A method, device, storage medium and electronic device for respiratory path coding

Abstract

The present application provides a method, device, storage medium and electronic device for encoding a respiratory path, the method may include: obtaining a first tracheal diameter of the airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology; obtaining a second tracheal diameter of the airway position obtained by computer tomography technology; determining the tracheal path by comparing the first tracheal diameter and the second tracheal diameter, wherein the tracheal path is used to provide a doctor with a reference for reaching the lesion. Some embodiments of the present application can improve the accuracy of tracheal path encoding and provide valuable reference suggestions for doctors.

Description

Technical Field

[0001] The present application relates to the technical field of medical path planning, and in particular to a method, device, storage medium and electronic device for respiratory path coding. Background Art

[0002] Respiratory diseases are common and important clinical problems.

[0003] At present, in order to improve the accurate diagnosis and treatment of respiratory diseases, it is necessary to use virtual bronchial navigation technology or electromagnetic navigation bronchoscope technology to simulate the path to the lesion. Virtual bronchoscope navigation technology and electromagnetic navigation bronchoscope technology are based on CT (Computed Tomography) scanning to obtain two-dimensional image data, and three-dimensionally reconstruct the parts with the same pixel value range in the bronchial cavity, and then use computer simulation navigation technology for continuous playback to obtain a direct observation effect similar to the advance and retreat and turning of the bronchoscope, guiding the endoscope and biopsy tools to the lesion. Because the existing virtual bronchoscope navigation may get lost, that is, guiding the endoscope and biopsy tools into the wrong bronchial path, it is difficult to guarantee the accuracy of the path coding, and thus it is impossible to provide doctors with a reliable planning path, and even misdiagnosis may occur.

[0004] Therefore, how to provide a technical solution for a method of respiratory path encoding with higher accuracy has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of some embodiments of the present application is to provide a method, device, storage medium and electronic device for respiratory path coding. The technical solutions of the embodiments of the present application can improve the accuracy of path coding in the respiratory tract, provide doctors with valuable and reliable path reference suggestions, and thus avoid misdiagnosis.

[0006] In a first aspect, some embodiments of the present application provide a method for respiratory path encoding, comprising: obtaining a first tracheal diameter measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology at the airway position; obtaining a second tracheal diameter at the airway position obtained by computed tomography technology; determining the tracheal path by comparing the first tracheal diameter with the second tracheal diameter, wherein the tracheal path is used to provide a doctor with a reference for reaching the lesion.

[0007] Some embodiments of the present application determine the tracheal path by comparing a first tracheal diameter of the airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology with a second tracheal diameter obtained by computed tomography technology, thereby achieving accurate planning of the tracheal path, improving the accuracy of path coding in the respiratory tract, and providing doctors with valuable and reliable path reference suggestions, thereby avoiding misdiagnosis.

[0008] In some embodiments, acquiring the second tracheal diameter at the airway position obtained by computed tomography includes: acquiring lung image data of the target object obtained by computed tomography; and determining the second tracheal diameter at the airway position based on the lung image data.

[0009] Some embodiments of the present application obtain lung image data by scanning the target object through computer tomography technology, and then determine the second tracheal diameter of the airway position through the lung image data to provide a data basis for subsequent path planning.

[0010] In some embodiments, before obtaining the first tracheal diameter of the airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology, the method also includes: obtaining a thin-layer lung image of the target object; drawing a bronchoscope path map based on the thin-layer lung image, wherein the bronchoscope path map is used to plan the tracheal path to reach the lesion.

[0011] Some embodiments of the present application draw a bronchoscope path map through thin-layer images of the lungs of the target object, providing effective support for subsequent bronchial path planning.

[0012] In some embodiments, drawing a bronchoscopic path map based on the lung thin-layer image includes: tracking the position of the bronchi in the lung thin-layer image, and marking the bronchi related to the lesion step by step to obtain marking results; drawing the bronchoscopic path map according to the position relationship of the bronchial orifices determined by the cross-section and sagittal planes in the lung thin-layer image, wherein the bronchoscopic path map includes the marking results, and the end point of the bronchoscopic path map is the lesion.

[0013] Some embodiments of the present application track, mark, and position the bronchi in thin-layer images of the lungs to draw a bronchoscope path map, thereby ensuring the accuracy and effectiveness of the drawing.

[0014] In some embodiments, determining the tracheal path by comparing the first tracheal diameter with the second tracheal diameter includes: determining an error value between the first tracheal diameter and the second tracheal diameter; and comparing the error value with a preset threshold to obtain the tracheal path.

[0015] Some embodiments of the present application determine the tracheal path by comparing the error value between the first tracheal diameter and the second tracheal diameter with a preset threshold value to ensure the accuracy and effectiveness of the tracheal path.

[0016] In some embodiments, the error value is compared with a preset threshold to obtain the tracheal path, including: if it is determined that the error value is less than or equal to the preset threshold, the airway position is taken as a part of the tracheal path; if it is determined that the error value is greater than the preset threshold, the following operations are performed in a loop until it is determined that the error value is less than or equal to the preset threshold to obtain the tracheal path: return to the previous level bronchial path corresponding to the airway position in the bronchoscope path diagram; compare the error value between the tracheal diameter measured by the intra-airway radial ultrasound technology and / or the intra-airway optical coherence tomography technology and the tracheal diameter obtained by the computed tomography technology with the preset threshold again.

[0017] Some embodiments of the present application confirm whether to regard the airway position as part of the tracheal path by comparing the error value with a preset threshold value, thereby ensuring the accuracy of the tracheal path encoding.

[0018] In some embodiments, the ultrasound probe used in combination with the intra-airway radial ultrasound technique and the intra-airway optical coherence tomography technique adopts a rotating structure or a circular ultrasound array structure.

[0019] Some embodiments of the present application can acquire effective data by deploying ultrasound probes in different structures.

[0020] In a second aspect, some embodiments of the present application provide a device for encoding a respiratory path, comprising: a first acquisition module for acquiring a first tracheal diameter of an airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology; a second acquisition module for acquiring a second tracheal diameter of the airway position obtained by computed tomography technology; and a path determination module for determining a tracheal path by comparing the first tracheal diameter with the second tracheal diameter, wherein the tracheal path is used to provide a doctor with a reference for reaching the lesion.

[0021] In a third aspect, some embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the method described in any embodiment of the first aspect.

[0022] In a fourth aspect, some embodiments of the present application provide an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement a method as described in any embodiment of the first aspect when executing the program.

[0023] In a fifth aspect, some embodiments of the present application provide a computer program product, wherein the computer program product comprises a computer program, wherein the computer program, when executed by a processor, can implement the method described in any embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of some embodiments of the present application, the drawings required for use in some embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 One of the flow charts of the method for respiratory path coding provided for some embodiments of the present application;

[0026] Figure 2 One of the schematic diagrams of the structure of the ultrasound module provided in some embodiments of the present application;

[0027] Figure 3 The second schematic diagram of the structure of the ultrasound module provided in some embodiments of the present application;

[0028] Figure 4 Flowchart 2 of the method for respiratory path coding provided for some embodiments of the present application;

[0029] Figure 5 A block diagram of a respiratory path coding device provided in some embodiments of the present application;

[0030] Figure 6 A schematic diagram of an electronic device is provided for some embodiments of the present application. DETAILED DESCRIPTION

[0031] The technical solutions in some embodiments of the present application will be described below in conjunction with the drawings in some embodiments of the present application.

[0032] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0033] Among the related technologies, the existing respiratory endoscopic imaging technologies include radial endobronchial ultrasound (REBUS) and endobronchial optical coherence tomography (EB-OCT). REBUS uses a radial ultrasound probe to guide the bronchoscope to perform extraluminal lesion biopsy. This technology has high practical value in the application of respiratory system diagnosis and treatment. Endobronchial optical coherence tomography (EB-OCT) is a new type of tomographic imaging technology that has developed rapidly in recent years. It uses the basic principle of weak coherent light interferometer to detect the back reflection or scattering signals of the incident weak coherent light at different depths of biological tissue, and obtains two-dimensional or three-dimensional structural images of biological tissues by scanning. The resolution of EB-OCT can reach 10 microns, which can provide more accurate tissue structure images than radial ultrasound, and has good application prospects in the detection and imaging of living biological tissues. Studies have shown that the tissue recognition rate of EB-OCT images is as high as 97.02%. It can effectively identify the airway cavity, mucosal epithelium, lamina propria, submucosal layer (including smooth muscle), cartilage, etc. It can observe the changes in airway layers caused by early cancer, COPD, asthma, BT treatment, bronchiectasis and other lung diseases or treatments through bronchoscope, and obtain non-invasive, radiation-free, real-time and precise medical images. It is easy to operate and its image accuracy is close to that of pathological sections.

[0034] However, both REBUS and EB-OCT require virtual bronchoscopic navigation technology to reach the lesion. Virtual bronchoscopic navigation technology and electromagnetic navigation bronchoscopic technology obtain two-dimensional image data based on CT scanning, perform three-dimensional reconstruction of the parts with the same pixel value range in the bronchial cavity, and then use computer simulation navigation technology for continuous playback to obtain a direct observation effect similar to the advance and retreat and turn of the bronchoscope, guiding the endoscope and biopsy tools to reach the lesion. However, the bronchi gradually shrink in the hilum and are tree-like. According to their distribution, there are four levels: main bronchi, lobar bronchi, segmental bronchi and bronchioles. The existing virtual bronchoscopic navigation may get lost, that is, enter the wrong bronchial path, prolong the time, and even cause misdiagnosis. Moreover, in intraoperative virtual navigation, the endoscopic image is quite different from the CT image, and there are basically no markers in the trachea to help determine which is the correct path.

[0035] It can be seen from the above-mentioned related technologies that the path encoding accuracy of the navigation technology in the existing technology is low and cannot provide doctors with reliable and valuable reference.

[0036] In view of this, some embodiments of the present application provide a method for respiratory path encoding, which combines intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology to measure the first tracheal diameter of the airway position in real time, and then compare it with the second tracheal diameter of the airway position detected by CT images to determine whether the airway position is a tracheal path. Through this comparison, the correct forward path can be determined at the airway bifurcation, thereby improving the accuracy of path encoding and providing doctors with a reliable and valuable reference basis.

[0037] The following is combined with Figure 1 The implementation process of respiratory path coding performed by a terminal provided by some embodiments of the present application is exemplified.

[0038] Please see attached Figure 1 , Figure 1 A flow chart of a method for encoding a respiratory path is provided for some embodiments of the present application. The method for encoding a respiratory path may include:

[0039] S110, obtaining a first tracheal diameter of the airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology. S120, obtaining a second tracheal diameter of the airway position obtained by computer tomography technology. S130, determining a tracheal path by comparing the first tracheal diameter and the second tracheal diameter, wherein the tracheal path is used to provide a doctor with a reference for reaching the lesion.

[0040] For example, in some embodiments of the present application, based on the feature that REBUS or EB-OCT can measure the diameter of the trachea, REBUS or EB-OCT technology is used alone or in combination to measure the first tracheal diameter of the airway position where the current probe is located in real time. The image obtained by CT scanning technology determines the second tracheal diameter at the same position. By comparing the first tracheal diameter and the second tracheal diameter, the correct path of advance can be confirmed at the airway bifurcation (as a specific example of the airway position), so that the tracheal path to the lesion can be obtained.

[0041] The above process is explained below as an example.

[0042] In some embodiments of the present application, S120 may include: acquiring lung image data of the target object obtained by computer tomography technology; and determining the second trachea diameter at the airway position based on the lung image data.

[0043] For example, in some embodiments of the present application, before the target object is operated on, the lung image data (i.e., high-resolution CT, thin-layer coronal and sagittal CT of the target object) is collected by CT scanning technology. The second tracheal diameter at the airway position can be detected by the lung image data.

[0044] In some embodiments of the present application, before executing S110, the method of respiratory path encoding may also include: S100, acquiring a thin-layer lung image of the target object; drawing a bronchoscope path map based on the thin-layer lung image, wherein the bronchoscope path map is used to plan the tracheal path to reach the lesion.

[0045] For example, in some embodiments of the present application, in order to improve the orderliness and accuracy of path planning, it is also necessary to draw the bronchial distribution through a thin-layer image of the lungs of the target object to obtain a bronchoscope path map.

[0046] In some embodiments of the present application, S100 may include: tracking the position of the bronchus in the thin-layer lung image, and marking the bronchi related to the lesion step by step to obtain marking results; determining the position relationship of the bronchial orifices through the cross-section and sagittal planes in the thin-layer lung image, and drawing the bronchoscope path map, wherein the bronchoscope path map includes the marking results, and the end point of the bronchoscope path map is the lesion.

[0047] For example, in some embodiments of the present application, when drawing a bronchoscope path map (as a specific example of a bronchoscope path map), it is necessary to name the bronchi related to the lesion and mark them step by step. The Jackson-Huber nomenclature is generally used, that is, B represents the bronchus; 1, 2, 3... represent the names of the lung segments; a, b, c represent subsegments. The three principles of naming are: upper (a) → lower (b), back (a) → front (b), outside (a) → inside (b). Specifically, a bronchoscope path map is drawn based on thin-layer CT (as a specific example of a thin-layer image of the lung). The specific method is to roll the thin-layer CT image up and down, continuously track the shape of the bronchus, mark it step by step in the order from near to far, judge the position relationship of the tube orifice according to the CT cross-section and sagittal position, draw and record, until the bronchus connected or adjacent to the lesion is marked, and the bronchoscope path map is obtained. If there is more than one bronchus connected or adjacent to the lesion, select the path that is easiest or most likely to reach the lesion. It is understandable that the bronchi may be named in other ways, and the embodiments of the present application are not limited thereto.

[0048] In some embodiments of the present application, S130 may include: determining an error value between the first tracheal diameter and the second tracheal diameter; comparing the error value with a preset threshold to obtain the tracheal path.

[0049] For example, in some embodiments of the present application, the first tracheal diameter at the location is measured in real time by means of a planned bronchoscope entry path diagram and REBUS, EB-OCT, or a combination of REBUS and EB-OCT. Using REBUS in combination with an OCT probe, the airway is entered through the working channel of the bronchoscope, and the bronchial diameters of each level along the planned path can be measured under the microscope. The error value between the first tracheal diameter and the second tracheal diameter obtained from the CT image is compared with a preset threshold to obtain the tracheal path. Among them, the preset threshold can be set according to actual conditions, and the embodiments of the present application are not specifically limited here. For example, the preset threshold can be 10%, 8%, etc.

[0050] In some embodiments of the present application, S130 may include: if it is determined that the error value is less than or equal to the preset threshold, taking the airway position as a part of the tracheal path.

[0051] For example, in some embodiments of the present application, if the error value is less than or equal to 10%, it can be confirmed that the airway position at this time is the correct path, which is part of the tracheal path. This method can be used to monitor in real time whether the probe is in the correct forward path.

[0052] In some embodiments of the present application, S130 may include: if it is determined that the error value is greater than the preset threshold, looping the following operations until it is determined that the error value is less than or equal to the preset threshold, and obtaining the tracheal path: returning to the previous level bronchial path corresponding to the airway position in the bronchoscope path diagram; comparing the error value between the tracheal diameter measured by the intra-airway radial ultrasound technology and / or the intra-airway optical coherence tomography technology and the tracheal diameter obtained by the computed tomography technology with the preset threshold again.

[0053] For example, in some embodiments of the present application, if the judgment error value is greater than 10%, it is necessary to return to the previous tracheal path branch corresponding to the current airway position (as a specific example of the previous bronchial path), where the correct forward path is determined by comparing the tracheal diameters under different imaging modalities, and this cycle is repeated until the tracheal path to the lesion is obtained.

[0054] That is to say, this application uses REBUS and EB-OCT dual-modality technology to apply ultrasound to measure airway diameter data, and CT to apply laser to measure airway diameter data, and inputs the two measured data into the computer system (that is, the terminal) at the same time, integrating a new tracheal path analysis method, which can more accurately obtain the tracheal path through the small airways to the lesion.

[0055] In some embodiments of the present application, the ultrasound probe used in combination with the intra-airway radial ultrasound technology and the intra-airway optical coherence tomography technology adopts a rotating structure or a ring-shaped ultrasound array structure.

[0056] For example, in some embodiments of the present application, when REBUS and EB-OCT are used together, the ultrasound probe in the ultrasound module can be used as follows: Figure 2 The high-speed rotating structure shown can also be used Figure 3 The annular ultrasonic array shown in the figure is not specifically limited in the present application.

[0057] The following is combined with Figure 4 The specific process of respiratory pathway encoding provided by some embodiments of the present application is exemplified.

[0058] Please see attached Figure 4 , Figure 4 A flow chart of a method for respiratory path encoding is provided for some embodiments of the present application.

[0059] The above process is explained below as an example.

[0060] S410, acquiring lung image data of a target object obtained by computer tomography technology.

[0061] S420, determining a second tracheal diameter at the airway position based on the lung image data.

[0062] S430, acquiring a thin-layer image of the lungs of the target object.

[0063] S440, drawing a bronchoscopic path map based on the thin-layer lung image.

[0064] S450, obtaining a first tracheal diameter at the airway position measured by intra-airway radial ultrasound technology and intra-airway optical coherence tomography technology.

[0065] S460, determining an error value between the first trachea diameter and the second trachea diameter.

[0066] S470, determine whether the error value is greater than a preset threshold, if so, execute S480, otherwise execute S490.

[0067] S480, return to the upper-level bronchial path corresponding to the airway position in the bronchoscope path diagram, and return to S450.

[0068] S490, consider the airway location as part of the tracheal path to facilitate correct access to the lesion.

[0069] It should be noted that the airway position as a part of the tracheal path represents that the position belongs to the correct path position in the forward path.

[0070] It should be noted that the specific implementation process of S410 to S490 can refer to the method embodiment provided above, and the detailed description is appropriately omitted here to avoid repetition. It can be seen from the above embodiments of the present application that the present application can improve the sensitivity of path encoding through the integration of multimodal data, facilitate path navigation, have high accuracy, and improve path finding efficiency.

[0071] Please refer to Figure 5 , Figure 5 The block diagram of the respiratory path coding device provided by some embodiments of the present application is shown. It should be understood that the respiratory path coding device corresponds to the above method embodiment and can perform each step involved in the above method embodiment. The specific functions of the respiratory path coding device can be found in the description above. To avoid repetition, the detailed description is appropriately omitted here.

[0072] Figure 5 The respiratory path encoding device includes at least one software functional module that can be stored in a memory or fixed in the respiratory path encoding device in the form of software or firmware, and the respiratory path encoding device includes: a first acquisition module 510, used to obtain a first tracheal diameter of the airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology; a second acquisition module 520, used to obtain a second tracheal diameter of the airway position obtained by computed tomography technology; a path determination module 530, used to determine the tracheal path by comparing the first tracheal diameter and the second tracheal diameter, wherein the tracheal path is used to provide a doctor with a reference for reaching the lesion.

[0073] In some embodiments of the present application, the second acquisition module 520 is used to acquire lung image data of the target object obtained by computer tomography technology; and determine the second tracheal diameter at the airway position based on the lung image data.

[0074] In some embodiments of the present application, the first acquisition module 510 is used to acquire a thin-layer lung image of a target object; and draw a bronchoscope path map based on the thin-layer lung image, wherein the bronchoscope path map is used to plan the tracheal path to reach the lesion.

[0075] In some embodiments of the present application, the first acquisition module 510 is used to track the position of the bronchus in the lung thin layer image, and mark the bronchi related to the lesion step by step to obtain the marking result; the position relationship of the bronchial orifices is determined by the cross-section and sagittal planes in the lung thin layer image, and the bronchoscope path map is drawn, wherein the bronchoscope path map includes the marking result, and the end point of the bronchoscope path map is the lesion.

[0076] In some embodiments of the present application, the path determination module 530 is used to determine the error value between the first tracheal diameter and the second tracheal diameter; compare the error value with a preset threshold to obtain the tracheal path.

[0077] In some embodiments of the present application, the path determination module 530 is used to, if it is determined that the error value is less than or equal to the preset threshold, use the airway position as part of the tracheal path; if it is determined that the error value is greater than the preset threshold, loop the following operations until it is determined that the error value is less than or equal to the preset threshold, and obtain the tracheal path: return to the previous level bronchial path corresponding to the airway position in the bronchoscope path diagram; compare the error value between the tracheal diameter measured by the intra-airway radial ultrasound technology and / or the intra-airway optical coherence tomography technology and the tracheal diameter obtained by the computed tomography technology with the preset threshold again.

[0078] In some embodiments of the present application, the ultrasound probe used in combination with the intra-airway radial ultrasound technology and the intra-airway optical coherence tomography technology adopts a rotating structure or a circular ultrasound array structure.

[0079] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method, and will not be described in detail here.

[0080] Some embodiments of the present application further provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the operations of the method corresponding to any of the above methods provided in the above embodiments.

[0081] Some embodiments of the present application further provide a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can implement the operations corresponding to any of the above methods provided in the above embodiments.

[0082] like Figure 6 As shown, some embodiments of the present application provide an electronic device 600, which includes: a memory 610, a processor 620, and a computer program stored in the memory 610 and executable on the processor 620, wherein the processor 620 can implement a method as described in any of the above embodiments when reading the program from the memory 610 through a bus 630 and executing the program.

[0083] Processor 620 can process digital signals and can include various computing structures, such as complex instruction set computer structure, reduced instruction set computer structure, or a structure that implements a combination of multiple instruction sets. In some examples, processor 620 can be a microprocessor.

[0084] The memory 610 may be used to store instructions executed by the processor 620 or data related to the execution of instructions. These instructions and / or data may include codes for implementing some or all functions of one or more modules described in the embodiments of the present application. The processor 620 of the disclosed embodiment may be used to execute instructions in the memory 610 to implement the method shown above. The memory 610 includes a dynamic random access memory, a static random access memory, a flash memory, an optical memory, or other memory known to those skilled in the art.

[0085] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0086] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0087] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for encoding a respiratory path, characterized in that: include: Obtaining a first tracheal diameter at the airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology; obtaining a second tracheal diameter of the airway position obtained by computer tomography; Determining a tracheal path by comparing the first tracheal diameter with the second tracheal diameter, wherein the tracheal path is used to provide a reference for a doctor to reach a lesion in the lung; The method includes: if it is determined that the error value between the first tracheal diameter and the second tracheal diameter is less than or equal to a preset threshold, taking the airway position as a part of the tracheal path; If it is determined that the error value is greater than the preset threshold, the following operations are performed in a loop until it is determined that the error value is less than or equal to the preset threshold, and the tracheal path is obtained: Return to the upper-level bronchial path corresponding to the airway position in the pre-drawn bronchoscope path map; compare the error value between the bronchial diameter measured by the intra-airway radial ultrasound technology and / or the intra-airway optical coherence tomography technology and the bronchial diameter obtained by the computer tomography technology with the preset threshold again; the bronchoscope path map is obtained by tracing the bronchial running characteristics through the thin-layer lung image of the target object, and marking and drawing step by step in the order from near to far; Prior to obtaining the first tracheal diameter of the airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology, the method further includes: obtaining a lung thin-layer image of the target object; tracking the bronchial position in the lung thin-layer image, and marking the bronchi related to the lesion step by step to obtain a marking result; drawing the bronchoscope path map according to the position relationship of the bronchial orifices determined by the cross-section and sagittal planes in the lung thin-layer image, wherein the bronchoscope path map includes the marking result, and the end point of the bronchoscope path map is the lesion.

2. The method according to claim 1, characterized in that The step of obtaining a second tracheal diameter of the airway position obtained by computer tomography technology comprises: Acquiring lung image data of a target object obtained by computer tomography technology; The second trachea diameter at the airway location is determined based on the lung image data.

3. The method according to claim 1, characterized in that Determining the tracheal path by comparing the first tracheal diameter with the second tracheal diameter includes: Determining an error value between the first trachea diameter and the second trachea diameter; The error value is compared with a preset threshold to obtain the tracheal path.

4. The method according to claim 1 or 2, characterized in that: The ultrasound probe used in combination with the intra-airway radial ultrasound technology and the intra-airway optical coherence tomography technology adopts a rotating structure or a ring-shaped ultrasound array structure.

5. A respiratory path coding device, characterized in that: The device is used to perform the method according to claim 1, comprising: A first acquisition module is used to acquire a first tracheal diameter at an airway position measured by an intra-airway radial ultrasound technique and / or an intra-airway optical coherence tomography technique; A second acquisition module, used to acquire a second tracheal diameter of the airway position obtained by computer tomography technology; The path determination module is used to determine the tracheal path by comparing the first tracheal diameter with the second tracheal diameter, wherein the tracheal path is used to provide a reference for doctors to reach the lesion.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program executes the method according to any one of claims 1 to 4 when executed by a processor.

7. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program executes the method according to any one of claims 1 to 4 when being run by the processor.

Images