A positioning method and device for assisting surgery radiography and a medical imaging system

Abstract

The application discloses a positioning method and device for assisting in surgery photographing and a medical imaging system, and relates to the field of device detection. The method comprises the following steps: acquiring a first preset image, wherein the first preset image contains a surgical nail and is an image of the surgical nail after being nailed into human tissue; positioning a first position of the surgical nail according to the first preset image; acquiring a first offset of the first position, wherein the first offset comprises a first offset distance and a first offset angle; and displaying the first offset distance and the first offset angle to prompt a doctor to move the surgical nail to a preset position according to the first offset. The technical scheme provided by the application can assist the doctor in positioning the actual position of the surgical nail when the doctor performs a related surgery of nailing the surgical nail, thereby helping the doctor to calibrate the nailing position of the surgical nail by comparing with the position that the doctor wants to nail, so as to improve the success rate of the surgery.

Description

Technical Field

[0001] This application relates to the field of medical device testing, and in particular to a positioning method, device, and medical imaging system for assisting surgical imaging. Background Technology

[0002] Minimally invasive surgery is gaining increasing attention these days. It offers advantages such as less trauma, less pain, and faster recovery. However, the smaller the trauma, the more challenging the procedure becomes for the surgeon.

[0003] Currently, when performing minimally invasive surgery to insert surgical staples, doctors typically determine the surgical location by observing X-ray images and drawing upon their extensive clinical experience. However, in practice, the placement of the surgical staples often deviates from the doctor's intended location.

[0004] Therefore, there is an urgent need for a medical device to solve the problem of discrepancies between the placement of surgical staples and the position the doctor intended to place them before surgery. Summary of the Invention

[0005] This application provides a positioning method, device, and medical imaging system for assisting surgical imaging, which solves the problem of deviation between the position of the surgical nail and the position that the doctor intended to insert before surgery.

[0006] The first aspect of this application provides an automatic positioning method for assisted surgical imaging. The method is applied to a medical device, which is a mobile C-arm X-ray machine. The specific steps of the method are as follows: acquiring a first preset image, the first preset image including a surgical staple and being an image of the surgical staple after it has been inserted into human tissue; locating a first position of the surgical staple based on the first preset image; acquiring a first offset of the first position, the first offset including a first offset distance and a first offset angle; displaying the first offset distance and the first offset angle to prompt the doctor to move the surgical staple to the preset position based on the first offset.

[0007] By employing the above technical solution, the surgical site can be obtained through image acquisition. The surgeon can then determine the pre-set insertion position of the surgical staples based on the specific surgical site. This pre-set position may deviate from the actual insertion position of the staples. In this case, the mobile C-arm X-ray machine can display the relevant values ​​of this deviation on its display module. The surgeon can then use the information displayed on the mobile C-arm X-ray machine's display module to move the surgical staples to the pre-set insertion position.

[0008] In response to the doctor's first setting operation, which is to set the preset coordinates of the surgical nail; in one possible implementation, a coordinate system is constructed with the preset position of the surgical nail as the origin, and the coordinate system is a preset spatial coordinate system including the X, Y, and Z axes; in response to the doctor's second setting operation, which is to set the preset direction vector of the surgical nail, a coordinate system containing the preset position and the preset direction vector is obtained; wherein, the preset direction vector is constructed with the origin of the coordinate system and with the preset insertion direction of the surgical nail.

[0009] Using the above technical solution, doctors can determine the correct location for nailing by acquiring image information, and set this location data in a mobile C-arm X-ray machine, so that the physiotherapy equipment can use this data to assist doctors in moving the surgical nails.

[0010] In one possible implementation, a first coordinate is constructed in the coordinate system, the first coordinate being the current coordinate of the surgical nail; a first direction vector is constructed in the coordinate system, the first direction vector being constructed with the first coordinate and with the current insertion direction of the surgical nail; a first position is constructed, the first position including the first coordinate and the first direction vector.

[0011] By adopting the above technical solution, the insertion depth and direction of the surgical nails preset by the doctor are constructed by establishing coordinates and vectors in a spatial coordinate system.

[0012] In one possible implementation, a first distance between the origin of the coordinate system and the first coordinate is calculated, the first distance being a first offset distance; a first angle between a preset direction vector and the first direction vector is calculated, the first angle being a first offset angle; and a first offset amount is obtained, the first offset amount including the first offset distance and the first offset angle.

[0013] The above technical solution constructs the actual insertion depth and direction of the surgical nail by establishing coordinates and vectors in the same spatial coordinate system. That is, the initial offset of the surgical nail can be obtained by the distance between the coordinate and the origin of the coordinate system and the angle between the vectors. This makes it easier for doctors to understand the degree of the surgical nail offset and thus adjust the position of the surgical nail.

[0014] In one possible implementation, in response to the doctor's movement operation, a second preset image is acquired, which is an image after the doctor moves the surgical nail; based on the second preset image, a second position of the surgical nail is located; a second offset of the second position is acquired, which includes a second offset distance and a second offset angle; the second offset distance and the second offset angle are displayed to prompt the doctor to move the surgical nail to the preset position based on the second offset.

[0015] By adopting the above technical solution, after the doctor moves the surgical nail, an image of the nail insertion site can be obtained again. Through this image, the position of the surgical nail after movement can be determined.

[0016] In one possible implementation, a second coordinate is constructed in the coordinate system; a second direction vector is constructed in the coordinate system, the second direction vector being constructed with respect to the second coordinate and the insertion direction of the surgical nail after movement; a second position is constructed, the second position including the second coordinate and the second direction vector; a second distance between the origin of the coordinate system and the second coordinate is calculated, the second distance being a second offset distance; a second angle between the preset direction vector and the second direction vector is calculated, the second angle being a second offset angle; and a second offset is obtained, the second offset including the second offset distance and the second offset angle.

[0017] By using the above technical solution, the position of the new surgical nail can be constructed in the same coordinate system, thus establishing a new coordinate system and vector. The degree of movement of the surgical nail can be determined by the distance difference between the new coordinate system and the origin coordinate system, as well as the angle between the new vector and the preset vector.

[0018] In one possible implementation, when the second distance difference and the second offset angle meet preset conditions, it is confirmed that the surgical nail has moved to the preset position; the preset conditions include when the second distance difference is 0 and the second offset angle is 0°.

[0019] If, after the surgical nail is moved, its coordinates and direction are the same as those set by the doctor, it means that the surgical nail has moved to the correct position.

[0020] In one possible implementation, when the second distance difference and the second offset angle meet preset conditions, it is confirmed that the surgical nail has moved to a preset position; the preset conditions include when the second distance difference is 0 and the second offset angle is 0°.

[0021] The above technical solution can determine whether the surgical nail has moved to the preset position that the doctor wants to move it to. If the preset conditions are met, it means that the movement is complete; if the preset conditions are not met, it means that the medical nail needs to be moved further.

[0022] In one possible implementation, images of the surgical nails are acquired using imaging techniques, including X-ray imaging, magnetic resonance imaging, and ultrasound imaging.

[0023] The above technical solution, through imaging technology, can obtain surgical images of the insertion location of the surgical staples, making it easier for doctors to observe the insertion site of the surgical staples.

[0024] In a second aspect of this application, an auxiliary surgical imaging device is provided. The device is a medical device, specifically a mobile C-arm X-ray machine. The device includes an acquisition module, a writing module, a speech generation module, and a playback module. The acquisition module is used to acquire a first preset image, which includes the surgical nail and is an image of the surgical nail after it has been inserted into the human tissue.

[0025] The positioning module is used to locate the first position of the surgical nail based on the first preset image.

[0026] The calculation module is used to obtain the first offset of the first position, which includes the first offset distance and the first offset angle.

[0027] The display module shows the first offset distance and the first offset angle to prompt the doctor to move the surgical nail to the preset position according to the first offset amount.

[0028] In one possible implementation, the positioning module is used to respond to a doctor's first setting operation, which is to set a preset position for the surgical nail; to construct a coordinate system with the preset position of the surgical nail as the origin, the coordinate system being a preset spatial coordinate system including X, Y, and Z axes; and to respond to a doctor's second setting operation, which is to set a preset direction vector for the surgical nail, thereby obtaining a coordinate system including the preset position and the preset direction vector; wherein the preset direction vector is constructed with the origin of the coordinate system and the preset insertion direction of the surgical nail.

[0029] In one possible implementation, the positioning module is used to construct a first coordinate in a coordinate system, the first coordinate being the current coordinate of the surgical nail; construct a first direction vector in the coordinate system, the first direction vector being constructed with respect to the first coordinate and the current insertion direction of the surgical nail; and construct a first position, the first position including the first coordinate and the first direction vector.

[0030] In one possible implementation, the calculation module is used to calculate a first distance between the origin of the coordinate system and a first coordinate, the first distance being a first offset distance; calculate a first angle between a preset direction vector and a first direction vector, the first angle being a first offset angle; and obtain a first offset amount, the first offset amount including a first offset distance and a first offset angle.

[0031] In one possible implementation, the acquisition module is configured to acquire a second preset image in response to the doctor's movement operation, the second preset image being an image after the doctor moves the surgical nail; locate a second position of the surgical nail based on the second preset image; acquire a second offset of the second position, the second offset including a second offset distance and a second offset angle; and display the second offset distance and the second offset angle to prompt the doctor to move the surgical nail to the preset position based on the second offset.

[0032] In one possible implementation, the calculation module is used to: construct a second coordinate in a coordinate system; construct a second direction vector in the coordinate system, the second direction vector being constructed with respect to the second coordinate and the insertion direction of the surgical nail after movement; construct a second position, the second position including the second coordinate and the second direction vector; calculate a second distance between the origin of the coordinate system and the second coordinate, the second distance being a second offset distance; calculate a second angle between a preset direction vector and the second direction vector, the second angle being a second offset angle; and obtain a second offset, the second offset including the second offset distance and the second offset angle.

[0033] In one possible implementation, the calculation module is used to confirm that the surgical nail has moved to a preset position when the second distance difference and the second offset angle meet preset conditions; the preset conditions include when the second distance difference is 0 and the second offset angle is 0°.

[0034] In one possible implementation, the acquisition module is used to acquire images of the surgical nails using imaging techniques, including X-ray imaging, magnetic resonance imaging, and ultrasound imaging.

[0035] A third aspect of this application provides a medical imaging system, including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the medical imaging system to perform the method described in any of the foregoing descriptions.

[0036] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that is executed by a processor as described in any of the preceding claims.

[0037] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. Through the above technical solution, doctors can determine the correct position for nailing by acquiring image information, and set this position data in the mobile C-arm X-ray machine, so that the physiotherapy equipment can use this data to assist doctors in moving the surgical nails.

[0038] 2. The position of the surgical staple is constructed using coordinates and vectors on a spatial coordinate system, which facilitates the positioning of the mobile C-arm X-ray machine to determine the actual insertion position of the surgical staple and calculates the offset between this position and the position the doctor wants to insert the staple. With this offset, the doctor can more easily move the surgical staple to the desired insertion position.

[0039] 3. When the surgical staples are moved, the mobile C-arm X-ray machine repositions the surgical staples and acquires an image of the moved staples. Through this image, the doctor can accurately determine the position of the surgical staples after they have been moved. Attached Figure Description

[0040] Figure 1 This is a schematic flowchart of a positioning method for assisting surgical imaging provided in an embodiment of this application; Figure 2 This is a schematic diagram of an embodiment of a positioning method for assisting surgical imaging provided in this application; Figure 3 This is another schematic flowchart of a positioning method for assisting surgical imaging provided in an embodiment of this application; Figure 4 This is a structural diagram of a positioning device for assisting surgical imaging provided in an embodiment of this application; Figure 5 This is a schematic diagram of a mobile C-arm X-ray machine provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a medical imaging system provided in an embodiment of this application.

[0041] Explanation of reference numerals in the attached figures: 21. Direction vector of the preset position; 22. Direction vector of the actual position; 23. Direction vector of the surgical nail position after movement; 41. Acquisition module; 42. Positioning module; 43. Calculation module; 44. Display module; 600. Medical imaging system; 601. Processor; 602. Memory; 603. User interface; 604. Network interface; 605. Communication bus. Implementation

[0042] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0043] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0044] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0045] Before introducing the embodiments of this application, some terms involved in the embodiments of this application will be defined and explained.

[0046] Surgical staples: In this application, surgical staples refer to surgical fixation staples used by doctors during surgery, including but not limited to: hollow compression screws, pedicle screws, and surgical suture staples.

[0047] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0048] Please refer to Figure 1 The flowchart illustrates a positioning method for assisting surgical imaging according to an embodiment of the present invention. The method is applied to a medical device, which is a mobile C-arm X-ray machine. The flowchart mainly includes the following steps: S101 to S104.

[0049] Step S101: Obtain a first preset image. The first preset image contains a surgical nail and is an image of the surgical nail after it has been inserted into human tissue.

[0050] Specifically, images are acquired using a mobile C-arm X-ray machine. The imaging technologies employed in this machine include, but are not limited to, X-ray imaging, magnetic resonance imaging (MRI), and ultrasound imaging. A first preset image is then constructed on the mobile C-arm X-ray machine's display module. During surgery, the mobile C-arm X-ray machine can acquire real-time animated images of the procedure. Through these images, the machine can identify the tissue structure features around the surgical staples, thus pinpointing the specific location where the staples are inserted.

[0051] In one possible implementation, step S101 is followed by: responding to a doctor's first setting operation, the first setting operation being to set the preset coordinates of the surgical nail; constructing a coordinate system with the preset position of the surgical nail as the origin, the coordinate system being a preset spatial coordinate system including X, Y, and Z axes; responding to a doctor's second setting operation, the second setting operation being to set the preset direction vector of the surgical nail, to obtain a coordinate system including the preset position and the preset direction vector; wherein the preset direction vector is constructed with the origin of the coordinate system and with the preset insertion direction of the surgical nail.

[0052] Specifically, a spatial coordinate system is established, which includes, but is not limited to, a spatial rectangular coordinate system and a cylindrical coordinate system. Taking a spatial rectangular coordinate system as an example, this spatial rectangular coordinate system is as follows: Figure 2 As shown in the diagram. Setting the preset position of the surgical staple to the origin, i.e., point O (0.0.0), allows setting the preset staple insertion position to the negative direction along the Y-axis. The vector of the preset position is as follows: Figure 2 As shown in Figure 21. The preset insertion position of the surgical nail is set by the doctor based on their clinical experience and the patient's condition. The surgical nail can be inserted into the following patient sites, including but not limited to: femoral neck, long bones, and clavicle.

[0053] Step S102: Locate the first position of the surgical nail according to the first preset image.

[0054] Specifically, the actual position of the surgical staples can be obtained from the images captured by the mobile C-arm X-ray machine. This position may deviate from the preset position that the doctor intends to insert the staples. If there is no deviation, the mobile C-arm X-ray machine directly displays the image on the display module; if there is a deviation, the mobile C-arm X-ray machine performs a step to assist the doctor in calibrating the surgical staples.

[0055] In one possible implementation, step S102 further includes: constructing a first coordinate in a coordinate system, the first coordinate being the current coordinate of the surgical nail; constructing a first direction vector in the coordinate system, the first direction vector being constructed with the first coordinate and with the direction in which the surgical nail is currently inserted; and constructing a first position, the first position including the first coordinate and the first direction vector.

[0056] Specifically, if the actual position of the surgical nail deviates from the preset position, then in step S101, the coordinates and direction vector of the actual position of the surgical nail are established in a spatial rectangular coordinate system. Assuming the coordinates are point A, the direction vector of the actual position is as follows: Figure 2 As shown in Figure 22.

[0057] Step S103: Obtain the first offset of the first position. The first offset includes the first offset distance and the first offset angle.

[0058] Specifically, when there is a deviation between the actual insertion position of the surgical staple and the preset position intended by the surgeon, the mobile C-arm X-ray machine calculates the deviation value. The mobile C-arm X-ray machine constructs the actual position of the surgical staple in the aforementioned spatial rectangular coordinate system, thereby determining the coordinates and direction vector of the actual position of the surgical staple. Then, by calculating the distance between the actual coordinates and the preset coordinate origin O (0, 0, 0), and the angle between the actual direction vector and the negative Y-axis, the offset distance and offset angle can be obtained.

[0059] In one possible implementation, step S103 further includes: calculating a first distance between the origin of the coordinate system and the first coordinate, the first distance being a first offset distance; calculating a first angle between a preset direction vector and a first direction vector, the first angle being a first offset angle; and obtaining a first offset amount, the first offset amount including a first offset distance and a first offset angle.

[0060] Specifically, the offset of the actual position is calculated by using the coordinates and direction vector of the preset position obtained in step S101 and the coordinates and direction vector of the actual position obtained in step S102. For example, in the Cartesian coordinate system of S101, such as... Figure 3 As shown, the offset distance is line segment OA and the offset angle is angle α. The actual offset of the surgical staple position is composed of line segment OA and angle α.

[0061] Step S104: Display the first offset distance and the first offset angle to prompt the doctor to move the surgical nail to the preset position according to the first offset amount.

[0062] Specifically, it displays the calculated offset of the actual position, which doctors can use to move the surgical nail to the desired location.

[0063] In one possible implementation, please refer to Figure 2 The flowchart mainly includes the following steps: S201 to S203.

[0064] Step S201: In response to the doctor's movement operation, acquire an image of the surgical nail after movement.

[0065] Specifically, whenever the doctor moves the surgical staples, the mobile C-arm X-ray machine will re-acquire an image of the staples' position and display it to the doctor through the machine's display module. The mobile C-arm X-ray machine will also acquire the best image based on the different surgical sites.

[0066] Step S202: Calculate the offset of the surgical nail after movement using the image after movement.

[0067] Specifically, by re-imaging the position of the surgical nail after its movement, a new offset of the surgical nail is obtained. Similarly, the position of the surgical nail after movement is used to construct its coordinates and direction vector through the spatial rectangular coordinate system in step S101. For example: assuming the coordinate is point B, the direction vector of the surgical nail's position after movement is as follows... Figure 2 As shown in Figure 23, the offset distance is line segment OB and the offset angle is angle β. The offset of the surgical nail after movement is composed of line segment OB and angle β.

[0068] Step S203: Display the offset after the movement.

[0069] Specifically, whenever the doctor moves the surgical staple, the mobile C-arm X-ray machine recalculates and displays the calculated offset. The doctor can then view the offset and move the staple to the desired position.

[0070] In one possible implementation, step S202 further includes: when the second distance difference and the second offset angle meet preset conditions, confirming that the surgical nail has moved to the preset position; the preset conditions include when the second distance difference is 0 and the second offset angle is 0°.

[0071] When a surgeon moves a surgical nail, the change in the offset parameters can be used to determine whether the nail has moved to the preset position the surgeon intends to insert. For example, when line segment OB is 0 and the offset angle β is 0° in step S202, it indicates that the surgical nail has been moved to the preset position the surgeon intends to insert. It should be noted that the distance of 0 and the angle of 0° mentioned in this application are ideal cases. In actual operation, it is impossible for a surgeon to move the surgical nail to the ideal state completely. Therefore, there is an error range. As long as the movement error of the surgeon is within this error range, the surgical nail is considered to have been moved to the preset position the surgeon intends to insert.

[0072] Please refer to Figure 4 This illustration shows an auxiliary surgical imaging device according to an embodiment of the present invention. The device is a medical device, specifically a mobile C-arm X-ray machine. Please refer to [link / reference]. Figure 5 The diagram shows a mobile C-arm X-ray machine, which includes an acquisition module 41, a positioning module 42, a calculation module 43, and a display module 44.

[0073] The acquisition module 41 is used to acquire a first preset image, which includes the surgical nail and is an image of the surgical nail after it has been inserted into the human tissue.

[0074] The positioning module 42 is used to locate the first position of the surgical nail according to the first preset image.

[0075] The calculation module 43 is used to obtain the first offset of the first position, which includes the first offset distance and the first offset angle.

[0076] Display module 43 displays the first offset distance and the first offset angle to prompt the doctor to move the surgical nail to the preset position according to the first offset amount.

[0077] In one possible implementation, the positioning module 42 is configured to respond to a doctor's first setting operation, which is to set a preset position of the surgical nail; to construct a coordinate system with the preset position of the surgical nail as the origin, the coordinate system being a preset spatial coordinate system including X, Y, and Z axes; and to respond to a doctor's second setting operation, which is to set a preset direction vector of the surgical nail, thereby obtaining a coordinate system including the preset position and the preset direction vector; wherein the preset direction vector is constructed with the origin of the coordinate system and with the preset insertion direction of the surgical nail.

[0078] In one possible implementation, the positioning module 42 is used to construct a first coordinate in a coordinate system, the first coordinate being the current coordinate of the surgical nail; construct a first direction vector in the coordinate system, the first direction vector being constructed with the first coordinate and with the direction in which the surgical nail is currently inserted; and construct a first position, the first position including the first coordinate and the first direction vector.

[0079] In one possible implementation, the calculation module 43 is used to calculate a first distance between the origin of the coordinate system and the first coordinate, the first distance being a first offset distance; calculate a first angle between a preset direction vector and a first direction vector, the first angle being a first offset angle; and obtain a first offset amount, the first offset amount including a first offset distance and a first offset angle.

[0080] In one possible implementation, the acquisition module 41 is configured to acquire a second preset image in response to the doctor's movement operation, the second preset image being an image after the doctor moves the surgical nail; locate a second position of the surgical nail based on the second preset image; acquire a second offset of the second position, the second offset including a second offset distance and a second offset angle; and display the second offset distance and the second offset angle to prompt the doctor to move the surgical nail to the preset position based on the second offset.

[0081] In one possible implementation, the calculation module 43 is used to: construct a second coordinate in a coordinate system; construct a second direction vector in the coordinate system, the second direction vector being constructed with respect to the second coordinate and the insertion direction of the surgical nail after movement; construct a second position, the second position including the second coordinate and the second direction vector; calculate a second distance between the origin of the coordinate system and the second coordinate, the second distance being a second offset distance; calculate a second angle between a preset direction vector and the second direction vector, the second angle being a second offset angle; and obtain a second offset, the second offset including the second offset distance and the second offset angle.

[0082] In one possible implementation, the calculation module 43 is used to confirm that the surgical nail has moved to a preset position when the second distance difference and the second offset angle meet preset conditions; the preset conditions include when the second distance difference is 0 and the second offset angle is 0°.

[0083] In one possible implementation, the acquisition module 41 is used to acquire images of the surgical nails using imaging techniques, including X-ray imaging, magnetic resonance imaging, and ultrasound imaging.

[0084] It should be noted that the above embodiments of the apparatus are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0085] This application also discloses a medical imaging system. (See reference...) Figure 6 , Figure 6 This is a schematic diagram of the structure of a medical imaging system disclosed in an embodiment of this application. The medical imaging system 600 may include: at least one processor 601, a memory 602, a user interface 603, at least one network interface 604, and at least one communication bus 605.

[0086] The communication bus 605 is used to enable communication between these components.

[0087] The user interface 603 may include a display screen and a camera. Optionally, the user interface 603 may also include a standard wired interface and a wireless interface.

[0088] The network interface 604 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0089] The processor 601 may include one or more processing cores. The processor 601 connects various parts of the device via various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 602, and by calling data stored in the memory 602. Optionally, the processor 601 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 601 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip, without being integrated into the processor 601.

[0090] The memory 602 may include random access memory (RAM) or read-only memory. Optionally, the memory 602 may include a non-transitory computer-readable storage medium. The memory 602 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 602 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 602 may also be at least one storage device located remotely from the aforementioned processor 601. (Refer to...) Figure 6 The memory 602, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a positioning application for assisting surgical imaging.

[0091] exist Figure 6In the medical imaging system 600 shown, the user interface 603 is mainly used to provide an input interface for the user and acquire user input data; while the processor 601 can be used to call a positioning application for assisting surgical imaging stored in the memory 602. When executed by one or more processors 601, the medical imaging system 600 performs one or more of the methods described in the above embodiments. It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0093] In the various embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0094] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0095] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0096] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, medical device, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0097] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as meaning "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if (the stated condition or event) is interpreted as meaning "if determining...", "in response to determining...", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0098] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, medical device, or data center to another website, computer, medical device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a medical device or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0099] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0100] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A positioning device for assisting surgical imaging, characterized in that, The device employs a positioning method for assisting surgical imaging. The device is a medical device and includes an acquisition module (41), a positioning module (42), a calculation module (43), and a display module (44). The acquisition module (41) is used to acquire a first preset image of the surgical nail, wherein the first preset image is an image of the surgical nail being driven into human tissue; The positioning module (42) is used to locate the first position of the surgical nail according to the first preset image; The calculation module (43) obtains the first offset of the surgical nail, wherein the first offset is the first distance difference between the first position and the preset position; The display module (44) displays the first distance difference to prompt the doctor to move the surgical nail according to the first offset. The method includes: After acquiring the first preset image, which includes the surgical nail and is an image of the surgical nail currently inserted into human tissue, and before locating the first position of the surgical nail based on the first preset image, the method further includes: In response to the doctor's first setting operation, the first setting operation is to set the preset coordinates of the surgical nail; A coordinate system is constructed with the preset position of the surgical nail as the origin. The coordinate system is a preset spatial coordinate system including the X, Y, and Z axes. In response to the doctor's second setting operation, the second setting operation is to set the preset direction vector of the surgical nail to obtain a coordinate system including the preset position and the preset direction vector; wherein, the preset direction vector is constructed with the origin of the coordinate system and with the preset insertion direction of the surgical nail; The step of locating the first position of the surgical nail based on the first preset image specifically includes: On the coordinate system, a first coordinate is constructed, which is the current coordinate of the surgical nail; On the coordinate system, a first direction vector is constructed, the first direction vector being constructed with a first coordinate and with the direction in which the surgical nail is currently inserted; Construct the first position, which includes the first coordinates and the first direction vector; The step of obtaining the first offset at the first position, wherein the first offset includes a first offset distance and a first offset angle, specifically includes: Calculate the first distance between the origin of the coordinate system and the first coordinate, where the first distance is the first offset distance; Calculate the first angle between the preset direction vector and the first direction vector, where the first angle is the first offset angle; Obtain the first offset, which includes the first offset distance and the first offset angle.

2. The positioning device according to claim 1, characterized in that, After displaying the first offset distance and the first offset angle, the method further includes: In response to the doctor's movement operation, a second preset image is acquired, which is an image after the doctor moves the surgical nail; Based on the second preset image, locate the second position of the surgical nail; Obtain the second offset of the second position, the second offset including the second offset distance and the second offset angle; The second offset distance and the second offset angle are displayed to prompt the doctor to move the surgical nail to the preset position according to the second offset amount.

3. The positioning device according to claim 2, characterized in that, The step of obtaining the second offset of the second position, wherein the second offset includes a second offset distance and a second offset angle, specifically includes: On the coordinate system, a second coordinate system is constructed, which is the coordinate of the surgical nail after the doctor performs the movement operation; On the coordinate system, a second direction vector is constructed, which is constructed with the second coordinate and with the insertion direction of the surgical nail after it has been moved; Construct the second position, which includes the second coordinates and the second direction vector; Calculate the second distance between the origin of the coordinate system and the second coordinate, where the second distance is the second offset distance; Calculate the second angle between the preset direction vector and the second direction vector, where the second angle is the second offset angle; Obtain the second offset, which includes the second offset distance and the second offset angle.

4. The positioning device according to claim 2, characterized in that, When the second offset distance and the second offset angle meet preset conditions, the surgical nail is confirmed to have moved to the preset position; the preset conditions include when the second offset distance is 0 and the second offset angle is 0°; The acquisition of the first preset image of the surgical nail specifically includes: Images of the surgical nail are acquired using imaging techniques, including X-ray imaging, magnetic resonance imaging, and ultrasound imaging.

5. A medical imaging system, characterized in that, The system includes a processor (601), a memory (602), a user interface (603), a network interface (604), and a communication bus (605). The memory (602) is used to store instructions. The user interface (603) and the network interface (604) are used to communicate with other devices. The processor (601) is used to execute the instructions stored in the memory (602) to enable the medical imaging system (600) to perform a positioning method for assisting surgical imaging. The method includes: Obtain a first preset image, which includes a surgical nail and is an image of the surgical nail after it has been inserted into human tissue; Based on the first preset image, locate the first position of the surgical nail; Obtain the first offset of the first position, the first offset including the first offset distance and the first offset angle; The first offset distance and the first offset angle are displayed to prompt the doctor to move the surgical nail to the preset position according to the first offset amount; The method further includes: After acquiring the first preset image, which includes the surgical nail and is an image of the surgical nail currently inserted into human tissue, and before locating the first position of the surgical nail based on the first preset image, the method further includes: In response to the doctor's first setting operation, the first setting operation is to set the preset coordinates of the surgical nail; A coordinate system is constructed with the preset position of the surgical nail as the origin. The coordinate system is a preset spatial coordinate system including the X, Y, and Z axes. In response to the doctor's second setting operation, the second setting operation is to set the preset direction vector of the surgical nail to obtain a coordinate system including the preset position and the preset direction vector; wherein, the preset direction vector is constructed with the origin of the coordinate system and with the preset insertion direction of the surgical nail; The step of locating the first position of the surgical nail based on the first preset image specifically includes: On the coordinate system, a first coordinate is constructed, which is the current coordinate of the surgical nail; On the coordinate system, a first direction vector is constructed, the first direction vector being constructed with a first coordinate and with the direction in which the surgical nail is currently inserted; Construct the first position, which includes the first coordinates and the first direction vector; The step of obtaining the first offset at the first position, wherein the first offset includes a first offset distance and a first offset angle, specifically includes: Calculate the first distance between the origin of the coordinate system and the first coordinate, where the first distance is the first offset distance; Calculate the first angle between the preset direction vector and the first direction vector, where the first angle is the first offset angle; Obtain the first offset, which includes the first offset distance and the first offset angle.

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