Medical navigation registration method, terminal and storage medium

Abstract

Embodiments of the present application provide a medical navigation registration method, a terminal and a storage medium. The method can acquire a cavity model of a cavity and identify a cavity tree structure in the model. When a catheter is operating in the cavity, a catheter positioning curve is generated according to positioning information of multiple positioning sensors in the catheter. Registration and navigation are performed in the main stem structure according to the catheter positioning curve, and when the catheter positioning curve exceeds the main stem structure, a local positioning curve that exceeds the main stem structure is determined. Feature matching is performed between the local positioning curve and multiple path curves corresponding to multiple cavities in the fine branch structure to obtain a target path curve. According to a path point on the target path curve that is adapted to the local positioning curve, the actual position of the catheter head end in the cavity is registered to a target cavity corresponding to the target path curve. In this way, the target cavity in the cavity model corresponding to the actual position of the catheter head end can be accurately determined, and the actual position of the catheter head end can be accurately registered to the target cavity.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a medical navigation registration method, terminal and storage medium. Background Technology

[0002] Currently, in clinical practice of lung diseases, a three-dimensional model of the patient's lungs can usually be created based on the patient's imaging data, and the three-dimensional model can be preliminarily registered. Doctors can then control the movement of the catheter within the patient's lung cavity based on the preliminarily registered three-dimensional model.

[0003] However, on the one hand, the cavity will deform due to the respiratory movements of the human body, and on the other hand, the cavity will also deform after the catheter is inserted from the outside. The cavity deformation caused by these two aspects can further reduce the accuracy of the initial registration result, and thus make it impossible to accurately match the actual position of the cavity to the three-dimensional model.

[0004] Therefore, a solution is urgently needed. Summary of the Invention

[0005] This application provides a medical navigation registration method, terminal, and storage medium to accurately match the actual position of a cavity to the interior of a three-dimensional model.

[0006] This application provides a medical navigation registration method applied to a medical control terminal electrically connected to a medical catheter. The medical control terminal is used to control the medical catheter to operate within a target cavity. Multiple positioning sensors are installed inside the medical catheter. The method includes: acquiring a three-dimensional cavity model obtained by three-dimensional reconstruction of the target cavity; identifying a tree-like structure of cavities within the three-dimensional cavity model, the tree-like structure including a trunk structure, fine branch structures, and multiple boundary bifurcation points connecting the trunk structure and the fine branch structures, the fine branch structures including multiple cavities connected to the multiple boundary bifurcation points; and, when the medical catheter operates within the target cavity, adjusting the positioning information collected by the multiple positioning sensors within the medical catheter. The process involves generating a catheter positioning curve for the medical catheter within the target cavity; registering and navigating the main structure based on the catheter positioning curve; and determining local positioning curves that extend beyond the main structure when the catheter positioning curve exceeds the main structure. These local positioning curves are then matched with multiple path curves corresponding to multiple cavities in the branch structure to obtain target path curves that meet the matching conditions. Based on the path points on the target path curve that match the local positioning curves, the actual position of the tip of the medical catheter within the target cavity is registered to the target cavity corresponding to the target path curve, thereby enabling navigation control of the medical catheter based on the target cavity.

[0007] Further optionally, the cavity model is identified to obtain a cavity tree structure within the cavity model, including: using a thinning algorithm to extract the model centerline that runs through the center of each cavity in the three-dimensional cavity model; using a preset partitioning rule to hierarchically divide the model centerline to form a cavity tree structure containing multiple branching points, wherein the multiple branching points have levels and each branching point connects to at least one cavity; according to the levels of the multiple branching points, the branching points belonging to a set level are used as boundary branching points to divide the cavity tree structure into the trunk structure and the fine branch structure; wherein the level of the branching point located in the trunk structure is higher than the level of the boundary branching point.

[0008] Further optionally, generating a catheter positioning curve of the medical catheter in the target cavity based on positioning information collected by multiple positioning sensors within the medical catheter includes: sorting the positioning information collected by the multiple positioning sensors according to their relative positions within the target cavity; and performing curve fitting on the sorted positioning information collected by the multiple positioning sensors to obtain the catheter positioning curve.

[0009] Further optionally, if the catheter positioning curve exceeds the main structure, determining the local positioning curves that exceed the main structure in the navigation positioning curve includes: projecting multiple location points of the catheter positioning curve onto the cavity tree structure to obtain a mapped shape curve; if the mapped shape curve extends into the fine branch structure, then it is determined that the catheter positioning curve exceeds the main structure, and the local positioning curves corresponding to the portion of the mapped shape curves extending into the fine branch structure on the catheter positioning curve are obtained.

[0010] Optionally, before performing feature matching between the local positioning curves and the multiple path curves corresponding to the multiple cavities in the fine branch structure to obtain target path curves that meet the matching conditions, the method further includes: using an interpolation method to interpolate the known positioning points in the model centerline that runs through the center of each cavity in the three-dimensional cavity model to obtain a centerline curve point set; wherein the relative positional relationship of the known positioning points on the model centerline is adapted to the relative positional relationship of the multiple positioning sensors in the target cavity; from the centerline curve point set, obtaining multiple centerline curves that start from each boundary bifurcation point and reach the end of the multiple cavities in the fine branch structure; according to the number S of path points contained in the local positioning curve, for each centerline curve, selecting S path points starting from the starting point to obtain multiple path curves.

[0011] Optionally, the local positioning curve is further matched with multiple path curves corresponding to multiple cavities in the fine branch structure to obtain a target path curve that meets the matching conditions. This includes: aligning the local positioning curve with the multiple path curves corresponding to multiple cavities in the fine branch structure; performing feature calculation on each path point of the local positioning curve and the multiple path curves to obtain the feature vectors corresponding to each of the local positioning curve and the multiple path curves; calculating the sum of feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the multiple path curves; and selecting the path curve with the smallest sum of feature differences with the local positioning curve from the multiple path curves as the target path curve.

[0012] Optionally, feature calculations are performed on each path point on the local positioning curve and the multiple path curves to obtain the feature vectors corresponding to each of the local positioning curve and the multiple path curves. This includes: calculating multiple feature quantities of each path point on the local positioning curve and the multiple path curves as features of that path point; the multiple feature quantities include, but are not limited to, at least one of the following: the approximate curvature value of the path point, the normal vector corresponding to the approximate curvature value, the position coordinates of the path point, and the Euclidean distance of the path point from the starting point of its respective curve; and obtaining the feature vectors corresponding to each of the local positioning curve and the multiple path curves based on the features of each path point on the local positioning curve and the multiple path curves.

[0013] Further optionally, the sum of feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the multiple path curves is calculated, including: for any path curve, calculating the difference between each feature quantity between any path point on the local positioning curve and the corresponding path point on the path curve; using a preset feature weight coefficient, weighting and summing the differences of each feature quantity to obtain the sum of feature differences between any path point on the local positioning curve and the corresponding path point on the path curve; and superimposing the sum of feature differences between each path point on the local positioning curve and each corresponding path point on the path curve to obtain the sum of feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the path curves.

[0014] Further optionally, based on the path points on the target path curve that match the local positioning curve, the actual position of the tip of the medical catheter in the target cavity is registered to the target cavity corresponding to the target path curve, so as to perform navigation control of the medical catheter based on the target cavity. This includes: using the end path point on the target path curve as the mapping position of the tip of the medical catheter in the fine branching structure corresponding to the target cavity of the target path curve; and registering the actual position of the tip of the medical catheter in the target cavity to the mapping position in the target cavity, so as to perform navigation control of the medical catheter based on the target cavity.

[0015] This application embodiment also provides a medical control terminal, including: a memory and a processor; wherein, the memory is used to: store one or more computer instructions; the processor is used to execute the one or more computer instructions to: perform the steps in the medical navigation registration method.

[0016] This application also provides a computer-readable storage medium that, when executed by a processor, enables the processor to implement the steps in the medical navigation registration method.

[0017] In this embodiment, a cavity model of the cavity can be obtained and the tree-like structure of the cavity channels within the model can be identified. When the catheter operates within the cavity, a catheter positioning curve is generated based on the positioning information of multiple positioning sensors within the catheter. Registration and navigation are performed on the main structure based on the catheter positioning curve, and when the catheter positioning curve exceeds the main structure, the local positioning curve that exceeds the main structure is determined. Feature matching is performed between the local positioning curve and multiple path curves corresponding to multiple cavities in the fine branch structure to obtain the target path curve. Based on the path points on the target path curve that match the local positioning curve, the actual position of the catheter tip in the cavity is registered to the target cavity corresponding to the target path curve. In this way, even when the cavity deforms, the medical control terminal can still generate catheter positioning curves based on multiple positioning sensors inside the catheter to determine the catheter's pose and shape. Through feature matching between curves, it can determine the target path curve corresponding to the local positioning curve in the fine branch structure from multiple path curves corresponding to multiple cavities in the fine branch structure (i.e., determine the target path curve that is more similar to the catheter's pose and shape). This allows for a more accurate estimation of the actual position of the catheter tip in the target cavity in the three-dimensional cavity model, and thus allows for a more accurate registration of the actual position of the catheter tip to the target cavity. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 A flowchart illustrating a medical navigation registration method provided as an exemplary embodiment of this application;

[0020] Figure 2 A schematic diagram of a cavity tree structure provided in an exemplary embodiment of this application;

[0021] Figure 3 A schematic diagram of the branching points of a cavity tree structure provided in an exemplary embodiment of this application;

[0022] Figure 4 A schematic diagram illustrating the selection of a path curve provided for an exemplary embodiment of this application;

[0023] Figure 5 This is a schematic diagram of the structure of a medical control terminal provided as an exemplary embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Currently, in clinical practice of lung diseases, a three-dimensional model of the patient's lungs can usually be created based on the patient's imaging data, and the three-dimensional model can be preliminarily registered. Doctors can then control the movement of the catheter within the patient's lung cavity based on the preliminarily registered three-dimensional model.

[0026] However, on the one hand, the cavity will deform due to the respiratory movements of the human body, and on the other hand, the cavity will also deform after the catheter is inserted from the outside. The cavity deformation caused by these two aspects can further reduce the accuracy of the initial registration result, and thus make it impossible to accurately match the actual position of the cavity to the three-dimensional model.

[0027] In view of the above-mentioned technical problems, a solution is provided in some embodiments of this application. The technical solutions provided by the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0028] Figure 1 This is a flowchart illustrating a medical navigation registration method provided in an exemplary embodiment of this application, as shown below. Figure 1 As shown, the method includes:

[0029] Step 11: Obtain the three-dimensional cavity model obtained by three-dimensional reconstruction of the target cavity.

[0030] Step 12: Identify the tree-like structure of the cavity channels within the 3D cavity model. The tree-like structure of the cavity channels includes: a main structure, a fine branch structure, and multiple boundary bifurcation points connecting the main structure and the fine branch structure. The fine branch structure includes multiple cavities connected to the multiple boundary bifurcation points.

[0031] Step 13: When the medical catheter is operating in the target cavity, generate a catheter positioning curve in the target cavity based on the positioning information collected by multiple positioning sensors inside the medical catheter.

[0032] Step 14: Register and navigate within the main structure based on the catheter positioning curve, and if the catheter positioning curve extends beyond the main structure, determine the local positioning curve that extends beyond the main structure in the navigation positioning curve.

[0033] Step 15: Perform feature matching between the local positioning curve and the multiple path curves corresponding to the multiple cavities in the fine branch structure to obtain the target path curve that meets the matching conditions.

[0034] Step 16: Based on the path points on the target path curve that match the local positioning curve, register the actual position of the tip of the medical catheter in the target cavity to the target cavity corresponding to the target path curve, so as to perform navigation control of the medical catheter based on the target cavity.

[0035] This embodiment can be executed by a medical control terminal, which can be electrically connected to the medical catheter and used to control the operation of the medical catheter within the target cavity. The medical catheter contains multiple positioning sensors; the number of positioning sensors and their relative positions can be set according to design requirements, and this embodiment does not impose any limitations.

[0036] In this embodiment, a three-dimensional cavity model obtained by three-dimensional reconstruction of the target cavity can be acquired. The medical control terminal can acquire CT (Computed Tomography) data of the target cavity and perform three-dimensional reconstruction of the target cavity based on the CT data to obtain a three-dimensional cavity model corresponding to the target cavity. Furthermore, the tree-like structure of the cavity channels within the three-dimensional cavity model can be identified. This tree-like structure may include: a main structure, fine branch structures, and multiple boundary bifurcation points connecting the main structure and the fine branch structures. The fine branch structures include multiple cavities connected to the multiple boundary bifurcation points. Figure 2The above-mentioned tree-like structure of cavities is illustrated by way of example, which shows a fine branch structure and a trunk structure. Multiple boundary bifurcation points connecting the fine branch structure and the trunk structure include A, B, C, and D. In the fine branch structure, each boundary bifurcation point among A, B, C, and D can connect multiple cavities.

[0037] When a medical catheter is operating within a target cavity, the medical control terminal can generate a catheter positioning curve within the target cavity based on positioning information collected by multiple positioning sensors inside the medical catheter. Since multiple positioning sensors are located inside the medical catheter, each sensor can collect positioning information. The catheter positioning curve obtained by fusing this information together can characterize the shape, orientation, and position of the medical catheter.

[0038] The medical control terminal can perform registration and navigation within the main structure based on the catheter positioning curve. The main structure can be pre-set with point cloud acquisition points. When the catheter positioning curve reaches a point cloud acquisition point, the medical control terminal can control the medical catheter to acquire point clouds of the main structure within the target cavity. Then, using the ICP (Iterative Closest Point) algorithm, the acquired point cloud data of the main structure is used to register a 3D cavity model, matching the actual spatial position within the target cavity to the 3D cavity model, thus completing the registration and enabling navigation of the medical catheter. The ICP algorithm is a point cloud data registration method.

[0039] The medical control terminal can identify local positioning curves that extend beyond the main structure when the catheter positioning curve exceeds the main structure. Then, the medical control terminal can perform feature matching between these local positioning curves and multiple path curves corresponding to multiple cavities within the minor branching structures to obtain the target path curve that meets the matching conditions. Figure 2 Taking the finely branched structure shown as an example, A, B, C, and D connect multiple cavities, each corresponding to a path curve. Based on this, the medical control terminal can perform feature matching between the local positioning curve and multiple path curves, thereby selecting the path curve that meets the matching conditions as the target path curve. The matching conditions can be understood as feature similarity conditions; this step aims to filter out target path curves from multiple path curves that are feature-similar to the local positioning curve through feature matching.

[0040] After obtaining the target path curve, the medical control terminal can calibrate the actual position of the tip of the medical catheter in the target cavity to the target cavity corresponding to the target path curve based on the path points on the target path curve that match the local positioning curve.

[0041] The medical control terminal determines the mapped position of the medical catheter tip within the target cavity based on path points on the target path curve that match the local positioning curve. It then establishes a correspondence between this mapped position and the actual position of the medical catheter tip within the target cavity, thus completing registration. This registration allows for navigation control of the medical catheter based on the target cavity. In this way, the medical control terminal can accurately navigate and control the medical catheter's movement within the target cavity after registration.

[0042] In this embodiment, the medical control terminal can acquire the cavity model of the cavity and identify the tree-like structure of the cavity channels within the model. When the medical catheter operates within the cavity, a catheter positioning curve is generated based on the positioning information of multiple positioning sensors within the medical catheter. Registration and navigation are performed on the main structure based on the catheter positioning curve, and the local positioning curve that exceeds the main structure is determined when the catheter positioning curve exceeds the main structure. Feature matching is performed between the local positioning curve and multiple path curves corresponding to multiple cavities in the fine branch structure to obtain the target path curve. Based on the path points on the target path curve that match the local positioning curve, the actual position of the catheter tip in the cavity is registered to the target cavity corresponding to the target path curve.

[0043] In this way, even when the cavity deforms, the medical control terminal can still generate catheter positioning curves based on multiple positioning sensors inside the catheter to determine the catheter's pose and shape. Through feature matching between curves, it can determine the target path curve corresponding to the local positioning curve in the fine branch structure from multiple path curves corresponding to multiple cavities in the fine branch structure (i.e., determine the target path curve that is more similar to the catheter's pose and shape). This allows for a more accurate estimation of the actual position of the catheter tip in the target cavity in the three-dimensional cavity model, and thus allows for a more accurate registration of the actual position of the catheter tip to the target cavity.

[0044] In some optional embodiments, step 12 of the foregoing embodiments, "identifying the cavity model to obtain the cavity channel tree structure within the cavity model," can be implemented based on the following steps:

[0045] Step 121: Extract the model centerline within the 3D cavity model using a thinning algorithm. The thinning algorithm is a method for extracting contour centerlines. The medical control terminal can utilize this algorithm to extract the model centerline of each cavity within the 3D cavity model; this model centerline runs through the center of each cavity within the 3D cavity model.

[0046] Step 122: Using preset partitioning rules, the model centerline is hierarchically divided to form a cavity tree structure containing multiple branching points. These branching points have levels, and each branching point connects to at least one cavity. The partitioning rules indicate the location and level of the branching points in the model centerline and can be customized by the user according to design requirements. Figure 2 As shown, according to the division rules, branching points can be set at the bifurcation points on the model's center line, thereby dividing the model's center line into hierarchical levels and forming a cavity tree structure containing multiple branching points.

[0047] Step 123: Based on the levels of multiple branching points, the branching points belonging to the set level are taken as boundary branching points to divide the cavity tree structure into the trunk structure and the fine branch structure; wherein, the level of the branching point located in the trunk structure is higher than the level of the boundary branching point.

[0048] by Figure 3 For example, the numbers 1-4 shown represent the levels of the branching points. With level 3 set, the medical control terminal can use the level 3 branching point as the boundary branching point, thereby dividing the cavity tree structure into a main structure and fine branching structures. The set level can be customized according to design requirements, and can be any level such as 1, 2, 3, or 4. This application does not limit this setting. Figure 3 This is merely an illustrative example and does not constitute a limitation.

[0049] In this way, the medical control terminal can more accurately identify the cavity model and obtain the tree-like structure of the cavity channels within the cavity model.

[0050] In some optional embodiments, step 13 in the foregoing embodiments, "generating a catheter positioning curve of the medical catheter in the target cavity based on the positioning information collected by multiple positioning sensors inside the medical catheter," can be implemented based on the following steps:

[0051] Step 131: Sort the positioning information collected by the multiple positioning sensors according to their relative positions within the target cavity. The relative positions of the multiple positioning sensors within the target cavity are known and can be either equally spaced or unequally spaced; this is not limited. In a preferred embodiment, the multiple positioning sensors can be arranged sequentially at equal intervals from the tip of the medical catheter. For example, if there are n positioning sensors, arranged sequentially at equal intervals from the tip as positioning sensor Q1, positioning sensor Q2…positioning sensor Qn, and the positioning information collected by the n positioning sensors is p1, p2…pn respectively, then the medical control terminal can sort the positioning information collected by the n positioning sensors into {p1, p2…pn} according to their relative positions within the target cavity.

[0052] Step 132: Perform curve fitting on the positioning information collected by the sorted multiple positioning sensors to obtain the catheter positioning curve. The medical control terminal can use a spline interpolation algorithm to perform curve fitting on the positioning information collected by the sorted multiple positioning sensors. Spline interpolation is an algorithm that uses variable splines to construct a smooth curve passing through a series of points. Specifically, the medical control terminal can determine a function segment based on any two adjacent positioning information segments, and then combine multiple function segments into a smooth function to complete the curve fitting and obtain the catheter positioning curve.

[0053] In this way, the medical control terminal can generate a catheter positioning curve in the target cavity with relatively high accuracy based on the positioning information collected by multiple positioning sensors inside the medical catheter.

[0054] In some alternative embodiments, step 14 of the foregoing embodiments, "determining the local positioning curve that exceeds the main structure in the navigation positioning curve when the catheter positioning curve exceeds the main structure," can be implemented based on the following steps:

[0055] Step 141: Project multiple location points of the catheter positioning curve onto the cavity tree structure to obtain the mapped shape curve. The medical control terminal can use the ICP algorithm, based on the registration results in the main structure, to determine the point closest to each location point of the catheter positioning curve on the cavity tree structure, thereby projecting multiple location points of the catheter positioning curve onto the cavity tree structure.

[0056] Step 142: If the mapped shape curve extends into the fine branch structure, it is determined that the catheter positioning curve exceeds the main structure, and the local positioning curve corresponding to the part of the mapped shape curve extending into the fine branch structure on the catheter positioning curve is obtained.

[0057] For example, the catheter positioning curve X1 is projected onto the tree structure of the cavity to obtain the mapped shape curve X1'. If part of the mapped shape curve X1' (such as the first half of the mapped shape curve X1') has extended into the fine branch structure, then the catheter positioning curve X1 can be considered to have exceeded the main structure, and the local positioning curve corresponding to the first half of the mapped shape curve on the catheter positioning curve can be determined.

[0058] In this way, the medical control terminal can obtain the local positioning curve that has exceeded the main trunk area on the catheter positioning curve with relatively accurate accuracy.

[0059] In some optional embodiments, before performing feature matching between the local positioning curves and the multiple path curves corresponding to the multiple cavities in the fine branch structure, the medical control terminal may also perform corresponding preprocessing on the model centerline in the three-dimensional cavity model to determine multiple path curves from the model centerline. This will be further explained below in conjunction with steps R1-R3.

[0060] Step R1: Using interpolation, the known positioning points along the centerline of the model, which runs through the center of each cavity in the 3D cavity model, are interpolated to obtain the centerline curve point set. This can be achieved by inserting several positioning points into any adjacent known positioning points along the model's centerline, thus completing the interpolation process and obtaining the centerline curve point set.

[0061] Specifically, the relative positions of the known positioning points on the model's centerline are adapted to the relative positions of multiple positioning sensors within the target cavity. For example, if the relative positions of multiple positioning sensors within the target cavity are such that the intervals between adjacent positioning sensors are equal, then the relative positions of the known positioning points on the model's centerline can also be such that the intervals between adjacent known positioning points are equal. Conversely, if the relative positions of multiple positioning sensors within the target cavity are such that the intervals between adjacent positioning sensors gradually increase, then the relative positions of the known positioning points on the model's centerline can also be such that the intervals between adjacent known positioning points gradually increase. In other words, the placement of the positioning sensors within the medical catheter is correlated with the segmentation of feature points within the 3D cavity model.

[0062] It should be noted that step R1 is a processing step for the model's centerline, which runs through the center of each cavity. This means the model's centerline involves both the main structure and the finer branch structures. Therefore, steps R2-R3 can be performed to filter out the portion of the centerline curve points that involve the main structure:

[0063] Step R2: From the set of centerline curve points, obtain multiple centerline curves that start from each boundary bifurcation point and reach the ends of multiple cavities in the fine branching structure. The medical control terminal can select a subset from the set of centerline curve points that starts from each boundary bifurcation point and reaches the ends of multiple cavities in the fine branching structure, and generate multiple centerline curves based on the selected subset. Each centerline curve corresponds one-to-one with a specific cavity, and any centerline curve can be used to characterize the shape and position of the corresponding cavity.

[0064] Step R3: Based on the number S of path points contained in the local positioning curve, select S path points starting from the starting point for each centerline curve to obtain multiple path curves. The number S can be any natural number greater than 0; this embodiment does not impose any restrictions.

[0065] For example, such as Figure 5 As shown, assuming that the local positioning curve contains 5 path points, the medical control terminal can select 5 path points starting from the starting point (i.e. the boundary bifurcation point corresponding to the centerline curve) for any centerline curve (assuming it contains 15 path points). These 5 path points can form a path curve, thus obtaining 3 path curves corresponding to the centerline curve.

[0066] Through the above steps R1-R3, the medical control terminal can perform corresponding preprocessing on the model centerline in the three-dimensional cavity model to determine multiple path curves from the model centerline more accurately.

[0067] Subsequently, the medical control terminal can perform feature matching between the local positioning curve and multiple path curves corresponding to multiple cavities in the fine branch structure, based on steps 151-154, to obtain the target path curve that meets the matching conditions:

[0068] Step 151: Align the local positioning curves with the path points of the multiple path curves corresponding to the multiple cavities in the fine branch structure.

[0069] In one scenario, the positioning sensors on the medical catheter can be numbered starting from the tip of the catheter; that is, multiple positioning sensors are sequentially installed from the tip. In this case, the order of the path points in the local positioning curve is the reverse of the order of the path points in the path curve corresponding to any given cavity. Therefore, the medical control terminal can reverse the order of the path points in the local positioning curve, thereby aligning the local positioning curve with the path curve corresponding to any given cavity in the fine-branch structure. The reverse order processing refers to arranging the path points in the local positioning curve in reverse order. For example, if the local positioning curve contains path points u1, u2, u3, and u4 in that order, the reversed local positioning curve contains path points u4, u3, u2, and u1 in that order.

[0070] In another scenario, the positioning sensors on the medical catheter can be numbered starting from the end of the catheter. That is, multiple positioning sensors are sequentially installed from the tail end of the catheter. In this case, the order of the path points in the local positioning curve is the same as the order of the path points in the path curve corresponding to any given cavity. The path points of the local positioning curve are aligned with the path curve corresponding to any cavity in the fine branching structure, eliminating the need for the medical control terminal to reverse the order of the path points in the local positioning curve.

[0071] Step 152: Perform feature calculations on each path point on the local positioning curve and multiple path curves to obtain the feature vectors corresponding to each local positioning curve and multiple path curves.

[0072] Specifically, the medical control terminal can calculate multiple feature quantities for each path point on the local positioning curve and multiple path curves. These feature quantities include, but are not limited to, at least one of the following: an approximate curvature value, the normal vector corresponding to the approximate curvature value, the position coordinates of the path point, and the Euclidean distance of the path point from the starting point of its respective curve. Then, based on the features of each path point on the local positioning curve and multiple path curves, the medical control terminal can obtain the feature vectors corresponding to each curve. Specifically, the medical control terminal can combine the features of each path point on the local positioning curve to obtain the feature vector corresponding to that local positioning curve. For example, if the calculated features of multiple path points on the local positioning curve are f1, f2, f3, and f4, then the feature vector corresponding to that local positioning curve can be represented as F1 = {f1, f2, f3, f4}.

[0073] The medical control terminal can combine the features of each path point of any path curve to obtain the feature vector corresponding to that path curve. For example, if the features of multiple path points of any path curve are f1', f2', f3', and f4' respectively, then the feature vector corresponding to the local positioning curve can be represented as F1' = {f1', f2', f3', f4'}.

[0074] Step 153: Calculate the sum of the feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the multiple path curves. The following explanation will focus on any path curve. The medical control terminal can calculate the difference of each feature between any path point on the local positioning curve and its corresponding path point on that path curve.

[0075] Continuing with the previous example, f1 represents the feature of any path point in the feature vector of the local positioning curve, and f1' represents the feature of the corresponding path point on any path curve. The medical control terminal can calculate the difference between each feature quantity between f1 and f1', such as the difference in the approximate curvature values ​​of the path points (hereinafter referred to as Y1), the difference between the normal vectors corresponding to the approximate curvature values ​​of the path points (hereinafter referred to as Y2), the difference between the position coordinates of the path points (hereinafter referred to as Y3), and the difference in the Euclidean distance between the path point and the starting point of its respective curve (hereinafter referred to as Y4).

[0076] Subsequently, the medical control terminal can use preset feature weighting coefficients to perform a weighted summation of the differences between each feature quantity, obtaining the sum of feature differences between any path point on the local positioning curve and its corresponding path point on the path curve. The feature weighting coefficients indicate the weight corresponding to each difference between feature quantities. These coefficients can be customized based on pre-experimental or actual design requirements and can be used to offset dimensional differences between different feature quantities. Continuing with the previous example, if the feature weighting coefficients include: e1 for Y1, e2 for Y2, e3 for Y3, and e4 for Y4, the medical control terminal can perform a weighted summation of Y1-Y4 based on these coefficients, obtaining H1 = e1×Y1 + e2×Y2 + e3×Y3 + e4×Y4, which is the sum of feature differences between any path point on the local positioning curve and its corresponding path point on the path curve. In this way, the medical control terminal can perform the above calculations for each set of corresponding points on the local positioning curve and the path curve, thereby obtaining the sum of the feature differences between each path point on the local positioning curve and each corresponding path point on the path curve.

[0077] Based on this, the medical control terminal can sum the feature differences between each path point on the local positioning curve and each corresponding path point on the path curve to obtain the sum of feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each path curve. For example, following the method of calculating H1 above, the sums of feature differences H2, H3, and H4 between other path points on the local positioning curve and other corresponding path points on the path curve are calculated and summed. The resulting H1+H2+H3+H4 is the sum of feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each path curve.

[0078] Step 154: From multiple path curves, select the path curve with the smallest sum of feature differences from the local positioning curve as the target path curve. The path curve with the smallest sum of feature differences from the local positioning curve indicates that its features are most similar to the local positioning curve.

[0079] In this way, the medical control terminal can accurately match the local positioning curve with the multiple path curves corresponding to multiple cavities in the fine branch structure, thereby obtaining a more accurate target path curve that meets the matching conditions.

[0080] In some optional embodiments, when the medical control terminal calibrates the actual position of the tip of the medical catheter in the target cavity to the target cavity corresponding to the target path curve, it can use the end path point on the target path curve as the mapping position of the tip of the medical catheter in the fine branching structure and the target cavity corresponding to the target path curve.

[0081] After determining the mapping position, the medical control terminal can register the actual position of the tip of the medical catheter in the target cavity to the mapped position in the target cavity. That is, it establishes a binding / correspondence between the actual position of the tip of the medical catheter in the target cavity and the mapped position in the target cavity, thereby enabling more accurate navigation and control of the medical catheter based on the target cavity.

[0082] It should be noted that the execution subject of each step of the method provided in the above embodiments can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 11 to 15 can be device A; or the execution subject of steps 11 to 13 can be device A, and the execution subject of steps 14 to 15 can be device B; and so on.

[0083] Furthermore, some processes described in the above embodiments and accompanying drawings include multiple operations that appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or they may be executed in parallel. The operation numbers, such as 11, 12, etc., are merely used to distinguish different operations and do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel.

[0084] It should be noted that the terms "first" and "second" in this article are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0085] Figure 5 This is a schematic diagram of the structure of a medical control terminal provided in an exemplary embodiment of this application. This medical control terminal is applicable to the medical navigation registration method provided in the foregoing embodiments, such as... Figure 5 As shown, the medical control terminal includes a memory 501, a processor 502, and a display component 503. The medical control terminal is electrically connected to a medical catheter and is used to control the medical catheter's operation within a target cavity. Multiple positioning sensors are installed inside the medical catheter.

[0086] Memory 501 is used to store computer programs and can be configured to store various other data to support operation on the terminal device. Examples of this data include instructions for any application or method used to operate on the terminal device, contact data, phone book data, messages, pictures, videos, etc.

[0087] Processor 502, coupled to memory 501, is used to execute computer programs in memory 501 for: acquiring a three-dimensional cavity model obtained by three-dimensional reconstruction of the target cavity; identifying a cavity tree structure within the three-dimensional cavity model, the cavity tree structure including: a trunk structure, fine branch structures, and multiple boundary bifurcation points connecting the trunk structure and the fine branch structures, the fine branch structure including multiple cavities connected to the multiple boundary bifurcation points; and generating a catheter positioning curve of the medical catheter in the target cavity based on positioning information collected by multiple positioning sensors within the medical catheter when the medical catheter is operating in the target cavity. The catheter is registered and navigated within the main structure according to the catheter positioning curve. If the catheter positioning curve extends beyond the main structure, a local positioning curve extending beyond the main structure is determined from the navigation positioning curve. This local positioning curve is then matched with multiple path curves corresponding to multiple cavities in the branch structure to obtain a target path curve that meets the matching conditions. Based on the path points on the target path curve that match the local positioning curve, the actual position of the tip of the medical catheter within the target cavity is registered to the target cavity corresponding to the target path curve, thereby enabling navigation control of the medical catheter based on the target cavity.

[0088] Further optionally, when the processor 502 identifies the cavity model to obtain the cavity channel tree structure within the cavity model, it specifically performs the following steps: using a thinning algorithm, it extracts the model centerline that runs through the center of each cavity channel within the three-dimensional cavity model; using a preset partitioning rule, it hierarchically partitions the model centerline to form a cavity channel tree structure containing multiple branching points, wherein the multiple branching points have levels, and each branching point connects to at least one cavity channel; based on the levels of the multiple branching points, it uses the branching points belonging to a set level as boundary branching points to divide the cavity channel tree structure into the trunk structure and the fine branch structure; wherein the level of the branching points located in the trunk structure is higher than the level of the boundary branching points.

[0089] Further optionally, when the processor 502 generates the catheter positioning curve of the medical catheter in the target cavity based on the positioning information collected by the multiple positioning sensors in the medical catheter, it is specifically used to: sort the positioning information collected by the multiple positioning sensors according to the relative positional relationship of the multiple positioning sensors in the target cavity; and perform curve fitting on the sorted positioning information collected by the multiple positioning sensors to obtain the catheter positioning curve.

[0090] Further optionally, when the processor 502 determines a local positioning curve in the navigation positioning curve that exceeds the main structure when the catheter positioning curve exceeds the main structure, it is specifically used to: project multiple position points of the catheter positioning curve onto the cavity tree structure to obtain a mapped shape curve; if the mapped shape curve extends into the fine branch structure, it is determined that the catheter positioning curve exceeds the main structure, and a local positioning curve corresponding to the portion of the mapped shape curve extending into the fine branch structure is obtained on the catheter positioning curve.

[0091] Further optionally, before performing feature matching between the local positioning curves and the multiple path curves corresponding to the multiple cavities in the fine branch structure to obtain target path curves that meet the matching conditions, the processor 502 is further configured to: use an interpolation method to interpolate the known positioning points in the model centerline that runs through the center of each cavity in the three-dimensional cavity model to obtain a centerline curve point set; wherein the relative positional relationship of the known positioning points on the model centerline is adapted to the relative positional relationship of the multiple positioning sensors in the target cavity; from the centerline curve point set, obtain multiple centerline curves that start from each boundary bifurcation point and reach the end of the multiple cavities in the fine branch structure; according to the number S of path points contained in the local positioning curve, for each centerline curve, select S path points starting from the starting point to obtain multiple path curves.

[0092] Optionally, when the processor 502 performs feature matching between the local positioning curve and multiple path curves corresponding to multiple cavities in the fine branch structure to obtain a target path curve that meets the matching conditions, it specifically performs the following steps: aligning the local positioning curve with the multiple path curves corresponding to multiple cavities in the fine branch structure; performing feature calculation on each path point of the local positioning curve and the multiple path curves to obtain the feature vectors corresponding to each of the local positioning curve and the multiple path curves; calculating the sum of feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the multiple path curves; and selecting the path curve with the smallest sum of feature differences with the local positioning curve from the multiple path curves as the target path curve.

[0093] Optionally, when the processor 502 performs feature calculations on each path point on the local positioning curve and the multiple path curves to obtain the feature vectors corresponding to each of the local positioning curve and the multiple path curves, it specifically performs the following: for each path point on the local positioning curve and the multiple path curves, it calculates multiple feature quantities of the path point as features of the path point; the multiple feature quantities include, but are not limited to, at least one of the following: the approximate curvature value of the path point, the normal vector corresponding to the approximate curvature value, the position coordinates of the path point, and the Euclidean distance of the path point from the starting point of its respective curve; based on the features of each path point on the local positioning curve and the multiple path curves, it obtains the feature vectors corresponding to each of the local positioning curve and the multiple path curves.

[0094] Further optionally, when the processor 502 calculates the sum of feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the multiple path curves, it specifically performs the following steps: for any path curve, calculates the difference between each feature quantity between any path point on the local positioning curve and its corresponding path point on the path curve; uses a preset feature weighting coefficient to perform a weighted summation of the differences of each feature quantity to obtain the sum of feature differences between any path point on the local positioning curve and its corresponding path point on the path curve; and superimposes the sum of feature differences between each path point on the local positioning curve and its corresponding path point on the path curve to obtain the sum of feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the path curves.

[0095] Further optionally, when the processor 502 registers the actual position of the tip of the medical catheter in the target cavity to the target cavity corresponding to the target path curve based on the path points on the target path curve that are adapted to the local positioning curve, so as to perform navigation control of the medical catheter based on the target cavity, specifically it is used to: take the end path point on the target path curve as the mapping position of the tip of the medical catheter in the fine branch structure corresponding to the target cavity of the target path curve; and register the actual position of the tip of the medical catheter in the target cavity to the mapping position in the target cavity, so as to perform navigation control of the medical catheter based on the target cavity.

[0096] Furthermore, Figure 5 The diagram only shows some components and does not mean that the medical control terminal only includes... Figure 5 The components shown.

[0097] The above Figure 5The memory 501 in the memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0098] Accordingly, embodiments of this application also provide a computer-readable storage medium that, when a computer program is executed by a processor, enables the processor to implement the steps in the medical navigation registration method.

[0099] In this embodiment, a cavity model of the cavity can be obtained and the tree-like structure of the cavity channels within the model can be identified. When the catheter operates within the cavity, a catheter positioning curve is generated based on the positioning information of multiple positioning sensors within the catheter. Registration and navigation are performed on the main structure based on the catheter positioning curve, and when the catheter positioning curve exceeds the main structure, the local positioning curve that exceeds the main structure is determined. Feature matching is performed between the local positioning curve and multiple path curves corresponding to multiple cavities in the fine branch structure to obtain the target path curve. Based on the path points on the target path curve that match the local positioning curve, the actual position of the catheter tip in the cavity is registered to the target cavity corresponding to the target path curve. In this way, even when the cavity deforms, the medical control terminal can still generate catheter positioning curves based on multiple positioning sensors inside the catheter to determine the catheter's pose and shape. Through feature matching between curves, it can determine the target path curve corresponding to the local positioning curve in the fine branch structure from multiple path curves corresponding to multiple cavities in the fine branch structure (i.e., determine the target path curve that is more similar to the catheter's pose and shape). This allows for a more accurate estimation of the actual position of the catheter tip in the target cavity in the three-dimensional cavity model, and thus allows for a more accurate registration of the actual position of the catheter tip to the target cavity.

[0100] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0101] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0102] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0103] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0104] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0105] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0106] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0107] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0108] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A medical navigation registration method, characterized in that, A medical control terminal electrically connected to a medical catheter, the medical control terminal being used to control the operation of the medical catheter within a target cavity; the medical catheter is equipped with multiple positioning sensors, the method comprising: Obtain a three-dimensional cavity model obtained by three-dimensional reconstruction of the target cavity; Identify the tree-like structure of the cavity channels within the three-dimensional cavity model. The tree-like structure of the cavity channels includes: a trunk structure, a fine branch structure, and multiple boundary bifurcation points connecting the trunk structure and the fine branch structure. The fine branch structure includes multiple cavities connected to the multiple boundary bifurcation points. When the medical catheter is operating in the target cavity, a catheter positioning curve of the medical catheter in the target cavity is generated based on the positioning information collected by multiple positioning sensors inside the medical catheter. Registration and navigation are performed on the main trunk structure based on the catheter positioning curve, and when the catheter positioning curve exceeds the main trunk structure, local positioning curves that exceed the main trunk structure are determined. Align the local positioning curves with the path points of the multiple path curves corresponding to the multiple cavities in the fine branch structure. For each path point on the local positioning curve and the multiple path curves, feature calculations are performed to obtain the feature vectors corresponding to each of the local positioning curve and the multiple path curves. Calculate the sum of the feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the multiple path curves; From the multiple path curves, select the path curve with the smallest sum of feature differences with the local positioning curve as the target path curve; Based on the path points on the target path curve that match the local positioning curve, the actual position of the tip of the medical catheter in the target cavity is registered to the target cavity corresponding to the target path curve, so as to perform navigation control of the medical catheter based on the target cavity.

2. The method according to claim 1, characterized in that, Identifying the cavity model yields a tree-like structure of cavities within it, including: Using a refinement algorithm, the model centerline that runs through the center of each cavity in the three-dimensional cavity model is extracted; Using a preset partitioning rule, the model centerline is hierarchically divided to form a cavity tree structure containing multiple branching points. The multiple branching points have levels, and each branching point connects to at least one cavity. Based on the levels of the multiple branching points, the branching points belonging to a set level are used as boundary branching points to divide the cavity tree structure into the trunk structure and the fine branch structure. The level of the branching point located in the main structure is higher than the level of the boundary branching point.

3. The method according to claim 1, characterized in that, Based on positioning information collected by multiple positioning sensors within the medical catheter, a catheter positioning curve is generated within the target cavity, including: The positioning information collected by the multiple positioning sensors is sorted according to the relative positional relationship of the multiple positioning sensors in the target cavity; The positioning information collected by the sorted multiple positioning sensors is subjected to curve fitting to obtain the catheter positioning curve.

4. The method according to claim 2, characterized in that, When the catheter positioning curve extends beyond the main trunk structure, determining the local positioning curves within the catheter positioning curve that extend beyond the main trunk structure includes: Projecting multiple location points of the catheter positioning curve onto the cavity tree structure yields a mapped shape curve; If the mapped shape curve extends into the fine branch structure, it is determined that the catheter positioning curve exceeds the main structure, and a local positioning curve corresponding to the portion of the mapped shape curve extending into the fine branch structure on the catheter positioning curve is obtained.

5. The method according to claim 1, characterized in that, Before performing feature matching between the local positioning curve and multiple path curves corresponding to multiple cavities in the fine branch structure to obtain the target path curve that meets the matching conditions, the method further includes: An interpolation method is used to interpolate the known positioning points on the model centerline that runs through the center of each cavity in the three-dimensional cavity model to obtain the centerline curve point set; wherein, the relative positional relationship of the known positioning points on the model centerline is adapted to the relative positional relationship of the multiple positioning sensors in the target cavity; From the set of centerline curve points, obtain multiple centerline curves that start from each boundary bifurcation point and reach the ends of multiple cavities in the fine branch structure; Based on the number S of path points contained in the local positioning curve, for each centerline curve, select S path points starting from the starting point to obtain multiple path curves.

6. The method according to claim 1, characterized in that, Feature calculations are performed on each path point on the local positioning curve and the multiple path curves to obtain the feature vectors corresponding to each local positioning curve and the multiple path curves, including: For each path point on the local positioning curve and multiple path curves, calculate multiple feature quantities of the path point as features of the path point; the multiple feature quantities include, but are not limited to, at least one of the following: the approximate curvature value of the path point, the normal vector corresponding to the approximate curvature value, the position coordinates of the path point, and the Euclidean distance of the path point from the starting point of its respective curve. Based on the characteristics of each path point on the local positioning curve and the multiple path curves, the feature vectors corresponding to the local positioning curve and the multiple path curves are obtained respectively.

7. The method according to claim 6, characterized in that, Calculate the sum of the feature differences between the feature vector corresponding to the local positioning curve and the feature vectors corresponding to each of the multiple path curves, including: For any path curve, calculate the difference of each feature between any path point on the local positioning curve and the corresponding path point on the path curve; Using preset feature weight coefficients, the difference between each feature quantity is weighted and summed to obtain the sum of feature differences between any path point on the local positioning curve and the corresponding path point on the path curve; The sum of the feature differences between each path point on the local positioning curve and each corresponding path point on the path curve is superimposed to obtain the sum of the feature differences between the feature vector corresponding to the local positioning curve and the feature vector corresponding to each path curve.

8. The method according to claim 5, characterized in that, Based on the path points on the target path curve that match the local positioning curve, the actual position of the tip of the medical catheter in the target cavity is registered to the target cavity corresponding to the target path curve, so as to perform navigation control of the medical catheter based on the target cavity, including: The terminal path point on the target path curve is used as the mapping position of the tip of the medical catheter in the target cavity corresponding to the target path curve in the fine branching structure. The actual position of the tip of the medical catheter in the target cavity is registered to the mapped position in the target cavity, so as to perform navigation control of the medical catheter based on the target cavity.

9. A medical control terminal, characterized in that, include: A memory and a processor; wherein the memory is configured to: store one or more computer instructions; and the processor is configured to execute the one or more computer instructions to: perform the steps of the method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, When the computer program is executed by a processor, it causes the processor to perform the steps of the method according to any one of claims 1-8.

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