A surgical needle guiding device based on image projection

Abstract

The invention discloses a surgical needle guiding device based on image projection, comprising a geometric correction module that performs geometric correction on a device to obtain a projection matrix at each angle; a first calculation module that obtains a first projection image at an initial angle, and rotates the device to a preset angle to obtain a second projection image; a second calculation module that obtains a first projection matrix at an initial angle of the first projection image from the projection matrix, and obtains a second projection matrix at a preset angle of the second projection image; a first recognition module that recognizes a surgical needle tip P0 and a lesion point P1 in the first projection image, connects P0 and P1 as a first path L1, and back-projects the first path L1 into a first virtual plane according to the first projection matrix; a second recognition module that recognizes a surgical needle tip Q0 and a lesion point Q1 in the second projection image, connects Q0 and Q1 as a second path L2, and back-projects the second path into a second virtual plane according to the second projection matrix; and a first intersection line L0 of the first and second virtual planes in the virtual space of the guiding path calculation is the surgical needle guiding path.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic medical devices, and in particular to a surgical needle guiding device based on image projection. Background Art

[0002] In the current market, there are some guidance solutions for metal surgical needles, and three-dimensional tomography guidance is one of them.

[0003] For example, Philips uses 3D images before and during surgery to manually control the guidance tools of the endoscope. This solution aligns the two sets of images before and during surgery to navigate the metal surgical needle to the selected area of ​​interest. Siemens uses anatomical model enhancement to guide the laparoscopic surgery process. This solution guides the surgery by suturing the intraoperative imaging data with the intraoperative model and aligning the models before and during surgery. In addition, United Imaging Medical has applied for a puncture surgery guidance system, method and surgical robot. This solution uses a tomography device to collect the first image, second image and third image of the target object at different times, and aligns the first image and the second image to obtain a fourth image to guide the third image.

[0004] The above solutions all use tomography, 3D reconstruction and image registration, but their shortcomings are:

[0005] On the one hand, 3D tomography guidance requires obtaining 3D tomography data of the patient, which takes a long time to scan and requires a large radiation dose. At the same time, 3D tomography guidance registration will increase the operation time, especially in some operations that require anesthesia, which greatly increases the surgical risk.

[0006] On the other hand, although there are some algorithms on the market that can remove metal artifacts, when the density of metal needles used in surgery is close to that of human bones or even soft tissues, they are often identified as bones or soft tissues by the algorithms, resulting in the inability to remove artifacts normally, affecting the registration results.

[0007] In response to the delay in 3D tomography, Mindray Medical and other manufacturers use ultrasound imaging equipment to obtain ultrasound images and determine the position change and status of the puncture needle based on the ultrasound images. Philips uses ultrasound to guide the path of the biopsy needle during biopsy, and displays the path of invasive device insertion in the ultrasound image space through registration.

[0008] However, in clinical applications, ultrasound imaging equipment can usually only penetrate superficial tissues and shallow organs. For deep tissues or deeply buried organs, its resolution will be significantly reduced, and it is necessary to consider using other imaging technologies, such as CT or MRI, to obtain information from deeper parts. In addition, ultrasound equipment is greatly affected by bones. When the surgical needle is near the bone, insufficient penetration may cause image quality to deteriorate and affect the judgment of the needle tip position.

[0009] At the same time, the imaging of ultrasound equipment is affected by the angle of the surgical needle. When the angle of the surgical needle is large, the incident sound wave is reflected by the smooth surface of the surgical needle, resulting in less sound waves returning to the probe and inability to form a clear image. Ultrasound imaging obtains a tomogram, which is a section of the human body. When the surgical needle deviates from the section, the surgical needle will not be fully displayed or even cannot be displayed. The use of ultrasound equipment during surgery requires the purchase of additional equipment, and also requires the surgeon to have practical operating experience, which increases the cost or risk of the operation. Summary of the invention

[0010] One of the purposes of the present invention is to overcome the deficiencies in the prior art and to provide a surgical needle guidance method and device based on image projection, thereby solving the problems of long time-consuming and high dose tomographic images, long time-consuming registration methods, and susceptibility to metal artifacts.

[0011] In order to solve the above technical problems, in a first aspect, an embodiment of the present invention provides a surgical needle guidance method based on image projection, the method comprising:

[0012] Perform geometric correction on the device to obtain the projection matrix at each angle;

[0013] Obtaining a first projection image at an initial angle of the device, rotating the device to a preset angle, and obtaining a second projection image at the preset angle;

[0014] Acquire a first projection matrix of the first projection image at an initial angle from the projection matrix, and acquire a second projection matrix of the second projection image at a preset angle;

[0015] Identify the surgical needle tip P0 and the lesion point P1 under the first projection image, connect P0 and P1 to form a first path L1, and back-project the first path L1 to form a first virtual plane according to the first projection matrix;

[0016] Recognize the surgical needle tip Q0 and the lesion point Q1 in the second projection image again, connect Q0 and Q1 to form a second path L2, and back-project the second path according to the second projection matrix to form a second virtual plane;

[0017] A first intersection line L0 formed by the first virtual plane and the second virtual plane in the virtual space is calculated, where L0 is a surgical needle guiding path.

[0018] Furthermore, the method further comprises:

[0019] Projecting the first intersection line L0 onto the second projection image according to the second projection matrix to form a second intersection line L2';

[0020] Projecting the first intersection line onto the first projection image through the first projection matrix to form a third intersection line L1';

[0021] It is determined whether the third intersection line L1' and the first path L1, and the second intersection line L2' and the second path L2 coincide with each other.

[0022] Furthermore, the method further includes: extracting a projection matrix Mdrx at any angle from the projection matrix, and orthographically projecting the surgical needle guiding path L0 onto the two-dimensional projection image at any angle to form a planned path Lx.

[0023] Furthermore, the method also includes: when the planned path does not meet the preset requirements, modifying the position points of the surgical needle tip P0 and the lesion point P1 on the first projection image and the position points of the surgical needle tip Q0 and the lesion point Q1 on the second projection image, and triggering the process of recalculating the surgical needle guidance path based on the modified P0, P1 and Q0, Q1.

[0024] In a second aspect, an embodiment of the present invention further provides a surgical needle guiding device based on projection images, the device comprising:

[0025] The geometric correction module is used to perform geometric correction on the device and obtain the projection matrix at each angle;

[0026] A first calculation module, used to obtain a first projection image at an initial angle of the device, and rotate the device to a preset angle to obtain a second projection image at the preset angle;

[0027] A second calculation module, used to obtain a first projection matrix of the first projection image at an initial angle from the projection matrix, and to obtain a second projection matrix of the second projection image at a preset angle;

[0028] A first recognition module is used to recognize the surgical needle tip P0 and the lesion point P1 under the first projection image, connect P0 and P1 to form a first path L1, and back-project the first path L1 to form a first virtual plane according to the first projection matrix;

[0029] A second recognition module, used to recognize the surgical needle tip Q0 and the lesion point Q1 in the second projection image again, connect Q0 and Q1 to form a second path L2, and back-project the second path to form a second virtual plane according to a second projection matrix;

[0030] The guiding path calculation module is used to calculate a first intersection line L0 formed by a first virtual plane and a second virtual plane in a virtual space, where L0 is a surgical needle guiding path.

[0031] Furthermore, the device also includes:

[0032] A third calculation module is used to project the first intersection line L0 onto the second projection image according to the second projection matrix to form a second intersection line L2', and to orthographically project the first intersection line onto the first projection image through the first projection matrix to form a third intersection line L1';

[0033] The judging module is used to judge whether the third intersection line L1' and the first path L1, the second intersection line L2' and the second path L2 coincide with each other.

[0034] Furthermore, the device also includes:

[0035] A surgical needle projection module is used to extract a projection matrix Mdrx of any angle from the projection matrix, and orthographically project the surgical needle guiding path L0 onto the two-dimensional projection image of any angle to form a planned path Lx;

[0036] The correction module is used to modify the position points of the surgical needle tip P0 and the lesion point P1 on the first projection image and the position points of the surgical needle tip Q0 and the lesion point Q1 on the second projection image when the planned path does not meet the preset requirements, and trigger the process of recalculating the surgical needle guidance path based on the modified P0, P1 and Q0, Q1.

[0037] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the projection image-based surgical needle guidance method as described above.

[0038] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the projection image-based surgical needle guidance method as described above.

[0039] Compared with the prior art, the surgical needle guidance method and device based on image projection provided by the embodiment of the present invention has at least the following beneficial effects:

[0040] The embodiment of the present invention directly utilizes the equipment used for preoperative surgical planning, is not limited by the size of the equipment and the tablet, does not require the purchase of other equipment, and has no additional requirements for the doctor's surgical experience.

[0041] The technical solution of the embodiment of the present invention only needs to scan two angles to set the guidance path, and then scan another angle to verify the accuracy of the path. By adopting the projection matrix to plan, guide and feedback the surgical needle path before and during surgery, surgical planning and guidance can be achieved, reducing the radiation dose and scanning time. The technical solution of the present invention does not require reconstruction and alignment, and is therefore not affected by metal artifacts.

[0042] In the actual application process of the technical solution of the present invention, the surgeon can observe the projection image according to habit, which further enhances its practicality and applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0044] Figure 1 is a flow chart of a surgical needle guidance method based on projection images according to an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of a surgical needle guidance projection method according to another embodiment of the present invention;

[0046] Figure 3 is a schematic diagram of a surgical needle guidance projection method according to another embodiment of the present invention;

[0047] Figure 4 is a block diagram of a surgical needle guiding device based on projection images according to an embodiment of the present invention;

[0048] Figure 5 The present invention is a block diagram of an electronic device for guiding a surgical needle based on projection images according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0050] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0051] The following mainly takes some specific embodiments as examples to describe in detail the implementation of the technical solution of the present invention.

[0052] like Figure 1 As shown, combined Figure 2 , a surgical needle guidance method based on projection images in an embodiment of the present invention, the method comprising:

[0053] S1. Perform geometric correction on the device to obtain the projection matrix at each angle;

[0054] First, the projection matrix M at each angle is obtained by calibrating the geometric parameters of the 3D tomography device.

[0055] S2. Obtain a first projection image at an initial angle of the device, rotate the device to a preset angle, and obtain a second projection image at the preset angle;

[0056] Next, two angles are selected, one as an initial angle and the other as another preset angle, for example, 0 degrees and 90 degrees, and two two-dimensional projections dr1 and dr2 at the angles are captured respectively.

[0057] The selection of these two angles is not limited to the operator's usage habits, nor does it depend on the operator's experience. The selected angle only needs to capture the metal needle and not only one point.

[0058] S3. Obtaining a first projection matrix of the first projection image at an initial angle from the projection matrix, and obtaining a second projection matrix of the second projection image at a preset angle;

[0059] The embodiment of the present invention may also orthographically project the first virtual plane onto a second projection image according to the second projection matrix to assist in finding the position and avoid finding the corresponding needle when there may be several needles on the projection image.

[0060] S4. Identify the surgical needle tip P0 and the lesion point P1 under the first projection image, connect P0 and P1 to form a first path L1, back-project the first path L1 to form a first virtual plane according to the first projection matrix, and forward-project the first virtual plane to the second projection image according to the second projection matrix;

[0061] In the first two-dimensional projection image, the surgical needle tip P0 and the lesion point P1 are selected, and P0 and P1 are connected to form L1.

[0062] The surgical needle tip P0 and the lesion point P1 here may be the surgical needle tip P0 and the lesion point P1 selected when planning the guidance path before the operation, and may be manually marked or automatically identified.

[0063] The surgical needle tip P0 and the lesion point P1 may also be the surgical needle tip P0 and the lesion point P1 (or the target point) that are selected when the guidance path needs to be adjusted or further determined during the operation.

[0064] S5. Recognize the surgical needle tip Q0 and the lesion point Q1 in the second projection image again, connect Q0 and Q1 to form a second path L2, and back-project the second path according to the second projection matrix to form a second virtual plane;

[0065] Similarly, the surgical needle tip Q0 and the lesion point Q1 here may be the surgical needle tip Q0 and the lesion point Q1 selected when planning the guidance path before the operation, and may be manually marked or automatically identified.

[0066] The surgical needle tip Q0 and the lesion point Q1 may also be the surgical needle tip Q0 and the lesion point Q1 that are selected when the guidance path needs to be adjusted or further determined during surgery.

[0067] That is to say, the embodiments of the present invention can re-plan or adjust, or further determine the surgical needle guidance path at any time point. It only needs to scan two angles to set the guidance path, and then scan another angle to verify the accuracy of the path. By using the projection matrix to plan, guide and provide feedback on the surgical needle before and during surgery, surgical planning and guidance can be achieved, reducing radiation dose and scanning time. The technical solution of the present invention does not require reconstruction and alignment, and is therefore not affected by metal artifacts.

[0068] S6. Calculate a first intersection line L0 formed by the first virtual plane and the second virtual plane in the virtual space, where L0 is a surgical needle guiding path.

[0069] During actual use of the technical solution of the present invention, the surgeon can observe the projection image as usual and is not limited by the size of the equipment and the tablet, which further enhances its practicality and applicability.

[0070] Preferably, the method further comprises:

[0071] Projecting the first intersection line L0 onto the second projection image according to the second projection matrix to form a second intersection line L2';

[0072] Projecting the first intersection line onto the first projection image through the first projection matrix to form a third intersection line L1';

[0073] It is determined whether the third intersection line L1' and the first path L1, and the second intersection line L2' and the second path L2 coincide with each other.

[0074] The embodiment of the present invention can repeatedly verify whether the calculation of the guide path is accurate through multiple orthographic projections, avoid deviations in the planning or adjustment of the guide path, and provide an accurate guide path for guiding the surgical needle.

[0075] like Figure 3As shown, preferably, the method further comprises: extracting a projection matrix Mdrx of any angle from the projection matrix, and orthographically projecting the surgical needle guiding path L0 onto the two-dimensional projection image of any angle to form a planned path Lx.

[0076] Before or during surgery, once the surgical needle guidance path has been planned, or when operating according to the guidance path, a new angle can be selected at any time to project the current surgical needle guidance path onto a two-dimensional projection image at any angle to further plan the path, providing a basis for subsequent guidance path and rational judgment.

[0077] Preferably, the method also includes: when the planned path does not meet the preset requirements, modifying the position points of the surgical needle tip P0 and the lesion point P1 on the first projection image and the position points of the surgical needle tip Q0 and the lesion point Q1 on the second projection image, and triggering the process of recalculating the surgical needle guidance path based on the modified P0, P1 and Q0, Q1.

[0078] The embodiment of the present invention directly utilizes the equipment used for preoperative surgical planning, is not limited by the size of the equipment and the tablet, does not require additional purchase, and has no additional requirements for the doctor's surgical experience.

[0079] The technical solution of the embodiment of the present invention only needs to scan two angles to set the guidance path, and then scan another angle to verify the accuracy of the path. By adopting the projection matrix to plan, guide and provide feedback on the surgical needle before and during surgery, surgical planning and guidance can be achieved, reducing the radiation dose and scanning time. The technical solution of the present invention does not require reconstruction and alignment, and is therefore not affected by metal artifacts.

[0080] In the actual application process of the technical solution of the present invention, the surgeon can observe the projection image according to habit, which further enhances its practicality and applicability.

[0081] like Figure 4 As shown, in order to solve the technical problem of the present invention, an embodiment of the present invention further provides a surgical needle guiding device based on projection images, the device comprising:

[0082] The geometric correction module is used to perform geometric correction on the device and obtain the projection matrix at each angle;

[0083] First, the projection matrix M at each angle is obtained by calibrating the geometric parameters of the 3D tomography device.

[0084] A first calculation module, used to obtain a first projection image at an initial angle of the device, and rotate the device to a preset angle to obtain a second projection image at the preset angle;

[0085] Next, two angles are selected, one as an initial angle and the other as another preset angle, for example, 0 degrees and 90 degrees, and two two-dimensional projections dr1 and dr2 at the angles are captured respectively.

[0086] The selection of the two angles does not limit the operator's usage habits, nor does it depend on the operator's experience, and the selected angle is arbitrary.

[0087] A second calculation module, used to obtain a first projection matrix of the first projection image at an initial angle from the projection matrix, and to obtain a second projection matrix of the second projection image at a preset angle;

[0088] A first recognition module is used to recognize the surgical needle tip P0 and the lesion point P1 under the first projection image, connect P0 and P1 to form a first path L1, and back-project the first path L1 to form a first virtual plane according to the first projection matrix;

[0089] A second recognition module, used to recognize the surgical needle tip Q0 and the lesion point Q1 in the second projection image again, connect Q0 and Q1 to form a second path L2, and back-project the second path to form a second virtual plane according to a second projection matrix;

[0090] In the first two-dimensional projection image, the surgical needle tip P0 and the lesion point P1 are selected, and P0 and P1 are connected to form L1.

[0091] The surgical needle tip P0 and the lesion point P1 here may be the surgical needle tip P0 and the lesion point P1 selected when planning the guidance path before the operation, and may be manually marked or automatically identified.

[0092] The surgical needle tip P0 and the lesion point P1 may also be the surgical needle tip P0 and the lesion point P1 (or the target point) that are selected when the guidance path needs to be adjusted or further determined during the operation.

[0093] That is to say, it is only necessary to scan two angles to set the guidance path and scan another angle to verify the accuracy of the path. By using the projection matrix to plan, guide and provide feedback on the surgical needle before and during surgery, surgical planning and guidance can be achieved, reducing the radiation dose and scanning time. The technical solution of the present invention does not require reconstruction and alignment, and is therefore not affected by metal artifacts.

[0094] The guiding path calculation module is used to calculate a first intersection line L0 formed by a first virtual plane and a second virtual plane in a virtual space, where L0 is a surgical needle guiding path.

[0095] During actual use of the technical solution of the present invention, the surgeon can observe the projection image as usual and is not limited by the size of the equipment and the tablet. The present invention does not require surgical needle materials, angles, positions, and the size and position of the surgical site, further enhancing its practicality and applicability.

[0096] Preferably, the device further comprises:

[0097] A third calculation module is used to project the first intersection line L0 onto the second projection image according to the second projection matrix to form a second intersection line L2', and to orthographically project the first intersection line onto the first projection image through the first projection matrix to form a third intersection line L1';

[0098] The judging module is used to judge whether the third intersection line L1' and the first path L1, the second intersection line L2' and the second path L2 coincide with each other.

[0099] The embodiment of the present invention can repeatedly verify whether the calculation of the guide path is accurate through multiple orthographic projections, avoid deviations in the planning or adjustment of the guide path, and provide an accurate guide path for guiding the surgical needle.

[0100] Preferably, the device further comprises:

[0101] The surgical needle projection module is used to extract the projection matrix Mdrx of any angle from the projection matrix, and orthographically project the surgical needle guiding path L0 onto the two-dimensional projection image of any angle to form a planned path Lx.

[0102] Before or during surgery, once the surgical needle guidance path has been planned, or when operating according to the guidance path, a new angle can be selected at any time to project the current surgical needle guidance path onto a two-dimensional projection image at any angle to further plan the path, providing a basis for subsequent guidance path and rational judgment.

[0103] Preferably, the device further comprises:

[0104] The correction module is used to modify the position points of the surgical needle tip P0 and the lesion point P1 on the first projection image and the position points of the surgical needle tip Q0 and the lesion point Q1 on the second projection image when the planned path does not meet the preset requirements, and trigger the process of recalculating the surgical needle guidance path based on the modified P0, P1 and Q0, Q1.

[0105] See also Figure 5 , Figure 5 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 5As shown, the electronic device 1000 includes a processor 1001 and a memory 1002, and the processor 1001 and the memory 1002 can be connected to each other via a communication bus 1003. The communication bus 1003 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus 1003 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 The memory 1002 is used to store computer programs. The computer programs include program instructions. The processor 1001 is configured to call the program instructions. The program includes instructions for executing Figure 1 Some or all of the steps in the method included.

[0106] The processor 1001 may be a general purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program.

[0107] The memory 1002 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0108] The electronic device 1000 may further include a communication module 1004 and a display 1005. The communication module 1004 may be connected to the optical tracking device for communication. The communication module 1004 may be a wireless communication module (eg, a WiFi module, a Bluetooth module, etc.) or a wired communication module.

[0109] In addition, the electronic device 1000 may also include common components such as a communication interface (eg, a USB interface, a microphone interface, etc.), an antenna, etc., which will not be described in detail here.

[0110] An embodiment of the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any surgical needle guidance method recorded in the above method embodiments.

[0111] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0112] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0114] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0115] In addition, the functional units in the various embodiments of the application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software program modules.

[0116] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially 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, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0117] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0118] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0119] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A surgical needle guiding device based on projection images, characterized in that: The device comprises: A geometric correction module is used to perform geometric correction on the three-dimensional tomography device to obtain the projection matrix at each angle; A first calculation module, used to obtain a first projection image at an initial angle of a three-dimensional tomography device, and rotate the three-dimensional tomography device to a preset angle to obtain a second projection image at the preset angle; A second calculation module, used to obtain a first projection matrix of the first projection image at an initial angle from the projection matrix, and to obtain a second projection matrix of the second projection image at a preset angle; A first recognition module is used to recognize the surgical needle tip P0 and the lesion point P1 under the first projection image, connect P0 and P1 to form a first path L1, and back-project the first path L1 to form a first virtual plane according to the first projection matrix; A second recognition module, used to recognize the surgical needle tip Q0 and the lesion point Q1 in the second projection image again, connect Q0 and Q1 to form a second path L2, and back-project the second path to form a second virtual plane according to a second projection matrix; The guiding path calculation module is used to calculate a first intersection line L0 formed by a first virtual plane and a second virtual plane in a virtual space, where L0 is a surgical needle guiding path.

2. The projection image-based surgical needle guiding device according to claim 1, characterized in that: The device also includes: A third calculation module is used to project the first intersection line L0 onto the second projection image according to the second projection matrix to form a second intersection line L2', and to orthographically project the first intersection line onto the first projection image through the first projection matrix to form a third intersection line L1'; The judging module is used to judge whether the third intersection line L1' and the first path L1, the second intersection line L2' and the second path L2 coincide with each other.

3. The projection image-based surgical needle guiding device according to claim 1, characterized in that: The device also includes: A surgical needle projection module is used to extract a projection matrix Mdrx of any angle from the projection matrix, and orthographically project the surgical needle guiding path L0 onto the two-dimensional projection image of any angle to form a planned path Lx; The correction module is used to modify the position points of the surgical needle tip P0 and the lesion point P1 on the first projection image and the position points of the surgical needle tip Q0 and the lesion point Q1 on the second projection image when the planned path Lx does not meet the preset requirements, and trigger the process of recalculating the surgical needle guidance path based on the modified P0, P1 and Q0, Q1.

Images