Automatic cruise positioning navigation system and method for pathological images

Abstract

The present invention provides an automatic cruise positioning and navigation system and method for pathological images, including: performing automatic multi-layer recognition and automatic area matching through image automatic cruise positioning to obtain a multi-level navigation area base map of the pathological image, identifying the current pathological image of the full-slice pathological image, and obtaining a full-picture cruise map of the pathological image; based on the full-picture cruise map of the pathological image, automatically monitoring and tracking image zoom events and pathological image cruise movement events in the pathological image display area, and converting and obtaining event monitoring trigger instructions; a navigation map control configuration operation subsystem, performing navigation map control configuration calculation according to the event monitoring trigger instructions; a synchronous rendering and annotation viewport tracking subsystem, synchronously performing navigation map annotation rendering according to pathological image zoom ratio data and cruise movement center position data, tracking and annotating the viewport center in real time, and realizing microscopic precision zooming of the full-slice pathological image, synchronous navigation map annotation rendering and automatic cruise navigation positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision cruise positioning of pathological images, and more specifically, to an automatic cruise positioning navigation system and method for pathological images. Background Art

[0002] At this stage, pathology has entered the digital age. Whole-slice pathology images (WSI) are the foundation of digital pathology. High-quality pathology images provide convenient conditions for pathology AI diagnosis, remote consultation, pathology data sharing, teaching, and many other aspects. When displaying high-resolution images of pathology information, the large size of a single image will place a heavy burden on computer performance. Currently, there are many means of rendering pathology images, using different technology stacks, and the implementation of navigation maps is also different. Many digital pathology rendering methods choose image technology based on OpenSeadragon, and the navigation bar has a single capability. As the slices are scaled and moved, it is impossible to globally or instantly determine which part of the pathology slice image the pathology information in the current visible window comes from, and it is impossible to locate the center of the navigation display area, or the area diverges too much, which may cause the pathologist's heart to be upset. The intellectual burden is that when browsing digital pathology images, there is a certain consumption feeling in terms of experience and applicability, which hinders the promotion of digital pathology images. At present, the existing digital browsing of pathology images still relies on traditional local zooming to predict the location in advance. Its main disadvantages include: for the zoomed digital pathology image, the doctor cannot intuitively obtain which part of the slice the lesion comes from; in order to determine the exact location of the lesion, it is necessary to switch the zoom mode, which adds unnecessary mental burden to the diagnostic doctor; compared with doctors with less diagnostic experience, there is a lack of timely information reference, which inevitably leads to misdiagnosis; there is no navigation map to automatically track and locate, and digital pathology images have to be manually operated to judge, resulting in low diagnostic review efficiency and increased time for repeated verification; therefore, it is necessary to propose an automatic cruise positioning navigation system for pathology images to at least partially solve the problems existing in the existing technology. Summary of the Invention

[0003] A series of simplified concepts are introduced in the summary of the invention, which will be further explained in detail in the specific implementation method. The summary of the invention does not mean to attempt to limit the key features and necessary technical features of the technical solution for protection, nor does it mean to attempt to determine the scope of protection of the technical solution for protection.

[0004] To at least partially solve the above problems, the present invention provides an automatic cruise positioning navigation system for pathological images, comprising:

[0005] The multi-level recognition layer matching subsystem performs automatic multi-level recognition and automatic area matching through image automatic cruise positioning to obtain a multi-level navigation area base map of the pathology image, identify the current pathology image of the full-slice pathology image, and obtain a full picture of the pathology image cruise;

[0006] The automatic tracking and monitoring trigger subsystem automatically monitors and tracks the image zoom events and pathology image cruise movement events in the pathology image display area according to the overall picture of the pathology image cruise, and converts and obtains event monitoring trigger instructions;

[0007] The navigation map control configuration calculation subsystem performs navigation map control configuration calculations based on event monitoring trigger instructions, and obtains pathological image scaling data and cruise movement center position data;

[0008] The synchronous rendering and annotation viewport tracking subsystem performs synchronous rendering and annotation of navigation diagrams based on the pathology image scaling data and cruise movement center position data, tracks and annotates the viewport center in real time, and realizes microscopic precision scaling of full-slice pathology images, synchronous rendering and annotation of navigation diagrams, and automatic cruise navigation positioning.

[0009] Preferably, the multi-level recognition layer matching subsystem includes:

[0010] The multi-field full-slice stitching subsystem acquires multi-level visualized full-slice pathology images through seamless stitching and edge smoothing of multiple fields of view;

[0011] The multi-layer recognition and region matching subsystem obtains a multi-layer navigation region base map of the pathology image through automatic multi-layer recognition and automatic region matching based on the multi-layer visualization of the full-slice pathology image;

[0012] The pathology image full picture recognition subsystem identifies the current pathology image of the full-slice pathology image through automatic image cruise positioning based on the multi-level navigation area base map of the pathology image; displays the full picture of the full-slice pathology image based on the current pathology image of the full-slice pathology image, and obtains the full picture of the pathology image cruise.

[0013] Preferably, the automatic tracking, monitoring and triggering subsystem includes:

[0014] The full-image information automatic monitoring subsystem automatically monitors the full-image of the pathological image and obtains the pathological image operation monitoring event information through automatic information monitoring; the pathological image operation monitoring event information includes: pathological image translation monitoring event information and pathological image zoom monitoring event information;

[0015] The event information tracking instruction association subsystem operates monitoring event information based on pathological images and associates monitoring event information with tracking instructions;

[0016] The event monitoring trigger instruction subsystem associates the monitoring event information with the tracking instruction, and automatically tracks the image zoom event and the pathology image cruise movement event of the pathology image display area through the event information tracking instruction program, and converts the pathology image operation monitoring event information into the event monitoring trigger instruction.

[0017] Preferably, the navigation map control configuration calculation subsystem includes:

[0018] The monitoring trigger control configuration subsystem performs navigation map control configuration according to the event monitoring trigger instructions;

[0019] The mask ratio real-time calculation subsystem calculates the current visible mask size ratio in the pathology image automatic cruise display frame in real time according to the navigation map control configuration;

[0020] The cruise center position data subsystem calculates the current center position coordinates during the cruise movement in real time; obtains the pathological image scaling data and the cruise movement center position data.

[0021] Preferably, the synchronous rendering annotation viewport tracking subsystem includes:

[0022] The operation data scaling subsystem automatically scales the data generated by the full-slice pathology image control operation based on the pathology image scaling data and the cruise movement center position data;

[0023] Control the synchronous viewport tracking subsystem, control parallel synchronous processing, synchronously perform navigation map annotation rendering, globally display the cruise area, and track and mark the viewport center position in real time;

[0024] The mobile trajectory automatic cruise subsystem automatically patrols the image movement trajectory through automatic scale conversion, real-time tracking and marking of the viewport center position; it realizes microscopic precision zooming of full-slice pathology images, synchronous navigation map annotation rendering and automatic cruise navigation positioning.

[0025] The present invention provides an automatic cruise positioning and navigation method for pathological images, comprising:

[0026] S100, through automatic image cruise positioning, automatic multi-layer recognition and automatic area matching, obtains a multi-level navigation area base map of the pathology image, identifies the current pathology image of the full-slice pathology image, and obtains a full picture of the pathology image cruise;

[0027] S200, based on the full picture of the pathological image cruise, automatically monitor and track the image zoom event and the pathological image cruise movement event in the pathological image display area, and convert and obtain the event monitoring trigger instruction;

[0028] S300, the navigation map control configuration calculation subsystem performs navigation map control configuration calculation according to the event monitoring trigger instruction, and obtains the pathological image scaling ratio data and the cruise movement center position data;

[0029] S400, a synchronous rendering and annotation viewport tracking subsystem, performs synchronous rendering and annotation of navigation diagrams based on the pathology image scaling data and cruise movement center position data, tracks and annotates the viewport center in real time, and achieves microscopic precision scaling of full-slice pathology images, synchronous rendering and annotation of navigation diagrams, and automatic cruise navigation positioning.

[0030] Preferably, S100 includes:

[0031] S101, obtains multi-level visual full-slice pathology images through seamless multi-view stitching and edge smoothing;

[0032] S102, obtaining a multi-level navigation area base map of the pathology image through automatic multi-level recognition and automatic area matching based on the multi-level visualized full-slice pathology image;

[0033] S103, identifying the current pathological image of the full-slice pathological image through automatic image cruise positioning according to the multi-level navigation area base map of the pathological image; displaying the full picture of the full-slice pathological image according to the current pathological image of the full-slice pathological image, and obtaining a full picture of the pathological image cruise.

[0034] Preferably, S200 includes:

[0035] S201, obtaining pathology image operation monitoring event information through automatic information monitoring based on the pathology image cruise overview; the pathology image operation monitoring event information includes: pathology image translation monitoring event information and pathology image zoom monitoring event information;

[0036] S202, operating monitoring event information based on the pathological image, and associating the monitoring event information with a tracking instruction;

[0037] S203, according to the association between the monitoring event information and the tracking instruction, the image zoom event of the pathological image display area and the pathological image cruise movement event are automatically tracked through the event information tracking instruction program, and the pathological image operation monitoring event information is converted into an event monitoring trigger instruction.

[0038] Preferably, S300 includes:

[0039] S301, performing navigation map control configuration according to event monitoring trigger instructions;

[0040] S302, calculating in real time the current visible mask size ratio in the pathology image automatic cruise display frame according to the navigation map control configuration;

[0041] S303, calculating the current center position coordinates during the cruise movement process in real time; obtaining the pathological image scaling data and the cruise movement center position data.

[0042] Preferably, S400 includes:

[0043] S401, automatically converting the scale of the data generated by the full-slice pathology image control operation according to the pathology image scaling data and the cruise movement center position data;

[0044] S402, by controlling parallel synchronous processing, synchronously performing navigation icon annotation rendering, globally displaying the cruising area, and tracking and marking the viewport center position in real time;

[0045] S403, through automatic scale conversion and real-time tracking and marking of the viewport center position, automatically patrols the image movement trajectory; realizes microscopic precision zooming of full-slice pathology images, synchronous navigation map annotation rendering and automatic cruise navigation positioning.

[0046] Compared with the prior art, the present invention has at least the following beneficial effects:

[0047] The present invention provides an automatic cruise positioning navigation system and method for pathological images. The system uses a multi-level recognition layer matching subsystem to automatically perform multi-level recognition and automatic area matching through image automatic cruise positioning to obtain a multi-level navigation area base map of the pathological image, identify the current pathological image of the full-slice pathological image, and obtain a full-picture cruise map of the pathological image; an automatic tracking and monitoring triggering subsystem automatically monitors and tracks image zoom events and pathological image cruise movement events in the pathological image display area based on the full-picture cruise map of the pathological image, and converts and obtains event monitoring trigger instructions; a navigation map control configuration calculation subsystem performs navigation map control configuration calculation based on event monitoring trigger instructions to obtain pathological image zoom ratio data and cruise movement center position data; a synchronous rendering and annotation viewport tracking subsystem synchronously performs navigation map annotation rendering based on pathological image zoom ratio data and cruise movement center position data, tracks and annotates the viewport center in real time, and realizes microscopic precision zooming and synchronous navigation of the full-slice pathological image. Image annotation rendering and automatic cruise navigation positioning; by monitoring moving images within the area, using the image positioning and navigation system, automatically patrolling the moving trajectory of the image, globally displaying the cruise area, tracking and marking the viewport center in real time; automatically displaying the visible area mask and crosshair marking center in the automatic cruise display frame of the full-slice digital pathology slice display area; and performing automatic cruise mask content microscopic display; realizing the positioning and navigation display of pathology images; being able to identify the size of digital pathology images, calculate the center coordinate point, match the cruise area of ​​different viewports, and mark the reading center with a crosshair; realizing high-precision automatic cruise annotation of pathology navigation maps and pathology digital maps; being able to link movement and zooming operations during the review process, realizing fully automatic strong association between slice digital images and full-view navigation images; being able to realize imperceptible position prediction, improving the diagnostic experience and accuracy; greatly reducing the number of repeated zooming of digital images by diagnostic doctors, significantly reducing the mental burden, and greatly improving the efficiency of pathology diagnosis.

[0048] The automatic cruise positioning navigation system and method for pathological images described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technical personnel in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0050] Figure 1 This is a diagram of an embodiment of an automatic cruise positioning navigation system for pathological images described in the present invention.

[0051] Figure 2 This is another embodiment of the automatic cruise positioning navigation system for pathological images described in the present invention.

[0052] Figure 3 This is a step diagram of the automatic cruise positioning and navigation method for pathological images described in the present invention. DETAILED DESCRIPTION

[0053] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description. Figure 1-Figure 3 As shown, the present invention provides an automatic cruise positioning navigation system for pathological images, comprising:

[0054] The multi-level recognition layer matching subsystem performs automatic multi-level recognition and automatic area matching through image automatic cruise positioning to obtain a multi-level navigation area base map of the pathology image, identify the current pathology image of the full-slice pathology image, and obtain a full picture of the pathology image cruise;

[0055] The automatic tracking and monitoring trigger subsystem automatically monitors and tracks the image zoom events and pathology image cruise movement events in the pathology image display area according to the overall picture of the pathology image cruise, and converts and obtains event monitoring trigger instructions;

[0056] The navigation map control configuration calculation subsystem performs navigation map control configuration calculations based on event monitoring trigger instructions, and obtains pathological image scaling data and cruise movement center position data;

[0057] The synchronous rendering and annotation viewport tracking subsystem performs synchronous rendering and annotation of navigation diagrams based on the pathology image scaling data and cruise movement center position data, tracks and annotates the viewport center in real time, and realizes microscopic precision scaling of full-slice pathology images, synchronous rendering and annotation of navigation diagrams, and automatic cruise navigation positioning.

[0058] The principle and effect of the above technical solution are as follows: the present invention provides an automatic cruise positioning and navigation system for pathological images, including: a multi-level recognition layer matching subsystem, which performs automatic multi-level recognition and automatic area matching through image automatic cruise positioning to obtain a multi-level navigation area base map of the pathological image, identify the current pathological image of the full-slice pathological image, and obtain a full-picture cruise map of the pathological image; an automatic tracking and monitoring triggering subsystem, which automatically monitors and tracks the image zoom events and the pathological image cruise movement events in the pathological image display area according to the full-picture cruise map of the pathological image, and converts and obtains event monitoring trigger instructions; a navigation map control configuration operation subsystem, which performs navigation map control configuration calculation according to the event monitoring trigger instruction, and obtains the pathological image zoom ratio data and the cruise movement center position data; a synchronous rendering and annotation viewport tracking subsystem, which synchronously performs navigation map annotation rendering according to the pathological image zoom ratio data and the cruise movement center position data, tracks and annotates the viewport center in real time, and realizes microscopic precision zooming of the full-slice pathological image. It can automatically display the visible area mask and the crosshair marking center in the automatic cruise display frame of the full-slice digital pathology slice display area; and perform automatic cruise mask content microscopic display; realize the positioning and navigation display of pathology images; can identify the size of digital pathology images, calculate the center coordinate point, match the cruise area of ​​different viewports, and mark the reading center with a crosshair; realize high-precision automatic cruise marking of pathology navigation maps and pathology digital maps; can link the movement and zooming operations during the review process to realize the fully automatic strong association between the slice digital image and the navigation full-view image; can realize non-sensing position prediction, improve the diagnostic experience and accuracy; greatly reduce the number of repeated zooming of digital images by diagnostic doctors, significantly reduce the mental burden, and greatly improve the efficiency of pathology diagnosis.

[0059] In one embodiment, the multi-level recognition layer matching subsystem includes:

[0060] The multi-field full-slice stitching subsystem acquires multi-level visualized full-slice pathology images through seamless stitching and edge smoothing of multiple fields of view;

[0061] The multi-layer recognition and region matching subsystem obtains a multi-layer navigation region base map of the pathology image through automatic multi-layer recognition and automatic region matching based on the multi-layer visualization of the full-slice pathology image;

[0062] The pathology image full picture recognition subsystem identifies the current pathology image of the full-slice pathology image through automatic image cruise positioning based on the multi-level navigation area base map of the pathology image; displays the full picture of the full-slice pathology image based on the current pathology image of the full-slice pathology image, and obtains the full picture of the pathology image cruise;

[0063] Obtaining a multi-level visualized full-slice pathology image includes: determining a first-level navigation area base map of the first-level visualized full-slice pathology image according to a multi-field first-field seamless stitching parameter, and determining a first-level navigation area panorama of the second-level visualized full-slice pathology image according to a multi-field second-field seamless stitching parameter, and then mapping the first-level navigation area base map and the first-level navigation area panorama to a preset simulation space, obtaining a first-level navigation area base map simulation reconstruction layer corresponding to the first-level navigation area base map and a first-level navigation area panorama simulation reconstruction layer corresponding to the first-level navigation area panorama, and determining a matching relationship between multiple simulation reconstruction layers in the preset simulation space, performing multi-level recognition layer matching between the first-level visualized full-slice pathology image and the at least one second-level visualized full-slice pathology image, and obtaining a multi-level visualized full-slice pathology image.

[0064] The principle and effect of the above technical solution are: according to the multi-level recognition layer matching, the multi-view full-slice stitching subsystem obtains the multi-level visualized full-slice pathology image through multi-view seamless stitching and edge smoothing; the multi-level recognition area matching subsystem obtains the multi-level navigation area base map of the pathology image through automatic multi-layer recognition and automatic area matching according to the multi-level visualized full-slice pathology image; the pathology image full picture recognition subsystem identifies the current pathology image of the full-slice pathology image through automatic cruise positioning of the image according to the multi-level navigation area base map of the pathology image; displays the full picture of the full-slice pathology image according to the current pathology image of the full-slice pathology image, and obtains the cruise full picture of the pathology image; obtaining the multi-level visualized full-slice pathology image includes: determining the first-level navigation area base map of the first-level visualized full-slice pathology image according to the multi-view first-view seamless stitching parameters, and determining the first-level navigation area base map of the first-level visualized full-slice pathology image according to the multi-view second-view seamless stitching parameters. A first-level navigation area panorama of a second-level visualized full-slice pathology image is determined, and then the first-level navigation area base map and the first-level navigation area panorama are mapped to a preset simulation space to obtain a first-level navigation area base map simulation reconstruction layer corresponding to the first-level navigation area base map and a first-level navigation area panorama simulation reconstruction layer corresponding to the first-level navigation area panorama, and a matching relationship between multiple simulation reconstruction layers in the preset simulation space is determined, and multi-level recognition layer matching is performed between the first-level visualized full-slice pathology image and the at least one second-level visualized full-slice pathology image to obtain a multi-level visualized full-slice pathology image; it is capable of performing seamless multi-view splicing and edge smoothing processing of images to obtain a multi-level visualized full-slice pathology image; it is capable of identifying the current pathology image of the full-slice pathology image and displaying the panorama of the full-slice pathology image; and it is capable of performing multi-level recognition area matching of the full-slice pathology image.

[0065] In one embodiment, the automatic tracking, monitoring and triggering subsystem includes:

[0066] The full-image information automatic monitoring subsystem automatically monitors the full-image of the pathological image and obtains the pathological image operation monitoring event information through automatic information monitoring; the pathological image operation monitoring event information includes: pathological image translation monitoring event information and pathological image zoom monitoring event information;

[0067] The event information tracking instruction association subsystem operates monitoring event information based on pathological images and associates monitoring event information with tracking instructions;

[0068] The event monitoring trigger instruction subsystem associates the monitoring event information with the tracking instruction, and automatically tracks the image zoom event and the pathology image cruise movement event of the pathology image display area through the event information tracking instruction program, and converts the pathology image operation monitoring event information into the event monitoring trigger instruction.

[0069] The principle and effect of the above technical solution are: using information automatic tracking and monitoring triggering, the overall information automatic monitoring subsystem obtains pathological image operation monitoring event information through information automatic monitoring according to the overall picture of pathological image cruising; pathological image operation monitoring event information includes: pathological image translation monitoring event information and pathological image zoom monitoring event information; the event information tracking instruction association subsystem associates the monitoring event information with the tracking instruction according to the pathological image operation monitoring event information; the event monitoring triggering instruction subsystem associates the monitoring event information with the tracking instruction, and automatically tracks the pathological image display area image zoom event and pathological image cruise movement event through the event information tracking instruction program according to the monitoring event information, and converts the pathological image operation monitoring event information into an event monitoring triggering instruction; it can automatically monitor the pathological image operation monitoring event information, associate the monitoring event information with the tracking instruction, and automatically track the pathological image display area image zoom event and pathological image cruise movement event; so that pathological image operations can be automatically tracked and automatically triggered in large quantities according to instructions.

[0070] In one embodiment, the navigation map control configuration calculation subsystem includes:

[0071] The monitoring trigger control configuration subsystem performs navigation map control configuration according to the event monitoring trigger instructions;

[0072] The mask ratio real-time calculation subsystem calculates the current visible mask size ratio in the pathology image automatic cruise display frame in real time according to the navigation map control configuration;

[0073] The cruise center position data subsystem calculates the current center position coordinates during the cruise movement in real time; obtains the pathological image scaling data and the cruise movement center position data.

[0074] The principle and effect of the above technical solution are as follows: using the navigation map control configuration operation, monitoring the trigger control configuration subsystem, and performing navigation map control configuration according to the event monitoring trigger instruction; the mask ratio real-time calculation subsystem calculates the current visible mask size ratio in the pathology image automatic cruise display frame in real time according to the navigation map control configuration; the cruise center position data subsystem calculates the current center position coordinates during the cruise movement in real time; and obtains the pathology image scaling ratio data and cruise movement center position data;

[0075] Calculate the mask loss coefficient value of the current visible mask:

[0076]

[0077] Among them, MBSZft represents the current visible mask loss coefficient value, FSmd(x,y) represents the current visible mask average reflection density value, TSmd(x,y) represents the current visible mask average transmission density value, FSnc(x,y) represents the average reflection density value of the multi-level navigation area base map, TSnc(x,y) represents the average transmission density value of the multi-level navigation area base map, R represents the mask loss weight value, and SHpy represents the offset mask loss coefficient value; by calculating the current visible mask loss coefficient value, adjusting the average reflection density value and the average transmission density value, the current visible mask loss information can be greatly reduced.

[0078] In one embodiment, the synchronous rendering annotation viewport tracking subsystem includes:

[0079] The operation data scaling subsystem automatically scales the data generated by the full-slice pathology image control operation based on the pathology image scaling data and the cruise movement center position data;

[0080] Control the synchronous viewport tracking subsystem, control parallel synchronous processing, synchronously perform navigation map annotation rendering, globally display the cruise area, and track and mark the viewport center position in real time;

[0081] The mobile trajectory automatic cruise subsystem automatically patrols the image movement trajectory through automatic scale conversion, real-time tracking and marking of the viewport center position; it realizes microscopic precision zooming of full-slice pathology images, synchronous navigation map annotation rendering and automatic cruise navigation positioning;

[0082] The navigation map annotation rendering is performed simultaneously, the cruising area is displayed globally, and the viewport center position is tracked and annotated in real time, including: obtaining the viewport center position, the cruising area and the multi-level depth layer at the viewport center position of the pathological image; according to the viewport center position, the cruising area and the multi-level depth layer, the viewport center position information of each multi-level depth layer is projected onto the local navigation map centered on the viewport center position according to the respective set weights to obtain an updated local navigation map; wherein the local navigation map is used to guide the viewport center to perform corresponding operations on the initial cruising area during the patrol along the image movement trajectory; when the image movement trajectory changes, return to the step of obtaining the viewport center position, the cruising area and the multi-level depth layer at the viewport center position to update the navigation map annotation rendering, globally display the cruising area, and track and annotate the viewport center position in real time.

[0083] The principle and effect of the above technical solution are as follows: using synchronous rendering to annotate viewport tracking, operating the data ratio conversion subsystem, according to the pathological image scaling data and the cruise movement center position data, automatically converting the data generated by the full-slice pathological image control operation; controlling the synchronous viewport tracking subsystem, by controlling parallel synchronous processing, synchronously performing navigation icon annotation rendering, globally displaying the cruise area, and tracking and annotating the viewport center position in real time; the mobile trajectory automatic cruise subsystem, through automatic ratio conversion and real-time tracking and annotating the viewport center position, automatically patrols the image movement trajectory; realizes microscopic precision zooming of full-slice pathological images, synchronous navigation icon annotation rendering and automatic cruise navigation positioning; synchronously performing navigation icon annotation rendering, globally displaying the cruise area, and real-time tracking and annotating the viewport center position, including: obtaining the viewport center position, cruise area and multi-level depth layers of the viewport center position of the pathological image; according to the viewport center position, the cruise area and The multi-level depth layer projects the viewport center position information of each multi-level depth layer onto the local navigation map centered on the viewport center position according to the respective set weights to obtain an updated local navigation map; wherein, the local navigation map is used to guide the viewport center to perform corresponding operations on the initial cruise area during the patrol along the image movement trajectory; when the image movement trajectory changes, the step of obtaining the viewport center position, the cruise area and the multi-level depth layer at the viewport center position is returned to update the navigation map annotation rendering, globally display the cruise area, and track and mark the viewport center position in real time; high-precision automatic cruise annotation of pathology navigation maps and pathology digital maps can be achieved; the movement and zooming operations during the review process can be linked to achieve fully automatic strong association between the slice digital image and the navigation full-view image; imperceptible position prediction can be achieved, and the diagnostic experience and accuracy can be improved; and the number of repeated zooms of digital images by diagnostic doctors can be greatly reduced.

[0084] The present invention provides an automatic cruise positioning and navigation method for pathological images, comprising:

[0085] S100, through automatic image cruise positioning, automatic multi-layer recognition and automatic area matching, obtains a multi-level navigation area base map of the pathology image, identifies the current pathology image of the full-slice pathology image, and obtains a full picture of the pathology image cruise;

[0086] S200, based on the full picture of the pathological image cruise, automatically monitor and track the image zoom event and the pathological image cruise movement event in the pathological image display area, and convert and obtain the event monitoring trigger instruction;

[0087] S300, the navigation map control configuration calculation subsystem performs navigation map control configuration calculation according to the event monitoring trigger instruction, and obtains the pathological image scaling ratio data and the cruise movement center position data;

[0088] S400, a synchronous rendering and annotation viewport tracking subsystem, performs synchronous rendering and annotation of navigation diagrams based on the pathology image scaling data and cruise movement center position data, tracks and annotates the viewport center in real time, and achieves microscopic precision scaling of full-slice pathology images, synchronous rendering and annotation of navigation diagrams, and automatic cruise navigation positioning.

[0089] The principle and effect of the above technical solution are as follows: the present invention provides an automatic cruise positioning and navigation method for pathological images, which performs automatic multi-layer recognition and automatic area matching through image automatic cruise positioning to obtain a multi-level navigation area base map of the pathological image, identifies the current pathological image of the full-slice pathological image, and obtains a full-picture cruise map of the pathological image; according to the full-picture cruise map of the pathological image, automatically monitors and tracks the image zoom events and the pathological image cruise movement events in the pathological image display area, and converts and obtains event monitoring trigger instructions; the navigation map control configuration operation subsystem performs navigation map control configuration calculation according to the event monitoring trigger instruction, and obtains the pathological image zoom ratio data and the cruise movement center position data; the synchronous rendering and annotation viewport tracking subsystem performs navigation map annotation rendering according to the pathological image zoom ratio data and the cruise movement center position data, tracks and annotates the viewport center in real time, and realizes microscopic precision zooming of the full-slice pathological image, synchronous navigation map annotation rendering and automatic Cruise navigation positioning; by monitoring the moving images within the area, using the image positioning and navigation system, automatically patrol the moving trajectory of the image, globally display the cruise area, track and mark the viewport center in real time; automatically display the visible area mask and crosshair marking center in the automatic cruise display frame of the full-slice digital pathology slice display area; and perform automatic cruise mask content microscopic display; realize the positioning and navigation display of pathology images; can identify the size of digital pathology images, calculate the center coordinate point, match the cruise area of ​​different viewports, and mark the reading center with a crosshair; realize high-precision automatic cruise marking of pathology navigation maps and pathology digital maps; can link the movement and zooming operations during the review process to realize fully automatic strong association between the slice digital image and the navigation full-view image; can realize non-sensing position prediction, improve the diagnostic experience and accuracy; greatly reduce the number of repeated zooming of digital images by diagnostic doctors, significantly reduce the mental burden, and greatly improve the efficiency of pathology diagnosis.

[0090] In one embodiment, S100 includes:

[0091] S101, obtains multi-level visual full-slice pathology images through seamless multi-view stitching and edge smoothing;

[0092] S102, obtaining a multi-level navigation area base map of the pathology image through automatic multi-level recognition and automatic area matching based on the multi-level visualized full-slice pathology image;

[0093] S103, identifying the current pathology image of the full-slice pathology image through automatic image cruise positioning based on the multi-level navigation area base map of the pathology image; displaying the full picture of the full-slice pathology image based on the current pathology image of the full-slice pathology image, and obtaining a full picture of the pathology image cruise;

[0094] Obtaining a multi-level visualized full-slice pathology image includes: determining a first-level navigation area base map of the first-level visualized full-slice pathology image according to a multi-field first-field seamless stitching parameter, and determining a first-level navigation area panorama of the second-level visualized full-slice pathology image according to a multi-field second-field seamless stitching parameter, and then mapping the first-level navigation area base map and the first-level navigation area panorama to a preset simulation space, obtaining a first-level navigation area base map simulation reconstruction layer corresponding to the first-level navigation area base map and a first-level navigation area panorama simulation reconstruction layer corresponding to the first-level navigation area panorama, and determining a matching relationship between multiple simulation reconstruction layers in the preset simulation space, performing multi-level recognition layer matching between the first-level visualized full-slice pathology image and the at least one second-level visualized full-slice pathology image, and obtaining a multi-level visualized full-slice pathology image.

[0095] The principle and effect of the above technical solution are as follows: according to the multi-level recognition layer matching, multi-field seamless stitching and edge smoothing processing are used to obtain a multi-level visualized full-slice pathology image; according to the multi-level visualized full-slice pathology image, a multi-level navigation area base map of the pathology image is obtained through automatic multi-layer recognition and automatic area matching; according to the multi-level navigation area base map of the pathology image, the current pathology image of the full-slice pathology image is identified through image automatic cruise positioning; according to the current pathology image of the full-slice pathology image, the full picture of the full-slice pathology image is displayed, and a cruise full picture of the pathology image is obtained; obtaining the multi-level visualized full-slice pathology image includes: determining the first-level navigation area base map of the first-level visualized full-slice pathology image according to the multi-field first field seamless stitching parameters, and determining the first-level visualized full-slice pathology image of the second-level visualized full-slice pathology image according to the multi-field second field seamless stitching parameters. A hierarchical navigation area panorama, and then mapping the first-level navigation area base map and the first-level navigation area panorama to a preset simulation space to obtain a first-level navigation area base map simulation reconstruction layer corresponding to the first-level navigation area base map and a first-level navigation area panorama simulation reconstruction layer corresponding to the first-level navigation area panorama, and determining the matching relationship between multiple simulation reconstruction layers in the preset simulation space, performing multi-level recognition layer matching between the first-level visualized full-slice pathology image and the at least one second-level visualized full-slice pathology image, and obtaining a multi-level visualized full-slice pathology image; being able to perform multi-view seamless splicing and edge smoothing processing of images to obtain a multi-level visualized full-slice pathology image; being able to identify the current pathology image of the full-slice pathology image, and display the panorama of the full-slice pathology image; and being able to perform multi-level recognition area matching of the full-slice pathology image.

[0096] In one embodiment, S200 includes:

[0097] S201, obtaining pathology image operation monitoring event information through automatic information monitoring based on the pathology image cruise overview; the pathology image operation monitoring event information includes: pathology image translation monitoring event information and pathology image zoom monitoring event information;

[0098] S202, operating monitoring event information based on the pathological image, and associating the monitoring event information with a tracking instruction;

[0099] S203, according to the association between the monitoring event information and the tracking instruction, the image zoom event of the pathological image display area and the pathological image cruise movement event are automatically tracked through the event information tracking instruction program, and the pathological image operation monitoring event information is converted into an event monitoring trigger instruction.

[0100] The principle and effect of the above technical solution are: using information to automatically track and monitor triggers, according to the overall picture of the pathological image cruise, through automatic information monitoring, obtain pathological image operation monitoring event information; pathological image operation monitoring event information includes: pathological image translation monitoring event information and pathological image zoom monitoring event information; according to the pathological image operation monitoring event information, the monitoring event information is associated with the tracking instruction; according to the association of the monitoring event information with the tracking instruction, through the event information tracking instruction program, the pathological image display area image zoom event and the pathological image cruise movement event are automatically tracked, and the pathological image operation monitoring event information is converted into an event monitoring trigger instruction; it can automatically monitor the pathological image operation monitoring event information, associate the monitoring event information with the tracking instruction, and automatically track the pathological image display area image zoom event and the pathological image cruise movement event; so that the pathological image operation can be automatically tracked and automatically triggered in large quantities according to the instruction.

[0101] In one embodiment, S300 includes:

[0102] S301, performing navigation map control configuration according to event monitoring trigger instructions;

[0103] S302, calculating in real time the current visible mask size ratio in the pathology image automatic cruise display frame according to the navigation map control configuration;

[0104] S303, calculating the current center position coordinates during the cruise movement process in real time; obtaining the pathological image scaling data and the cruise movement center position data.

[0105] The principle and effect of the above technical solution are as follows: using the navigation map control configuration operation, according to the event monitoring trigger instruction, the navigation map control configuration is performed; according to the navigation map control configuration, the current visible mask size ratio in the pathology image automatic cruise display frame is calculated in real time; the current center position coordinates during the cruise movement are calculated in real time; the pathology image scaling ratio data and the cruise movement center position data are obtained;

[0106] Calculate the mask loss coefficient value of the current visible mask:

[0107]

[0108] Among them, MBSZft represents the current visible mask loss coefficient value, FSmd(x,y) represents the current visible mask average reflection density value, TSmd(x,y) represents the current visible mask average transmission density value, FSnc(x,y) represents the average reflection density value of the multi-level navigation area base map, TSnc(x,y) represents the average transmission density value of the multi-level navigation area base map, R represents the mask loss weight value, and SHpy represents the offset mask loss coefficient value; by calculating the current visible mask loss coefficient value, adjusting the average reflection density value and the average transmission density value, the current visible mask loss information can be greatly reduced.

[0109] In one embodiment, S400 includes:

[0110] S401, automatically converting the scale of the data generated by the full-slice pathology image control operation according to the pathology image scaling data and the cruise movement center position data;

[0111] S402, by controlling parallel synchronous processing, synchronously performing navigation icon annotation rendering, globally displaying the cruising area, and tracking and marking the viewport center position in real time;

[0112] S403 automatically patrols the image movement trajectory through automatic scale conversion, real-time tracking and marking of the viewport center position; achieves microscopic precision zooming of full-slice pathology images, synchronous navigation map annotation rendering, and automatic cruise navigation positioning;

[0113] According to the viewport center position, the cruising area and the multi-level depth layer, the viewport center position information of each multi-level depth layer is projected onto a local navigation map centered on the viewport center position according to their respective set weights to obtain an updated local navigation map; wherein, the local navigation map is used to guide the viewport center to perform corresponding operations on the initial cruising area during the patrol along the image movement trajectory; when the image movement trajectory changes, return to execute the steps of obtaining the viewport center position, the cruising area and the multi-level depth layer at the viewport center position to update the navigation map annotation rendering, globally display the cruising area, and track and mark the viewport center position in real time.

[0114] The principle and effect of the above technical solution are as follows: using synchronous rendering to annotate viewport tracking, according to the pathological image scaling data and the cruise movement center position data, the data generated by the full-slice pathological image control operation is automatically scaled; by controlling parallel synchronous processing, the navigation map annotation rendering is performed synchronously, the cruise area is displayed globally, and the viewport center position is tracked and annotated in real time; by automatic scale conversion and real-time tracking and annotating the viewport center position, the image movement trajectory is automatically patrolled; full-slice pathological image microscopic precision scaling, synchronous navigation map annotation rendering and automatic cruise navigation positioning are achieved; according to the viewport center position, the cruise area and the multi-level depth layer, the viewport center position information of each multi-level depth layer is projected onto the local area centered on the viewport center position according to the respective set weights. The local navigation map is used to guide the viewport center to perform corresponding operations on the initial cruise area during the patrol along the image movement trajectory; when the image movement trajectory changes, the step of obtaining the viewport center position, the cruise area and the multi-level depth layer at the viewport center position is returned to update the navigation map annotation rendering, globally display the cruise area, and track and mark the viewport center position in real time; high-precision automatic cruise annotation of pathology navigation maps and pathology digital maps can be achieved; the movement and zooming operations during the review process can be linked to achieve fully automatic strong association between the slice digital image and the navigation full-view image; non-sensory position prediction can be achieved, and the diagnostic experience and accuracy can be improved; and the number of repeated zooms of digital images by diagnostic doctors can be greatly reduced.

[0115] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An automatic cruise positioning navigation system for pathological images, characterized in that: include: The multi-level recognition layer matching subsystem performs automatic multi-level recognition and automatic area matching through image automatic cruise positioning to obtain a multi-level navigation area base map of the pathology image, identify the current pathology image of the full-slice pathology image, and obtain a full picture of the pathology image cruise; The automatic tracking and monitoring trigger subsystem automatically monitors and tracks the image zoom events and pathology image cruise movement events in the pathology image display area according to the overall picture of the pathology image cruise, and converts and obtains event monitoring trigger instructions; The navigation map control configuration calculation subsystem performs navigation map control configuration calculations based on event monitoring trigger instructions, and obtains pathological image scaling data and cruise movement center position data; The synchronous rendering and annotation viewport tracking subsystem performs navigation image annotation and rendering according to the pathology image scaling data and cruise movement center position data, tracks and annotates the viewport center in real time, and realizes microscopic precision zooming of full-slice pathology images, synchronous navigation image annotation and rendering, and automatic cruise navigation positioning; By monitoring the moving images within the area, the image positioning and navigation system is used to automatically patrol the moving trajectory of the image, globally display the cruise area, and track and mark the viewport center in real time; the full-slice digital pathology slice display area automatically displays the visible area mask and the crosshair marking center in the automatic cruise display frame; and performs automatic cruise mask content microscopic display; realizes the positioning and navigation display of pathology images; can identify the size of digital pathology images, calculate the center coordinate point, match the cruise area of ​​different viewports, and mark the reading center with a crosshair; realizes high-precision automatic cruise marking of pathology navigation maps and pathology digital maps; can link the movement and zooming operations during the review process, and realizes the fully automatic strong association between the slice digital image and the navigation full-view image; Able to achieve sensorless position prediction; The synchronous rendering annotation viewport tracking subsystem includes: The operation data scaling subsystem automatically scales the data generated by the full-slice pathology image control operation based on the pathology image scaling data and the cruise movement center position data; Control the synchronous viewport tracking subsystem, control parallel synchronous processing, synchronously perform navigation map annotation rendering, globally display the cruise area, and track and mark the viewport center position in real time; The mobile trajectory automatic cruise subsystem automatically patrols the image movement trajectory through automatic scale conversion, real-time tracking and marking of the viewport center position; it realizes microscopic precision zooming of full-slice pathology images, synchronous navigation map annotation rendering and automatic cruise navigation positioning; According to the viewport center position, the cruising area and the multi-level depth layer, the viewport center position information of each multi-level depth layer is projected onto a local navigation map centered on the viewport center position according to their respective set weights to obtain an updated local navigation map; wherein, the local navigation map is used to guide the viewport center to perform corresponding operations on the initial cruising area during the patrol along the image movement trajectory; when the image movement trajectory changes, return to execute the steps of obtaining the viewport center position, the cruising area and the multi-level depth layer at the viewport center position to update the navigation map annotation rendering, globally display the cruising area, and track and mark the viewport center position in real time.

2. The automatic cruise positioning navigation system for pathological images according to claim 1, characterized in that: The multi-level recognition layer matching subsystem includes: The multi-field full-slice stitching subsystem acquires multi-level visualized full-slice pathology images through seamless stitching and edge smoothing of multiple fields of view; The multi-layer recognition and region matching subsystem obtains a multi-layer navigation region base map of the pathology image through automatic multi-layer recognition and automatic region matching based on the multi-layer visualization of the full-slice pathology image; The pathology image full picture recognition subsystem identifies the current pathology image of the full-slice pathology image through automatic image cruise positioning based on the multi-level navigation area base map of the pathology image; displays the full picture of the full-slice pathology image based on the current pathology image of the full-slice pathology image, and obtains the full picture of the pathology image cruise.

3. The automatic cruise positioning navigation system for pathological images according to claim 1, characterized in that: The automatic tracking, monitoring and triggering subsystem includes: The full-image information automatic monitoring subsystem automatically monitors the full-image of the pathological image and obtains the pathological image operation monitoring event information through automatic information monitoring; the pathological image operation monitoring event information includes: pathological image translation monitoring event information and pathological image zoom monitoring event information; The event information tracking instruction association subsystem operates monitoring event information based on pathological images and associates monitoring event information with tracking instructions; The event monitoring trigger instruction subsystem associates the monitoring event information with the tracking instruction, and automatically tracks the image zoom event and the pathology image cruise movement event of the pathology image display area through the event information tracking instruction program, and converts the pathology image operation monitoring event information into the event monitoring trigger instruction.

4. The automatic cruise positioning navigation system for pathological images according to claim 1, characterized in that: The navigation map control configuration operation subsystem includes: The monitoring trigger control configuration subsystem performs navigation map control configuration according to the event monitoring trigger instructions; The mask ratio real-time calculation subsystem calculates the current visible mask size ratio in the pathology image automatic cruise display frame in real time according to the navigation map control configuration; The cruise center position data subsystem calculates the current center position coordinates during the cruise movement in real time; obtains the pathological image scaling data and the cruise movement center position data.

5. An automatic cruise positioning and navigation method for pathological images, characterized in that: include: S100, through automatic image cruise positioning, automatic multi-layer recognition and automatic area matching, obtains a multi-level navigation area base map of the pathology image, identifies the current pathology image of the full-slice pathology image, and obtains a full picture of the pathology image cruise; S200, based on the full picture of the pathological image cruise, automatically monitor and track the image zoom event and the pathological image cruise movement event in the pathological image display area, and convert and obtain the event monitoring trigger instruction; S300, the navigation map control configuration calculation subsystem performs navigation map control configuration calculation according to the event monitoring trigger instruction, and obtains the pathological image scaling ratio data and the cruise movement center position data; S400, a synchronous rendering and annotation viewport tracking subsystem, performs simultaneous rendering and annotation of navigation diagrams based on pathology image scaling data and cruise movement center position data, tracks and annotates the viewport center in real time, and achieves microscopic precision scaling of full-slice pathology images, synchronous rendering and annotation of navigation diagrams, and automatic cruise navigation positioning; By monitoring the moving images within the area, the image positioning and navigation system is used to automatically patrol the moving trajectory of the image, globally display the cruise area, and track and mark the viewport center in real time; the full-slice digital pathology slice display area automatically displays the visible area mask and the crosshair marking center in the automatic cruise display frame; and performs automatic cruise mask content microscopic display; realizes the positioning and navigation display of pathology images; can identify the size of digital pathology images, calculate the center coordinate point, match the cruise area of ​​different viewports, and mark the reading center with a crosshair; realizes high-precision automatic cruise marking of pathology navigation maps and pathology digital maps; can link the movement and zooming operations during the review process, and realizes the fully automatic strong association between the slice digital image and the navigation full-view image; Able to achieve sensorless position prediction; S400, including: S401, automatically converting the scale of the data generated by the full-slice pathology image control operation according to the pathology image scaling data and the cruise movement center position data; S402, by controlling parallel synchronous processing, synchronously performing navigation icon annotation rendering, globally displaying the cruising area, and tracking and marking the viewport center position in real time; S403 automatically patrols the image movement trajectory through automatic scale conversion, real-time tracking and marking of the viewport center position; achieves microscopic precision zooming of full-slice pathology images, synchronous navigation map annotation rendering, and automatic cruise navigation positioning; According to the viewport center position, the cruising area and the multi-level depth layer, the viewport center position information of each multi-level depth layer is projected onto a local navigation map centered on the viewport center position according to their respective set weights to obtain an updated local navigation map; wherein, the local navigation map is used to guide the viewport center to perform corresponding operations on the initial cruising area during the patrol along the image movement trajectory; when the image movement trajectory changes, return to execute the steps of obtaining the viewport center position, the cruising area and the multi-level depth layer at the viewport center position to update the navigation map annotation rendering, globally display the cruising area, and track and mark the viewport center position in real time.

6. The automatic cruise positioning and navigation method of pathological images according to claim 5, characterized in that: S100, including: S101, obtains multi-level visual full-slice pathology images through seamless multi-view stitching and edge smoothing; S102, obtaining a multi-level navigation area base map of the pathology image through automatic multi-level recognition and automatic area matching based on the multi-level visualized full-slice pathology image; S103, identifying the current pathological image of the full-slice pathological image through automatic image cruise positioning according to the multi-level navigation area base map of the pathological image; displaying the full picture of the full-slice pathological image according to the current pathological image of the full-slice pathological image, and obtaining a full picture of the pathological image cruise.

7. The method for automatic cruise positioning and navigation of pathological images according to claim 5, characterized in that: S200, including: S201, obtaining pathology image operation monitoring event information through automatic information monitoring based on the pathology image cruise overview; the pathology image operation monitoring event information includes: pathology image translation monitoring event information and pathology image zoom monitoring event information; S202, operating monitoring event information based on the pathological image, and associating the monitoring event information with a tracking instruction; S203, according to the association between the monitoring event information and the tracking instruction, the image zoom event of the pathological image display area and the pathological image cruise movement event are automatically tracked through the event information tracking instruction program, and the pathological image operation monitoring event information is converted into an event monitoring trigger instruction.

8. The automatic cruise positioning and navigation method of pathological images according to claim 5, characterized in that: S300, including: S301, performing navigation map control configuration according to event monitoring trigger instructions; S302, calculating in real time the current visible mask size ratio in the pathology image automatic cruise display frame according to the navigation map control configuration; S303, calculating the current center position coordinates during the cruise movement process in real time; obtaining the pathological image scaling data and the cruise movement center position data.

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