Method for determining auxiliary identification of laparoscope

Abstract

The invention relates to the field of medical imaging, and discloses a method for determining a laparoscope auxiliary identifier. The method comprises the following steps: determining a fluorescence labeling area according to a first image; determining an identifiable area according to the second image and the fluorescence labeling area; generating a differential surface associated with the fluorescence intensity interval based on the identifiable region; determining an auxiliary identifier based on the difference surface; the first image is obtained based on near-infrared fluorescence intensity, a green image signal of a pixel in the first image is in positive correlation with the fluorescence intensity, when the fluorescence intensity is lower than a first fluorescence intensity threshold value, the green image signal of the pixel is 0, and when the fluorescence intensity is higher than the first fluorescence intensity threshold value, the value of the green image signal of the pixel is 0-255; the values of the red image signal and the blue image signal are 0; the second image is a visible light image; the first image and the second image are collected through a laparoscope, and the collection positions are consistent. According to the method, the image navigation capability in the laparoscopic surgery is improved, and the accuracy of tissue identification is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical imaging, and in particular to a method for determining a laparoscope-assisted marker. Background Art

[0002] During laparoscopic surgery, doctors must rely on high-quality images to accurately identify and distinguish different tissues in the surgical area. Traditional laparoscopy relies on visible light images, which work well when there is sufficient light and tissue contrast. However, in complex physiological environments, especially in areas with dense blood vessels or insufficient light, visible light images alone often cannot provide sufficient tissue contrast, making it difficult to identify important structures during surgery.

[0003] In order to improve the image quality and tissue recognition ability during surgery, near-infrared imaging technology has been introduced into laparoscopic surgery. This technology injects fluorescent dyes and uses light of a specific wavelength to excite certain specific tissues to emit fluorescence. This fluorescent signal helps doctors identify the target tissue and enhances the contrast and clarity of the image, especially under adverse lighting conditions. However, fluorescence imaging technology itself also has some limitations. For example, the unevenness of fluorescence intensity may cause the image quality to be affected, and the lack of contrast between fluorescence and background tissue may make identification difficult.

[0004] In addition, the effective fusion of fluorescence imaging and traditional visible light imaging is a technical challenge. Although individual fluorescence or visible light images provide certain surgical information, the fusion of the two can greatly improve the safety and efficiency of surgery. Correct image fusion requires precise alignment and synchronization processing to ensure that doctors can observe all key information in the same field of view, so as to perform precise surgical operations.

[0005] In the prior art, although there are attempts to improve image alignment and fusion through software algorithms, there are still problems such as inaccurate alignment, image delay or long processing time. These problems may affect the doctor's operation decision, thereby affecting the surgical effect and patient safety. Summary of the invention

[0006] At least one aspect or advantage of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned by practice of the disclosed subject matter.

[0007] The present invention provides a method for determining a laparoscopic auxiliary marker, which significantly improves the image navigation capability in laparoscopic surgery and enhances the accuracy of tissue recognition and the precision of operation.

[0008] Specifically, the present application is implemented through the following technical solutions:

[0009] According to a first aspect of the present invention, a method for determining a laparoscopic auxiliary marker comprises:

[0010] determining a fluorescently labeled area based on the first image;

[0011] determining a identifiable area based on the second image and the fluorescently marked area;

[0012] generating a difference surface based on identifiable regions and associated with fluorescence intensity intervals;

[0013] Determine auxiliary identification based on differential surfaces;

[0014] The first image is acquired based on near-infrared fluorescence intensity, and the green image signal of the pixel in the first image is positively correlated with the fluorescence intensity, and when the fluorescence intensity is lower than a first fluorescence intensity threshold, the green image signal of the pixel is 0, and when the fluorescence intensity is higher than the first fluorescence intensity threshold, the green image signal of the pixel takes a value of 0-255, and the red image signal and the blue image signal take a value of 0;

[0015] The second image is a visible light image;

[0016] The first image and the second image are collected through a laparoscope, and the collection positions are consistent.

[0017] According to an embodiment of the present invention, the fluorescent marking area includes a plurality of fluorescent areas, and each fluorescent area has a consistent fluorescence intensity range.

[0018] According to one embodiment of the present invention, the process of acquiring the fluorescent marked area includes:

[0019] Obtaining a fluorescent discrete point based on a green image signal of a first image pixel, wherein a value of the green image signal of the fluorescent discrete point is greater than 0;

[0020] Dividing the fluorescent discrete points into regions based on the fluorescence intensity of the fluorescent discrete points to obtain a plurality of fluorescent regions, wherein the pixel points in each fluorescent region belong to the same fluorescence intensity interval, and the fluorescence intensity of the fluorescent discrete points is obtained according to the value of the green image signal;

[0021] The boundary of each fluorescence area is determined, and the green image signal intensity of the pixels inside the boundary of the fluorescence area is not lower than the lower limit value of the fluorescence intensity range.

[0022] According to an embodiment of the present invention, the process of acquiring the identifiable area includes:

[0023] Acquire a first region set corresponding to the fluorescent region in the fluorescent marking region in the second image, wherein the first region set includes a plurality of first sub-regions;

[0024] Dividing the first sub-region within the first region set to obtain a second region image set;

[0025] Based on the similarity of pixels between images in the second region image set and adjacent images, adjacent images in the second region image set are merged to obtain a third region image set as an identifiable region, wherein the images in the third region image set are associated with more than one fluorescence intensity interval.

[0026] According to one embodiment of the present invention, the process of determining the difference surface includes:

[0027] Determine the difference of images in the third region image set on the red channel, the blue channel, and the green channel, and select the color channel with the largest difference as the reference color channel;

[0028] The third region image set is merged according to the similarity between the images on the reference color channel and the fluorescence intensity interval, and the images whose image areas are lower than the image region threshold are removed to obtain the fourth region image set as the difference surface.

[0029] According to an embodiment of the present invention, the reference color channel is a red color channel.

[0030] According to one embodiment of the present invention, the process of determining the auxiliary identifier includes:

[0031] Determine the identity corresponding to the sub-image included in the difference surface;

[0032] A marker image in a sub-image whose identification degree is greater than an identification degree threshold is determined as an auxiliary marker.

[0033] According to an embodiment of the present invention, the auxiliary markers are merged according to the distance between the auxiliary markers.

[0034] According to a second aspect of the present invention, an electronic device includes a processor and a memory; the memory is used to store a program; the processor executes the program to implement the method for determining a laparoscopic auxiliary marker as described in the first aspect.

[0035] According to a third aspect of the present invention, a computer-readable storage medium stores a program, and the program is executed by a processor to implement the method for determining a laparoscopic auxiliary marker as described in the first aspect.

[0036] The technical solution of the present invention includes at least the following technical effects:

[0037] By combining near-infrared fluorescence images and visible light images, different tissues in the surgical area can be identified and distinguished more accurately; near-infrared fluorescence images provide a clear view based on fluorescence intensity, allowing tissues that were originally difficult to identify in visible light images to be clearly displayed; dual imaging technology significantly improves the visualization of target tissues, enhancing the safety and accuracy of surgery.

[0038] By using the positive correlation between fluorescence intensity and green image signal, the fluorescent marked area can be accurately determined, ensuring that only fluorescent signals with sufficient intensity are recognized and processed, avoiding interference caused by weak signals, and improving the accuracy and reliability of recognition.

[0039] Based on the combination of fluorescence intensity and visible light images, a differential surface associated with the fluorescence intensity range is automatically generated, which can more clearly reflect the different levels and structures of the surgical area and improve the accuracy of surgical operations.

[0040] By ensuring the consistency of the acquisition position of the first image and the second image, the accuracy of image fusion is ensured. By aligning and fusing the two images, it can help doctors obtain necessary diagnostic information and improve the efficiency of the surgical process and the convenience of operation.

[0041] Based on the generated differential surface, the system can accurately determine auxiliary landmarks, further enhancing the control and navigation capabilities of the surgical area, making the surgery more precise and safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0043] Figure 1 This is a flow chart of a method for determining a laparoscopic auxiliary marker according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0045] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0046] In laparoscopic surgery, it is crucial to accurately identify and locate the target tissue, which directly affects the safety and success rate of the operation. To this end, doctors rely on images provided by the laparoscope to observe and operate in the surgical area. However, traditional laparoscopic imaging technology based on visible light faces certain challenges in distinguishing tissue boundaries and specific physiological structures, especially in poor lighting conditions or complex tissue structures.

[0047] To improve this limitation, fluorescence imaging technology has been introduced into laparoscopic surgery in recent years. By injecting fluorescent dyes and exciting them with a light source of a specific wavelength, specific tissues can emit fluorescence, helping doctors see the surgical targets more clearly. Although this technology improves the visibility of tissues, it still faces some problems, such as uneven distribution of fluorescence signals and insufficient contrast, which may make it difficult for doctors to identify all key areas, especially in areas where the fluorescence boundaries are unclear.

[0048] In addition, there are challenges in the fusion of fluorescence imaging and visible light imaging. If the alignment of the two images is inaccurate, it may affect the doctor's judgment and operation accuracy during surgery. Therefore, it is particularly important to develop a method that can accurately fuse these two imaging technologies and improve image recognition accuracy to ensure the smooth progress of surgery and the safety of patients.

[0049] According to one embodiment of the present invention, Figure 1 FIG. 1 is a flow chart of a method for determining a laparoscopic auxiliary marker of the present invention, as shown in FIG. Figure 1 As shown, the present invention provides a method for determining a laparoscopic auxiliary marker, comprising:

[0050] S1. Determine the fluorescent marked area according to the first image. In the present invention, the fluorescent marked area is determined by analyzing the pixel green image signal in the first image. The positive correlation between the fluorescent signal and the green image signal is designed based on the characteristics of the fluorescent dye and the sensitivity of the imaging system. When the fluorescence intensity is high enough to be captured by the detector, the corresponding pixel will show a green signal. By determining the fluorescent marked area, the fluorescent area and the non-fluorescent area can be effectively distinguished, ensuring that only the area with sufficient fluorescence intensity is marked and further processed, thereby improving the image contrast and clarity of the surgical area.

[0051] In the present invention, the first image is acquired based on the near-infrared fluorescence intensity, and the green image signal of the pixel in the first image is positively correlated with the fluorescence intensity. When the fluorescence intensity is lower than the first fluorescence intensity threshold, the green image signal of the pixel is 0, and when the fluorescence intensity is higher than the first fluorescence intensity threshold, the green image signal of the pixel takes a value of 0-255, and the red image signal and the blue image signal take a value of 0.

[0052] According to an embodiment of the present invention, the fluorescent marking area includes a plurality of fluorescent areas, and each fluorescent area has a consistent fluorescence intensity range.

[0053] According to one embodiment of the present invention, the process of acquiring the fluorescent marked area includes:

[0054] Obtaining a fluorescent discrete point based on a green image signal of a first image pixel, wherein a value of the green image signal of the fluorescent discrete point is greater than 0;

[0055] Dividing the fluorescent discrete points into regions based on the fluorescence intensity of the fluorescent discrete points to obtain a plurality of fluorescent regions, wherein the pixel points in each fluorescent region belong to the same fluorescence intensity interval, and the fluorescence intensity of the fluorescent discrete points is obtained according to the value of the green image signal;

[0056] The boundary of each fluorescence area is determined, and the green image signal intensity of the pixels inside the boundary of the fluorescence area is not lower than the lower limit value of the fluorescence intensity range.

[0057] Specifically, first, based on the green image signal in the first image, that is, the near-infrared fluorescence image, fluorescent discrete points are identified. The green signal values ​​of these fluorescent discrete points are greater than 0, which means that they have identifiable fluorescence activity. The green signal is selected because in fluorescence images, green is usually used to identify the presence and intensity of fluorescence, and this signal is positively correlated with the fluorescence intensity. The method of the present invention allows the system to accurately capture the fluorescence signal, thereby accurately marking the fluorescent active area in the image. This is crucial for subsequent image processing and surgical navigation, ensuring that only areas that actually contain fluorescence are further analyzed and utilized.

[0058] After obtaining the fluorescent scattered points, the next step is to divide the area based on the fluorescence intensity of these points. This step estimates the fluorescence intensity of each discrete point by analyzing the green image signal intensity, and then classifies the discrete points with similar fluorescence intensity into the same fluorescent area. This division method ensures that the fluorescence intensity in the same fluorescent area is uniform, thereby avoiding misleading information in surgical navigation. Uniform fluorescent areas help doctors identify and distinguish different physiological structures more clearly, improving the accuracy and safety of surgery.

[0059] The last step in determining the fluorescent area is to clarify its boundaries, which is achieved by ensuring that the green image signal intensity of the pixels inside the boundary is not less than the lower limit of the fluorescence intensity range. This design can prevent unnecessary diffusion of the fluorescent area and ensure the clarity and accuracy of the boundary. The present invention makes the use of the fluorescent marking area more effective through precise boundary definition, providing accurate visual guidance for surgery. In addition, clear boundaries help avoid misoperation of non-target tissues during surgery, increasing the overall success rate of surgery and patient safety.

[0060] S2, determining a markable area according to the second image and the fluorescent marked area;

[0061] Specifically, the second image is a visible light image, and the first image and the second image are collected through a laparoscope, and the collection positions are consistent.

[0062] According to an embodiment of the present invention, the process of acquiring the identifiable area includes:

[0063] Acquire a first region set corresponding to the fluorescent region in the fluorescent marking region in the second image, wherein the first region set includes a plurality of first sub-regions;

[0064] Dividing the first sub-region within the first region set to obtain a second region image set;

[0065] Based on the similarity of pixels between images in the second region image set and adjacent images, adjacent images in the second region image set are merged to obtain a third region image set as an identifiable region, wherein the images in the third region image set are associated with more than one fluorescence intensity interval.

[0066] Specifically, the second image (visible light image) is used to identify the area corresponding to the fluorescently marked area in the first image to form a first area set. This design is to combine the detailed structural information in the visible light image with the functional information in the fluorescent image to improve the visualization quality of important areas during surgery. The accurate correspondence of the fluorescently marked area in the visible light image is ensured, so that doctors can obtain more structural and functional information during surgery, thereby making more accurate operational decisions.

[0067] The sub-regions in the first region set are further subdivided, and a second region image set is obtained. This design can further refine and accurately control the boundaries and internal structures of the surgical area. This division helps to distinguish adjacent but functionally different tissue structures and improve the safety and efficiency of the surgery. Through this subdivision, it can be ensured that the characteristics of each sub-region are fully identified and utilized, thereby providing more accurate visual assistance during the operation. It helps to reduce possible misoperations during surgery and improve the overall success rate of surgery.

[0068] The purpose of merging is to integrate similar visual information in adjacent areas and form a larger, continuous, identifiable area based on the similarity of pixels between the images in the second area image set and the adjacent images. This ensures the integrity and continuity of the surgical area and avoids information fragmentation during surgery. The merged third area image set of the present invention will provide a more continuous and unified surgical view, which not only increases the recognition rate of the surgical area, but also makes navigation during surgery more intuitive and easy to operate. In addition, images associated with the fluorescence intensity interval can provide important functional information and enhance the accuracy of surgery.

[0069] S3. Generate a difference surface associated with the fluorescence intensity interval based on the identifiable region.

[0070] According to one embodiment of the present invention, the process of determining the difference surface includes:

[0071] Determine the difference of images in the third region image set on the red channel, the blue channel, and the green channel, and select the color channel with the largest difference as the reference color channel;

[0072] The third region image set is merged according to the similarity between the images on the reference color channel and the fluorescence intensity interval, and the images whose image areas are lower than the image region threshold are removed to obtain the fourth region image set as the difference surface.

[0073] According to an embodiment of the present invention, the reference color channel is a red color channel.

[0074] Specifically, the differences of the third region image set are analyzed on the red, blue and green channels, and the color channel with the greatest difference is selected as the reference color channel. In the present invention, red is used as the reference color channel. This selection is because specific features of the image may be more prominent in different color channels, and these features include blood vessels, tumor markers or other important physiological structures. Selecting the channel with the greatest difference can help enhance the visualization of these key features. By emphasizing the most different color channels, the present invention can more clearly identify surgical areas that require special attention, thereby increasing surgical safety and accuracy. This helps doctors better understand the specific conditions of the tissue and make more accurate clinical decisions.

[0075] When merging a set of images, only images in the same fluorescence intensity interval and with a degree of similarity between adjacent images exceeding a preset threshold are considered. This design is to ensure that the merged image has a high degree of consistency in function and visual information. This method ensures the consistency and accuracy of the merged area in physiological function and visual representation. The merging strategy of the present invention allows the system to form large, continuous recognition areas that are visually and functionally unified. Such processing not only improves the overall quality of the image, but also simplifies the decision-making process during surgery, because doctors can rely on these coherent visual areas to perform more precise surgical operations.

[0076] During the merging process, images whose area is below the image area threshold are removed. This step is to focus on larger and continuous areas that are of practical significance in surgery and avoid being distracted by smaller or unimportant image fragments. By removing smaller image areas, the present invention further optimizes the surgical view and reduces visual noise, allowing doctors to focus on the most critical surgical areas. This helps to improve the accuracy and efficiency of surgery and reduce surgical time and patient risks.

[0077] S4. Determine auxiliary identification based on the difference surface.

[0078] According to one embodiment of the present invention, the process of determining the auxiliary identifier includes:

[0079] Determine the identity corresponding to the sub-image included in the difference surface;

[0080] A marker image in a sub-image whose identification degree is greater than an identification degree threshold is determined as an auxiliary marker.

[0081] According to an embodiment of the present invention, the auxiliary markers are merged according to the distance between the auxiliary markers.

[0082] Marker merging is to remove adjacent markers with lower identification degrees whose distance is below the threshold. Since multiple marker points are obtained according to the above method, some marker points are too close to each other, it is necessary to select more obvious markers and remove dissimilar marker points.

[0083] Specifically, the identification degree of the sub-image is first determined by analyzing the difference between the mean of the red pixel histogram in the sub-image contained in the difference surface and the red pixel grayscale histogram of the image of the same fluorescence intensity in the difference surface. Among them, the histogram difference of the red channel is selected as the basis for the identification degree because the red channel has been selected as the most differential color channel in this technical solution, so its information content is crucial for identifying and distinguishing surgical areas. The method for determining the identification degree in the present invention allows the system to accurately evaluate the information density and importance of each sub-image. The larger the histogram difference, the more additional information the sub-image contains beyond the basic fluorescence intensity information, and thus it is a more important surgical identification point. This helps to improve the accuracy and efficiency of the operation and ensure that the focus is on the most critical areas.

[0084] The process of selecting sub-images with identification degrees greater than a certain threshold as auxiliary identifications is to ensure that only the most representative and important images are used as identifications for surgical navigation. Such selection criteria ensure that the surgical team can focus on the most critical surgical area and avoid being distracted by marginal or unimportant information. The present invention optimizes the surgical field of view in the above manner, guides surgical operations by providing clear and informative visual identification, reduces surgical uncertainty and potential risks, and improves the success rate of surgery.

[0085] The merging of auxiliary markings, especially the removal of adjacent markings with lower identification degrees whose distance is less than a set threshold, is to further optimize the effectiveness and operability of visual markings. The present invention is designed to eliminate overly dense marking points to prevent confusion or visual overload in actual operations. By merging marking points that are too close and selecting points with higher identification degrees as retained auxiliary markings, the present invention can ensure that the visual auxiliary marking of the surgical area is more concentrated and accurate. This helps doctors quickly identify key operating areas, optimize surgical pathways, reduce surgical time and improve surgical safety.

[0086] According to one embodiment of the present invention, an electronic device includes a processor and a memory; the memory is used to store a program; the processor executes the program to implement a method for determining a laparoscopic auxiliary marker.

[0087] According to one embodiment of the present invention, a computer-readable storage medium stores a program, and the program is executed by a processor to implement a method for determining a laparoscopic auxiliary marker.

[0088] The beneficial effects of the present invention are:

[0089] The present invention significantly improves the image contrast and clarity in the surgical field by accurately identifying and marking areas with sufficient fluorescence intensity, allowing the surgical team to see and operate the target area more clearly, thereby reducing surgical risks and improving surgical accuracy.

[0090] By accurately dividing the fluorescent discrete points and determining their boundaries, the consistency and accuracy of the fluorescent marking areas used in surgical navigation in terms of physiological function and visual representation are ensured. Such division helps doctors accurately identify and distinguish different physiological structures during surgery, improving the safety and efficiency of surgery.

[0091] By combining fluorescence and visible light images and intelligently merging them, a continuous identifiable area is formed, optimizing the overall quality of the surgical view. The merged image collection reduces visual noise, allowing the surgeon to focus on the most critical surgical areas.

[0092] The auxiliary identification process based on the difference surface of the present invention allows the system to dynamically provide important visual identification of the surgical area. These identifications are selected based on the histogram difference of red pixels, ensuring that only information-rich and representative images are used as identifications for surgical navigation. In addition, by merging and optimizing near identifications, the present solution further improves the effectiveness and operability of visual identification.

[0093] The present invention greatly improves the success rate of surgery through clearer and more accurate visual assistance, reduces possible misoperation during surgery, and directly improves the safety of patients and the prognosis of surgery.

[0094] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0095] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0096] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0097] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0098] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0099] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the energy-saving signal sending / receiving method of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0100] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0101] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A method for determining a laparoscopic auxiliary marker, characterized in that: include: determining a fluorescently labeled area based on the first image; determining a identifiable area based on the second image and the fluorescently marked area; generating a difference surface based on identifiable regions and associated with fluorescence intensity intervals; Determine auxiliary identification based on differential surfaces; The first image is acquired based on near-infrared fluorescence intensity, and the green image signal of the pixel in the first image is positively correlated with the fluorescence intensity, and when the fluorescence intensity is lower than a first fluorescence intensity threshold, the green image signal of the pixel is 0, and when the fluorescence intensity is higher than the first fluorescence intensity threshold, the green image signal of the pixel takes a value of 0-255, and the red image signal and the blue image signal take a value of 0; The second image is a visible light image; The first image and the second image are collected through a laparoscope, and the collection positions are consistent.

2. The method for determining a laparoscopic auxiliary marker according to claim 1, characterized in that: The fluorescent marking area includes a plurality of fluorescent areas, and each fluorescent area has a consistent fluorescence intensity range.

3. The method for determining a laparoscopic auxiliary marker according to claim 2, characterized in that: The process of acquiring the fluorescent marking area includes: Obtaining a fluorescent discrete point based on a green image signal of a first image pixel, wherein a value of the green image signal of the fluorescent discrete point is greater than 0; Dividing the fluorescent discrete points into regions based on the fluorescence intensity of the fluorescent discrete points to obtain a plurality of fluorescent regions, wherein the pixel points in each fluorescent region belong to the same fluorescence intensity interval, and the fluorescence intensity of the fluorescent discrete points is obtained according to the value of the green image signal; The boundary of each fluorescence area is determined, and the green image signal intensity of the pixels inside the boundary of the fluorescence area is not lower than the lower limit value of the fluorescence intensity range.

4. The method for determining a laparoscopic auxiliary marker according to claim 2, characterized in that: The process of obtaining the identifiable area includes: Acquire a first region set corresponding to the fluorescent region in the fluorescent marking region in the second image, wherein the first region set includes a plurality of first sub-regions; Dividing the first sub-region within the first region set to obtain a second region image set; Based on the similarity of pixels between images in the second region image set and adjacent images, adjacent images in the second region image set are merged to obtain a third region image set as an identifiable region, wherein the images in the third region image set are associated with more than one fluorescence intensity interval.

5. The method for determining laparoscopic auxiliary markings according to claim 4, characterized in that: The process of determining the difference surface includes: Determine the difference of images in the third region image set on the red channel, the blue channel, and the green channel, and select the color channel with the largest difference as the reference color channel; The third region image set is merged according to the similarity between the images on the reference color channel and the fluorescence intensity interval, and the images whose image areas are lower than the image region threshold are removed to obtain the fourth region image set as the difference surface.

6. The method for determining laparoscopic auxiliary markings according to claim 5, characterized in that: The reference color channel is a red color channel.

7. The method for determining laparoscopic auxiliary markings according to claim 4, characterized in that: The process of determining the auxiliary identification includes: Determine the identity corresponding to the sub-image included in the difference surface; A marker image in a sub-image whose identification degree is greater than an identification degree threshold is determined as an auxiliary marker.

8. The method for determining laparoscopic auxiliary markings according to claim 7, characterized in that: The auxiliary logos are merged according to the distance between the auxiliary logos.

9. An electronic device, characterized in that: It comprises a processor and a memory; the memory is used to store a program; the processor executes the program to implement the method for determining a laparoscopic auxiliary marker as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The storage medium stores a program, and the program is executed by a processor to implement the method for determining a laparoscopic auxiliary marker according to any one of claims 1 to 8.

Images