plan of a positioning device determined according to the position of a lesion in the medical image is acquired, a body surface image of the human body is collected, a contour of the human body is extracted from the body surface image as a real-time contour, the standard contour and the real-time contour are compared to determine the difference between the standard contour and the real-time contour, whether the current real-time contour of the human body meets a specified condition is judged according to the difference, if yes, prompt information is generated and displayed, and the prompt information is used to prompt a doctor to insert the positioning device according to the insertion plan.

[0052] From the above method, the method determines whether the current patient can be inserted into the positioning device by determining the difference between the current body surface contour of the patient and the standard contour in real time, reduces the insertion error caused by respiration, and improves the accuracy of the position of the inserted positioning device. BRIEF DESCRIPTION OF DRAWINGS

[0053] The accompanying drawings, which are included to provide a further understanding of the present specification, constitute a part of the present specification, and the illustrative embodiments of the present specification and their description serve to explain the present specification, and do not constitute an improper limitation on the present specification. In the drawings:

[0054] In the drawings:

[0055] Figure 1 A flowchart of a method for assisting insertion of a positioning device is provided for the present specification;

[0056] Figure 2 A schematic diagram of a change in position of a positioning device is provided for the present specification;

[0057] Figure 3 A schematic diagram of a device for assisting insertion of a positioning device is provided for the present specification;

[0058] Figure 4 A schematic diagram of an electronic device corresponding to Figure 1 is provided for the present specification. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical scheme and advantages of the present specification clearer, the technical scheme of the present specification will be described in detail below in combination with the specific embodiments of the present specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present specification, not all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of the present application.

[0060] The technical scheme provided by each embodiment of the present specification will be described in detail below in combination with the drawings.

[0061] Figure 1 A flowchart of a method for assisting insertion of a positioning device is provided for the present specification, specifically comprising the following steps:

[0062] S100: Obtain a medical image of a human body, extract a contour of the human body from the medical image as a standard contour, and obtain an insertion plan of a positioning device determined according to the position of a lesion in the medical image.

[0063] In one or more embodiments of the present specification, in order to more accurately locate the lesion position during surgery, the doctor will insert a positioning device into the lesion position of the patient before surgery to assist in locating the lesion position. The execution subject prompting the doctor to insert the positioning device in the embodiments of the present specification can be a server or other device with computing function, and the present specification does not limit this. For the convenience of description, the server is taken as the execution subject in the following description.

[0064] Before the doctor inserts the positioning device, it is necessary to obtain the medical image of the human body, extract the contour of the human body from the medical image as a standard contour, and obtain the insertion plan of the positioning device determined according to the position of the lesion in the medical image.

[0065] Specifically, the patient is subjected to computed tomography (CT) or nuclear magnetic resonance (NMR) scanning to obtain a medical image of the patient. The medical image can be a tomographic image of the human body, and the medical image includes the position of the lesion and the contour of the body surface of the patient. The CT scanning device sends the medical image to the server, and the server receives the medical image and extracts the contour of the body surface of the patient as a standard contour by image processing of the medical image, so as to subsequently determine whether the current patient can be inserted into the positioning device according to the standard contour. The present specification does not limit the specific means of image processing.

[0066] Meanwhile, the doctor formulates an insertion plan of the positioning device for the patient according to the position relationship between the lesion and the body surface in the medical image, and stores the insertion plan in the server. The insertion plan includes the insertion point, insertion direction, and insertion depth of the positioning device.

[0067] S102: Collecting the body surface image of the human body, extracting the contour of the human body from the body surface image as a real-time contour.

[0068] The server not only needs to determine the standard contour of the patient, but also needs to determine the current body surface contour of the patient, so as to subsequently determine whether the patient can be inserted into the positioning device according to the standard contour and the current body surface contour.

[0069] Specifically, the image acquisition device collects a body surface image of the human body and sends the body surface image to the server. The server receives the body surface image and performs image processing on the body surface image to extract the contour of the human body from the body surface image as a real-time contour. The image acquisition device can be an RGB (Red Green Blue) camera, an RGB-D (RGB+Depth Map) camera, etc., and can be collected by one or more image acquisition devices. The type and number of image acquisition devices are not limited in the specification. The body surface image can be a depth image, a three-dimensional image, etc., and the specification does not limit the image type of the body surface image.

[0070] In addition, the execution order of steps S100 and S102 is not limited, and the specification does not limit this.

[0071] S104: Compare the standard contour and the real-time contour to determine the difference between the standard contour and the real-time contour.

[0072] Specifically, since the medical image is a tomographic image of the human body, for each tomographic image of the patient, the server can select a predetermined number of points on the external contour of the human body in the tomographic image, determine the point cloud of the complete external contour of the human body according to the points selected on the external contour of the human body in each tomographic image, i.e., determine the point cloud of the standard contour, and further, the server can determine the difference between the standard contour and the real-time contour by determining the distance from the point cloud of the standard contour to the real-time contour. The server can also determine the positional relationship between the real-time contour and the standard contour by coordinate transformation, so that the real-time contour and the standard contour are in the same coordinate system, to determine the difference between the standard contour and the real-time contour. The difference between the standard contour and the real-time contour can also be determined by other means, and the specification does not limit this. The positional relationship includes complete overlap and incomplete overlap. If there is complete overlap, it means that there is no difference between the standard contour and the real-time contour, and the patient can be subjected to an insertion plan. If there is incomplete overlap, the size of the difference is determined, and whether the current real-time contour of the human body meets the specified condition is determined according to the difference. The difference can be the coordinate distance of the same position of the standard contour and the real-time contour, or the sum of the coordinate distances of the non-overlapping positions of the standard contour and the real-time contour, and the specification does not limit this.

[0073] S106: Determine whether the current real-time contour of the human body meets the specified condition according to the difference.

[0074] Specifically, the server determines whether the difference is less than a preset threshold. If yes, it is determined that the real-time contour of the human body at present meets the specified condition, and a prompt information is generated and displayed, which is used to prompt the doctor to insert the positioning device according to the insertion plan. Otherwise, it is determined that the real-time contour of the human body at present does not meet the specified condition, and then the real-time contour of the patient can be reacquired, and the comparison can be re-performed until the difference between the standard contour and the real-time contour meets the specified condition. The breathing of the patient can also be controlled by using the breathing machine to determine the target time point at which the difference is minimized, and the prompt information is generated and displayed according to the target time point. That is, the patient is anesthetized, the breathing of the patient is controlled by using the breathing machine, the difference between the implementation contour and the standard contour is minimized, and the prompt information is generated and displayed at the time point corresponding to the minimized difference. The patient can also be anesthetized locally, and the doctor guides the patient to breathe, and the patient holds his breath at the time point at which the difference between the implementation contour and the standard contour is minimized, and the doctor quickly inserts the positioning device into the corresponding position of the patient according to the insertion plan.

[0075] Based on Figure 1 According to the method for assisting in inserting the positioning device, the difference between the current body surface contour of the patient and the standard contour is determined in real time to determine whether the current patient can be inserted with the positioning device, so that the insertion error caused by breathing is reduced, and the accuracy of the position of the inserted positioning device is improved.

[0076] For step S106, if it is determined that the real-time contour of the human body at present meets the specified condition, a prompt information is generated and displayed.

[0077] Specifically, the server determines the target time point at which the difference is minimized according to the difference, the acquisition time point of the body surface image, and the breathing cycle of the human body. The prompt information is generated and displayed according to the target time point. That is, in order to minimize the difference, the breathing state corresponding to the acquisition time point of the body surface image is determined first, and then the breathing state corresponding to the time point at which the standard contour is acquired is determined. According to the breathing state corresponding to the acquisition time point of the body surface image and the breathing cycle of the human body, the time point at which the breathing state corresponding to the time point at which the standard contour is acquired is matched is determined, which is the target time point at which the difference is minimized. The difference can be minimized according to the breathing state because the real-time contour of the patient changes as the breathing state of the patient changes.

[0078] In one or more embodiments of the present specification, when the server generates and displays the prompt information, the medical image and the body surface image are fused first as a fused image, and the fused image is a static image. Then, the prompt information is generated and displayed according to the fused image and the insertion plan. Of course, since the difference between the real-time contour and the standard contour meets the specified condition, the prompt information can also be generated and displayed according to one of the medical image and the body surface image combined with the insertion plan, and the present specification does not limit this.

[0079] Specifically, in order to more accurately insert the positioning device, the server acquires images of the positioning device in real time, determines a relative position relationship between the positioning device and the human body according to the images of the positioning device, and monitors the position of the positioning device in real time according to the relative position relationship between the positioning device and the human body.

[0080] Figure 2 A schematic diagram of a position change of the positioning device provided in the specification is shown in FIG. 2. As shown in FIG. 2, a dashed line portion of the positioning device is a position of the positioning device in a fusion image at a next time. Figure 2

[0081] Then, the position of the positioning device in the fusion image is determined according to the position of the positioning device and the fusion image. The position of the positioning device in the fusion image dynamically changes. This is because the server monitors the position of the positioning device in real time, and the doctor inserts the positioning device into a lesion position of a patient. Therefore, the position of the positioning device changes in real time when the doctor inserts the positioning device, and the position of the positioning device in the fusion image also changes in real time.

[0082] Finally, prompt information is generated and displayed according to the position of the positioning device in the fusion image and the insertion plan.

[0083] In addition, the server can also display the fusion image on a display screen, display the positioning device on the fusion image according to the position of the positioning device in the fusion image, and update the positioning device displayed on the fusion image in real time according to the position of the positioning device monitored in real time. If the positioning device is inserted according to the insertion plan when the doctor inserts the positioning device, a corresponding position of the display screen displays green, and if not, the corresponding position of the display screen displays red, prompting the doctor to reinsert or change the insertion direction.

[0084] The method for assisting insertion of the positioning device provided in one or more embodiments of the specification is based on the same idea. The specification also provides a corresponding device for assisting insertion of the positioning device, as shown in FIG. 3. Figure 3

[0085] Figure 3 A schematic diagram of a device for assisting insertion of the positioning device provided in the specification is shown in FIG. 4. The device comprises:

[0086] An image acquisition module 400 is configured to acquire a medical image of a human body, extract a contour of the human body from the medical image as a standard contour, and acquire an insertion plan of a positioning device determined according to a position of a lesion in the medical image.

[0087] A real-time contour determination module 402 is configured to acquire a body surface image of the human body, extract a contour of the human body from the body surface image as a real-time contour, and determine a relative position relationship between the positioning device and the human body according to the standard contour and the real-time contour. ​​

[0088] a difference determining module 404, configured to compare the standard contour and the real-time contour to determine a difference between the standard contour and the real-time contour;

[0089] a judging module 406, configured to judge whether the real-time contour of the human body at present meets a specified condition according to the difference;

[0090] a prompting module 408, configured to generate and display prompt information if yes, the prompt information being used to prompt a doctor to insert the positioning device according to the insertion plan.

[0091] Optionally, the judging module 406 is specifically configured to judge whether the difference is less than a preset threshold; if yes, it is determined that the real-time contour of the human body at present meets the specified condition; otherwise, it is determined that the real-time contour of the human body at present does not meet the specified condition.

[0092] Optionally, the prompting module 408 is specifically configured to determine a target time instant that minimizes the difference according to the difference, a time instant when the body surface image is collected and a breathing cycle of the human body; generate prompt information according to the target time instant and display the prompt information.

[0093] Optionally, the prompting module 408 is specifically configured to fuse the medical image and the body surface image as a fused image; generate and display prompt information according to the fused image and the insertion plan.

[0094] Optionally, the prompting module 408 is specifically configured to monitor a position of the positioning device in real time, determine a position of the positioning device in the fused image according to the position of the positioning device and the fused image; generate and display prompt information according to the position of the positioning device in the fused image and the insertion plan.

[0095] Optionally, the prompting module 408 is specifically configured to collect an image of the positioning device in real time; determine a relative position relationship between the positioning device and the human body according to the image of the positioning device; monitor the position of the positioning device in real time according to the relative position relationship between the positioning device and the human body.

[0096] Optionally, the device further includes a display module 410, configured to display the fused image; display the positioning device on the fused image according to the position of the positioning device in the fused image, and update the positioning device displayed on the fused image in real time according to the position of the positioning device monitored in real time.

[0097] Optionally, the apparatus further comprises a difference minimization module 412 configured to, if the real-time contour of the human body at present does not meet the specified condition according to the difference judgment, control the patient to breathe by using the breathing machine to determine a target time instant that minimizes the difference; generate prompt information according to the target time instant, and display the prompt information.

[0098] The specification also provides a computer readable storage medium storing a computer program, the computer program being used to execute the above Figure 1 The provided method for inserting the auxiliary positioning device.

[0099] The specification also provides a computer readable storage medium storing a computer program, the computer program being used to execute the above Figure 4 The structure diagram of the electronic device is shown. As shown in the figure Figure 4 As shown in the hardware level, the unmanned device comprises a processor, an internal bus, a network interface, a memory and a non-volatile memory, and of course, other hardware required by the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs to realize the above Figure 1 The method for inserting the auxiliary positioning device. Of course, in addition to the software implementation, the specification does not exclude other implementation manners, such as logic devices or the combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but also can be hardware or logic device.

[0100] In the 1990s, it was quite obvious to distinguish whether an improvement in a technology was in hardware (e.g., improvement in circuit structures of diodes, transistors, switches, etc.) or in software (improvement in method flow). However, as technology has evolved, many improvements in method flow today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structures by programming the improved method flow into hardware circuits. Therefore, it cannot be said that an improvement in a method flow cannot be implemented by hardware entity modules. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. A digital system is "integrated" on a PLD by the designer programming it, rather than by asking a chip manufacturer to design and fabricate a custom integrated circuit chip. Moreover, instead of manually fabricating integrated circuit chips, this programming is now mostly implemented by "logic compiler" software, which is similar to software compilers used in program development, and the original code to be compiled is written in a specific programming language, which is called a hardware description language (HDL), and there are many such languages, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should be aware that, as long as the method flow is logically programmed in the above-mentioned hardware description languages and programmed into an integrated circuit, a hardware circuit implementing the logical method flow can be easily obtained.

[0101] The controller can be implemented in any suitable way, e.g. the controller can take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, e.g. software or firmware, executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller and an embedded microcontroller, examples of controllers include but are not limited to the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to being implemented in pure computer readable program code form, the controller can perfectly well be implemented to perform the same functions using logic gates, switches, an application specific integrated circuit, a programmable logic controller and an embedded microcontroller, etc. by means of a logical programming of the method steps. The controller can thus be considered a hardware component, and the means comprised therein for performing the various functions can be considered structures within the hardware component. Alternatively, or even, the means for performing the various functions can be considered both a software module implementing the method and a structure within the hardware component.

[0102] The systems, apparatuses, modules or units illustrated by the above embodiments can be implemented by computer chips or entities, or products with certain functions. A typical implementation device is a computer. Specifically, the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0103] For the sake of description, the above apparatuses are described in various units by functions respectively. Of course, the functions of each unit can be implemented in the same or multiple software and / or hardware in implementing the present specification.

[0104] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0105] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0106] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0107] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. ​ one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0108] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0109] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory. The memory is an example of computer-readable media.

[0110] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0111] It should also be noted that the terms "comprising", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0112] Those skilled in the art will appreciate that embodiments of the present specification can be provided as methods, systems or computer program products. Therefore, the present specification can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] The present specification can be described in the general context of computer-executable instructions, such as program modules, executed by computers. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The present specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media, including storage devices.

[0114] The various embodiments described in this specification are described using a numbering of embodiments approach: these are each individually integrated contributions pertaining to different aspects of the description. For each embodiment, the description focuses on the differences from the other embodiments. Each embodiment is to be read in isolation, with the understanding that the same or similar features from other embodiments can be combined with the features of the respective embodiment. In particular, the description of the system embodiments is kept relatively short, as the system embodiments are largely analogous to the method embodiments.

[0115] The above description is embodied in the form of only a description of embodiments of the present specification, and is not intended to limit the present specification. Various changes and modifications can be made by those skilled in the art based on the present specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present application.

Claims

1. A method of assisting the insertion of a positioning device, characterized in that, The method comprises: acquiring a medical image of a human body, extracting a contour of the human body from the medical image as a standard contour, and acquiring an insertion plan of a positioning device determined according to a position of a lesion in the medical image; acquiring a body surface image of the human body, extracting a contour of the human body from the body surface image as a real-time contour; comparing the standard contour and the real-time contour to determine a difference between the standard contour and the real-time contour; determining whether the current real-time contour of the human body meets a specified condition according to the difference; if yes, determining a breathing state corresponding to a time when the body surface image is acquired and a breathing state corresponding to the standard contour, determining a time corresponding to the breathing state of the standard contour that matches a breathing cycle of the human body as a target time according to the breathing state corresponding to the time when the body surface image is acquired and the breathing cycle of the human body, and generating and displaying prompt information according to the target time, the prompt information being used to prompt a doctor to insert the positioning device according to the insertion plan.

2. The method of claim 1, wherein, The method further comprises: determining whether the difference is less than a preset threshold value; if yes, determining that the current real-time contour of the human body meets the specified condition; otherwise, determining that the current real-time contour of the human body does not meet the specified condition.

3. The method of claim 1, wherein, The method further comprises: fusing the medical image and the body surface image as a fused image; 4. The method of claim 3, wherein, generating and displaying prompt information according to the fused image and the insertion plan. The method further comprises: real-time monitoring a position of the positioning device, determining a position of the positioning device in the fused image according to the position of the positioning device and the fused image; 5. The method of claim 3, wherein, generating and displaying prompt information according to the position of the positioning device in the fused image and the insertion plan. The method further comprises: real-time acquiring an image of the positioning device; determining a relative position relationship between the positioning device and the human body according to the image of the positioning device; 6. The method of any one of claims 3 to 5, wherein, real-time monitoring the position of the positioning device according to the relative position relationship between the positioning device and the human body. The method further comprises: displaying the fused image; 7. The method of claim 1, wherein, displaying the positioning device on the fused image according to the position of the positioning device in the fused image, and real-time updating the positioning device displayed on the fused image according to the real-time monitoring of the position of the positioning device. The method further comprises: if it is determined that the current real-time contour of the human body does not meet the specified condition according to the difference, controlling a patient to breathe by using a breathing machine to determine a target time at which the difference is minimized; 8. A computer-readable storage medium, characterized in that, generating and displaying prompt information according to the target time.

9. An electronic device, comprising: The storage medium stores a computer program, and the computer program is executed by a processor to implement the method in any one of claims 1 to 7. The storage medium stores a computer program, and the computer program is executed by a processor to implement the method in any one of claims 1 to 7. The storage medium stores a computer program, and the computer program is executed by a processor to implement the method in any one of claims 1 to 7.

Images