Computer device to guide the puncture

Abstract

The present application relates to a computer device and system for guiding puncture. It includes: determining a safe treatment area for the lesion area of ​​a target object; determining multiple needle placement points in the safe treatment area and determining the needle insertion direction; determining the needle insertion path of the interventional ablation device into the target object based on the needle placement points and the needle insertion direction; determining the end point position of the electrode of the interventional ablation device in the safe treatment area based on the needle insertion path to guide the puncture of the interventional ablation device; the electrode is used to release energy to ablate the lesion. The use of this method can improve the effectiveness of electrode ablation of the interventional ablation device.

Description

Technical Field

[0001] The present application relates to the technical field of puncture guidance, and in particular to a computer device for guiding puncture. Background Art

[0002] Interventional ablation equipment can be used to ablate lesions in organs and tissues. For example, the electrode of the ablation needle can be used to release energy at the site of the lesion to ablate the lesion. Lesions in organs and tissues can be identified through scanned images, but if there is still positive around the lesion, the positive site cannot be directly identified from the image. In the case of positive around the lesion, in order to prevent incomplete treatment, the actual treatment range will generally be expanded as much as possible during treatment.

[0003] When the actual treatment range is expanded, the placement of traditional ablation electrodes relies on experience and is difficult to place in place in one go. It needs to be repeatedly moved in and out under ultrasound to confirm that the target position has been reached. This may cause additional damage and increase the incidence of treatment-related complications, thereby reducing the effectiveness of ablation treatment. Summary of the invention

[0004] Based on this, it is necessary to provide a computer device and system for guiding puncture that can improve the effectiveness of ablation in response to the above technical problems.

[0005] In a first aspect, the present application provides a computer device for guiding puncture, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0006] Determine safe treatment areas for target subject’s lesion areas;

[0007] Determining multiple needle placement points in the safe treatment area and determining the needle insertion direction;

[0008] Based on the needle placement point and the needle insertion direction, determining a needle insertion path for the interventional ablation device to enter the target object;

[0009] Based on the needle insertion path, the endpoint position of the electrode of the interventional ablation device in the safe treatment area is determined to guide the puncture of the interventional ablation device; the electrode is used to release energy to ablate the lesion.

[0010] In a second aspect, the present application provides a system for guiding puncture, comprising: a computer device, an interventional ablation device, and an image scanning device as described above, wherein the interventional ablation device and the image scanning device are both electrically connected to the computer device.

[0011] The computer device and system for guiding punctures described above determine a safe treatment area for the lesion area of ​​the target object; determine multiple needle placement points in the safe treatment area, and determine the needle insertion direction; determine the needle insertion path of the interventional ablation device into the target object based on the needle placement points and the needle insertion direction; determine the endpoint position of the electrode of the interventional ablation device in the safe treatment area based on the needle insertion path to guide the puncture of the interventional ablation device. The computer device and system for guiding punctures can guide the puncture of the interventional ablation device according to the determined endpoint position of the electrode of the interventional ablation device in the safe treatment area when there are still lesions in areas outside the lesion area, so as to completely ablate the lesion of the target object, thereby avoiding the need for lesion ablation again, and at the same time avoiding damage to normal tissue, thereby improving the effectiveness of ablation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A diagram of an application environment of a computer device for guiding puncture in one embodiment;

[0013] Figure 2 A schematic diagram of a process of guiding puncture in one embodiment;

[0014] Figure 3 is a schematic diagram of a needle insertion path in one embodiment;

[0015] Figure 4 is a schematic diagram of a safe treatment area in one embodiment;

[0016] Figure 5 is a schematic diagram of an overlapping area in one embodiment;

[0017] Figure 6 is a schematic diagram of a display interface in one embodiment;

[0018] Figure 7 A schematic diagram of a process for guiding puncture in another embodiment;

[0019] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] The computer device for guiding puncture provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. The computer device 102 is connected to the interventional ablation device 104, and the computer device 102 can be used to identify a safe treatment area for the lesion area, determine the needle placement points, determine the needle insertion path of the interventional ablation device into the target object, and guide the puncture of the interventional ablation device. Specifically, the computer device 102 determines a safe treatment area for the lesion area of ​​the target object; the computer device 102 determines multiple needle placement points in the safe treatment area and determines the needle insertion direction; the computer device 102 determines the needle insertion path of the interventional ablation device into the target object based on the needle placement points and the needle insertion direction; the computer device 102 determines the endpoint position of the electrode of the interventional ablation device in the safe treatment area based on the needle insertion path to guide the puncture of the interventional ablation device; the electrode is used to release energy to ablate the lesion.

[0022] In one embodiment, Figure 2 As shown, a computer device for guiding puncture is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0023] S202, determining a safe treatment area for the lesion area of ​​the target object.

[0024] The target object refers to an object that may undergo pathological changes, including but not limited to organs, tissues, and structures.

[0025] The lesion area refers to the two-dimensional area or three-dimensional area where the lesion of the target object is located. When scanning the target object from the sagittal plane, coronal plane, and transverse plane, multiple frames of image data can be obtained. If the target object has a lesion, there will be a two-dimensional lesion area in the scanned multiple frames of image data. The three-dimensional reconstruction technology is used to process the image data of the multiple frames with two-dimensional lesion areas, and then a three-dimensional lesion area can be obtained. The two-dimensional lesion area in the image data can be obtained by automatic recognition and manual recognition. Automatic recognition of the two-dimensional lesion area includes but is not limited to inputting the scanned image data into a segmentation model to perform lesion area segmentation to obtain a two-dimensional lesion area in the image data. Manual recognition of the two-dimensional lesion area can be to check each frame of image data one by one and manually outline the two-dimensional lesion area in each frame of image data.

[0026] The safe treatment area refers to a three-dimensional area that can cover the lesion area. A large number of clinical studies have shown that there are still positive sites / lesions about 5-10mm outside the lesion area seen on MRI. In order to achieve a better treatment effect on the lesion area while not causing excessive damage to normal organs and tissues, planning a safe treatment area can improve the effectiveness of ablation.

[0027] Optionally, the computer device identifies the lesion area where the lesion is located from the multiple frames of image data where the target object is located by automatic recognition. After identifying the lesion area in the multiple frames of image data, the computer device determines a three-dimensional safe treatment area that can enclose the lesion area based on the recognition result of the lesion area.

[0028] S204, determining a plurality of needle placement points in the safe treatment area and determining the needle insertion direction.

[0029] Among them, the location of the needle placement point can be determined according to the ablation distance of the interventional ablation device, or any point in the safe treatment area can be used as the needle placement point. The needle insertion direction refers to the direction in which the interventional ablation device penetrates the target object to reach the lesion area. The needle insertion direction includes but is not limited to the direction perpendicular to the lesion area. The interventional ablation device can also be called a focal ablation treatment device. The interventional ablation device includes but is not limited to radiofrequency ablation equipment, microwave ablation equipment, cryoablation equipment, chemical ablation equipment, and ablation needle.

[0030] Optionally, the computer device determines a plurality of needle placement points in the safe treatment area according to the ablation distance of the interventional ablation device, and determines the direction perpendicular to the lesion area as the needle insertion direction of the interventional ablation device.

[0031] S206, based on the needle placement point and the needle insertion direction, determine the needle insertion path of the interventional ablation device into the target object.

[0032] The needle insertion path is a parametric equation determined by the three-dimensional coordinates of the needle placement point and the needle insertion direction. The needle insertion path is expressed as: , Represents the three-dimensional coordinates of the nth needle point, represents the needle insertion path corresponding to the nth needle placement point, dir represents the needle insertion direction of the interventional ablation device, and t represents the moving distance of the end point of the electrode of the interventional ablation device on the needle insertion path.

[0033] In some embodiments, the display interface of the computer device can also display a three-dimensional schematic diagram of the needle insertion path 302, such as Figure 3 shown.

[0034] S208, based on the needle insertion path, determine the end point position of the electrode of the interventional ablation device in the safe treatment area to guide the puncture of the interventional ablation device. The electrode is used to release energy to ablate the lesion.

[0035] Among them, the endpoint position of the electrode of the interventional ablation device in the safe treatment area includes the starting position and the end position of the electrode. The starting position refers to the position where the exposed part of the electrode on the interventional ablation device starts, that is, the position no longer wrapped by the insulating material, and the end position refers to the position where the exposed part of the electrode ends, that is, the position wrapped by the insulating material again. By setting different moving distances on the parametric equation of the needle insertion path, the starting position and the end position of the electrode of the interventional ablation device in the safe treatment area can be obtained.

[0036] Optionally, the computer device determines the starting position and the end position of the electrode of the interventional ablation device in the safe treatment area according to the needle insertion path, and guides the puncture of the interventional ablation device according to the starting position and the end position.

[0037] In the above-mentioned computer device for guiding puncture, a safe treatment area for the lesion area of ​​the target object is determined; multiple needle placement points are determined in the safe treatment area, and the needle insertion direction is determined; based on the needle placement points and the needle insertion direction, the needle insertion path of the interventional ablation device entering the target object is determined; based on the needle insertion path, the endpoint position of the electrode of the interventional ablation device in the safe treatment area is determined to guide the puncture of the interventional ablation device. The computer device for guiding puncture can guide the puncture of the interventional ablation device according to the determined endpoint position of the electrode of the interventional ablation device in the safe treatment area when there are still lesions in the area outside the lesion area, so as to completely ablate the lesion of the target object, avoid the need for lesion ablation again, and also avoid damage to normal tissue, thereby improving the effectiveness of ablation.

[0038] In one embodiment, the lesion area is a two-dimensional lesion area, and determining a safe treatment area for the lesion area of ​​the target object includes:

[0039] In the multiple frames of two-dimensional images where the target object is located, an image in which a two-dimensional lesion area exists is determined.

[0040] In an image where a two-dimensional lesion region exists, an initial safety region is generated to enclose the two-dimensional lesion region.

[0041] When the outline of the initial safety area exceeds the outline of the target object, the outline of the exceeding part in the initial safety area is replaced with the outline of the target object to obtain a two-dimensional safe treatment area covering the two-dimensional lesion area;

[0042] Based on the two-dimensional safe treatment area, a three-dimensional safe treatment area is generated for the lesion area of ​​the target object.

[0043] The multi-frame two-dimensional images of the target object refer to the image data obtained by scanning the target object from the sagittal plane, the coronal plane, and the transverse plane. The image of the two-dimensional lesion area can be obtained through a segmentation model or manual recognition.

[0044] The initial safety area that wraps the two-dimensional lesion area can be obtained by moving each contour point of the two-dimensional lesion area. Specifically, the computer device obtains the third distance to be moved for each contour point of the preset two-dimensional lesion area, and the unit normal vector corresponding to each contour point. The computer device moves each contour point along the corresponding unit normal vector by the third distance to obtain the two-dimensional coordinate point after the movement of each contour point. The computer device generates a two-dimensional initial safety area based on each two-dimensional coordinate point, wherein the third distance can be preset according to the standard distance interval between the safe treatment area and the lesion area. For example, if the standard distance interval between the safe treatment area and the lesion area is 0mm to 10mm, any value between 0mm and 10mm can be taken as the third distance. The third distance can also be obtained according to the number of intersections between the ray formed by the candidate point and the unit normal vector after each contour point of the two-dimensional lesion area is moved and the contour of the target object, that is, the third distance of each contour point of the two-dimensional lesion area moving along the unit normal vector is preset; based on the third distance, the two-dimensional coordinates of the contour point, and the unit normal vector of the contour point, the two-dimensional coordinates of the candidate point after the contour point is moved along the unit normal vector are determined; the ray formed by the two-dimensional coordinates of the candidate point and the unit normal vector of the contour point is obtained; when the number of intersections between the ray and the contour of the target object is an even number, the third distance is adjusted until the number of intersections between the ray and the contour of the target object is an odd number. The second distances corresponding to each contour point may be the same or different.

[0045] The contour of the target object can be determined by a segmentation model or manually identified. For example, by inputting multiple frames of two-dimensional images where the target object is located into a segmentation model for segmentation, the contour of the target object in each frame of the two-dimensional image can be determined. After obtaining the contour of the target object, the computer device constructs a spatial transformation matrix from the pixel space of the data volume to the physical space of the world coordinate system based on the spatial transformation information in the imported DICOM (Digital Imaging and Communications in Medicine) or NIFTI (Neuroimaging Informatics Technology Initiative Image) data. The spatial transformation matrix can be used to convert the two-dimensional pixel coordinates in the two-dimensional image into three-dimensional coordinates in the physical space.

[0046] The contour of the initial safety area exceeds the contour of the target object, that is, the contour of the target object is between the contour of the initial safety area and the contour of the lesion area. Figure 4 As shown, part A is the part where the outline of the initial safety area exceeds the outline of the target object, and part B is the part where the outline of the initial safety area does not exceed the outline of the target object.

[0047] The generation method of the three-dimensional safe treatment area includes but is not limited to interpolation and surface reconstruction technology. For example, the images of each two-dimensional lesion area are aligned in space, the two-dimensional contour points of the safe treatment area in each frame of the image are converted into a three-dimensional point cloud, depth information is given, the three-dimensional point cloud is subjected to Delaunay triangulation, a triangulated mesh is generated, and the three-dimensional safe treatment area is obtained based on the triangulated mesh.

[0048] Optionally, the computer device inputs multiple frames of two-dimensional images where the target object is located into the segmentation model to perform lesion recognition and target object contour recognition, and obtains an image with a two-dimensional lesion area and the contour of the target object in each frame of the two-dimensional image. The computer device generates an initial safe area that encloses the two-dimensional lesion area in the image with the two-dimensional lesion area. When the contour of the initial safe area exceeds the contour of the target object, the computer device replaces the contour of the excess part in the initial safe area with the contour of the target object to adjust the initial safe area to obtain a two-dimensional safe treatment area that encloses the two-dimensional lesion area. Based on the two-dimensional safe treatment area, the computer device uses interpolation or surface reconstruction technology to generate a three-dimensional safe treatment area for the lesion area of ​​the target object.

[0049] In this embodiment, an initial safety area that wraps the two-dimensional lesion area is generated in an image where the two-dimensional lesion area exists, and when the outline of the initial safety area exceeds the outline of the target object, the outline of the exceeding part of the initial safety area is replaced with the outline of the target object. This can avoid setting the needle placement points outside the target object during needle placement planning, thereby avoiding damage to normal tissue during needle placement.

[0050] In one embodiment, based on the two-dimensional safe treatment area, generating a three-dimensional safe treatment area for the lesion area of ​​the target object includes:

[0051] The first frame image and the last frame image in the image where the two-dimensional lesion area exists are determined.

[0052] In the first n two-dimensional images adjacent to the first frame, an area corresponding to the safe treatment area of ​​the first frame is generated, and the generated area is used as the safe treatment area in the first n two-dimensional images.

[0053] In the next n two-dimensional images adjacent to the last frame, a region corresponding to the safe treatment region of the last frame is generated, and the generated region is used as the safe treatment region in the next n two-dimensional images.

[0054] A three-dimensional safe treatment area is generated based on each two-dimensional safe treatment area, the safe treatment area in the first n two-dimensional images, and the safe treatment area in the last n two-dimensional images.

[0055] Among them, the first frame image refers to the first frame image in the image where the two-dimensional lesion area exists, and the last frame image refers to the last frame image in the image where the two-dimensional lesion area exists. Since in the target object, a single lesion is presented in a three-dimensional form, and the image where the two-dimensional lesion area exists is obtained by continuous slice scanning of the lesion, the first frame image in the image where the two-dimensional lesion area exists is the first frame image, and the last frame image is the last frame image. In addition, because the safe treatment area is an area that wraps the lesion area but does not exceed the outline of the target object, and the last frame image where the lesion appears is not the last frame image where the safe treatment area appears, the safe treatment area should also be generated in the first n frames of the first frame image and the last n frames of the last frame image.

[0056] The calculation method of n in the first n frames of two-dimensional images and the next n frames of two-dimensional images is:

[0057]

[0058] Among them, the ceil() function means rounding up. SliceSpaceing Indicates the slice spacing, that is, the distance between two frames of images. SafetyDistance Indicates the average distance between the contour of the safe zone, that is, the average distance between the contour of the lesion area and the contour of the safe treatment area. In general, the average distance between the contour of the safe zone can be any value between 5mm and 10mm. In special cases, the average distance between the contour of the safe zone can also be any value within other ranges.

[0059] The safe treatment area in the first n frames of two-dimensional images can be automatically generated based on the shape and area of ​​the safe treatment area in the first frame of image. For example, based on the safe treatment area in the first frame of image, by generating an area in the first n frames of two-dimensional images that has the same shape as the safe treatment area in the first frame of image, but has an area smaller than the area of ​​the safe treatment area in the first frame of image, the safe treatment area in the first n frames of two-dimensional images can be obtained. The area of ​​the safe treatment area in the first n frames of two-dimensional images gradually decreases, and by generating the safe treatment area in the first n frames of two-dimensional images, the safe treatment area can be supplemented in the two-dimensional image where the lesion disappears, which is conducive to the three-dimensional reconstruction of the safe treatment area.

[0060] The safe treatment area in the last n frames of two-dimensional images can be automatically generated based on the shape and area of ​​the safe treatment area in the last frame image. For example, based on the safe treatment area in the last frame image, by generating an area in the last n frames of two-dimensional images that has the same shape as the safe treatment area in the last frame image but is smaller in area than the safe treatment area in the last frame image, the safe treatment area in the last n frames of two-dimensional images can be obtained. The area of ​​the safe treatment area in the last n frames of two-dimensional images gradually decreases, and by generating the safe treatment area in the last n frames of two-dimensional images, the safe treatment area can be supplemented in the two-dimensional image where the lesion disappears, which is beneficial to the three-dimensional reconstruction of the safe treatment area.

[0061] The generation method of the three-dimensional safe treatment area includes but is not limited to interpolation and surface reconstruction technology. For example, the images of each two-dimensional lesion area, the first n frames of two-dimensional images, and the last n frames of two-dimensional images are aligned in space, the two-dimensional contour points of the safe treatment area in each frame of the two-dimensional image are converted into a three-dimensional point cloud, depth information is given, the three-dimensional point cloud is Delaunay triangulated, a triangulated mesh is generated, and the three-dimensional safe treatment area is obtained based on the triangulated mesh.

[0062] Optionally, the computer device determines the first frame of the image in which the two-dimensional lesion area exists as the first frame of the image, and determines the last frame of the image in which the two-dimensional lesion area exists as the last frame of the image. In the first n frames of two-dimensional images adjacent to the first frame of the image, the computer device generates safe treatment areas in the first n frames of two-dimensional images according to the shape and area of ​​the safe treatment area in the first frame of the image. In the last n frames of two-dimensional images adjacent to the last frame of the image, the computer device generates safe treatment areas in the last n frames of two-dimensional images according to the shape and area of ​​the safe treatment area in the last frame of the image. The computer device generates a three-dimensional safe treatment area for the lesion area of ​​the target object based on each two-dimensional safe treatment area, the safe treatment area in the first n frames of two-dimensional images, and the safe treatment area in the last n frames of two-dimensional images using interpolation or surface reconstruction technology.

[0063] In this embodiment, by generating a safe treatment area in the first n two-dimensional image frames adjacent to the first frame image, and generating a safe treatment area in the last n two-dimensional image frames adjacent to the last frame image, the safe treatment area can be supplemented in the two-dimensional image where the lesion disappears, which is beneficial to the three-dimensional reconstruction of the safe treatment area, thereby correctly guiding the puncture of the interventional ablation device.

[0064] In one embodiment, the lesion area is a three-dimensional lesion area; determining a safe treatment area for the lesion area of ​​the target object includes:

[0065] The unit normal vector of each contour point on the surface of the three-dimensional lesion area of ​​the target object is obtained.

[0066] Each contour point is extended outward along the unit normal vector by a first distance to obtain a coordinate point of each contour point after expansion.

[0067] Based on the expanded coordinate points of each contour point, a safe treatment area that encloses the three-dimensional lesion area is generated.

[0068] Among them, the three-dimensional lesion area can be obtained by three-dimensional reconstruction. For example, a two-dimensional lesion area is identified from multiple frames of image data scanned from the target object, and then the lesion area identified in each frame of image data is reconstructed in three dimensions to obtain a three-dimensional lesion area. The unit normal vector of each contour point on the surface of the three-dimensional lesion area can be obtained by first calculating the normal vector of the contour point and then normalizing the normal vector. The normal vector of the contour point can be obtained by the surface gradient of the contour point. If the surface of the three-dimensional lesion area is a mesh surface, the normal vector of the contour point can also be calculated by the cross multiplication method of adjacent triangle vertices.

[0069] The first distance refers to the distance of the outward expansion of the contour point. Outward expansion refers to moving in the opposite direction of the three-dimensional lesion area along the unit normal vector. The first distances corresponding to each contour point can be the same or different. The coordinate points of each contour point after expansion are three-dimensional.

[0070] The safe treatment area that encloses the three-dimensional lesion area is a three-dimensional area. The safe treatment area that encloses the three-dimensional lesion area can be generated by interpolation or surface reconstruction technology. For example, Delaunay triangulation is performed on the coordinate points to generate a triangulated mesh, and the three-dimensional safe treatment area is obtained based on the triangulated mesh.

[0071] Optionally, the computer device obtains a first distance that each contour point on the surface of the three-dimensional lesion area of ​​the target object needs to be extended from the current position to the opposite direction of the three-dimensional lesion area, and a unit normal vector of each contour point. The computer device moves each contour point along the unit normal vector by the corresponding first distance to obtain the coordinate points of each contour point after the movement. The computer device performs Delaunay triangulation based on the coordinate points after the expansion of each contour point to generate a triangulated mesh, and then obtains a three-dimensional safe treatment area based on the triangulated mesh.

[0072] In this embodiment, by expanding the contour points outward along the unit normal vector according to the first distance, the original lesion area can be effectively expanded to form a larger safe treatment area whose shape corresponds to the lesion area. This ensures that when there are still positive sites outside the lesion area, the positive sites outside the lesion area can be planned for needle placement, so as to perform ablation treatment on the positive sites outside the lesion area and improve the effectiveness of ablation.

[0073] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0074] Preset the initial distance that each contour point moves along the unit normal vector.

[0075] Based on the initial distance, the three-dimensional coordinates of the contour point, and the unit normal vector of the contour point, the three-dimensional coordinates of the temporary point after the contour point is moved along the unit normal vector are determined.

[0076] Get the first ray consisting of the 3D coordinates of the temporary point and the unit normal vector of the target point.

[0077] When the number of intersection points between the first ray and the contour of the target object is an even number, the initial distance is adjusted until the number of intersection points between the first ray and the contour of the target object is an odd number, and the adjusted initial distance is determined as the first distance.

[0078] The initial distance can be preset according to the average spacing of the safety zone outline. For example, when the average spacing of the safety zone outline ranges from 5mm to 10mm, the initial distance can be preset to 10mm, or the initial distance can be preset to any value between 5mm and 10mm. In general scenarios, the maximum value of the initial distance is consistent with the maximum value of the average spacing of the safety zone outline.

[0079] The three-dimensional coordinates of the contour point can be obtained through the two-dimensional coordinates of the contour point in the two-dimensional image data and the space transformation matrix. The three-dimensional coordinates of the temporary point after the contour point moves along the unit normal vector can be obtained by Get, where is the three-dimensional coordinate of the temporary point after the contour point moves, is the three-dimensional coordinate of the contour point before moving, is the unit normal vector of the contour point, is the initial distance.

[0080] The first ray consisting of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point is expressed as , Represents contour points The corresponding first ray; Represents contour points The three-dimensional coordinates of the temporary point after the move; Represents contour points The unit normal vector of Represents the nth contour point on the lesion area of ​​the mth plane in the three-dimensional lesion area; i1 is a non-negative real number parameter, which is used to represent the distance moved from the temporary point along the unit normal vector of the contour point. When i1=0, the point is exactly located at the temporary point; when i1>0, the point is located somewhere between the temporary point and the unit normal vector.

[0081] The contour of the target object refers to the contour of the three-dimensional solid. The unit normal vector of the contour point is always on the target object. If the temporary point is outside the contour of the target object, then the first ray formed by the temporary point and the unit normal vector of the contour point must first enter the contour of the target object and then pass through the contour of the target object. The number of intersections between the first ray and the contour of the target object is an even number; if the temporary point is inside the contour of the target object, then the first ray formed by the temporary point and the unit normal vector directly passes through the contour of the target object from the inside of the contour of the target object. The number of intersections between the first ray and the contour of the target object is an odd number. When the interventional ablation device is puncturing, the end point of the electrode of the interventional ablation device needs to be located in the safe treatment area or within the contour of the target object, so that other normal tissues can be ablated without causing damage. Therefore, when the number of intersections between the first ray and the contour of the target object is an even number, the initial distance needs to be adjusted until the number of intersections between the first ray and the contour of the target object is an odd number.

[0082] The initial distance can be adjusted by changing a fixed value or an arbitrary value. For example, when the temporary point is determined to be outside the contour of the target object by the number of intersections, the initial distance can be adjusted by increasing / decreasing a fixed value or increasing / decreasing an arbitrary value based on the initial distance. The size of the fixed value and the arbitrary value can be set by yourself. The value range of the initial distance can also be set according to the average spacing of the safety zone. For example, if the average spacing of the safety zone contour is between 5-10mm, then the value range of the initial distance can be (5,10), and the initial distance starts from 10mm and is adjusted in steps of 0.1, that is, when it is determined that the temporary point is outside the contour of the target object, the current initial distance is reduced by 0.1mm until the number of intersections between the first ray and the contour of the target object is an odd number.

[0083] Optionally, the computer device presets an initial distance for the contour point to move along the unit normal vector based on the average spacing of the safety zone contour. The computer device calculates the three-dimensional coordinates of the temporary point after the contour point moves along the unit normal vector based on the initial distance, the three-dimensional coordinates of the contour point, and the unit normal vector of the contour point. The computer device forms a first ray based on the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point, and determines the number of intersections between the first ray and the contour of the target object. When the number of intersections is an even number, the computer device adjusts the initial distance according to a preset fixed value or an arbitrary value until the number of intersections between the first ray and the contour of the target object is an odd number, and then determines the adjusted initial distance as the first distance.

[0084] In this embodiment, the initial distance is adjusted when the number of intersections between the first ray and the contour of the target object is an even number until the number of intersections between the first ray and the contour of the target object is an odd number. This ensures that the contour point remains within the contour of the target object after movement and does not lie outside the contour of the target object, so that the interventional ablation device does not damage other organs or tissues during puncture and ablation.

[0085] In some embodiments, the unit normal vector of the contour point can also be obtained by solving the surface equation, and the surface equation can be constructed by the three-dimensional coordinates of multiple contour points of the three-dimensional lesion area. The unit normal vector of the contour point is determined by: the computer device determines the contour point ,in Represents the nth contour point of the mth plane of the three-dimensional lesion area, wherein the mth plane of the three-dimensional lesion area can be understood as the mth frame image obtained after slicing the three-dimensional lesion area; the computer device searches p planes from the front and back of the mth plane respectively, and searches 2q+1 adjacent points forward and backward in the searched 2p+1 planes with the current point as the center, wherein the current point on each plane is determined based on the search starting point on the adjacent plane to ensure the rationality of the selection of each current point and avoid sudden jumps or discontinuities; at this time, a total of (2p+1)(2q+1) points are searched , the computer equipment uses the least squares method to solve the surface The unknown coefficients , where x represents the xth plane, and y represents the yth contour point on the xth plane; the computer device obtains the normal vector of the contour point based on the solution results of each unknown coefficient: , the computer device normalizes the normal vector of the contour point to obtain the unit normal vector of the contour point .

[0086] In one embodiment, multiple needle placement points are determined in a safe treatment area, including:

[0087] The safe treatment area is projected onto a two-dimensional plane to obtain the comprehensive treatment area of ​​the target object.

[0088] Multiple needle placement points are defined within the contour of the combined treatment area.

[0089] The safe treatment area is a three-dimensional area. The three-dimensional safe treatment area is projected onto a two-dimensional plane to generate a needle distribution plane, and all contour points in the needle distribution plane are mapped onto the cross-sectional image of the target object, thereby obtaining a comprehensive treatment area.

[0090] In some embodiments, it is also possible to slice the three-dimensional safe treatment area, then extract the safe treatment area in each slice image, use logical or operation to obtain the union of the safe treatment areas, and then present the union of the safe treatment areas on a plane to generate a needle layout plane, map all contour points in the needle layout plane to the cross-sectional image of the target object, and form a comprehensive treatment area after the union. At the same time, the direction perpendicular to the lesion area is determined as the needle insertion direction of the interventional ablation device, and the needle insertion direction is also the normal vector of the needle layout plane. The method of extracting the safe treatment area in each slice image includes but is not limited to using a U-type network to extract. The image of the safe treatment area extracted by the U-type network can be a binary image, which can more intuitively distinguish the safe treatment area and the unsafe treatment area on the slice image.

[0091] Optionally, the computer device projects the three-dimensional safe treatment area into a two-dimensional plane to obtain a comprehensive treatment area of ​​the target object. The computer device automatically determines a plurality of needle placement points in the comprehensive treatment area.

[0092] In this embodiment, by projecting the safe treatment area onto a two-dimensional plane and then determining the needle placement points, an intuitive visual reference can be provided to the user to better plan the needle placement points.

[0093] In one embodiment, a plurality of needle placement points are determined in the outline of the comprehensive treatment area, including:

[0094] According to the size information of the comprehensive treatment area, the comprehensive treatment area is divided into blocks to obtain multiple sub-areas, and the ablation distance of the interventional ablation device is obtained.

[0095] Any contour point of the sub-region is used as a needle placement point, and a first candidate needle placement point is determined in the contour of the sub-region. The distance between the first candidate needle placement point and the needle placement point is less than or equal to the ablation distance.

[0096] When the first candidate needle placement point coincides with the avoidance position of the target object, the first candidate needle placement point is adjusted, and the adjusted first candidate needle placement point is determined as the next needle placement point. The distance between the adjusted first candidate needle placement point and the needle placement point is less than or equal to the ablation distance.

[0097] When the first candidate needle point does not coincide with the avoidance position of the target object, the first candidate needle point is determined as the next needle point.

[0098] Among them, any contour point in the sub-area used as a needle placement point does not coincide with the avoidance position of the target object.

[0099] The size information includes but is not limited to the area, contour perimeter, and diameter of the comprehensive treatment area. The block processing of the comprehensive treatment area according to the size information can be one of the following: block processing according to the area of ​​the comprehensive treatment area, block processing according to the area of ​​the comprehensive treatment area, and block processing according to the diameter of the comprehensive treatment area. For example, the total area of ​​the comprehensive treatment area is S, and it is now to be divided into multiple sub-areas with an area of ​​s. Then, when performing the block processing, the computer device divides the comprehensive treatment area into multiple sub-areas with an area of ​​s according to the area S of the comprehensive treatment area.

[0100] The ablation distance of the interventional ablation device may be pre-stored in the computer device, so that the computer device can read the ablation distance of the interventional ablation device in a timely manner.

[0101] The first candidate needle placement point refers to the position in the sub-region where the distance between the needle placement point and the ablation distance is less than or equal to the ablation distance. For example, a circle is drawn with the first selected needle placement point as the center and the ablation distance of the interventional ablation device as the radius. The first candidate needle placement point can be determined in the area where the circle overlaps with the sub-region. The overlapping area is as follows: Figure 5 shown.

[0102] The avoidance position refers to the position in the target object where the needle cannot be placed. The avoidance position includes but is not limited to various important organs and tissues. For example, the position of bones and blood vessels. The avoidance position can be input into the computer device in advance. The avoidance position can be identified using static medical images taken before the operation. Static medical images include but are not limited to MRI images (Magnetic Resonance Imaging). By comparing the first candidate needle placement point with each avoidance position, it can be determined whether the first candidate needle placement point coincides with the avoidance position.

[0103] The adjusted first candidate needle placement point should also not overlap with the avoidance position, and the distance between the adjusted first candidate needle placement point and the first needle placement point should be less than or equal to the ablation distance of the interventional ablation device. For example, when the determined candidate needle placement point overlaps with the avoidance position, a position that is closer to the first needle placement point and does not overlap with the avoidance position is determined as the first candidate needle placement point.

[0104] In the case that the first candidate needle placement point does not coincide with the avoidance position of the target object, the first candidate needle placement point is directly determined as the next needle placement point. Through the next needle placement point and the ablation distance, another needle placement point can be determined until the needle placement points are evenly distributed throughout the entire sub-area and there are no overlapping needle placement points. For example, first, a circle A is drawn with the selected needle placement point as the center and the ablation distance of the interventional ablation device as the radius. The intersection a of circle A and the sub-area is the first candidate needle placement point. Then, a circle B is drawn with the obtained intersection a as the center and the ablation distance of the interventional ablation device as the radius. The next intersection b of circle B and the sub-area is searched again. In the case that the next intersection b does not coincide with the avoidance position, the next intersection b is the re-determined needle placement point, wherein the intersection a and the intersection b can be any point in the area where the circle overlaps with the sub-area.

[0105] In some embodiments, the computer device may also use any contour point of the sub-region as a pin point and determine a first candidate pin point in the contour of the sub-region. When the first candidate pin point coincides with the avoidance position of the target object, the computer device determines the next candidate pin point in the contour of the sub-region between the previous pin point and the first candidate pin point to adjust the first candidate pin point until the determined first candidate pin point does not coincide with all avoidance positions, and determines the adjusted first candidate pin point as the next pin point.

[0106] In some embodiments, the number of needle points of a sub-region can be determined based on the size information of the sub-region, for example, based on the perimeter of each sub-region, to determine the number of needle points of each sub-region.

[0107] Optionally, the computer device divides the comprehensive treatment area into multiple sub-areas according to the size information of the comprehensive treatment area, and reads the ablation distance of the interventional ablation device stored in advance. The computer device uses any contour point in the sub-area as a needle placement point, and determines the first candidate needle placement point in the sub-area according to the ablation distance of the interventional ablation device. The computer device compares the first candidate needle placement point with each pre-stored avoidance position, and when the first candidate needle placement point coincides with one of the avoidance positions, the computer device adjusts the first candidate needle placement point according to the ablation distance, and when the adjusted first candidate needle placement point does not coincide with each avoidance position, the adjusted first candidate needle placement point is determined as the next needle placement point, wherein the distance between the adjusted first candidate needle placement point and the needle placement point is less than or equal to the ablation distance. When the first candidate needle placement point does not coincide with the avoidance position of the target object, the computer device directly determines the first candidate needle placement point as the next needle placement point.

[0108] In this embodiment, the needle points are determined in each sub-area according to the ablation distance of the interventional ablation device and the avoidance position of the target object, so that the needle points can be evenly distributed throughout the entire comprehensive treatment area without causing damage to the avoidance position.

[0109] In one embodiment, multiple needle placement points are determined in the comprehensive treatment area, including:

[0110] Image showing the comprehensive treatment area annotated.

[0111] In response to the needle placement point determination instruction, the determined second candidate needle placement points are displayed in the image of the marked comprehensive treatment area, and the two-dimensional distances between the second candidate needle placement points are displayed.

[0112] Based on the two-dimensional distance between each second candidate needle placement point, at least two candidate adjustment points are determined; when the two-dimensional distance between the at least two candidate adjustment points is greater than the ablation distance of the interventional ablation device;

[0113] At least one candidate adjustment point is determined as the needle point to be adjusted, and in response to an adjustment instruction for the needle point to be adjusted, an adjusted needle point is obtained.

[0114] Among them, the image of the marked comprehensive treatment area includes a cross-sectional image of the marked comprehensive treatment area. The needle point determination instruction can be sent to the computer device through the input component. The input component includes but is not limited to a mouse, a keyboard, and a display screen of the computer device connected to the computer device. For example, when the mouse is clicked in the display interface of the computer device, the computer device will respond to the needle point determination instruction and determine the position clicked by the mouse as the position of the second candidate needle point. For another example, when the display screen is a screen with a touch-sensing function, the user interacts with the computer device by directly touching the screen to trigger the needle point determination instruction, and the computer device will respond to the triggered needle point determination instruction and determine the touched position as the position of the second candidate needle point.

[0115] While responding to the needle point determination instruction, the two-dimensional distances between the second candidate needle points will be displayed on the display interface of the computer device at the same time. For example, if the second candidate needle point 1, the second candidate needle point 2, the second candidate needle point 3, and the second candidate needle point 4 are planned, the two-dimensional distance between the second candidate needle point 1 and the second candidate needle point 2, the two-dimensional distance between the second candidate needle point 1 and the second candidate needle point 3, the two-dimensional distance between the second candidate needle point 1 and the second candidate needle point 4, the two-dimensional distance between the second candidate needle point 2 and the second candidate needle point 3, the two-dimensional distance between the second candidate needle point 2 and the second candidate needle point 4, and the two-dimensional distance between the second candidate needle point 3 and the second candidate needle point 4 will be displayed on the display interface of the computer device.

[0116] The two-dimensional distance is the distance between two second candidate needle placement points, and the distance between the two needle placement points can be changed by adjusting the position of one of the second candidate needle placement points. When the two-dimensional distance between the two second candidate needle placement points is greater than the ablation distance of the interventional ablation device, the two second candidate needle placement points are candidate adjustment points, and one of the candidate adjustment points is determined as the needle placement point to be adjusted, thereby achieving the purpose of reducing the two-dimensional distance between the two second candidate needle placement points. For example, continuing with the above example, the two-dimensional distance between the second candidate needle point 3 and the second candidate needle point 4 is greater than the ablation distance of the interventional ablation device, and the distances between the remaining second candidate needle points are less than or equal to the ablation distance of the interventional ablation device, then the second candidate needle point 3 and the second candidate needle point 4 are candidate adjustment points. At this time, the second candidate needle point 3 or the second candidate needle point 4 can be determined as the needle point to be adjusted. If the second candidate needle point 3 is determined as the needle point to be adjusted, then the second candidate needle point 3 can be moved toward the second candidate needle point 4 during adjustment. If the second candidate needle point 4 is determined as the needle point to be adjusted, then the second candidate needle point 4 can be moved toward the second candidate needle point 3 during adjustment, so that the two-dimensional distance between the second candidate needle point 3 and the second candidate needle point 4 is less than or equal to the ablation distance of the interventional ablation device.

[0117] The adjustment instruction is an instruction to adjust the position of the needle point to be adjusted. The adjustment instruction for the needle point to be adjusted can also be sent to the computer device through the input component. For example, use the mouse to select the needle point to be adjusted in the display interface of the computer device, and move the needle point to be adjusted. The computer device will respond to the adjustment instruction for the needle point to be adjusted and determine the moved position as the adjusted needle point. The two-dimensional distance between the adjusted needle point and each second candidate needle point is also less than or equal to the ablation distance of the interventional ablation device.

[0118] In some embodiments, the display interface of the computer device may also include a needle placement plan deletion control, a needle placement plan addition control, and a lesion switching control. The needle placement plan deletion control is used to delete the needle placement points currently planned in the display interface. The needle placement plan addition control is used to display an image with no planned needle placement points and marked comprehensive treatment areas. The lesion switching control is used to switch images in the display interface, wherein the lesions in the image after switching are inconsistent with the lesions in the image before switching. In the displayed image of the marked comprehensive treatment area, the lesion area of ​​the target object and the outline of the target object are also displayed. The display interface of the computer device is as follows: Figure 6 shown.

[0119] Optionally, the computer device displays an image of the marked comprehensive treatment area in a display interface. In response to the needle point determination instruction, the computer device displays each determined second candidate needle point in the image of the marked comprehensive treatment area, and displays the two-dimensional distance between each second candidate needle point. When the two-dimensional distance between the second candidate needle points is greater than the ablation distance of the interventional ablation device, the computer device determines at least one second candidate needle point as a needle point to be adjusted. In response to the adjustment instruction for the needle point to be adjusted, the computer device obtains the adjusted needle point, thereby achieving the purpose of determining multiple needle points in the comprehensive treatment area.

[0120] In this embodiment, by responding to the needle placement point determination instruction, the determined second candidate needle placement points are displayed in the image of the marked comprehensive treatment area, and when the two-dimensional distance between the candidate adjustment points is greater than the ablation distance of the interventional ablation device, at least one candidate adjustment point is determined as the needle placement point to be adjusted for adjustment. On the one hand, the position of each second candidate needle placement point can be quickly determined, and on the other hand, the number of needle placement points that need to be adjusted can be reduced, and the time for adjusting the needle placement points can be reduced, thereby quickly achieving the purpose of determining multiple needle placement points in the comprehensive treatment area.

[0121] In one embodiment, based on the needle insertion path, determining the endpoint position of the electrode of the interventional ablation device in the safe treatment area includes:

[0122] A second distance moved by the interventional ablation device along the needle advancement direction is determined.

[0123] Based on the needle insertion path and the second distance, the three-dimensional coordinates of the candidate endpoints of the electrode of the interventional ablation device after it moves along the needle insertion direction are determined.

[0124] A second ray consisting of the three-dimensional coordinates of the candidate endpoint and the needle insertion direction is obtained.

[0125] When the number of intersection points between the second ray and the contour of the target object is an even number, the second distance is adjusted until the number of intersection points between the second ray and the contour of the target object is an odd number.

[0126] Based on the adjusted second distance and the needle insertion path, the endpoint position of the electrode of the interventional ablation device in the safe treatment area is determined.

[0127] The second distance includes the distance to be moved of the end point of the electrode of the interventional ablation device along the needle insertion direction, and the distance to be moved of the starting point of the electrode of the interventional ablation device along the needle insertion direction. The second distance is an arbitrary value within the coordinate interval, wherein the coordinate interval is determined by obtaining the three-dimensional coordinates of each contour point of the target object, the three-dimensional coordinates of each contour point of the lesion area, and the three-dimensional coordinates of each contour point of the safe treatment area, with the needle insertion direction as the z-axis and the three-dimensional coordinates of any needle placement point as the z-axis. Establish a three-dimensional coordinate system for the coordinate origin, and find the circumscribed cube of the safe treatment area in this three-dimensional coordinate system , then the circumscribed cube The starting coordinate on the z-axis is , the circumscribed cube The end point coordinate on the z-axis is . and Circumscribed cube The starting point and end point on the z-axis, that is for The starting coordinate value on the z-axis, for The coordinate value of the end point on the z-axis is is the minimum value of the coordinate interval, is the maximum value of the coordinate interval. The three-dimensional coordinates of the needle placement point can be obtained through the two-dimensional coordinates of the needle placement point in the image data and the space transformation matrix. Among them, the calculation method of the circumscribed cube of the safe treatment area is: obtain the three-dimensional coordinates of the contour points of the safe treatment area to form a point cloud data set, calculate the minimum and maximum values ​​of all points in the point cloud data set on each coordinate axis in the reconstructed three-dimensional coordinate system, use the minimum and maximum values ​​as the boundaries of the circumscribed cube, connect the maximum and minimum values, and thus obtain the circumscribed cube of the safe treatment area. By determining the circumscribed cube of the safe treatment area, the specific range and boundaries of the safe treatment area in three-dimensional space can be determined.

[0128] The needle insertion path is presented in the form of a parametric equation, that is, the needle insertion path is , is the second distance, The value range is the starting point coordinate value To the end point coordinates By adjusting The value of can be used to calculate the end point position of the electrode of the interventional ablation device on the needle insertion path. For example, when calculating the three-dimensional coordinates of the end point of the electrode of the interventional ablation device, from When the three-dimensional coordinates of the end point of the electrode of the interventional ablation device are calculated, from The length of the electrode can also be determined by the end position of the electrode of the interventional ablation device.

[0129] The candidate endpoints include the candidate endpoints and candidate starting points of the electrode of the interventional ablation device. Since the needle insertion path and the second distance have been determined, the three-dimensional coordinates of the candidate endpoints of the electrode of the interventional ablation device after moving along the needle insertion direction can be obtained by substituting the specific value of the second distance into the parameter equation of the needle insertion path. For example, the needle insertion path is , is the second distance, is the three-dimensional coordinate of the needle point, dir The needle insertion direction is the needle insertion direction. The three-dimensional coordinates of the needle insertion direction and the needle placement point are known. Afterwards, the three-dimensional coordinates of the candidate endpoints of the electrode of the interventional ablation device after it moves along the needle insertion direction can be obtained through the parameter equation of the needle insertion path.

[0130] The second ray formed by the three-dimensional coordinates of the candidate endpoint and the needle insertion direction is , represents the second ray, represents the three-dimensional coordinates of the candidate endpoints, dir Indicates the direction of needle insertion. i 2 is a non-negative real number parameter used to start from the candidate endpoint and follow the needle insertion direction dir The distance moved, when i When 2=0, the point is exactly at the candidate endpoint; when i When 2>0, the point is located somewhere between the candidate endpoint and the needle insertion direction.

[0131] The contour of the target object refers to the three-dimensional contour. The needle insertion direction is always within the contour of the target object. If the candidate endpoint is outside the contour of the target object, then the second ray formed by the candidate endpoint and the needle insertion direction must first enter the contour of the target object and then pass through the contour of the target object, then the number of intersections between the second ray and the contour of the target object is an even number; if the candidate endpoint is within the contour of the target object, then the second ray formed by the candidate endpoint and the needle insertion direction directly passes through the contour of the target object from the inside of the contour of the target object, then the number of intersections between the second ray and the contour of the target object is an odd number. When the interventional ablation device is puncturing, the endpoint of the electrode of the interventional ablation device needs to be located in the safe treatment area or within the contour of the target object, so that when the lesion is ablated, no damage is caused to other objects. Therefore, when the number of intersections between the second ray and the contour of the target object is an even number, the second distance needs to be adjusted until the number of intersections between the second ray and the contour of the target object is an odd number.

[0132] The second distance can be adjusted by changing a fixed value or an arbitrary value. For example, when the candidate end point of the electrode of the interventional ablation device is determined to be outside the outline of the target object by the number of intersections, the second distance is reduced by a fixed value or an arbitrary value, thereby adjusting the second distance. For another example, when the candidate starting point of the electrode of the interventional ablation device is determined to be outside the outline of the target object by the number of intersections, the second distance is increased by a fixed value or an arbitrary value, thereby adjusting the second distance. The size of the fixed value and the arbitrary value can be set by yourself.

[0133] Optionally, the computer device presets a second distance that the electrode of the interventional ablation device moves along the needle insertion direction based on the circumscribed cube of the safe treatment area. Based on the second distance and the needle insertion path, the computer device calculates the three-dimensional coordinates of the candidate endpoint of the electrode of the interventional ablation device after it moves along the needle insertion direction. The computer device composes a second ray based on the three-dimensional coordinates of the candidate endpoint and the needle insertion direction, and determines the number of intersections between the second ray and the contour of the target object. When the number of intersections is an even number, the computer device adjusts the second distance according to a preset fixed value until the number of intersections between the second ray and the contour of the target object is an odd number. Based on the adjusted second distance and the needle insertion path, the computer device determines the endpoint position of the electrode of the interventional ablation device in the safe treatment area.

[0134] In this embodiment, when the number of intersections between the second ray and the contour of the target object is an odd number, the endpoint position of the interventional ablation device electrode in the safe treatment area is determined according to the second distance and the needle insertion path. This ensures that the endpoints of the interventional ablation device are within the contour of the target object and are not outside the contour of the target object, thereby preventing damage to other organs or tissues when the electrode of the interventional ablation device is performing ablation.

[0135] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0136] A three-dimensional image including a lesion area of ​​the target object, a safe treatment area, and the target object is acquired.

[0137] The three-dimensional image is registered based on the ultrasonic image of the target object acquired in real time to obtain a registered three-dimensional image.

[0138] Displays the lesion area, safe treatment area, and endpoints of the electrodes of the interventional ablation device.

[0139] Among them, the three-dimensional image can be obtained after the contour of the target object, the lesion area, and the safe treatment area are obtained. After the target object is segmented, the lesion area is outlined, and the safe treatment area is generated, the two-dimensional contours of the target object, the safe treatment area, and the lesion in a series of slice images can be obtained, and the two-dimensional contour points on each slice image can be constructed into three-dimensional volume data. Each voxel represents a point in the three-dimensional volume data. The voxel contains a density value or a label value to indicate whether the point belongs to the target object, the lesion, or the safe treatment area. For the gaps between the image data, Marchingcube can be used for interpolation processing to ensure the continuity and integrity of the three-dimensional volume data. The DICOM or NIFTI file contains information such as the image's direction matrix, pixel spacing, slice thickness, and origin position. This information is used to convert the image coordinates into three-dimensional coordinates in the physical space and visualize the three-dimensional image.

[0140] The specific process of registering the three-dimensional image based on the real-time acquired ultrasound image of the target object to obtain the registered three-dimensional image is as follows: extract feature points or key points from the ultrasound image and the three-dimensional image, find corresponding points in the ultrasound point cloud and the point cloud of the three-dimensional image; for each point in the ultrasound point cloud, calculate its nearest neighbor point in the three-dimensional image point cloud, and find the point pair with the smallest Euclidean distance; calculate the center of gravity of the ultrasound point cloud and the three-dimensional image point cloud of the matching point set; use the center of gravity of the matching point set to calculate the optimal rotation matrix and translation vector, and apply them to the ultrasound point cloud to perform rigid transformation to generate a new point set; calculate the average distance between the transformed ultrasound point cloud and the three-dimensional image point cloud. By calculating the average Euclidean distance between the class point clouds, evaluate the registration effect of the current iteration, and judge whether the iteration is over based on the average Euclidean distance; use the non-rigid registration algorithm to further optimize the registration result to make the registration result more accurate. The finely registered ultrasound image and the three-dimensional image are fused to generate the registered three-dimensional image.

[0141] In the ultrasound image, the position of the probe and the electrodes of the interventional ablation device are tracked. When the lesion area and the safe treatment area appear in the scanned ultrasound image or the connected ablation device appears in the ultrasound image, the lesion area and the endpoint safe treatment area of ​​the electrodes of the interventional ablation device are displayed in the ultrasound image, and the lesion area, the endpoints of the electrodes of the interventional ablation device and the safe treatment area are displayed in the registered three-dimensional image. The marking methods of the lesion area and the safe treatment area frame in the three-dimensional image or ultrasound image include but are not limited to wireframes of different colors and wireframes of different forms. For example, red wireframe, blue wireframe, dotted wireframe, solid wireframe, circular wireframe, quadrilateral wireframe, irregular wireframe, etc.

[0142] In this embodiment, by acquiring a three-dimensional image including the lesion area, the safe treatment area, and the target object of the target object, and registering the three-dimensional image based on the ultrasound image of the target object acquired in real time, the registered three-dimensional image is obtained, which can more comprehensively and accurately understand the spatial distribution and volume size of the lesion, and also avoid damaging the surrounding healthy tissue during puncture.

[0143] The present application also provides an application scenario, which uses the above-mentioned computer device for guiding puncture. Specifically, the application of the computer device for guiding puncture in the application scenario is as follows:

[0144] The computer device inputs the multiple frames of two-dimensional images where the target object is located into the segmentation model to perform lesion recognition and target object contour recognition, and obtains an image of the two-dimensional lesion area and the contour of the target object in each frame of the two-dimensional image. The computer device generates an initial safe area that encloses the two-dimensional lesion area in the image where the two-dimensional lesion area exists. When the contour of the initial safe area exceeds the contour of the target object, the computer device replaces the contour of the excess part of the initial safe area with the contour of the target object to adjust the initial safe area and obtain a two-dimensional safe treatment area that encloses the two-dimensional lesion area.

[0145] The computer device determines the first frame of the image in which the two-dimensional lesion area exists as the first frame image, and determines the last frame of the image in which the two-dimensional lesion area exists as the last frame image. In the first n frames of the two-dimensional image adjacent to the first frame image, the computer device generates safe treatment areas in the first n frames of the two-dimensional image according to the shape and area of ​​the safe treatment area in the first frame image. In the last n frames of the two-dimensional image adjacent to the last frame image, the computer device generates safe treatment areas in the last n frames of the two-dimensional image according to the shape and area of ​​the safe treatment area in the last frame image. The computer device generates a three-dimensional safe treatment area for the lesion area of ​​the target object based on each two-dimensional safe treatment area, the safe treatment area in the first n frames of the two-dimensional image, and the safe treatment area in the last n frames of the two-dimensional image using interpolation or surface reconstruction technology.

[0146] The console generates an initial safe area that wraps the lesion based on a preset spacing in the two-dimensional slice where the lesion exists. The spacing between the generated initial safe area and the lesion area where the lesion is located is the preset spacing. When the outline of the initial safe area exceeds the outline of the target object, the console replaces the outline of the excess part of the initial safe area with the outline of the target object to update the initial safe area and generate a safe treatment area that wraps the lesion area in the two-dimensional slice where the lesion exists. At the same time, the console also determines the first frame slice in the two-dimensional slice where the lesion exists as the first frame slice, and determines the last frame slice in the two-dimensional slice where the lesion exists as the last frame slice. In the first n frames of two-dimensional slices adjacent to the first frame slice, the console generates safe treatment areas in the first n frames of two-dimensional slices according to the shape and area of ​​the safe treatment area in the first frame slice. In the last n frames of two-dimensional slices adjacent to the last frame slice, the console generates safe treatment areas in the last n frames of two-dimensional slices according to the shape and area of ​​the safe treatment area in the last frame slice.

[0147] The computer device identifies a two-dimensional lesion area from multiple frames of image data scanned from the target object, and then performs three-dimensional reconstruction on the lesion area identified in each frame of image data to obtain a three-dimensional lesion area. The computer device obtains the first distance that each contour point on the surface of the three-dimensional lesion area of ​​the target object needs to be extended from the current position to the opposite direction of the three-dimensional lesion area, and the unit normal vector of each contour point. The computer device moves each contour point along the unit normal vector by a corresponding first distance to obtain the coordinate points of each contour point after movement. The computer device performs Delaunay triangulation based on the coordinate points after expansion of each contour point to generate a triangulated mesh, and then obtains a three-dimensional safe treatment area based on the triangulated mesh.

[0148] The computer device slices the three-dimensional safe treatment area, then extracts the safe treatment area in each slice image, uses logical OR operation to obtain the union of the safe treatment areas, and then presents the union of the safe treatment areas on a plane to generate a needle layout plane. All contour points in the needle layout plane are mapped to the cross-sectional image of the target object to form a comprehensive treatment area after the union. At the same time, the direction perpendicular to the lesion area is determined as the needle insertion direction of the interventional ablation device, and the needle insertion direction is also the normal vector of the needle layout plane.

[0149] The computer device divides the comprehensive treatment area into multiple sub-areas according to the size information of the comprehensive treatment area, and reads the ablation distance of the interventional ablation device stored in advance. The computer device uses any contour point in the sub-area as a needle placement point, and determines the first candidate needle placement point in the sub-area according to the ablation distance of the interventional ablation device. The computer device compares the first candidate needle placement point with each pre-stored avoidance position, and when the first candidate needle placement point coincides with one of the avoidance positions, the computer device adjusts the first candidate needle placement point according to the ablation distance, and when the adjusted first candidate needle placement point does not coincide with each avoidance position, the adjusted first candidate needle placement point is determined as the next needle placement point, wherein the distance between the adjusted first candidate needle placement point and the needle placement point is less than or equal to the ablation distance. When the first candidate needle placement point does not coincide with the avoidance position of the target object, the computer device directly determines the first candidate needle placement point as the next needle placement point. The computer device obtains the tissue dielectric characteristic parameters of the electrodes of the interventional ablation device in various types of target objects; the tissue dielectric characteristic parameters are parameters that affect the electrode ablation effect, and the tissue dielectric characteristic parameters include but are not limited to tissue conductivity and dielectric constant. The computer device uses finite element analysis simulation software to calculate the electric field distribution under the current needle layout scheme to analyze the response of each target object to the electric field and obtain simulation results; the current needle layout scheme includes the positions of each needle layout point currently determined. The computer device adjusts the needle layout points according to the simulation results to optimize the electric field distribution.

[0150] The computer device displays an image of the marked comprehensive treatment area in a display interface. In response to a needle point determination instruction, the computer device displays each determined second candidate needle point in the image of the marked comprehensive treatment area, and displays the two-dimensional distance between each second candidate needle point. When the two-dimensional distance between the second candidate needle points is greater than the ablation distance of the interventional ablation device, the computer device determines at least one second candidate needle point as a needle point to be adjusted. In response to an adjustment instruction for the needle point to be adjusted, the computer device obtains an adjusted needle point, thereby achieving the purpose of determining multiple needle points in the comprehensive treatment area.

[0151] The computer device determines the needle insertion path of the interventional ablation device entering the target object based on the needle placement point and the needle insertion direction. The computer device presets a second distance for the interventional ablation device electrode to move along the needle insertion direction based on the circumscribed cube of the safe treatment area. Based on the second distance and the needle insertion path, the computer device calculates the three-dimensional coordinates of the candidate endpoints after the interventional ablation device electrode moves along the needle insertion direction. The computer device composes a second ray based on the three-dimensional coordinates of the candidate endpoints and the needle insertion direction, and determines the number of intersections between the second ray and the contour of the target object. When the number of intersections is an even number, the computer device adjusts the second distance according to a preset fixed value until the number of intersections between the second ray and the contour of the target object is an odd number. Based on the adjusted second distance and the needle insertion path, the computer device determines the endpoint position of the electrode of the interventional ablation device in the safe treatment area.

[0152] The computer device obtains a three-dimensional image including the lesion area, safe treatment area, and target object. The computer device extracts feature points or key points from the ultrasound image and the three-dimensional image, and finds corresponding points in the ultrasound point cloud and the point cloud of the three-dimensional image; for each point in the ultrasound point cloud, calculate its nearest neighbor point in the three-dimensional image point cloud, and find the point pair that minimizes the Euclidean distance; calculate the center of gravity of the ultrasound point cloud and the three-dimensional image point cloud of the matching point set; use the center of gravity of the matching point set to calculate the optimal rotation matrix and translation vector, and apply it to the ultrasound point cloud, perform a rigid transformation on it, and generate a new point set; calculate the average distance between the transformed ultrasound point cloud and the three-dimensional image point cloud. By calculating the average Euclidean distance between the class point clouds, evaluate the alignment effect of the current iteration, and judge whether the iteration is over based on the average Euclidean distance; use a non-rigid alignment algorithm to further optimize the alignment result to make the alignment result more accurate. The finely aligned ultrasound image and the three-dimensional image are fused to generate an aligned three-dimensional image. The computer device tracks the positions of the probe and the electrodes of the interventional ablation device in the ultrasound image. When the lesion area and the safe treatment area appear in the scanned ultrasound image or the electrodes of the interventional ablation device appear in the ultrasound image, the lesion area, the endpoints of the electrodes of the interventional ablation device and the safe treatment area are displayed in the ultrasound image. At the same time, the lesion area, the endpoints of the electrodes of the interventional ablation device and the safe treatment area are displayed in the registered three-dimensional image to guide the electrodes of the interventional ablation device to puncture. The flowchart for guiding the puncture is shown as follows: Figure 7 shown.

[0153] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0154] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Figure 8As shown. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the lesion area, the safe treatment area, the needle placement point, the needle insertion direction, the needle insertion path, and the endpoint position of the electrode of the interventional ablation device in the safe treatment area. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a puncture guidance method is implemented.

[0155] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0156] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0157] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0158] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0159] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0160] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0161] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0162] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A computer device for guiding puncture, comprising a memory and a processor, wherein a computer program is stored in the memory, characterized in that: When the processor executes the computer program, the following steps are implemented: Determine safe treatment areas for target subject’s lesion areas; Determining multiple needle placement points in the safe treatment area and determining the needle insertion direction; Based on the needle placement point and the needle insertion direction, determining a needle insertion path for the interventional ablation device to enter the target object; determining a second distance moved by the interventional ablation device along the needle insertion direction; Based on the needle insertion path and the second distance, determining the three-dimensional coordinates of the candidate endpoints of the electrode of the interventional ablation device after it moves along the needle insertion direction; Acquire a second ray consisting of the three-dimensional coordinates of the candidate endpoint and the needle insertion direction; When the number of intersection points between the second ray and the contour of the target object is an even number, adjusting the second distance until the number of intersection points between the second ray and the contour of the target object is an odd number; Based on the adjusted second distance and the needle insertion path, determining the endpoint position of the electrode of the interventional ablation device in the safe treatment area to guide the puncture of the interventional ablation device; The electrodes are used to release energy to ablate the lesion.

2. The computer device according to claim 1, characterized in that The lesion area is a three-dimensional lesion area; The step of determining a safe treatment area for the lesion area of ​​the target object comprises: Obtaining a unit normal vector of each contour point on the surface of the three-dimensional lesion region of the target object; Extending each of the contour points outwards by a first distance along the unit normal vector to obtain a coordinate point of each of the contour points after expansion; Based on the expanded coordinate points of each of the contour points, a safe treatment area enclosing the three-dimensional lesion area is generated.

3. The computer device according to claim 2, characterized in that When the processor executes the computer program, the processor further implements the following steps: Presetting an initial distance for each of the contour points to move along the unit normal vector; Determine the three-dimensional coordinates of a temporary point after the contour point moves along the unit normal vector based on the initial distance, the three-dimensional coordinates of the contour point, and the unit normal vector of the contour point; Acquire a first ray consisting of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point; When the number of intersections between the first ray and the contour of the target object is an even number, the initial distance is adjusted until the number of intersections between the first ray and the contour of the target object is an odd number, and the adjusted initial distance is determined as the first distance.

4. The computer device according to claim 1, characterized in that The lesion area is a two-dimensional lesion area; The step of determining a safe treatment area for the lesion area of ​​the target object comprises: In the multiple frames of two-dimensional images where the target object is located, an image is determined in which a two-dimensional lesion area exists; In the image where the two-dimensional lesion area exists, generating an initial safety area enclosing the two-dimensional lesion area; When the outline of the initial safety area exceeds the outline of the target object, the outline of the exceeding part of the initial safety area is replaced with the outline of the target object to obtain a two-dimensional safe treatment area that encloses the two-dimensional lesion area; Based on the two-dimensional safe treatment area, a three-dimensional safe treatment area for the lesion area of ​​the target object is generated.

5. The computer device according to claim 4, characterized in that The step of generating a three-dimensional safe treatment area for the lesion area of ​​the target object based on the two-dimensional safe treatment area includes: Determine the first frame image and the last frame image in the image where the two-dimensional lesion area exists; In the first n two-dimensional images adjacent to the first frame, generating an area corresponding to the safe treatment area of ​​the first frame, and using the generated area as the safe treatment area in the first n two-dimensional images; In the next n two-dimensional images adjacent to the last frame, a region corresponding to the safe treatment region of the last frame is generated, and the generated region is used as the safe treatment region in the next n two-dimensional images; A three-dimensional safe treatment area is generated based on the two-dimensional safe treatment areas, the safe treatment areas in the first n two-dimensional images, and the safe treatment areas in the last n two-dimensional images.

6. The computer device according to claim 1, 2 or 3, characterized in that: Determining a plurality of needle placement points in the safe treatment area comprises: Projecting the safe treatment area onto a two-dimensional plane to obtain a comprehensive treatment area of ​​the target object; A plurality of needle placement points are determined in the comprehensive treatment area.

7. The computer device according to claim 6, characterized in that Determining a plurality of needle placement points in the comprehensive treatment area comprises: According to the size information of the comprehensive treatment area, the comprehensive treatment area is divided into blocks to obtain multiple sub-areas, and the ablation distance of the interventional ablation device is obtained; Taking any contour point of the sub-region as a needle placement point, determining a first candidate needle placement point in the sub-region; the distance between the first candidate needle placement point and the needle placement point is less than or equal to the ablation distance; In the case where the first candidate needle placement point coincides with the avoidance position of the target object, the first candidate needle placement point is adjusted, and the adjusted first candidate needle placement point is determined as the next needle placement point; the distance between the adjusted first candidate needle placement point and the needle placement point is less than or equal to the ablation distance; When the first candidate needle point does not overlap with the avoidance position of the target object, the first candidate needle point is determined as the next needle point.

8. The computer device according to claim 6, characterized in that Determining a plurality of needle placement points in the comprehensive treatment area comprises: Displaying an image with the comprehensive treatment area marked; In response to the needle placement point determination instruction, the determined second candidate needle placement points are displayed in the image having the comprehensive treatment area marked, and the two-dimensional distances between the second candidate needle placement points are displayed; Based on the two-dimensional distance between each of the second candidate needle placement points, at least two candidate adjustment points are determined; when the two-dimensional distance between the at least two candidate adjustment points is greater than the ablation distance of the interventional ablation device; At least one candidate adjustment point is determined as a needle point to be adjusted, and in response to an adjustment instruction for the needle point to be adjusted, an adjusted needle point is obtained.

9. The computer device according to claim 1, characterized in that When the processor executes the computer program, the processor further implements the following steps: Acquire a three-dimensional image including a lesion area, a safe treatment area, and the target object; Registering the three-dimensional image based on the ultrasonic image of the target object acquired in real time to obtain a registered three-dimensional image; The lesion area, the safe treatment area, and the endpoints of the electrodes of the interventional ablation device are displayed.

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