Method, device, computer equipment and medium for generating safe treatment area

Abstract

The present application relates to a method, device, computer equipment and medium for generating a safe treatment area. The method comprises: obtaining the unit normal vectors of the lesion area of ​​the target object and each contour point of the lesion area; moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain the target point after each contour point is moved; the moving direction of each contour point is opposite to the direction of the lesion area; based on each target point, obtaining a safe treatment area for the lesion area; the safe treatment area is used for needle placement planning of the lesion area of ​​the target object. The use of this method can reduce the incidence of complications.

Description

Technical Field

[0001] The present application relates to the field of medical imaging technology, and in particular to a method, device, computer equipment and medium for generating a safe treatment area. Background Art

[0002] Focal ablation therapy 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] In the process of expanding the actual treatment range, the existing technology usually expands the needle placement range with a fixed circle or ellipse. When needle placement is performed in a circular or elliptical area, the object to be needled will suffer additional damage during the needle placement process, thereby increasing the incidence of related complications. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment and medium for generating a safe treatment area that can reduce the incidence of complications in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for generating a safe treatment area, the method comprising:

[0006] Acquire the unit normal vector of the lesion area of ​​the target object and each contour point of the lesion area;

[0007] Moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved; the moving direction of each contour point is opposite to the direction of the lesion area;

[0008] Based on each of the target points, a safe treatment area for the lesion area is obtained; the safe treatment area is used for needle placement planning for the lesion area of ​​the target object.

[0009] In one embodiment, the lesion area is a two-dimensional lesion area in a two-dimensional image; the two-dimensional image is obtained by scanning the target object; there are multiple two-dimensional images containing the two-dimensional lesion area;

[0010] The step of moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved includes:

[0011] Obtaining a preset first distance corresponding to each of the contour points;

[0012] Each contour point of the two-dimensional lesion area is moved along the corresponding unit normal vector by the first distance to obtain a two-dimensional target point after each contour point is moved; each two-dimensional target point is used to generate a two-dimensional safe treatment area.

[0013] In one embodiment, obtaining a safe treatment area for the lesion area based on each of the target points includes:

[0014] Obtaining a plurality of two-dimensional safe treatment areas based on the two-dimensional target points corresponding to each of the two-dimensional images where the two-dimensional lesion area exists;

[0015] Acquire the safe treatment area in the first n two-dimensional image frames and the safe treatment area in the last n two-dimensional image frames; the first n two-dimensional image frames are the first n frames of the first frame of the two-dimensional image in which the two-dimensional lesion area exists, and the last n two-dimensional image frames are the last n frames of the last frame of the two-dimensional image in which the two-dimensional lesion area exists;

[0016] 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.

[0017] In one embodiment, the step of acquiring the safe treatment area in the first n two-dimensional image frames and the safe treatment area in the next n two-dimensional image frames includes:

[0018] Determining a first frame image and a last frame image from the two-dimensional image in which the two-dimensional lesion area exists;

[0019] In the first n two-dimensional images adjacent to the first frame, generating an area corresponding to the safe treatment area in the first frame, and using the generated area as the safe treatment area in the first n two-dimensional images;

[0020] 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.

[0021] In one embodiment, the obtaining of a plurality of two-dimensional safe treatment areas based on the two-dimensional target points corresponding to each of the two-dimensional images where the two-dimensional lesion area exists comprises:

[0022] Based on the two-dimensional target points corresponding to each of the two-dimensional images where the two-dimensional lesion area exists, obtaining the initial area in each of the two-dimensional images where the two-dimensional lesion area exists;

[0023] When the outline of the initial area exceeds the outline of the target object, the outline of the exceeding portion of the initial area is replaced with the outline of the target object to obtain a two-dimensional safe treatment area surrounding the two-dimensional lesion area.

[0024] In one of the embodiments, the lesion region is a three-dimensional lesion region, and the unit normal vector is a unit normal vector of each contour point on the surface of the three-dimensional lesion region;

[0025] The step of moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved comprises:

[0026] Obtaining a second distance corresponding to each contour point on the surface of the three-dimensional lesion area;

[0027] Each contour point on the surface of the three-dimensional lesion area is moved along the corresponding unit normal vector by the second distance to obtain a three-dimensional target point after the contour point is moved; each three-dimensional target point is used to generate a three-dimensional safe treatment area; and each three-dimensional target point after the contour point is moved is located inside the contour of the target object.

[0028] In one embodiment, the step of obtaining the second distance corresponding to each contour point on the surface of the three-dimensional lesion region includes:

[0029] Presetting an initial distance for each of the contour points to move along the unit normal vector;

[0030] Based on the initial distance, the three-dimensional coordinates of each of the contour points, and the unit normal vector of each of the contour points, respectively determine the three-dimensional coordinates of a temporary point after each of the contour points moves along the unit normal vector;

[0031] Acquire a target ray consisting of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point;

[0032] When the number of intersections between the target ray and the contour of the target object is an even number, the initial distance is adjusted until the number of intersections between the target ray and the contour of the target object is an odd number, and the adjusted initial distance is determined as the second distance.

[0033] In a second aspect, the present application provides a device for generating a safe treatment area, the device comprising:

[0034] A data acquisition module, used for acquiring the lesion area of ​​the target object and the unit normal vector of each contour point of the lesion area;

[0035] A moving module, used for moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved; the moving direction of each contour point is opposite to the direction of the lesion area;

[0036] The area generation module is used to obtain a safe treatment area for the lesion area based on each of the target points; the safe treatment area is used to plan the needle placement for the lesion of the target object.

[0037] In a third aspect, the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0039] The above-mentioned safe treatment area generation method, device, computer equipment and medium obtain the unit normal vector of the target object's lesion area and each contour point of the lesion area; move each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain the target point after each contour point is moved; the moving direction of each contour point is opposite to the direction of the lesion area; based on each target point, a safe treatment area for the lesion area is obtained; the safe treatment area is used to plan the needle placement for the lesion area of ​​the target object. This method can effectively expand the original lesion area to form a larger safe treatment area with the same or substantially the same shape as the lesion area, so that when there is still a lesion in the area outside the lesion area, the needle placement points can be planned in the safe treatment area to avoid additional damage to the target object and reduce the incidence of complications. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A diagram of an application environment of a method for generating a safe treatment area in one embodiment;

[0041] Figure 2 is a schematic flow chart of a method for generating a safe treatment area in one embodiment;

[0042] Figure 3 A schematic diagram of moving contour points in one embodiment;

[0043] Figure 4 is a schematic diagram of an initial area before the contour is replaced in one embodiment;

[0044] Figure 5 for Figure 4 Schematic diagram of the initial area after the contour is replaced;

[0045] Figure 6 is a structural block diagram of a device for generating a safe treatment area in one embodiment;

[0046] Figure 7 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0047] 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.

[0048] The method for generating a safe treatment area provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The console 102 is connected to the terminal 104. The console 102 can be a device for generating a safe treatment area, or it can be a system for generating a safe treatment area. Specifically, the console 102 obtains the unit normal vector of the lesion area of ​​the target object and each contour point of the lesion area. The console 102 moves each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain the target point after each contour point is moved. The moving direction of each contour point is opposite to the direction of the lesion area. Based on each target point, the console 102 obtains a safe treatment area for the lesion area; the safe treatment area can be used to plan the needle placement for the lesion area of ​​the target object.

[0049] In one embodiment, Figure 2 As shown, a method for generating a safe treatment area is provided, and the method is applied to Figure 1 The following steps are used as an example to illustrate the console in the figure:

[0050] S202, obtaining the unit normal vector of the lesion region of the target object and each contour point of the lesion region.

[0051] Among them, the target object refers to an object that will develop a lesion. The target object includes but is not limited to various organs, tissues, and structures. The lesion area can be identified from the image data obtained from the sagittal, coronal, and cross-sectional scans of the target object. The methods of identifying the lesion area from the image data include automatic identification and manual identification. Automatic identification of the lesion area includes but is not limited to inputting the image data into a segmentation model to perform lesion area segmentation to obtain the lesion area in the image data. Manual identification of the lesion area can be to check each frame of image data one by one and manually outline the lesion area in each frame of image data. The lesion area includes a two-dimensional lesion area and a three-dimensional lesion area.

[0052] Each contour point refers to each pixel point at the boundary of the lesion area in the image data. The method of determining the unit normal vector of each contour point includes but is not limited to the surface gradient calculation method and the least squares calculation method.

[0053] Optionally, the console identifies the lesion area from the scanned multiple frames of image data by automatic recognition. After identifying the lesion area, the console calculates the unit normal vector of each contour point of the lesion area boundary using a surface gradient calculation method, a least squares calculation method, or other methods.

[0054] S204, moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved. The moving direction of each contour point is opposite to the direction of the lesion area.

[0055] The preset distance refers to the moving distance of the contour point along the direction of the unit normal vector. For example, if the preset distance corresponding to contour point A is 2 mm, then by controlling contour point A to move 2 mm along the direction of the corresponding unit normal vector, the target point after the contour point A moves can be obtained.

[0056] Each contour point has a corresponding unit normal vector and a corresponding preset distance, and the preset distance corresponding to each contour point may be the same or different.

[0057] The moving direction of the contour points is opposite to that of the lesion area, so as to ensure that the safe treatment area is outside the lesion area, rather than inside the lesion area. Figure 3 As shown in Figure 2, after the contour points are moved, the size and shape of the lesion area do not change.

[0058] Optionally, the console moves each contour point of the lesion area along the corresponding unit normal vector in the opposite direction of the lesion area according to a preset distance corresponding to each contour point, so as to obtain a target point after each contour point is moved.

[0059] S206, based on each target point, a safe treatment area for the lesion area is obtained. The safe treatment area is used for needle placement planning for the lesion of the target object.

[0060] The safe treatment area refers to the area surrounding the lesion area. When the lesion area is three-dimensional, a triangulated mesh is generated based on the position coordinates of each target point using the Delaunay triangulation algorithm to obtain a three-dimensional safe treatment area. When the lesion area is two-dimensional, a three-dimensional safe treatment area can be generated based on each two-dimensional safe treatment area for the two-dimensional lesion area.

[0061] Optionally, the console generates a three-dimensional safe treatment area for the lesion area according to each target point, so as to perform needle placement planning based on the three-dimensional safe treatment area.

[0062] In this embodiment, the unit normal vectors of the lesion area of ​​the target object and each contour point of the lesion area are obtained; each contour point of the lesion area is moved by a preset distance along the corresponding unit normal vector to obtain the target point after each contour point is moved; the moving direction of each contour point is opposite to the direction of the lesion area; based on each target point, a safe treatment area for the lesion area is obtained; the safe treatment area is used to plan the needle placement for the lesion area of ​​the target object. This method can effectively expand the original lesion area to form a larger safe treatment area with the same or substantially the same shape as the lesion area, so that when there is still a lesion in the area outside the lesion area, the needle placement points can be planned in the safe treatment area to avoid additional damage to the target object and reduce the incidence of complications.

[0063] In one embodiment, the lesion region is a two-dimensional lesion region in a two-dimensional image. The two-dimensional image is obtained by scanning the target object. There are multiple two-dimensional images with two-dimensional lesion regions.

[0064] Each contour point of the lesion area is moved along the corresponding unit normal vector by a preset distance to obtain the target point after each contour point is moved, including:

[0065] Obtain the first distance corresponding to each preset contour point.

[0066] Each contour point of the two-dimensional lesion area is moved along the corresponding unit normal vector by a first distance to obtain a two-dimensional target point after each contour point is moved. Each two-dimensional target point is used to generate a two-dimensional safe treatment area.

[0067] The first 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 0 mm to 10 mm, any value between 0 mm and 10 mm can be taken as the first distance. The first distances corresponding to each contour point can be the same or different.

[0068] The first 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 the contour point moves, and the contour of the target object. Specifically, the process of determining the first distance is: presetting the initial first distance of each contour point moving along the unit normal vector; determining the two-dimensional coordinates of the candidate point after the contour point moves along the unit normal vector based on the initial first distance, the two-dimensional coordinates of the contour point, and the unit normal vector of the contour point; obtaining the ray formed by the two-dimensional coordinates of the candidate point and the unit normal vector of the contour point; when the number of intersections between the ray and the contour of the target object is an even number, adjusting the initial first distance until the number of intersections between the ray and the contour of the target object is an odd number, and determining the adjusted initial first distance as the first distance. The contour of the target object can be determined by a segmentation model or manually identified. For example, multiple frames of two-dimensional images where the target object is located are input into a segmentation model for segmentation, and the contour of the target object in each frame of the two-dimensional image can be determined. After obtaining the outline of the target object, the console 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. The two-dimensional safe treatment area refers to the area that can enclose the two-dimensional lesion area. The two-dimensional safe treatment area can be presented in the two-dimensional image together with the two-dimensional lesion area. The technology for generating a two-dimensional safe treatment area based on multiple two-dimensional target points includes but is not limited to the convex hull algorithm, Alpha shape, and Delaunay triangulation.

[0069] Optionally, when the lesion area is a two-dimensional lesion area, the console randomly selects a value in the standard distance interval between the safe treatment area and the lesion area as the first distance corresponding to the contour point. Each contour point has a corresponding first distance. The console moves each contour point of the two-dimensional lesion area along the corresponding unit normal vector in the opposite direction of the two-dimensional lesion area according to the first distance corresponding to each contour point on the boundary of the two-dimensional lesion area, and obtains a two-dimensional target point after each contour point is moved, so that the console generates a two-dimensional safe treatment area according to each two-dimensional target point.

[0070] In this embodiment, based on the lesion area being a two-dimensional lesion area in a two-dimensional image, each contour point of the two-dimensional lesion area is moved a first distance along the corresponding unit normal vector to obtain a two-dimensional target point after the contour point is moved, so that a two-dimensional safe treatment area can be generated based on the moved two-dimensional target point. At the same time, such processing has low computing resource requirements and can also reduce the consumption of computing resources.

[0071] In one embodiment, based on each target point, a safe treatment area for the lesion area is obtained, including:

[0072] A plurality of two-dimensional safe treatment areas are obtained based on the two-dimensional target points corresponding to each two-dimensional image where the two-dimensional lesion area exists.

[0073] The safe treatment area in the first n two-dimensional image frames and the safe treatment area in the last n two-dimensional image frames are obtained. The first n two-dimensional image frames are the first n frames of the first frame image in the two-dimensional image with the two-dimensional lesion area, and the last n two-dimensional image frames are the last n frames of the last frame image in the two-dimensional image with the two-dimensional lesion area.

[0074] 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.

[0075] Among them, the two-dimensional target point corresponding to the two-dimensional image with the two-dimensional lesion area refers to the two-dimensional target point after the contour points of the two-dimensional lesion area in the two-dimensional image are moved. The multiple two-dimensional target points corresponding to each two-dimensional image with a two-dimensional lesion area can be used to generate a two-dimensional safe treatment area. Furthermore, the multiple two-dimensional safe treatment areas can be generated by using a convex hull algorithm to generate the minimum convex polygon corresponding to each two-dimensional image with the two-dimensional lesion area based on the two-dimensional target points corresponding to each two-dimensional image with the two-dimensional lesion area, and smoothing the generated minimum convex polygon to obtain the two-dimensional safe treatment area corresponding to each two-dimensional image with the two-dimensional lesion area. The generated two-dimensional safe treatment area can be presented in the two-dimensional image together with the lesion area.

[0076] The first frame image refers to the first frame image among multiple frames of two-dimensional images in which the lesion area exists, and the last frame image refers to the last frame image among multiple frames of two-dimensional images in which the lesion area exists.

[0077] The safe treatment area in the first n two-dimensional image frames can be generated according to the safe treatment area presented in the first frame image. The safe treatment area in the next n two-dimensional image frames can be generated according to the safe treatment area presented in the last frame image.

[0078] Methods for generating a three-dimensional safe treatment area include, but are not limited to, interpolation and surface reconstruction techniques. For example, the two-dimensional images of each area with a two-dimensional lesion, the first n frames of two-dimensional images, and the last n frames of two-dimensional images are aligned in space, and 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, and depth information is given. The three-dimensional point cloud is subjected to Delaunay triangulation to generate a triangulated mesh, and a three-dimensional safe treatment area is obtained based on the triangulated mesh. A large number of clinical studies have shown that there are still positive sites / lesions about 5-10mm outside the lesion area seen on the MRI. In order to have a better treatment effect on the lesion area without causing excessive damage to normal organs and tissues, planning a safe treatment area can improve the effectiveness of ablation.

[0079] Optionally, the console uses a convex hull algorithm to generate the minimum convex polygon corresponding to each two-dimensional image with a two-dimensional lesion area based on the two-dimensional target points corresponding to each two-dimensional image with a two-dimensional lesion area, and smoothes the generated minimum convex polygon to obtain a two-dimensional safe treatment area corresponding to each two-dimensional image with a two-dimensional lesion area. The console generates a safe treatment area in the first n two-dimensional images according to the safe treatment area presented in the first frame of the two-dimensional image with a two-dimensional lesion area, and generates a safe treatment area in the last n two-dimensional images according to the safe treatment area presented in the last frame of the two-dimensional image with a two-dimensional lesion area. The console aligns the two-dimensional images of each two-dimensional lesion area, the first n two-dimensional images, and the last n two-dimensional images in space, converts the two-dimensional contour points of the safe treatment area in each frame of the two-dimensional image into a three-dimensional point cloud, assigns depth information, performs Delaunay triangulation on the three-dimensional point cloud, generates a triangulated mesh, and obtains a three-dimensional safe treatment area based on the triangulated mesh.

[0080] In one embodiment, obtaining the safe treatment area in the first n two-dimensional image frames and the safe treatment area in the next n two-dimensional image frames includes:

[0081] A first frame image and a last frame image are determined from the two-dimensional image where the two-dimensional lesion region exists.

[0082] In the first n two-dimensional images adjacent to the first frame, an area corresponding to the safe treatment area in the first frame is generated, and the generated area is used as the safe treatment area in the first n two-dimensional images.

[0083] 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.

[0084] Among them, the first frame image refers to the first frame image in the two-dimensional image where the two-dimensional lesion area exists, and the last frame image refers to the last frame image in the two-dimensional 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 two-dimensional image where the two-dimensional lesion area exists is obtained by continuous scanning of the lesion, the first frame image in the two-dimensional image where the two-dimensional lesion area exists is the first frame image, and the last frame image is the last frame image. 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.

[0085] The calculation method of n in the first n frames of two-dimensional images and the next n frames of two-dimensional images is:

[0086]

[0087] Among them, the ceil() function means rounding up. SliceSpaceing Indicates the image spacing, that is, the distance between two frames of images. SafetyDistance It 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 is between 5mm and 10mm.

[0088] 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, an area with the same shape as the safe treatment area in the first frame of image is generated in the first n frames of two-dimensional images, but with a smaller area than the area of ​​the safe treatment area in the first frame of image, and the generated area is the safe treatment area in the first n frames of two-dimensional images. 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.

[0089] 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, a region with the same shape as the safe treatment area in the last frame image but smaller in area than the safe treatment area in the last frame image is generated in the last n frames of two-dimensional images, and the generated region is the safe treatment area in the last n frames of two-dimensional images. 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.

[0090] Optionally, the console determines the first frame of the two-dimensional image in which the lesion area exists as the first frame, and determines the last frame of the two-dimensional image in which the lesion area exists as the last frame. The console generates safe treatment areas in the first n frames of the two-dimensional image adjacent to the first frame according to the shape and area of ​​the safe treatment area in the first frame. The console generates safe treatment areas in the last n frames of the two-dimensional image adjacent to the last frame according to the shape and area of ​​the safe treatment area in the last frame.

[0091] In this embodiment, a safe treatment area is generated in the first n two-dimensional image frames adjacent to the first frame image, and a safe treatment area is generated 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 conducive to the three-dimensional reconstruction of the safe treatment area.

[0092] In one embodiment, based on the two-dimensional target points corresponding to each two-dimensional image where the two-dimensional lesion area exists, multiple two-dimensional safe treatment areas are obtained, including:

[0093] Based on the two-dimensional target points corresponding to each two-dimensional image where the two-dimensional lesion region exists, the initial region in each two-dimensional image where the two-dimensional lesion region exists is obtained.

[0094] When the outline of the initial region exceeds the outline of the target object, the outline of the exceeding portion in the initial region is replaced with the outline of the target object to obtain a two-dimensional safe treatment region surrounding the two-dimensional lesion region.

[0095] Among them, the outline of the initial area exceeds the outline of the target object, that is, the outline of the target object is between the outline of the initial area and the outline of the lesion area. Since the needle placement planning is based on the safe treatment area, if the safe treatment area exceeds the outline of the target object, it will cause needle placement outside the outline of the target object, which will cause damage to normal tissue outside the target object. The outline of the excess part in the initial area is replaced with the outline of the target object. This can ensure that the planned needle placement points are all in the safe treatment area, that is, it can ensure that the planned needle placement points are all within the outline of the target object and will not exceed the outline of the target object. The schematic diagram before replacement is as follows Figure 4 As shown, part A is the part where the outline of the initial area exceeds the outline of the target object, and part B is the part where the outline of the initial area does not exceed the outline of the target object. The schematic diagram after replacement is as follows Figure 5 shown.

[0096] Optionally, the console uses a convex hull algorithm to generate the minimum convex polygon corresponding to each two-dimensional image with a two-dimensional lesion area based on the two-dimensional target point corresponding to each two-dimensional image with a two-dimensional lesion area, and smoothes the generated minimum convex polygon to obtain the initial area corresponding to each two-dimensional image with a two-dimensional lesion area. If the outline of the initial area exceeds the outline of the target object, the console replaces the outline of the exceeding part in the initial area with the outline of the target object to obtain a two-dimensional safe treatment area surrounding the two-dimensional lesion area.

[0097] In this embodiment, when the outline of the initial area exceeds the outline of the target object, the outline of the exceeding part of the initial area is replaced with the outline of the target object. This can avoid the situation where the needle placement point is set outside the outline of the target object during needle placement planning, thereby avoiding damage to normal tissue outside the target object when inserting the needle.

[0098] In one embodiment, the lesion region is a three-dimensional lesion region, and the unit normal vector is a unit normal vector of each contour point on the surface of the three-dimensional lesion region.

[0099] Each contour point of the lesion area is moved along the corresponding unit normal vector by a preset distance to obtain the target point after each contour point is moved, including:

[0100] The second distance corresponding to each contour point on the preset three-dimensional lesion area surface is obtained.

[0101] Each contour point on the surface of the three-dimensional lesion area is moved by a second distance along the corresponding unit normal vector to obtain a three-dimensional target point after each contour point is moved. Each three-dimensional target point is used to generate a three-dimensional safe treatment area. The three-dimensional target point after each contour point is moved is located inside the contour of the target object.

[0102] 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 second distance is the distance that the contour point on the surface of the three-dimensional lesion area is to be moved from the current position. The coordinates of the three-dimensional target point after the contour point moves along the unit normal vector according to the second distance can be obtained by Where (x', y', z') is the coordinate of the three-dimensional target point after the contour point moves, (x, y, z) is the three-dimensional coordinate of the contour point before moving, (a', b', c') is the unit normal vector of the contour point, and t is the second distance. After any contour point in the lesion area moves, the contour of the lesion area does not change. The three-dimensional coordinates of the contour point before moving can be obtained by converting the two-dimensional coordinates of the contour point using the space transformation matrix.

[0103] The moving direction of each contour point on the surface of the three-dimensional lesion region is opposite to that of the three-dimensional lesion region.

[0104] In some embodiments, the unit normal vector of the contour point is a normalized normal vector. The unit normal vector of the contour point can 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 as follows: the console determines the contour point ,in Represents the nth contour point of the mth plane of the three-dimensional lesion area, where 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 console searches p planes from the front and back of the mth plane respectively, and in the searched 2p+1 planes, with the current point as the center, searches 2q+1 adjacent points forward and backward, where the current point on each plane is determined based on the search starting point on the adjacent plane to ensure the rationality of each current point selection and avoid sudden jumps or discontinuities; at this time, a total of (2p+1)(2q+1) points are searched , the console uses the least squares method to solve the surface The unknown coefficient , where x represents the xth plane, and y represents the yth contour point on the xth plane; the console obtains the normal vector of the contour point based on the solution results of each unknown coefficient: , the console normalizes the normal vector of the contour point to obtain the unit normal vector of the contour point .

[0105] Optionally, the console obtains a second distance that each contour point on the surface of the three-dimensional lesion area needs to move from the current position, and moves each contour point along the unit normal vector by the corresponding second distance to obtain the coordinates of the three-dimensional target point after each contour point is moved.

[0106] In this embodiment, the contour points are moved along the unit normal vector according to the second distance, which can effectively expand the original lesion area to form a larger safe treatment area with a shape corresponding to the lesion area.

[0107] In one embodiment, obtaining a preset second distance includes:

[0108] Preset the initial distance that each contour point moves along the unit normal vector.

[0109] Based on the initial distance, the three-dimensional coordinates of each contour point, and the unit normal vector of each contour point, the three-dimensional coordinates of the temporary point after each contour point moves along the unit normal vector are determined respectively.

[0110] Get the target ray consisting of the 3D coordinates of the temporary point and the unit normal vector of the contour point.

[0111] When the number of intersection points between the target 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 target ray and the contour of the target object is an odd number, thereby obtaining a second distance.

[0112] The initial distance can be preset according to the average spacing of the safety zone contour. For example, when the average spacing of the safety zone contour 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 contour. Each contour point corresponds to an initial distance, and the initial distance corresponding to each contour point can be the same or different.

[0113] The 3D coordinates of each contour point can be obtained through the 2D coordinates of the contour point in the 2D image and the space transformation matrix. The 3D coordinates of the temporary point after the contour point moves along the unit normal vector can be obtained through 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.

[0114] The target ray consisting of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point can be expressed as , Represents contour points The corresponding target 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; i 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 i=0, the point is exactly located at the temporary point; when i>0, the point is located somewhere between the temporary point and the unit normal vector.

[0115] 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 within the contour of the target object. If the temporary point is outside the contour of the target object, then the target 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, then the number of intersections between the target ray and the contour of the target object is an even number; if the temporary point is on the target object, then the target 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, then the number of intersections between the target ray and the contour of the target object is an odd number. When the focal ablation device is used for ablation, the end point of the electrode of the focal ablation device needs to be located within the safe treatment area or the contour of the target object, so that other objects can be harmed when the lesion is ablated. Therefore, when the number of intersections between the target 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 target ray and the contour of the target object is an odd number.

[0116] 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. For example, the average spacing of the safety zone contour is between 5-10mm, 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 0.1 until the number of intersections between the target ray and the contour of the target object is an odd number.

[0117] Optionally, the console 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 console 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 console forms a target 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 target ray and the contour of the target object. When the number of intersections is an even number, the console adjusts the initial distance of the contour point according to a preset fixed value or an arbitrary value until the number of intersections between the target ray and the contour of the target object is an odd number, and determines the adjusted initial distance as the second distance.

[0118] In this embodiment, when the number of intersection points between the target 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 target ray and the contour of the target object is an odd number. This ensures that the three-dimensional target point after the contour point moves is still within the contour of the target object, thereby ensuring that the safe treatment area generated based on the three-dimensional target point does not exceed the contour of the target object.

[0119] The present application also provides an application scenario, which applies the above-mentioned method for generating a safe treatment area. Specifically, the application of the method for generating a safe treatment area in the application scenario is as follows:

[0120] The console identifies the lesion area from the scanned multi-frame image data by automatic recognition. After identifying the lesion area, the console calculates the unit normal vector of each contour point of the lesion area boundary using a surface gradient calculation method, a least squares calculation method, or other methods.

[0121] In the case where the lesion area is a two-dimensional lesion area, the console randomly selects a value in the standard distance interval between the safe treatment area and the lesion area as the first distance corresponding to the contour point. Wherein, each contour point has a corresponding first distance. According to the first distance corresponding to each contour point on the boundary of the two-dimensional lesion area, the console moves each contour point of the lesion area along the corresponding unit normal vector in the opposite direction of the lesion area to obtain a two-dimensional target point after each contour point is moved, so that the console generates a two-dimensional safe treatment area according to each two-dimensional target point. The console determines the first frame image in the two-dimensional image where the lesion area exists as the first frame image, and determines the last frame image in the two-dimensional image where the lesion area exists as the last frame image. In the first n frames of two-dimensional images adjacent to the first frame image, the console 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 image. In the last n frames of two-dimensional images adjacent to the last frame image, the console 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 image. The console uses the convex hull algorithm to generate the minimum convex polygon corresponding to each two-dimensional image with a two-dimensional lesion area based on the two-dimensional target points corresponding to each two-dimensional image with a two-dimensional lesion area, and smoothes the generated minimum convex polygon to obtain the initial area corresponding to each two-dimensional image with a two-dimensional lesion area. When the contour of the initial area exceeds the contour of the target object, the console replaces the contour of the exceeding part of the initial area with the contour of the target object to obtain a two-dimensional safe treatment area surrounding the two-dimensional lesion area. The console aligns the two-dimensional images of each two-dimensional lesion area, the first n frames of two-dimensional images, and the last n frames of two-dimensional images in space, converts the two-dimensional contour points of the safe treatment area in each frame of the two-dimensional image into a three-dimensional point cloud, assigns depth information, performs Delaunay triangulation on the three-dimensional point cloud, generates a triangulated mesh, and obtains a three-dimensional safe treatment area based on the triangulated mesh.

[0122] The console presets the initial distance that the target point moves along the unit normal vector based on the average spacing of the safe zone contour. The console 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 console forms a target 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 target ray and the contour of the target object. When the number of intersections is an even number, the console adjusts the contour point distance according to a preset fixed value or an arbitrary value until the number of intersections between the target ray and the contour of the target object is an odd number, and determines the adjusted initial distance as the second distance. The console moves each contour point along the unit normal vector by the corresponding second distance, and obtains the coordinates of the three-dimensional target point after each contour point moves. The console generates a three-dimensional safe treatment area for the lesion area based on the coordinates of each three-dimensional target point, so as to plan the needle arrangement based on the three-dimensional safe treatment area.

[0123] 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.

[0124] Based on the same inventive concept, the embodiment of the present application also provides a device for generating a safe treatment area for implementing the method for generating a safe treatment area involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the device for generating one or more safe treatment areas provided below can refer to the limitations of the method for generating a safe treatment area above, and will not be repeated here.

[0125] In one embodiment, Figure 6 As shown, a device for generating a safe treatment area is provided, comprising:

[0126] The data acquisition module 602 is used to acquire the lesion region of the target object and the unit normal vector of each contour point of the lesion region.

[0127] The moving module 604 is used to move each contour point of the lesion area by a preset distance along the corresponding unit normal vector to obtain a target point after each contour point is moved. The moving direction of each contour point is opposite to the direction of the lesion area.

[0128] The region generation module 606 is used to obtain a safe treatment region for the lesion region based on each target point. The safe treatment region is used to plan the needle placement for the lesion region of the target object.

[0129] In one embodiment, the lesion area is a two-dimensional lesion area in a two-dimensional image. The two-dimensional image is obtained by scanning the target object. The number of two-dimensional images containing the two-dimensional lesion area is multiple. The moving module includes:

[0130] The first distance acquisition unit is used to acquire the first distance corresponding to each preset contour point.

[0131] The first moving unit is used to move each contour point of the two-dimensional lesion area along the corresponding unit normal vector by a first distance to obtain a two-dimensional target point after each contour point is moved. Each two-dimensional target point is used to generate a two-dimensional safe treatment area.

[0132] In one embodiment, the region generation module includes:

[0133] The first region generating unit is used to obtain a plurality of two-dimensional safe treatment regions based on the two-dimensional target points corresponding to each two-dimensional image where the two-dimensional lesion region exists.

[0134] The first region acquisition unit is used to acquire the safe treatment region in the first n two-dimensional image frames and the safe treatment region in the last n two-dimensional image frames. The first n two-dimensional image frames are the first n frames of the first frame image in the two-dimensional image with the two-dimensional lesion region, and the last n two-dimensional image frames are the last n frames of the last frame image in the two-dimensional image with the two-dimensional lesion region.

[0135] The second region generating unit is used to generate a three-dimensional safe treatment region based on the two-dimensional safe treatment regions, the safe treatment regions in the first n two-dimensional images, and the safe treatment regions in the last n two-dimensional images.

[0136] In one embodiment, the first region acquisition unit includes:

[0137] The image determination subunit is used to determine the first frame image and the last frame image from the two-dimensional image where the two-dimensional lesion area exists.

[0138] The first region generating subunit is used to generate a region corresponding to the safe treatment region in the first frame image in the first n frames of two-dimensional images adjacent to the first frame image, and use the generated region as the safe treatment region in the first n frames of two-dimensional images.

[0139] The second region generating subunit is used to generate a region corresponding to the safe treatment region of the last frame image in the next n frames of two-dimensional images adjacent to the last frame image, and use the generated region as the safe treatment region in the next n frames of two-dimensional images.

[0140] In one embodiment, the first area generation unit includes:

[0141] The initial region generating subunit is used to obtain the initial region in each two-dimensional image having the two-dimensional lesion region based on the two-dimensional target point corresponding to each two-dimensional image having the two-dimensional lesion region.

[0142] The region adjustment subunit is used to replace the contour of the initial region with the contour of the target object when the contour of the initial region exceeds the contour of the target object, so as to obtain a two-dimensional safe treatment region surrounding the two-dimensional lesion region.

[0143] In one embodiment, the lesion area is a three-dimensional lesion area, and the unit normal vector is the unit normal vector of each contour point on the surface of the three-dimensional lesion area. The moving module includes:

[0144] The second distance acquisition unit is used to acquire the second distance corresponding to each contour point on the surface of the preset three-dimensional lesion area.

[0145] The second moving unit is used to move each contour point on the surface of the three-dimensional lesion area along the corresponding unit normal vector by a second distance to obtain a three-dimensional target point after each contour point is moved. Each three-dimensional target point is used to generate a three-dimensional safe treatment area. The three-dimensional target point after each contour point is moved is located inside the contour of the target object.

[0146] In one embodiment, the second distance acquisition unit includes:

[0147] The initial distance acquisition subunit is used to preset the initial distance that each contour point moves along the unit normal vector.

[0148] The temporary point determination subunit is used to determine the three-dimensional coordinates of the temporary point after each contour point moves along the unit normal vector based on the initial distance, the three-dimensional coordinates of each contour point, and the unit normal vector of each contour point.

[0149] The ray determination subunit is used to obtain a target ray consisting of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point.

[0150] The distance adjustment subunit is used to adjust the initial distance when the number of intersection points between the target ray and the contour of the target object is even, until the number of intersection points between the target ray and the contour of the target object is odd, and determine the adjusted initial distance as the second distance.

[0151] Each module in the above-mentioned safe treatment area generation device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0152] In one embodiment, a computer device is provided. The computer device may be a console, and its internal structure diagram may be as shown in FIG. Figure 7 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, 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 unit normal vector of each contour point, the preset distance of each contour point, the target point after each contour point moves, and the safe treatment area. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for generating a safe treatment area is implemented.

[0153] Those skilled in the art will understand that Figure 7 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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 understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations 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 method for generating a safe treatment area, characterized in that: The method comprises: Acquire the unit normal vector of the lesion area of ​​the target object and each contour point of the lesion area; Moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved; the moving direction of each contour point is opposite to the direction of the lesion area; Based on each of the target points, a safe treatment area for the lesion area is obtained; the safe treatment area is used to plan the needle placement for the lesion area of ​​the target object; Wherein, the lesion area is a three-dimensional lesion area, and the unit normal vector is a unit normal vector of each contour point on the surface of the three-dimensional lesion area; and moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved includes: Obtaining a second distance corresponding to each contour point on the surface of the three-dimensional lesion area; Each contour point on the surface of the three-dimensional lesion area is moved by the second distance along the corresponding unit normal vector to obtain a three-dimensional target point after each contour point is moved; each three-dimensional target point is used to generate a three-dimensional safe treatment area; the three-dimensional target point after each contour point is moved is located inside the contour of the target object; when the number of intersection points between the target ray and the contour of the target object is an even number, the preset initial distance is adjusted until the number of intersection points between the target ray and the contour of the target object is an odd number, and the adjusted initial distance is determined as the second distance; the target ray is composed of the three-dimensional coordinates of a temporary point and the unit normal vector of the contour point; the temporary point is a point after the contour point is moved along the unit normal vector.

2. The method according to claim 1, characterized in that: The lesion area is a two-dimensional lesion area in a two-dimensional image; the two-dimensional image is obtained by scanning the target object; and there are multiple two-dimensional images containing the two-dimensional lesion area; The step of moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved includes: Obtaining a preset first distance corresponding to each of the contour points; Each contour point of the two-dimensional lesion area is moved along the corresponding unit normal vector by the first distance to obtain a two-dimensional target point after each contour point is moved; each two-dimensional target point is used to generate a two-dimensional safe treatment area.

3. The method according to claim 2, characterized in that The step of obtaining a safe treatment area for the lesion area based on each of the target points includes: Obtaining a plurality of two-dimensional safe treatment areas based on the two-dimensional target points corresponding to each of the two-dimensional images where the two-dimensional lesion area exists; Acquire the safe treatment area in the first n two-dimensional image frames and the safe treatment area in the last n two-dimensional image frames; the first n two-dimensional image frames are the first n frames of the first frame of the two-dimensional image in which the two-dimensional lesion area exists, and the last n two-dimensional image frames are the last n frames of the last frame of the two-dimensional image in which the two-dimensional lesion area exists; 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.

4. The method according to claim 3, characterized in that: The step of acquiring the safe treatment area in the first n two-dimensional image frames and the safe treatment area in the next n two-dimensional image frames comprises: Determining a first frame image and a last frame image from the two-dimensional image in which 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 in 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.

5. The method according to claim 4, characterized in that The method of obtaining a plurality of two-dimensional safe treatment areas based on the two-dimensional target points corresponding to each of the two-dimensional images where the two-dimensional lesion area exists comprises: Based on the two-dimensional target points corresponding to each of the two-dimensional images where the two-dimensional lesion area exists, obtaining the initial area in each of the two-dimensional images where the two-dimensional lesion area exists; When the outline of the initial area exceeds the outline of the target object, the outline of the exceeding portion of the initial area is replaced with the outline of the target object to obtain a two-dimensional safe treatment area surrounding the two-dimensional lesion area.

6. The method according to claim 1, characterized in that The step of obtaining the second distance corresponding to each contour point of the preset three-dimensional lesion area surface comprises: Presetting an initial distance for each of the contour points to move along the unit normal vector; Based on the initial distance, the three-dimensional coordinates of each of the contour points, and the unit normal vector of each of the contour points, respectively determine the three-dimensional coordinates of a temporary point after each of the contour points moves along the unit normal vector; Acquire a target 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 target ray and the contour of the target object is an even number, the initial distance is adjusted until the number of intersections between the target ray and the contour of the target object is an odd number, and the adjusted initial distance is determined as the second distance.

7. A device for generating a safe treatment area, characterized in that: The device comprises: A data acquisition module, used for acquiring the lesion area of ​​the target object and the unit normal vector of each contour point of the lesion area; A moving module, used for moving each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved; the moving direction of each contour point is opposite to the direction of the lesion area; wherein the lesion area is a three-dimensional lesion area, and the unit normal vector is the unit normal vector of each contour point on the surface of the three-dimensional lesion area; the moving of each contour point of the lesion area along the corresponding unit normal vector by a preset distance to obtain a target point after each contour point is moved comprises: obtaining a preset second distance corresponding to each contour point on the surface of the three-dimensional lesion area; moving each contour point on the surface of the three-dimensional lesion area by a preset distance .... The point is moved along the corresponding unit normal vector by the second distance to obtain a three-dimensional target point after each of the contour points is moved; each of the three-dimensional target points is used to generate a three-dimensional safe treatment area; the three-dimensional target point after each of the contour points is moved is located inside the contour of the target object; when the number of intersections between the target ray and the contour of the target object is an even number, the preset initial distance is adjusted until the number of intersections between the target ray and the contour of the target object is an odd number, and the adjusted initial distance is determined as the second distance; the target ray is composed of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point; the temporary point is the point after the contour point is moved along the unit normal vector; The area generation module is used to obtain a safe treatment area for the lesion area based on each of the target points; the safe treatment area is used to plan the needle placement for the lesion area of ​​the target object.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images