Positioning column implantation data processing method and system based on electromagnetic navigation

Abstract

The present invention provides a method and system for processing data of a positioning column implant based on electromagnetic navigation. The method includes: obtaining a three-dimensional imaging image corresponding to the patient; identifying tumor tissue and generating a rectangular tissue frame; determining the distances between each tissue frame surface and the imaging acquisition surface that constitute the rectangular tissue frame; determining the surface with the smallest distance as the target frame surface, and determining the direction perpendicular to the target frame surface as the first mapping direction, mapping the target frame surface to the trunk surface, and when the obtained mapping frame surface is outside the imaging acquisition surface, adjusting the first mapping direction to the second mapping direction and mapping it to the imaging acquisition surface to obtain each mapping vertex; instructing the medical care end to perform two-dimensional ultrasonic acquisition corresponding to each mapping distance for each mapping vertex based on the second mapping direction, and determining the guidance data corresponding to the positioning column based on the ultrasonic acquisition result. The present invention at least improves the auxiliary function of medical diagnosis.

Description

Technical Field

[0001] The invention relates to data processing technology, and in particular to a positioning column implantation data processing method and system based on electromagnetic navigation. Background Art

[0002] Identifying tumor tissue based on 3D imaging technology is an important area in modern medical imaging. This technology uses 3D image data to improve the accuracy of tumor detection, location and analysis. The following are some of the main 3D imaging technologies and their applications:

[0003] 1. CT scan (computed tomography): CT scans can generate detailed three-dimensional images. By imaging body slices, doctors can accurately locate tumors and observe the size, shape, and relationship of tumors to surrounding tissues. In cancer diagnosis and treatment planning, CT scans can provide important information, such as tumor staging and metastasis;

[0004] 2. MRI (magnetic resonance imaging): MRI provides high-resolution three-dimensional images that facilitate detailed observation of soft tissues, including the tissue characteristics and structure of tumors; MRI is particularly suitable for the detection and evaluation of brain tumors, spinal tumors, and certain types of soft tissue tumors;

[0005] 3. PET-CT (positron emission computed tomography): PET-CT combines functional imaging (PET) and anatomical imaging (CT) to provide both metabolic activity and detailed structural information of the tumor. This technology helps assess the activity of the tumor and the effectiveness of treatment;

[0006] The inventors found in surgical practice that in existing medical methods, surgical operations on tumor tissues, including resection or radiofrequency ablation, require clear tumor boundaries to achieve better radical cure. However, the determination of tumor boundaries currently relies mainly on naked eye observation or imaging agent tracing positioning. On the one hand, this determination method is relatively subjective. On the other hand, the diffusion of imaging agents makes it difficult to confirm the boundaries, which may have corresponding inaccuracies and thus affect surgical operations. Summary of the invention

[0007] Based on the above problems, the present invention is proposed to provide a positioning column implantation data processing method and system based on electromagnetic navigation to overcome the above problems or at least partially solve the above problems.

[0008] According to one aspect of the present invention, a method for processing positioning column implantation data based on electromagnetic navigation is provided, comprising the following steps:

[0009] Determine the abdominal surface corresponding to the patient as an imaging acquisition surface, and perform three-dimensional imaging acquisition on the abdominal tissue of the patient based on the imaging acquisition surface to obtain a three-dimensional imaging image corresponding to the patient;

[0010] Identifying the tumor tissue in the three-dimensional imaging image, and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy;

[0011] Determine each tissue frame surface constituting the rectangular tissue frame, and obtain each surface distance between each tissue frame surface and the imaging acquisition surface;

[0012] Determine the tissue frame surface with the smallest corresponding face shape distance as the target frame surface, determine the direction perpendicular to the target frame surface as the first mapping direction, and map the target frame surface to the corresponding patient's trunk surface based on the first mapping direction to obtain a mapping frame surface having a mapping relationship with the target frame surface;

[0013] When the mapping frame surface is outside the imaging acquisition surface, the first mapping direction is adjusted and the rectangular tissue frame is mapped to the imaging acquisition surface based on the obtained second mapping direction to obtain mapping vertices corresponding to the frame vertices of each tissue frame surface;

[0014] The mapping distances corresponding to each mapping vertex are obtained, and the medical staff are instructed to perform two-dimensional ultrasonic acquisition corresponding to each mapping distance on each mapping vertex based on the second mapping direction, and determine the guidance data corresponding to the positioning column based on the ultrasonic acquisition result.

[0015] Optionally, in the method according to the present invention, identifying the tumor tissue located in the three-dimensional imaging image, and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy, comprises:

[0016] Inputting the three-dimensional imaging image into a trained image recognition model, determining the tumor tissue located in the three-dimensional imaging image, and obtaining each contour pixel point constituting the tissue contour of the tumor tissue;

[0017] Determine a central pixel point corresponding to the tumor tissue, perform symmetrical grouping of each contour pixel point in pairs based on the central pixel point to obtain contour symmetry groups, and respectively determine the pixel distance between two contour pixel points in the same contour symmetry group to obtain pixel distances corresponding to each contour symmetry group;

[0018] Connect two contour pixel points in the contour symmetry group with the largest corresponding pixel distance, and determine the obtained contour connection line as the horizontal reference line;

[0019] A rectangular tissue frame surrounding the tumor tissue is generated in the three-dimensional imaging image based on the horizontal reference line.

[0020] Optionally, in the method according to the present invention, generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on the horizontal reference line comprises:

[0021] Performing coordinate processing on the three-dimensional imaging image to obtain a three-dimensional coordinate system corresponding to the three-dimensional imaging image, wherein any coordinate axis of the three-dimensional coordinate system is parallel to the horizontal reference line;

[0022] Based on the three-dimensional coordinate system, each contour coordinate point constituting the tissue contour is obtained, and each coordinate point corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value, and the Z-axis coordinate extreme value is determined in each contour coordinate point as an X-axis extreme value coordinate point, a Y-axis extreme value coordinate point, and a Z-axis extreme value coordinate point;

[0023] Generate an initial rectangular frame surrounding the tumor tissue based on the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, wherein any initial frame line segment of the initial rectangular frame is parallel to or perpendicular to the horizontal reference line;

[0024] Acquire a frame size corresponding to the initial rectangular frame, and retrieve a preset size comparison table, wherein the preset size comparison table includes different size intervals and expansion coefficients corresponding to the different size intervals;

[0025] Traversing the preset size comparison table, and determining the expansion coefficient corresponding to the size interval including the frame size;

[0026] A frame center point corresponding to the initial rectangular frame is obtained, and based on the frame center point, the initial rectangular frame is expanded by a frame corresponding to the expansion coefficient to obtain the rectangular tissue frame.

[0027] Optionally, in the method according to the present invention, obtaining each surface distance between each tissue framework surface and the imaging acquisition surface includes:

[0028] Determine a collection platform for carrying the patient, and determine a body bearing surface corresponding to the collection platform as a grid reference surface;

[0029] Performing grid processing on the grid reference plane, and mapping each obtained grid reference point to the imaging acquisition plane along a direction perpendicular to the grid reference plane, to obtain each imaging acquisition point located on the imaging acquisition plane;

[0030] Perform elevation measurement on each imaging acquisition point to obtain the imaging elevation values ​​corresponding to each imaging acquisition point;

[0031] Calculating the mean of each imaging elevation value, and generating an imaging reference plane parallel to the grid reference plane based on the obtained elevation mean;

[0032] The surface distances between each tissue framework surface and the imaging acquisition surface are obtained.

[0033] Optionally, in the method according to the present invention, the mean of each imaging elevation value is calculated, and an imaging reference plane parallel to the grid reference plane is generated based on the obtained elevation mean, and the method also includes:

[0034] Compare each imaging elevation value with a preset depression threshold value, and determine each imaging acquisition point corresponding to a value less than or equal to the preset depression threshold value as a depression screening group;

[0035] Connecting adjacent imaging acquisition points in the depression screening group to form depression areas, and determining depression contours corresponding to the depression areas;

[0036] forming circumscribed circles for circumscribing the contours of the depressions respectively, and determining the circular areas of the circumscribed circles respectively;

[0037] The circular areas are compared with the preset areas respectively, and all imaging acquisition points included in the concave areas corresponding to the circular areas being greater than or equal to the preset areas are removed.

[0038] Optionally, in the method according to the present invention, when the mapping frame surface is located outside the imaging acquisition surface, the first mapping direction is adjusted and the rectangular tissue frame is mapped to the imaging acquisition surface based on the obtained second mapping direction, and each mapping vertex corresponding to each frame vertex of each tissue frame surface is obtained, including:

[0039] When the mapping frame surface is outside the imaging acquisition surface, a relative frame surface having a relative position relationship with the target frame surface is obtained in the rectangular tissue frame, each target frame line segment constituting the target frame surface and each relative frame line segment constituting the relative frame surface are obtained, and the target frame line segments and the relative frame line segments having a relative position relationship are divided into the same relative line segment group to obtain each relative line segment group;

[0040] Based on the relative frame line segments and the target frame line segments in the same relative line segment group, a frame connection surface connecting the target frame surface and the relative frame surface is formed in the rectangular tissue frame to obtain each frame connection surface;

[0041] Determine directions parallel to the frame connection surfaces as directions to be determined, map the rectangular tissue frame to the trunk surface based on the directions to be determined, and determine directions to be determined in which the mapping vertices corresponding to the frame vertices of the tissue frame surfaces are located in the imaging acquisition surface as secondary screening groups;

[0042] Each of the to-be-determined directions in the secondary screening group is compared with the first mapping direction, and the to-be-determined direction corresponding to the smallest adjustment angle is determined as the second mapping direction.

[0043] Optionally, in the method according to the present invention, when all mapping vertices corresponding to the frame vertices of each tissue frame surface obtained in all directions to be determined are located outside the imaging acquisition surface, segmentation is performed on the target frame line segments constituting the target frame surface to obtain a first line segment group and a second line segment group, wherein all target frame line segments located in the first line segment group and all target frame line segments located in the second line segment group have a mutually perpendicular relationship;

[0044] Determine the target framework line segment in the first line segment group as a first adjustment axis, determine the target framework line segment in the second line segment group as a second adjustment axis, and control the first mapping direction to adjust the direction toward the first adjustment axis and the second adjustment axis respectively;

[0045] When the first mapping direction is adjusted so that the mapping vertices corresponding to the frame vertices of the tissue frame surfaces are all located in the imaging acquisition surface, and the adjacent distances between adjacent mapping vertices are greater than or equal to a preset distance threshold, the first mapping direction is updated to obtain the second mapping direction.

[0046] Optionally, in the method according to the present invention, the method further comprises:

[0047] Determine, based on the three-dimensional imaging image, each vascular tissue that is connected to each tissue frame surface constituting the rectangular tissue frame, and determine each connection point between each vascular tissue and each tissue frame surface;

[0048] Acquire the thickness of each blood vessel corresponding to each blood vessel tissue, and normalize the thickness of each blood vessel to obtain a normalized value of each thickness;

[0049] Each thickness normalized value is multiplied by the retrieved preset thickness coefficient to obtain each cutting distance, and cutting points having cutting distances from corresponding connecting points are determined along the extension direction of each vascular tissue away from the rectangular tissue frame to obtain cutting points corresponding to each vascular tissue.

[0050] Optionally, in the method according to the present invention, the method further comprises:

[0051] Obtain the actual cutting data of any vascular tissue from the medical end, and compare the cutting distance of the corresponding vascular tissue with the actual cutting data:

[0052] If the actual distance of the actual cutting data is greater than the cutting distance, increasing training is performed on the preset thickness coefficient;

[0053] If the actual distance of the actual cutting data is less than the cutting distance, the preset thickness coefficient is trained to be reduced;

[0054] The preset thickness coefficient after training is obtained by the following formula:

[0055] ,

[0056] in, The preset thickness coefficient Increase the number of training sessions. The preset thickness coefficient The training constant value of The preset thickness coefficient Reduce the number of training sessions. It is the preset thickness coefficient after training.

[0057] According to another aspect of the present invention, there is provided a positioning column implantation data processing system based on electromagnetic navigation, comprising:

[0058] A three-dimensional acquisition module is configured to determine the abdominal surface corresponding to the patient as an imaging acquisition surface, and perform three-dimensional imaging acquisition on the abdominal tissue of the patient based on the imaging acquisition surface to obtain a three-dimensional imaging image corresponding to the patient;

[0059] a frame generation module, configured to identify the tumor tissue in the three-dimensional imaging image, and generate a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy;

[0060] A distance determination module is configured to determine each tissue frame surface constituting the rectangular tissue frame, and obtain each surface shape distance between each tissue frame surface and the imaging acquisition surface;

[0061] A first mapping module is configured to determine the tissue frame surface with the smallest corresponding face shape distance as the target frame surface, and determine a direction perpendicular to the target frame surface as a first mapping direction, and map the target frame surface to a trunk surface corresponding to the patient based on the first mapping direction to obtain a mapping frame surface having a mapping relationship with the target frame surface;

[0062] A second mapping module is configured to adjust the first mapping direction and map the rectangular tissue frame to the imaging acquisition surface based on the obtained second mapping direction when the mapping frame surface is outside the imaging acquisition surface, so as to obtain mapping vertices corresponding to the frame vertices of each tissue frame surface;

[0063] The position guidance module is configured to obtain the mapping distances corresponding to each mapping vertex, instruct the medical end to perform two-dimensional ultrasonic acquisition corresponding to each mapping distance for each mapping vertex based on the second mapping direction, and determine the guidance data corresponding to the positioning column based on the ultrasonic acquisition results.

[0064] According to the solution of the present invention, in order to be able to implant the positioning column accordingly, the patient's abdominal surface can first be imaged and acquired in three dimensions, and recognition can be performed based on the obtained three-dimensional imaging image to determine the tumor tissue located in the three-dimensional imaging image; then, in order to integrate the tumor tissue presenting an irregular shape into a regular shape, a rectangular tissue frame surrounding the tumor tissue can be generated, thereby reducing the subsequent data processing volume and improving the corresponding processing efficiency; then, the tissue frame surfaces that constitute the rectangular tissue frame can be obtained, and the corresponding surface shape distances can be further obtained, and the tissue frame surface with the smallest corresponding surface shape distance can be determined as the target frame surface, so that the direction perpendicular to the target frame surface can be determined as the first mapping direction, and the mapping of the target frame surface can be completed based on the first mapping direction; finally, it can be determined whether the mapped mapping frame surface is located in the imaging acquisition surface, and based on the judgment result, the medical care end is instructed to perform Implantation of the positioning column; wherein, when the mapping frame surface is located in the imaging acquisition surface, the mapping vertices of the corresponding mapping frame surface can be obtained, and based on the mapping distances corresponding to the mapping vertices, the medical staff can be instructed to perform corresponding two-dimensional ultrasonic acquisitions on each mapping vertex, thereby completing the implantation of the positioning column; and when the mapping frame surface is located outside the imaging acquisition surface, it is necessary to adjust the first mapping direction so that the corresponding mapping distances can be obtained based on the obtained second mapping direction, and further instruct the medical staff to perform corresponding two-dimensional ultrasonic acquisitions on each mapping vertex; this embodiment can realize the corresponding mapping of tumor tissue located in the three-dimensional imaging image to the two-dimensional ultrasonic image, so that the positioning column can be implanted in the tumor tissue based on the ultrasonic principle according to the guidance data corresponding to the positioning column, so as to realize the physical positioning of the tumor tissue, so that the medical staff can perform subsequent surgical operations, thereby improving the corresponding medical diagnosis assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A flow chart of a method for processing positioning column implantation data based on electromagnetic navigation according to an embodiment of the present invention is shown;

[0066] Figure 2 A schematic diagram showing the rectangular tissue frame in this embodiment when it is mapped onto the trunk surface along a first mapping direction;

[0067] Figure 3 A schematic diagram showing the rectangular tissue frame in this embodiment when it is mapped onto the trunk surface along the second mapping direction;

[0068] Figure 4 A structural block diagram of a positioning column implantation data processing system based on electromagnetic navigation according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0069] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0070] Identifying tumor tissue based on 3D imaging technology is an important area in modern medical imaging. This technology uses 3D image data to improve the accuracy of tumor detection, location and analysis. The following are some of the main 3D imaging technologies and their applications:

[0071] 1. CT scan (computed tomography): CT scans can generate detailed three-dimensional images. By imaging body slices, doctors can accurately locate tumors and observe the size, shape, and relationship of tumors to surrounding tissues. In cancer diagnosis and treatment planning, CT scans can provide important information, such as tumor staging and metastasis;

[0072] 2. MRI (magnetic resonance imaging): MRI provides high-resolution three-dimensional images that facilitate detailed observation of soft tissues, including the tissue characteristics and structure of tumors; MRI is particularly suitable for the detection and evaluation of brain tumors, spinal tumors, and certain types of soft tissue tumors;

[0073] 3. PET-CT (positron emission computed tomography): PET-CT combines functional imaging (PET) and anatomical imaging (CT) to provide both metabolic activity and detailed structural information of the tumor. This technology helps assess the activity of the tumor and the effectiveness of treatment;

[0074] The inventors found in surgical practice that in existing medical methods, surgical operations on tumor tissues, including resection or radiofrequency ablation, require clear tumor boundaries to achieve better radical cure. However, the determination of tumor boundaries currently relies mainly on naked eye observation or imaging agent tracing positioning. On the one hand, this determination method is relatively subjective. On the other hand, the diffusion of imaging agents makes it difficult to confirm the boundaries, which may have corresponding inaccuracies and thus affect surgical operations.

[0075] To solve the problems existing in the above-mentioned prior art, the inventor proposes the solution of the present invention. One embodiment of the present invention provides a positioning column implantation data processing method based on electromagnetic navigation, which can be executed in a computing device, wherein the computing device can be understood as a terminal with data processing function, such as a mobile phone or a computer.

[0076] Figure 1 FIG. 4 is a flow chart showing a method for processing positioning column implantation data based on electromagnetic navigation according to an embodiment of the present invention. Figure 1 As shown, this embodiment starts with step S102. In step S102, the following contents are included:

[0077] The abdominal surface corresponding to the patient is determined as an imaging acquisition surface, and three-dimensional imaging acquisition is performed on the abdominal tissue of the patient based on the imaging acquisition surface to obtain a three-dimensional imaging image corresponding to the diseased part.

[0078] For example, in this embodiment, in order to identify a tumor located inside the patient's abdomen, three-dimensional imaging acquisition such as CT may be used to perform corresponding three-dimensional imaging acquisition of the patient's abdomen. When performing the corresponding three-dimensional imaging acquisition, it is necessary to determine the corresponding imaging acquisition surface. Since the tumor is located inside the patient's abdomen, the corresponding patient's abdominal surface may be determined as the imaging acquisition surface.

[0079] After the corresponding imaging acquisition plane is obtained, the patient's abdominal tissue can be imaged and acquired in three dimensions based on the corresponding three-dimensional imaging technology, thereby obtaining a three-dimensional imaging image corresponding to the patient. Here, the medical staff can obtain the tumor existing in the patient's abdominal tissue and determine its location accordingly by viewing the three-dimensional imaging image.

[0080] It should be noted that, in this embodiment, the medical end can be understood as a terminal device used by medical personnel, such as a mobile phone or a computer.

[0081] In step S104, the following contents are included:

[0082] Tumor tissue located in the three-dimensional imaging image is identified, and a rectangular tissue frame surrounding the tumor tissue is generated in the three-dimensional imaging image based on a preset minimum frame generation strategy.

[0083] For example, in this embodiment, after a three-dimensional imaging image corresponding to the patient is acquired based on the three-dimensional imaging technology, corresponding image recognition can be performed on it, so as to identify the tumor tissue located in the three-dimensional imaging image based on the machine angle; and after completing the corresponding recognition process, since the tumor tissue generally has a corresponding irregular shape, such as a roughly circular or elliptical shape, in order to reduce the subsequent data processing volume and more clearly and roughly display the tissue contour of the tumor tissue, a rectangular tissue frame that can surround the tumor tissue can be generated in the three-dimensional imaging image based on a preset minimum frame generation strategy.

[0084] Here, it should be noted that the rectangular tissue frame can be a corresponding cube or a corresponding rectangle, and its specific shape needs to be determined according to the tissue contour of the corresponding tumor tissue.

[0085] Furthermore, in this embodiment, the above-mentioned “identifying the tumor tissue located in the three-dimensional imaging image, and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy” may also include the following steps:

[0086] Inputting the three-dimensional imaging image into a trained image recognition model, determining the tumor tissue located in the three-dimensional imaging image, and obtaining each contour pixel point constituting the tissue contour of the tumor tissue;

[0087] Determine the central pixel point corresponding to the tumor tissue, symmetrically group each contour pixel point based on the tissue central point, obtain each contour symmetry group, and respectively determine the pixel distance between two contour pixel points in the same contour symmetry group to obtain each pixel distance corresponding to each contour symmetry group;

[0088] Connect two contour pixel points in the contour symmetry group with the largest corresponding pixel distance, and determine the obtained contour connection line as the horizontal reference line;

[0089] A rectangular tissue frame surrounding the tumor tissue is generated in the three-dimensional imaging image based on the horizontal reference line.

[0090] For example, in this embodiment, in order to obtain a rectangular tissue frame surrounding the tumor tissue, the tissue contour of the tumor tissue needs to be obtained first. Therefore, the three-dimensional imaging image obtained above needs to be input into the corresponding trained image recognition model, so as to determine the tumor tissue located in the three-dimensional imaging image. The image recognition model can be obtained based on a machine learning model or a neural network learning model, that is, an initial blank model is first constructed, and sample images including different tumor tissues are obtained. The initial blank model is trained based on each sample image, so as to obtain a trained image recognition model.

[0091] After the tumor tissue is determined accordingly, a rectangular tissue frame including the tumor tissue may be generated based on the following method steps:

[0092] First, after the tumor tissue is determined, each contour pixel point constituting the tissue contour of the tumor tissue can be obtained. Here, the tissue contour is generally an irregular shape;

[0093] Next, the central pixel point corresponding to the tumor tissue can be obtained, and each contour pixel point can be further symmetrically grouped based on the central pixel point to obtain each contour symmetry group, that is, the two contour pixel points in the same contour symmetry group are respectively symmetrical in point position based on the central pixel point;

[0094] Next, the pixel distance between two contour pixel points located in the same contour symmetry group is determined, thereby obtaining each pixel distance corresponding to each contour symmetry group;

[0095] Then, two contour pixel points in the contour symmetry group with the largest corresponding pixel distance can be connected to obtain a corresponding contour connection line, and the contour connection line is determined as a horizontal reference line;

[0096] Finally, after the horizontal reference line is determined, a rectangular tissue frame surrounding the tumor tissue can be generated in the three-dimensional imaging image based on the horizontal reference line.

[0097] It should be noted that, in this embodiment, by connecting the two contour pixel points with the largest corresponding pixel distance, the tissue length of the tumor tissue is determined based on the obtained contour connection line, so that the contour connection line can be further determined as a horizontal reference line, and the corresponding rectangular tissue frame can be generated based on the horizontal reference line.

[0098] Furthermore, in this embodiment, the above-mentioned “generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on the horizontal reference line” may also include the following steps:

[0099] Performing coordinate processing on the three-dimensional imaging image to obtain a three-dimensional coordinate system corresponding to the three-dimensional imaging image, wherein any coordinate axis of the three-dimensional coordinate system is parallel to the horizontal reference line;

[0100] Based on the three-dimensional coordinate system, each contour coordinate point constituting the tissue contour is obtained, and each coordinate point corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value, and the Z-axis coordinate extreme value is determined in each contour coordinate point as an X-axis extreme value coordinate point, a Y-axis extreme value coordinate point, and a Z-axis extreme value coordinate point;

[0101] Generate an initial rectangular frame surrounding the tumor tissue based on the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, wherein any initial frame line segment of the initial rectangular frame is parallel to or perpendicular to the horizontal reference line;

[0102] Acquire a frame size corresponding to the initial rectangular frame, and retrieve a preset size comparison table, wherein the preset size comparison table includes different size intervals and expansion coefficients corresponding to the different size intervals;

[0103] Traversing the preset size comparison table, and determining the expansion coefficient corresponding to the size region including the frame size;

[0104] A frame center point corresponding to the initial rectangular frame is obtained, and based on the frame center point, the initial rectangular frame is expanded by a frame corresponding to the expansion coefficient to obtain the rectangular tissue frame.

[0105] For example, in this embodiment, after obtaining the corresponding horizontal reference line, the three-dimensional image can be subjected to corresponding coordinate processing, thereby obtaining a three-dimensional coordinate system corresponding to the three-dimensional image. Here, in order to facilitate the subsequent search of coordinate points, any coordinate axis of the three-dimensional coordinate system can be set to be parallel to the horizontal reference line.

[0106] In the above process, each contour pixel point constituting the tissue contour has been obtained based on the three-dimensional imaging image. Therefore, here, each contour coordinate point corresponding to each contour pixel point can be synchronously obtained based on the three-dimensional coordinate system, and each coordinate point corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value and the Z-axis coordinate extreme value are respectively determined in each contour coordinate point as the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point and the Z-axis extreme value coordinate point; here, it should be noted that the extreme value includes the maximum value and the minimum value, therefore, the extreme value coordinate points corresponding to each different coordinate axis include the maximum value coordinate point and the minimum value coordinate point respectively;

[0107] After the extreme value coordinate points of different coordinate axes are obtained, an initial rectangular frame surrounding the tumor tissue can be generated based on the X-axis extreme value coordinate point corresponding to the X-axis, the Y-axis extreme value coordinate point corresponding to the Y-axis, and the Z-axis extreme value coordinate point corresponding to the Z-axis. In order to correspond to the minimum contour, it is necessary to ensure that any initial frame line segment of the initial rectangular frame is parallel or perpendicular to the corresponding horizontal reference line; here, the initial frame line segment can be understood as each line segment used to form the initial rectangular frame;

[0108] After the corresponding initial rectangular frame is completed, the acquisition of the minimum contour is realized. However, in the present embodiment, in the subsequent process, the corresponding positioning column needs to be implanted for the acquired tumor tissue to complete the physical positioning of the tumor tissue, so as to facilitate the instructing of medical staff to perform surgical operations on the tumor tissue based on the positioning column, such as the above-mentioned resection or radiofrequency ablation operations, etc. Therefore, in order to ensure that the implantation position of the positioning column does not overlap with the tumor tissue during the subsequent implantation process, resulting in damage to the tumor tissue, etc., it is necessary to expand the acquired initial rectangular frame accordingly, and the corresponding expansion process can be achieved by the following method steps:

[0109] First, the frame size corresponding to the initial rectangular frame can be obtained, and a preset size comparison table can be retrieved. Here, the preset size comparison table can be set and stored in advance, and the storage location can be specifically a server, etc., so as to facilitate corresponding retrieval; wherein the preset size comparison table includes different size intervals and expansion coefficients corresponding to each size interval, for example, the size interval can include [1mm~2mm], [3mm-4mm], etc., and the corresponding expansion coefficients can be 1.2, 1.5, etc., wherein the expansion coefficient corresponding to the size interval [1mm~2mm] is 1.2, and the expansion coefficient corresponding to the size interval [3mm-4mm] is 1.5, that is, the larger the size range corresponding to the size interval, the larger the expansion coefficient;

[0110] Next, after the preset size comparison table is retrieved, the preset size comparison table can be traversed to determine the expansion coefficient corresponding to the size interval of the frame size. For example, when the frame size is 1.5 mm, the corresponding expansion coefficient is 1.5.

[0111] Finally, after the expansion coefficient is determined, the frame center point corresponding to the initial rectangular frame can be obtained, and based on the frame center point, the initial rectangular frame is expanded with the corresponding expansion coefficient to obtain a rectangular tissue frame; for example, when the frame size of the initial rectangular frame is 1.5 mm and the corresponding expansion coefficient is 1.5, the frame size of the obtained rectangular tissue frame is 2.25.

[0112] It should be noted that, in the present embodiment, by presetting the preset size comparison table, different expansion coefficients can be set based on the corresponding different size intervals, so that the expansion coefficient can be quickly determined for each tumor tissue corresponding to a different size, and because the larger the initial rectangular frame is, the larger the corresponding tumor tissue may be. In this case, it is necessary to determine the change law of the expansion coefficient to increase as the size range of the size interval increases, thereby ensuring that there is a certain range of buffer area (that is, the area other than the tumor tissue) in the obtained rectangular tissue frame, improving the convenience of subsequent operation when implanting the positioning column, and ensuring that the implantation position of the positioning column does not overlap with the tumor tissue during the subsequent implantation process, resulting in damage to the tumor tissue, etc.

[0113] In step S106, the following contents are included:

[0114] The tissue frame surfaces constituting the rectangular tissue frame are determined, and the surface distances between the tissue frame surfaces and the imaging acquisition surface are obtained.

[0115] For example, in this embodiment, since the subsequent implantation operation of the positioning column needs to be based on the two-dimensional ultrasound technology, that is, it is necessary to insert the corresponding electromagnetic navigation needle into the patient's body and move it to the position corresponding to the tumor tissue to implant the positioning column, that is, it is necessary to obtain the movement trajectory of the electromagnetic navigation needle, and the two-dimensional ultrasound technology can be used to perform corresponding two-dimensional imaging of the patient's abdominal tissue, and since the imaging process is real-time, it can be observed whether the corresponding electromagnetic navigation needle is moved to the preset implantation position for the subsequent implantation of the positioning column, thereby improving the corresponding implantation accuracy.

[0116] It needs to be further explained that the existing two-dimensional ultrasound technology uses the reflection of ultrasound waves by the human body for observation. It uses weak ultrasound waves to irradiate the body and image the reflected waves of the tissues. The sonogram can indirectly reflect the structure of the various layers of tissues in a certain part of the human body. Abdominal ultrasound examination is suitable for the diagnosis of pain in various organs such as the liver, gallbladder, bile duct, spleen, pancreas, kidney, adrenal gland, bladder, and prostate; therefore, when medical staff perform corresponding two-dimensional ultrasound acquisition on the patient's abdominal tissue, the medical staff will place the corresponding two-dimensional acquisition probe on the patient's abdominal surface and move it to obtain the ultrasound situation in the abdominal tissue. Therefore, based on this feature, the tumor tissue located in the abdominal tissue can be mapped to the abdominal surface, so that it is convenient for medical staff to perform two-dimensional ultrasound acquisition on the corresponding position.

[0117] Here, after completing the acquisition of the rectangular tissue frame, the corresponding rectangular tissue frame can be mapped onto the abdominal surface. When performing the corresponding mapping operation, since the surface distances between each tissue frame surface on the rectangular tissue frame and the corresponding imaging acquisition surface are different, it is necessary to acquire each surface distance accordingly, so as to facilitate the positioning of each tissue frame surface from the imaging acquisition surface based on the surface distances during the subsequent two-dimensional ultrasound acquisition process.

[0118] Furthermore, in this embodiment, the above-mentioned “obtaining the distances between each tissue framework surface and the imaging acquisition surface” may also include the following steps:

[0119] Determine a collection platform for carrying the patient, and determine a body bearing surface corresponding to the collection platform as a grid reference surface;

[0120] Performing grid processing on the grid reference plane, and mapping each obtained grid reference point to the imaging acquisition plane along a direction perpendicular to the grid reference plane, to obtain each imaging acquisition point located on the imaging acquisition plane;

[0121] Perform elevation measurement on each imaging acquisition point to obtain the imaging elevation values ​​corresponding to each imaging acquisition point;

[0122] Calculating the mean of each imaging elevation value, and generating an imaging reference plane parallel to the grid reference plane based on the obtained elevation mean;

[0123] The surface distances between each tissue framework surface and the imaging acquisition surface are obtained.

[0124] It should be noted that since the imaging acquisition surface is obtained based on the abdominal surface, and in actual situations, the patient's abdominal surface is often in a non-parallel surface state, in order to obtain the various surface distances between each tissue framework surface and the imaging acquisition surface, it is necessary to parallelize the imaging acquisition surface, so as to obtain the corresponding surface distances based on the imaging acquisition surface after parallel processing.

[0125] For example, in this embodiment, the method steps for obtaining the distances of various surface shapes may specifically include the following contents:

[0126] First, in order to process the imaging acquisition surface in parallel, a collection platform that carries the patient's body can be determined, wherein the collection platform can be understood as a three-dimensional collection bed or a two-dimensional collection bed located in a medical field, and the patient can lie on the body bearing surface of the collection platform to perform corresponding three-dimensional imaging acquisition or two-dimensional ultrasound acquisition. Since the body bearing surface of the collection platform is horizontally set, the body bearing surface of the corresponding collection platform can be further determined as a grid reference surface;

[0127] Next, the grid reference plane may be subjected to grid processing, and each obtained grid reference point may be mapped to the imaging acquisition plane along a direction perpendicular to the grid reference plane, thereby obtaining each imaging acquisition point located on the imaging acquisition plane;

[0128] Next, the corresponding elevation measurement can be performed on each imaging acquisition point, thereby obtaining the imaging elevation values ​​corresponding to each imaging acquisition point. It should be noted that, since the imaging acquisition surface is not set horizontally, the corresponding imaging elevation values ​​may be different.

[0129] Then, after obtaining the corresponding imaging elevation values, the imaging elevation values ​​can be averaged to obtain the corresponding elevation mean, and an imaging reference plane parallel to the grid reference plane is generated based on the elevation mean;

[0130] Finally, the surface distances between each tissue framework surface and the imaging acquisition surface can be obtained according to the corresponding surface distance calculation formula.

[0131] Furthermore, in this embodiment, it can be known from the above content that the imaging reference plane is generated based on each imaging elevation value of each imaging acquisition point located on the imaging acquisition plane. Since the imaging acquisition plane corresponds to the abdominal surface, and there is a navel area on the abdominal surface that has a corresponding concave characteristic compared to other parts of the abdominal surface, therefore, in order to improve the accuracy of obtaining each surface distance between the imaging acquisition plane and each tissue framework plane, before the above-mentioned "calculating the mean of each imaging elevation value, and generating an imaging reference plane parallel to the grid reference plane based on the obtained elevation mean", the navel area needs to be removed accordingly, and the corresponding removal process may include the following content:

[0132] Compare each imaging elevation value with a preset depression threshold value, and determine each imaging acquisition point corresponding to a value less than or equal to the preset depression threshold value as a depression screening group;

[0133] Connecting adjacent imaging acquisition points in the depression screening group to form depression areas, and determining depression contours corresponding to the depression areas;

[0134] forming circumscribed circles for circumscribing the contours of the depressions respectively, and determining the circular areas of the circumscribed circles respectively;

[0135] The circular areas are compared with the preset areas respectively, and all imaging acquisition points included in the concave areas corresponding to the circular areas being greater than or equal to the preset areas are removed.

[0136] For example, in this embodiment, in order to remove the corresponding navel area and improve the accuracy of obtaining the mean elevation, the navel area needs to be determined first. Based on the concave characteristics of the navel area, each imaging elevation value can be compared with the retrieved preset concave threshold, and each imaging acquisition point corresponding to the preset concave threshold can be determined as a concave screening group; then, each imaging acquisition point located in the concave screening group can be connected to each other at adjacent points to obtain each concave area, and each concave contour corresponding to each concave area can be determined accordingly; then, since the navel area generally corresponds to a circle and the concave areas of different navel areas are roughly similar, each circumscribed circle that circumscribes each concave contour can be formed, and the circular area of ​​each circumscribed circle can be determined; finally, each circular area can be compared with the preset area, and when any circular area is greater than or equal to the preset area, it can be determined as the navel area, so that all imaging acquisition points included in the concave area can be removed, thereby improving the accuracy of obtaining the mean elevation.

[0137] In step S108, the following contents are included:

[0138] The tissue frame surface with the smallest corresponding surface shape distance is determined as the target frame surface, and the direction perpendicular to the target frame surface is determined as the first mapping direction. Based on the first mapping direction, the target frame surface is mapped to the trunk surface corresponding to the patient to obtain a mapping frame surface having a mapping relationship with the target frame surface.

[0139] For example, in this embodiment, after obtaining the surface distances between each tissue frame surface and the imaging acquisition surface, the tissue frame surface with the smallest corresponding surface distance can be determined as the target frame surface, and the direction perpendicular to the target frame surface is determined as the first mapping direction, and the target frame surface is mapped to the corresponding patient's torso surface based on the first mapping direction, thereby obtaining a mapping frame surface having a mapping relationship with the target frame surface; that is, in subsequent method steps, medical staff can perform corresponding two-dimensional ultrasound acquisition based on the mapping frame surface mapped to the torso surface to determine the location of the corresponding tumor tissue.

[0140] Here, since the torso surface not only includes the corresponding abdominal surface, but may also include the patient's neck surface or other surfaces, in the above content, although the corresponding rectangular tissue frame is located in the abdominal tissue of the abdominal surface, since the mapping is based on the first mapping direction, if the angle between the first mapping direction and the imaging acquisition surface is too large, the corresponding mapping frame surface mapped to the torso surface may be located outside the abdominal surface (for example, located on the neck surface). In this case, it may cause corresponding operational difficulties for subsequent medical staff to perform two-dimensional ultrasound acquisition. Therefore, it is necessary to ensure that the mapping frame surface mapped to the torso surface is located in the abdominal surface.

[0141] Based on the above content, in step S110, the following contents may be included:

[0142] When the mapping frame surface is outside the imaging acquisition surface, the first mapping direction is adjusted and the rectangular tissue frame is mapped to the imaging acquisition surface based on the obtained second mapping direction to obtain mapping vertices corresponding to the frame vertices of each tissue frame surface.

[0143] For example, in this embodiment, in order to facilitate medical staff to locate the corresponding position of tumor tissue during subsequent two-dimensional ultrasound acquisition, it is necessary to map the corresponding rectangular tissue frame onto the imaging acquisition surface. Based on the characteristics of the rectangular tissue frame, it can be known that: Figure 2 As shown ( Figure 2 A is a rectangular tissue frame, and B is the torso of the corresponding patient), when the rectangular tissue frame is mapped onto any surface along a direction perpendicular to any tissue frame surface, the rectangular tissue frame will be mapped from a three-dimensional rectangular shape to a planar rectangular shape, and the planar rectangular shape is the same as the surface shape of the tissue frame surface. Therefore, in order to further facilitate the medical staff to locate the tumor tissue in the subsequent two-dimensional ultrasound acquisition, the target frame surface can be preferentially mapped in a manner perpendicular to the first mapping direction. When the obtained mapping frame surface is located on the imaging acquisition surface, the rectangular tissue frame can be further completely mapped. Through this mapping method, only one mapping frame surface corresponding to the target frame surface can be retained on the imaging acquisition surface, that is, only four corresponding frame vertices are obtained, thereby improving the convenience of operation for medical staff;

[0144] When the mapping frame surface corresponding to the target frame surface is outside the imaging acquisition surface, it is necessary to adjust the first mapping direction accordingly to obtain the second mapping direction, so that when mapping is performed based on the second mapping direction, it can ensure that the corresponding rectangular tissue frame can be completely mapped to the imaging acquisition surface, and further map the vertices corresponding to each frame vertex of each tissue frame surface.

[0145] For example, in this embodiment, the above-mentioned “when the mapping frame surface is outside the imaging acquisition surface, the first mapping direction is adjusted and the rectangular tissue frame is mapped to the imaging acquisition surface based on the obtained second mapping direction to obtain mapping vertices corresponding to the frame vertices of each tissue frame surface” may also include the following steps:

[0146] When the mapping frame surface is outside the imaging acquisition surface, a relative frame surface having a relative position relationship with the target frame surface is obtained in the rectangular tissue frame, each target frame line segment constituting the target frame surface and each relative frame line segment constituting the relative frame surface are obtained, and the target frame line segments and the relative frame line segments having a relative position relationship are divided into the same relative line segment group to obtain each relative line segment group;

[0147] Based on the relative frame line segments and the target frame line segments in the same relative line segment group, a frame connection surface connecting the target frame surface and the relative frame surface is formed in the rectangular tissue frame to obtain each frame connection surface;

[0148] Determine directions parallel to the frame connection surfaces as directions to be determined, map the rectangular tissue frame to the trunk surface based on the directions to be determined, and determine directions to be determined in which the mapping vertices corresponding to the frame vertices of the tissue frame surfaces are located in the imaging acquisition surface as secondary screening groups;

[0149] Each of the to-be-determined directions in the secondary screening group is compared with the first mapping direction, and the to-be-determined direction corresponding to the smallest adjustment angle is determined as the second mapping direction.

[0150] For example, in this embodiment, when the mapping frame surface is outside the imaging acquisition surface, the first mapping direction needs to be adjusted, and the specific adjustment process can be described as follows:

[0151] First, a relative frame surface having a relative position relationship with the target frame surface is obtained in a rectangular tissue frame, wherein the target frame surface and the relative frame surface are parallel to each other;

[0152] Next, the target frame line segments and the relative frame faces that respectively constitute the target frame face and the relative frame face can be obtained, and the target frame line segments and the relative frame line segments that have a relative position relationship are divided into the same relative line segment group to obtain relative line segment groups;

[0153] Next, the relative frame line segments and the target frame line segments in the same relative line segment group are used to form a frame connection surface connecting the target frame surface and the relative frame surface in the rectangular organization frame, thereby obtaining corresponding frame connection surfaces;

[0154] Then, after obtaining each frame connection surface, directions respectively parallel to each frame connection surface can be determined as directions to be determined, and further based on each obtained direction to be determined, the rectangular tissue frame is respectively mapped to the trunk surface, and each direction to be determined in which each mapping vertex corresponding to each frame vertex of each tissue frame surface is located in the imaging acquisition surface is determined as a secondary screening group;

[0155] Finally, each of the to-be-determined directions in the secondary screening group can be compared with the first mapping direction, so that the to-be-determined direction corresponding to the smallest adjustment angle is determined as the second mapping direction.

[0156] It should be noted that, in this embodiment, based on the characteristics of the rectangular organizational frame, Figure 3 As shown ( Figure 3 A is a rectangular tissue frame, and B is the torso of the corresponding patient). When the rectangular tissue frame is mapped onto the torso surface according to the directions to be determined obtained above, six mapping vertices can be obtained. Compared with the four mapping vertices obtained based on the first mapping direction mentioned above, only two mapping vertices are added. This not only ensures that the mapped rectangular tissue frame is located in the imaging acquisition surface, but also improves the operational convenience for medical staff to a certain extent. Moreover, by determining the direction to be determined with the smallest corresponding adjustment angle in the secondary screening group as the second mapping direction, the corresponding data modification amount and the corresponding image processing amount can also be reduced.

[0157] Furthermore, in this embodiment, the method further includes:

[0158] When all mapping vertices corresponding to the frame vertices of each tissue frame surface obtained in all directions to be determined are located outside the imaging acquisition surface, segmenting the target frame line segments constituting the target frame surface to obtain a first line segment group and a second line segment group, wherein all target frame line segments in the first line segment group and all target frame line segments in the second line segment group have a mutually perpendicular relationship;

[0159] Determine the target framework line segment in the first line segment group as a first adjustment axis, determine the target framework line segment in the second line segment group as a second adjustment axis, and control the first mapping direction to adjust the direction toward the first adjustment axis and the second adjustment axis respectively;

[0160] When the first mapping direction is adjusted so that the mapping vertices corresponding to the frame vertices of the tissue frame surfaces are all located in the imaging acquisition surface, and the adjacent distances between adjacent mapping vertices are greater than or equal to a preset distance threshold, the first mapping direction is updated to obtain the second mapping direction.

[0161] For example, in this embodiment, when the mapping vertices corresponding to the frame vertices of the tissue frame planes obtained based on all the directions to be determined obtained above are all located outside the imaging acquisition, the first mapping direction needs to be adjusted based on the following method steps:

[0162] First, each target frame line segment constituting the target frame surface may be segmented to obtain a first line segment group and a second line segment group;

[0163] Then, all target frame line segments in the first line segment group can be determined as the first adjustment axis, and the target frame line segments in the second line segment group can be determined as the second adjustment axis, and the first mapping direction can be controlled to be adjusted toward the first adjustment axis and the second adjustment axis respectively, so that the first mapping direction can be adjusted toward four different directions accordingly;

[0164] Finally, when the first mapping is adjusted so that the mapping vertices corresponding to the frame vertices of each tissue frame surface are all located in the imaging acquisition surface, and the adjacent distances between adjacent mapping vertices are greater than or equal to the preset distance threshold, the first mapping direction can be updated to obtain the corresponding second mapping direction; by updating the first mapping direction in this way, the rectangular tissue frame can be mapped to the imaging acquisition surface, and the adjacent distances between the obtained mapping vertices are greater than or equal to the preset distance threshold, thereby facilitating subsequent medical staff to perform two-dimensional ultrasonic acquisition of each mapping vertex, thereby improving the corresponding operational convenience.

[0165] In step S112, the following contents are included:

[0166] The mapping distances corresponding to each mapping vertex are obtained, and the medical staff are instructed to perform two-dimensional ultrasonic acquisition corresponding to each mapping distance on each mapping vertex based on the second mapping direction, and determine the guidance data corresponding to the positioning column based on the ultrasonic acquisition result.

[0167] For example, in this embodiment, after completing the mapping of the rectangular tissue frame, the corresponding two-dimensional ultrasound acquisition can be performed according to each mapping vertex located on the imaging acquisition surface, so that the positioning column can be implanted at each surface vertex; and before performing the two-dimensional ultrasound acquisition, the mapping distance of each mapping vertex needs to be acquired. It should be noted that the mapping distance here is acquired based on the first mapping direction or the second mapping direction, and due to the difference in mapping directions, some mapping vertices may overlap, such as the aforementioned case of four mapping vertices and the case of six mapping vertices. Therefore, different mapping distances need to be acquired based on the overlapping mapping vertices, so that the mapping direction and the mapping distance can be determined as the guidance data corresponding to the positioning column, so as to instruct the medical staff to perform the two-dimensional ultrasound acquisition of the corresponding mapping distances for each mapping vertex according to the corresponding first mapping direction or the second mapping direction during the subsequent implantation of the positioning column, so as to further instruct the medical staff to implant the positioning column at each surface vertex, complete the physical positioning of the tumor tissue, and facilitate the medical staff to perform the corresponding surgical operation on the tumor tissue later.

[0168] In addition, it can be seen from the above content that after the positioning column implantation of the rectangular tissue frame is completed, the corresponding surgical operation can be performed on the tumor tissue, such as the above-mentioned resection or radiofrequency ablation, that is, the venous basin around the tumor tissue is cut or ablated, so that the vascular tissue of the corresponding venous basin loses blood circulation, thereby causing tumor tissue necrosis, so as to further achieve subsequent resection of the tumor tissue; in this embodiment, when the resection method is adopted, in order to indicate the corresponding cutting position to the medical end, the following method steps can also be included:

[0169] Determine, based on the three-dimensional imaging image, each vascular tissue that is connected to each tissue frame surface constituting the rectangular tissue frame, and determine each connection point between each vascular tissue and each tissue frame surface;

[0170] Acquire the thickness of each blood vessel corresponding to each blood vessel tissue, and normalize the thickness of each blood vessel to obtain a normalized value of each thickness;

[0171] Each thickness normalized value is multiplied by the retrieved preset thickness coefficient to obtain each cutting distance, and cutting points having cutting distances from corresponding connecting points are determined along the extension direction of each vascular tissue away from the rectangular tissue frame to obtain cutting points corresponding to each vascular tissue.

[0172] For example, in this embodiment, since the thickness of each blood vessel corresponding to each vascular tissue may be different, and the corresponding thicker vascular tissue may have a greater cutting difficulty, a cutting point farther from the tumor tissue should be selected for cutting, while the cutting difficulty corresponding to the narrower vascular tissue may have a lower cutting difficulty, so a cutting point closer to the tumor tissue should be selected for cutting; therefore, in order to determine the corresponding cutting point based on the thickness of each blood vessel of the vascular tissue located in the venous basin near the tumor tissue, the following method steps can be used:

[0173] First, it is necessary to determine each vascular tissue that is connected to each tissue frame surface that constitutes the rectangular tissue frame based on the three-dimensional imaging image obtained above, and further determine each connection point between each vascular tissue and each tissue frame surface, wherein it can be known that each connection point should be located on the corresponding tissue frame surface;

[0174] Next, the vascular thickness of each vascular tissue may be obtained, and the obtained vascular thicknesses may be further normalized to obtain normalized values ​​of each thickness;

[0175] Finally, the obtained normalized thickness values ​​and the retrieved preset thickness coefficients can be multiplied accordingly to obtain the corresponding cutting distances, and the cutting points with cutting distances from the corresponding connecting points can be further determined along the extension direction of each vascular tissue away from the rectangular tissue frame. In this way, during subsequent surgical operations, the medical staff can be instructed to cut the vascular tissues located in the basin surrounding the tumor tissue based on the cutting points.

[0176] Furthermore, in the present embodiment, since the cutting point is determined based on the blood vessel thickness and the preset thickness coefficient, the cutting point determined by the numerical value may deviate from the actual situation to a certain extent. In order to improve the corresponding determination accuracy, the corresponding preset thickness coefficient can be updated and trained in real time to realize the process of updating and iterating the preset thickness coefficient, thereby continuously improving the corresponding determination accuracy.

[0177] Here, the update iteration of the preset thickness coefficient can be achieved through the following steps:

[0178] Obtain the actual cutting data of any vascular tissue from the medical end, and compare the cutting distance of the corresponding vascular tissue with the actual cutting data:

[0179] If the actual distance of the actual cutting data is greater than the cutting distance, increasing training is performed on the preset thickness coefficient;

[0180] If the actual distance of the actual cutting data is less than the cutting distance, the preset thickness coefficient is trained to be reduced;

[0181] The preset thickness coefficient after training is obtained by the following formula:

[0182] ,

[0183] in, The preset thickness coefficient Increase the number of training sessions. The preset thickness coefficient The training constant value of The preset thickness coefficient Reduce the number of training sessions. It is the preset thickness coefficient after training.

[0184] To summarize, in this embodiment, in order to be able to implant the positioning column accordingly, the patient's abdominal surface can first be imaged and acquired in three dimensions, and recognition can be performed based on the obtained three-dimensional imaging image to determine the tumor tissue located in the three-dimensional imaging image; then, in order to integrate the tumor tissue presenting an irregular shape into a regular shape, a rectangular tissue frame surrounding the tumor tissue can be generated, thereby reducing the subsequent data processing volume and improving the corresponding processing efficiency; then, the tissue frame surfaces that constitute the rectangular tissue frame can be obtained, and the corresponding surface shape distances can be further obtained, and the tissue frame surface with the smallest corresponding surface shape distance can be determined as the target frame surface, so that the direction perpendicular to the target frame surface can be determined as the first mapping direction, and the mapping of the target frame surface can be completed based on the first mapping direction; finally, it can be determined whether the mapped mapping frame surface is located in the imaging acquisition surface, and the medical end can be instructed to proceed based on the judgment result. The positioning column is implanted; wherein, when the mapping frame surface is located in the imaging acquisition surface, the mapping vertices of the corresponding mapping frame surface can be obtained, and based on the mapping distances corresponding to the mapping vertices, the medical staff can be instructed to perform corresponding two-dimensional ultrasonic acquisitions on each mapping vertex, thereby completing the implantation of the positioning column; and when the mapping frame surface is located outside the imaging acquisition surface, it is necessary to adjust the first mapping direction so that the corresponding mapping distances can be obtained based on the obtained second mapping direction, and further instruct the medical staff to perform corresponding two-dimensional ultrasonic acquisitions on each mapping vertex; this embodiment can realize the corresponding mapping of tumor tissue located in the three-dimensional imaging image to the two-dimensional ultrasonic image, so that the positioning column can be implanted in the tumor tissue based on the ultrasonic principle according to the guidance data corresponding to the positioning column, so as to realize the physical positioning of the tumor tissue, so that the medical staff can perform subsequent surgical operations, thereby improving the corresponding medical diagnosis assistance.

[0185] Another embodiment of the present invention provides a positioning column implantation data processing system based on electromagnetic navigation. Figure 2 For its corresponding structural block diagram, the system includes:

[0186] A three-dimensional acquisition module is configured to determine the abdominal surface corresponding to the patient as an imaging acquisition surface, and perform three-dimensional imaging acquisition on the abdominal tissue of the patient based on the imaging acquisition surface to obtain a three-dimensional imaging image corresponding to the patient;

[0187] a frame generation module, configured to identify the tumor tissue in the three-dimensional imaging image, and generate a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy;

[0188] A distance determination module is configured to determine each tissue frame surface constituting the rectangular tissue frame, and obtain each surface shape distance between each tissue frame surface and the imaging acquisition surface;

[0189] A first mapping module is configured to determine the tissue frame surface with the smallest corresponding face shape distance as the target frame surface, and determine a direction perpendicular to the target frame surface as a first mapping direction, and map the target frame surface to a trunk surface corresponding to the patient based on the first mapping direction to obtain a mapping frame surface having a mapping relationship with the target frame surface;

[0190] A second mapping module is configured to adjust the first mapping direction and map the rectangular tissue frame to the imaging acquisition surface based on the obtained second mapping direction when the mapping frame surface is outside the imaging acquisition surface, so as to obtain mapping vertices corresponding to the frame vertices of each tissue frame surface;

[0191] The position guidance module is configured to obtain the mapping distances corresponding to each mapping vertex, instruct the medical end to perform two-dimensional ultrasonic acquisition corresponding to each mapping distance for each mapping vertex based on the second mapping direction, and determine the guidance data corresponding to the positioning column based on the ultrasonic acquisition results.

[0192] In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the examples of the present invention. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the preferred embodiment of the present invention.

[0193] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0194] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0195] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0196] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of submodules or subunits or subcomponents.

[0197] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0198] In addition, some of the embodiments are described herein as methods or combinations of method elements that can be implemented by a processor of a computer system or by other devices that perform the functions. Therefore, a processor with necessary instructions for implementing the method or method elements forms a device for implementing the method or method elements. In addition, the elements described herein of the device embodiments are examples of devices for implementing the functions performed by the elements for the purpose of implementing the invention.

[0199] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0200] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is primarily selected for readability and instructional purposes, rather than for explaining or limiting the subject matter of the present invention.

Claims

1. A positioning column implantation data processing method based on electromagnetic navigation, characterized in that: The following steps are involved: Determine the abdominal surface of the corresponding patient as an imaging acquisition surface, and perform three-dimensional imaging acquisition on the abdominal tissue of the patient based on the imaging acquisition surface to obtain a three-dimensional imaging image corresponding to the patient; Identifying the tumor tissue in the three-dimensional imaging image, and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy; Determine each tissue frame surface constituting the rectangular tissue frame, and obtain each surface distance between each tissue frame surface and the imaging acquisition surface; Determine the tissue frame surface with the smallest corresponding face shape distance as the target frame surface, determine the direction perpendicular to the target frame surface as the first mapping direction, and map the target frame surface to the corresponding patient's trunk surface based on the first mapping direction to obtain a mapping frame surface having a mapping relationship with the target frame surface; When the mapping frame surface is outside the imaging acquisition surface, the first mapping direction is adjusted and the rectangular tissue frame is mapped to the imaging acquisition surface based on the obtained second mapping direction to obtain mapping vertices corresponding to the frame vertices of each tissue frame surface; The mapping distances corresponding to each mapping vertex are obtained, and the medical staff are instructed to perform two-dimensional ultrasonic acquisition corresponding to each mapping distance on each mapping vertex based on the second mapping direction, and determine the guidance data corresponding to the positioning column based on the ultrasonic acquisition result.

2. The method for processing positioning column implantation data based on electromagnetic navigation according to claim 1, characterized in that: Identifying a tumor tissue located in the three-dimensional imaging image, and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy, including: Inputting the three-dimensional imaging image into a trained image recognition model, determining the tumor tissue located in the three-dimensional imaging image, and obtaining each contour pixel point constituting the tissue contour of the tumor tissue; Determine a central pixel point corresponding to the tumor tissue, perform symmetrical grouping of each contour pixel point in pairs based on the central pixel point to obtain contour symmetry groups, and respectively determine the pixel distance between two contour pixel points in the same contour symmetry group to obtain pixel distances corresponding to each contour symmetry group; Connect two contour pixel points in the contour symmetry group with the largest corresponding pixel distance, and determine the obtained contour connection line as the horizontal reference line; A rectangular tissue frame surrounding the tumor tissue is generated in the three-dimensional imaging image based on the horizontal reference line.

3. The method for processing positioning column implantation data based on electromagnetic navigation according to claim 2, characterized in that: Generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on the horizontal reference line includes: Performing coordinate processing on the three-dimensional imaging image to obtain a three-dimensional coordinate system corresponding to the three-dimensional imaging image, wherein any coordinate axis of the three-dimensional coordinate system is parallel to the horizontal reference line; Based on the three-dimensional coordinate system, each contour coordinate point constituting the tissue contour is obtained, and each coordinate point corresponding to the X-axis coordinate extreme value, the Y-axis coordinate extreme value, and the Z-axis coordinate extreme value is determined in each contour coordinate point as an X-axis extreme value coordinate point, a Y-axis extreme value coordinate point, and a Z-axis extreme value coordinate point; Generate an initial rectangular frame surrounding the tumor tissue based on the X-axis extreme value coordinate point, the Y-axis extreme value coordinate point, and the Z-axis extreme value coordinate point, wherein any initial frame line segment of the initial rectangular frame is parallel to or perpendicular to the horizontal reference line; Acquire a frame size corresponding to the initial rectangular frame, and retrieve a preset size comparison table, wherein the preset size comparison table includes different size intervals and expansion coefficients corresponding to the different size intervals; Traversing the preset size comparison table, and determining the expansion coefficient corresponding to the size interval including the frame size; A frame center point corresponding to the initial rectangular frame is obtained, and based on the frame center point, the initial rectangular frame is expanded by a frame corresponding to the expansion coefficient to obtain the rectangular tissue frame.

4. The method for processing positioning column implantation data based on electromagnetic navigation according to claim 1, characterized in that: Obtaining each surface distance between each tissue framework surface and the imaging acquisition surface, including: Determine a collection platform for carrying the patient, and determine a body bearing surface corresponding to the collection platform as a grid reference surface; Performing grid processing on the grid reference plane, and mapping each obtained grid reference point to the imaging acquisition plane along a direction perpendicular to the grid reference plane, to obtain each imaging acquisition point located on the imaging acquisition plane; Perform elevation measurement on each imaging acquisition point to obtain the imaging elevation values ​​corresponding to each imaging acquisition point; Calculating the mean of each imaging elevation value, and generating an imaging reference plane parallel to the grid reference plane based on the obtained elevation mean; The surface distances between each tissue framework surface and the imaging acquisition surface are obtained.

5. The method for processing positioning column implantation data based on electromagnetic navigation according to claim 4, characterized in that: Calculating the mean of each imaging elevation value, and generating an imaging reference plane parallel to the grid reference plane based on the obtained elevation mean, which also includes: Compare each imaging elevation value with a preset depression threshold value, and determine each imaging acquisition point corresponding to a value less than or equal to the preset depression threshold value as a depression screening group; Connecting adjacent imaging acquisition points in the depression screening group to form depression areas, and determining depression contours corresponding to the depression areas; forming circumscribed circles for circumscribing the contours of the depressions respectively, and determining the circular areas of the circumscribed circles respectively; The circular areas are compared with the preset areas respectively, and all imaging acquisition points included in the concave areas corresponding to the circular areas being greater than or equal to the preset areas are removed.

6. The method for processing positioning column implantation data based on electromagnetic navigation according to claim 1, characterized in that: When the mapping frame surface is outside the imaging acquisition surface, the first mapping direction is adjusted and the rectangular tissue frame is mapped to the imaging acquisition surface based on the obtained second mapping direction, and mapping vertices corresponding to the frame vertices of each tissue frame surface are obtained, including: When the mapping frame surface is outside the imaging acquisition surface, a relative frame surface having a relative position relationship with the target frame surface is obtained in the rectangular tissue frame, each target frame line segment constituting the target frame surface and each relative frame line segment constituting the relative frame surface are obtained, and the target frame line segments and the relative frame line segments having a relative position relationship are divided into the same relative line segment group to obtain each relative line segment group; Based on the relative frame line segments and the target frame line segments in the same relative line segment group, a frame connection surface connecting the target frame surface and the relative frame surface is formed in the rectangular tissue frame to obtain each frame connection surface; Determine directions parallel to the frame connection surfaces as directions to be determined, map the rectangular tissue frame to the trunk surface based on the directions to be determined, and determine directions to be determined in which the mapping vertices corresponding to the frame vertices of the tissue frame surfaces are located in the imaging acquisition surface as secondary screening groups; Each of the to-be-determined directions in the secondary screening group is compared with the first mapping direction, and the to-be-determined direction corresponding to the smallest adjustment angle is determined as the second mapping direction.

7. The method for processing positioning column implantation data based on electromagnetic navigation according to claim 6, characterized in that: When all mapping vertices corresponding to the frame vertices of each tissue frame surface obtained in all directions to be determined are located outside the imaging acquisition surface, segmenting the target frame line segments constituting the target frame surface to obtain a first line segment group and a second line segment group, wherein all target frame line segments in the first line segment group and all target frame line segments in the second line segment group have a mutually perpendicular relationship; Determine the target framework line segment in the first line segment group as a first adjustment axis, determine the target framework line segment in the second line segment group as a second adjustment axis, and control the first mapping direction to adjust the direction toward the first adjustment axis and the second adjustment axis respectively; When the first mapping direction is adjusted so that the mapping vertices corresponding to the frame vertices of the tissue frame surfaces are all located in the imaging acquisition surface, and the adjacent distances between adjacent mapping vertices are greater than or equal to a preset distance threshold, the first mapping direction is updated to obtain the second mapping direction.

8. The method for processing positioning column implantation data based on electromagnetic navigation according to claim 1, characterized in that: The method further comprises: Determine, based on the three-dimensional imaging image, each vascular tissue that is connected to each tissue frame surface constituting the rectangular tissue frame, and determine each connection point between each vascular tissue and each tissue frame surface; Acquire the thickness of each blood vessel corresponding to each blood vessel tissue, and normalize the thickness of each blood vessel to obtain a normalized value of each thickness; Each thickness normalized value is multiplied by the retrieved preset thickness coefficient to obtain each cutting distance, and cutting points having cutting distances from corresponding connecting points are determined along the extension direction of each vascular tissue away from the rectangular tissue frame to obtain cutting points corresponding to each vascular tissue.

9. The method for processing positioning column implantation data based on electromagnetic navigation according to claim 8, characterized in that: The method further comprises: Obtain the actual cutting data of any vascular tissue from the medical end, and compare the cutting distance of the corresponding vascular tissue with the actual cutting data: If the actual distance of the actual cutting data is greater than the cutting distance, increasing training is performed on the preset thickness coefficient; If the actual distance of the actual cutting data is less than the cutting distance, the preset thickness coefficient is trained to be reduced; The preset thickness coefficient after training is obtained by the following formula: ； in, The preset thickness coefficient Increase the number of training sessions. The preset thickness coefficient The training constant value of The preset thickness coefficient Reduce the number of training sessions. It is the preset thickness coefficient after training.

10. A positioning column implantation data processing system based on electromagnetic navigation, characterized in that: include: A three-dimensional acquisition module is configured to determine the abdominal surface of the corresponding patient as an imaging acquisition surface, and perform three-dimensional imaging acquisition on the abdominal tissue of the patient based on the imaging acquisition surface to obtain a three-dimensional imaging image corresponding to the patient; a frame generation module, configured to identify the tumor tissue in the three-dimensional imaging image, and generate a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy; A distance determination module is configured to determine each tissue frame surface constituting the rectangular tissue frame, and obtain each surface shape distance between each tissue frame surface and the imaging acquisition surface; A first mapping module is configured to determine the tissue frame surface with the smallest corresponding face shape distance as the target frame surface, and determine a direction perpendicular to the target frame surface as a first mapping direction, and map the target frame surface to a trunk surface corresponding to the patient based on the first mapping direction to obtain a mapping frame surface having a mapping relationship with the target frame surface; A second mapping module is configured to adjust the first mapping direction and map the rectangular tissue frame to the imaging acquisition surface based on the obtained second mapping direction when the mapping frame surface is outside the imaging acquisition surface, so as to obtain mapping vertices corresponding to the frame vertices of each tissue frame surface; The position guidance module is configured to obtain the mapping distances corresponding to each mapping vertex, instruct the medical end to perform two-dimensional ultrasonic acquisition corresponding to each mapping distance for each mapping vertex based on the second mapping direction, and determine the guidance data corresponding to the positioning column based on the ultrasonic acquisition results.

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