Computer equipment, systems and media for realizing needle layout planning

Abstract

The present application relates to a computer device, system and medium for realizing needle placement planning, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: determining a comprehensive safety area for the lesion area of ​​the target object; the comprehensive safety area is a two-dimensional area; according to the size information of the comprehensive safety area, the comprehensive safety area is divided into blocks to obtain multiple sub-areas, and the ablation distance of the interventional ablation device is obtained; in the contour of each sub-area, any contour point of the sub-area is used as the first needle placement point, and the next needle placement point is determined according to the ablation distance and the position of the first needle placement point, until the needle placement points are evenly distributed in the sub-area. The use of this method can improve the effectiveness of electrode ablation.

Description

Technical Field

[0001] The present application relates to the technical field of needle placement planning, and in particular to a computer device, system and medium for implementing needle placement planning. 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 release energy at the site where the lesion appears to ablate the lesion. Lesions in organs and tissues can be identified through scanned images. Generally, when performing ablation treatment of lesions, needle placement planning is performed first, and then ablation treatment is performed according to the planned needle placement points.

[0003] In the process of needle placement planning, currently the planning is mainly done manually by observing the scanned images. This results in a large workload and also relies on the doctor's experience in needle placement. It is difficult to plan in place in one go, thus reducing the efficiency and effectiveness of ablation treatment. Summary of the invention

[0004] Based on this, it is necessary to provide a computer device, system and medium for realizing needle placement planning that can improve the effectiveness and efficiency of ablation in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a computer device for implementing needle arrangement planning, 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 a comprehensive safety area for the lesion area of ​​the target object; the comprehensive safety area is a two-dimensional area;

[0007] According to the size information of the comprehensive safety area, the comprehensive safety area is divided into blocks to obtain multiple sub-areas, and the ablation distance of the interventional ablation device is obtained;

[0008] In the contour of each sub-region, any contour point of the sub-region is used as the first needle placement point, and the next needle placement point is determined according to the ablation distance and the position of the first needle placement point until the needle placement points are evenly distributed throughout the sub-region.

[0009] In one embodiment, in the contour of each sub-region, any contour point of the sub-region is respectively used as the first needle placement point, and the next needle placement point is determined according to the ablation distance and the position of the first needle placement point, including:

[0010] In each of the sub-areas, any contour point of the sub-area is used as the first needle placement point;

[0011] Based on the position of the first needle placement point and the ablation distance, a candidate needle placement point is determined in the sub-area; the distance between the candidate needle placement point and the first needle placement point is less than or equal to the ablation distance;

[0012] When the candidate needle point coincides with the avoidance position of the target object, the candidate needle point is adjusted until the adjusted candidate needle point does not coincide with the avoidance position, and the adjusted candidate needle point is determined as the next needle point.

[0013] In one embodiment, determining a comprehensive safety area for a lesion area of ​​a target object includes:

[0014] Acquire a three-dimensional safe treatment area; the three-dimensional safe treatment area is an area that encloses the lesion area of ​​the target object;

[0015] Slicing the three-dimensional safe treatment area to obtain a plurality of two-dimensional safe treatment areas;

[0016] Multiple two-dimensional safe treatment areas are projected onto the same two-dimensional plane to obtain a comprehensive safe area of ​​the target object.

[0017] In one embodiment, the lesion area is a two-dimensional lesion area, and obtaining a three-dimensional safe treatment area includes:

[0018] Determine a two-dimensional image of a two-dimensional lesion region in a plurality of two-dimensional image frames where the target object is located, and obtain a preset first distance;

[0019] In the two-dimensional image where the two-dimensional lesion area exists, generating an initial safety area enclosing the two-dimensional lesion area based on the first distance;

[0020] 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 plurality of two-dimensional safe treatment areas;

[0021] Based on the multiple two-dimensional safe treatment areas, a three-dimensional safe treatment area is generated.

[0022] In one embodiment, generating a three-dimensional safe treatment area based on the plurality of two-dimensional safe treatment areas comprises:

[0023] Determine a first frame image and a last frame image in the two-dimensional image where the two-dimensional lesion area exists;

[0024] 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;

[0025] 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;

[0026] A three-dimensional safe treatment area is generated based on the multiple two-dimensional safe treatment areas, the safe treatment areas in the last n two-dimensional images, and the safe treatment areas in the first n two-dimensional images.

[0027] In one embodiment, the lesion area is a three-dimensional lesion area, and determining a comprehensive safety area for the lesion area of ​​the target object includes:

[0028] Acquire a unit normal vector of each contour point on the surface of the three-dimensional lesion area, and a second distance that each contour point moves along the unit normal vector;

[0029] Move each of the contour points along the unit normal vector by the second distance to obtain a target point after each of the contour points is moved;

[0030] Based on each of the target points, a safe treatment area is obtained that encloses the three-dimensional lesion area of ​​the target object;

[0031] The safe treatment area is mapped to a two-dimensional plane to obtain a comprehensive safe area.

[0032] In one embodiment, obtaining the second distance moved by each contour point along the unit normal vector includes:

[0033] Presetting an initial moving distance of each of the contour points along the unit normal vector;

[0034] Based on the initial moving 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 corresponding unit normal vector;

[0035] Determine a target ray consisting of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point;

[0036] When the number of intersections between the target ray and the contour of the target object is even, the initial moving distance is adjusted until the number of intersections between the target ray and the contour of the target object is odd, thereby obtaining a second distance corresponding to each contour point.

[0037] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0038] Obtaining size information of each of the sub-regions;

[0039] Determine the target number of needles for each sub-area based on the size information of each sub-area;

[0040] When the number of needle points planned in the sub-area reaches the target number of needle points, it is determined that the needle points are evenly distributed in the sub-area.

[0041] In a second aspect, the present application provides a system for implementing needle placement planning, 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.

[0042] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps performed by the processor of the above-mentioned computer device.

[0043] The computer equipment, system and medium for realizing the needle placement planning described above determine the comprehensive safety area for the lesion area of ​​the target object; the comprehensive safety area is a two-dimensional area; according to the size information of the comprehensive safety area, the comprehensive safety area is divided into blocks to obtain multiple sub-areas, and the ablation distance of the interventional ablation device is obtained, so that the needle placement planning of each sub-area can be carried out simultaneously, which can improve the efficiency of needle placement planning, so that the lesion area of ​​the target object can be quickly ablated, and the efficiency of ablation treatment can be improved. In the contour of each sub-area, any contour point of the sub-area is used as the first needle placement point, and the next needle placement point is determined according to the ablation distance and the position of the first needle placement point, until the needle placement points are evenly distributed in the sub-area, so that the efficiency of ablation treatment can be further improved, and at the same time, the lesion area of ​​the target object can be thoroughly ablated, improving the effectiveness of ablation and avoiding the need for lesion ablation again. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A diagram of an application environment of a computer device for implementing needle arrangement planning in one embodiment;

[0045] Figure 2 A schematic diagram of a process for implementing needle arrangement planning in one embodiment;

[0046] Figure 3 is a schematic diagram of an overlapping area in one embodiment;

[0047] Figure 4 is a schematic diagram of an initial safety area before the contour is replaced in one embodiment;

[0048] Figure 5 for Figure 4 Schematic diagram after the outline of the initial safe area is replaced;

[0049] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0050] 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.

[0051] The computer device for implementing needle arrangement planning provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The computer device 102 is connected to the interventional ablation device 104, and the computer device 102 can implement needle placement planning based on the comprehensive safety area. Specifically, the computer device 102 determines the comprehensive safety area for the lesion area of ​​the target object; the comprehensive safety area is a two-dimensional area; the computer device 102 divides the comprehensive safety area into blocks according to the size information of the comprehensive safety area, obtains multiple sub-areas, and obtains the ablation distance of the interventional ablation device; the computer device 102 uses any contour point of the sub-area as the first needle placement point in the contour of each sub-area, and determines the next needle placement point according to the ablation distance and the position of the first needle placement point, until the needle placement points are evenly distributed in the sub-areas.

[0052] In one embodiment, Figure 2 As shown, a computer device for implementing needle arrangement planning 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:

[0053] S202, determining a comprehensive safety area for the lesion area of ​​the target object. The comprehensive safety area is a two-dimensional area.

[0054] The target object refers to an object that may develop a disease, including but not limited to organs, tissues, and structures. The comprehensive safety area is a safety area used for needle placement planning.

[0055] S204, dividing the comprehensive safety area into blocks according to the size information of the comprehensive safety area to obtain multiple sub-areas, and acquiring the ablation distance of the interventional ablation device.

[0056] The size information includes but is not limited to the area, the perimeter of the outline, and the diameter of the comprehensive safety area. Furthermore, the block processing of the comprehensive safety area according to the size information may be to divide the comprehensive safety area into blocks according to the area of ​​the comprehensive safety area, to divide the comprehensive safety area into blocks according to the perimeter of the outline of the comprehensive safety area, or to divide the comprehensive safety area into blocks according to the diameter of the comprehensive safety area. For example, the total area of ​​the comprehensive safety area is S, and it is preset to be divided into a plurality of sub-areas of an area of ​​s. Then, when performing the block processing, the computer device divides the comprehensive safety area into a plurality of sub-areas of an area of ​​s according to the area S of the comprehensive safety area.

[0057] Interventional ablation devices are devices that transmit energy to the lesions of the target object through a catheter or other small device to destroy the lesions. Interventional ablation devices can also be called focal ablation treatment devices. Interventional ablation devices include but are not limited to radiofrequency ablation devices, microwave ablation devices, cryoablation devices, chemical ablation devices, and ablation needles.

[0058] The ablation distance of the interventional ablation device refers to the maximum distance from the ablation probe or electrode tip of the interventional ablation device to the effective ablation effect to ablate the lesion. The ablation distance of the interventional ablation device can 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.

[0059] In some embodiments, obtaining the ablation distance of the interventional ablation device may be performed simultaneously with the division of the comprehensive safety area, or after the division into multiple sub-areas, or when determining the comprehensive safety area for the lesion area of ​​the target object.

[0060] Optionally, the computer device divides the comprehensive safety area into blocks according to the area, perimeter, or diameter of the comprehensive safety area to obtain multiple sub-areas. At the same time, the computer device also obtains the ablation distance of the interventional ablation device.

[0061] S206, in the contour of each sub-region, any contour point of the sub-region is used as the first needle placement point, and the next needle placement point is determined according to the ablation distance and the position of the first needle placement point, until the needle placement points are evenly distributed throughout the sub-region.

[0062] Among them, the comprehensive safety area and sub-area are all presented in the image, and the contour point refers to each pixel point at the boundary of the sub-area in the image. The first needle placement point determined in each sub-area does not overlap with the avoidance position of the target object. The avoidance position of the target object includes but is not limited to various important parts and tissues of the target object. For example, the position of bones and blood vessels. The avoidance position can be pre-entered into the computer device so that it can be obtained when compared with the needle placement point. The avoidance position can be identified by static medical images taken before surgery. Static medical images include but are not limited to MRI images (Magnetic Resonance Imaging). By comparing the position of the first needle placement point with each avoidance position, it can be determined whether the first needle placement point coincides with the avoidance position. Thereby, needle placement planning at the avoidance position can be avoided, and damage to important parts and tissues of the target object can be avoided.

[0063] The distance between the next needle placement point and the first needle placement point is less than or equal to the ablation distance of the interventional ablation device. This ensures that when the interventional ablation device places needles according to the needle placement points, the ablation effect produced by the ablation probe or electrode tip of the interventional ablation device can spread throughout the entire sub-area, that is, throughout the entire comprehensive safe treatment area, thereby improving the effectiveness of ablation.

[0064] In some embodiments, the position of the next needle placement point may be located on the outline of the sub-region or inside the sub-region.

[0065] In some embodiments, the needle placement planning of each sub-area can be performed simultaneously, which can reduce the time required for needle placement planning for the comprehensive safety area and improve the efficiency of needle placement planning, thereby enabling rapid ablation treatment of the comprehensive safety area of ​​the target object and improving the efficiency of ablation treatment.

[0066] Optionally, the computer device determines any contour point in the contour of each sub-area that does not overlap with the avoidance position of the target object as the first needle placement point. The computer device determines a point in the sub-area whose distance from the first needle placement point is less than or equal to the ablation distance as the next needle placement point based on the position of the first needle placement point and the ablation distance of the ablation device.

[0067] In this embodiment, a comprehensive safety area for the lesion area of ​​the target object is determined; the comprehensive safety area is a two-dimensional area; according to the size information of the comprehensive safety area, the comprehensive safety area is divided into blocks to obtain multiple sub-areas, and the ablation distance of the interventional ablation device is obtained, so that the needle layout planning of each sub-area can be carried out simultaneously, which can improve the efficiency of needle layout planning, so that the lesion area of ​​the target object can be quickly ablated, and the efficiency of ablation treatment can be improved. In the contour of each sub-area, any contour point of the sub-area is used as the first needle layout point, and the next needle layout point is determined according to the ablation distance and the position of the first needle layout point, until the needle layout points are evenly distributed in the sub-area, so that the efficiency of ablation treatment can be further improved, and at the same time, the lesion area of ​​the target object can be thoroughly ablated, the effectiveness of ablation can be improved, and the need for lesion ablation again can be avoided.

[0068] In one embodiment, in the contour of each sub-region, any contour point of the sub-region is respectively used as the first needle placement point, and the next needle placement point is determined according to the ablation distance and the position of the first needle placement point, including:

[0069] In each sub-region, any contour point of the sub-region is used as the first needle point.

[0070] Based on the position of the first needle placement point and the ablation distance, a candidate needle placement point is determined in the sub-area, and the distance between the candidate needle placement point and the first needle placement point is less than or equal to the ablation distance.

[0071] When the candidate pin point coincides with the avoidance position of the target object, the candidate pin point is adjusted until the adjusted candidate pin point does not coincide with the avoidance position, and the adjusted candidate pin point is determined as the next pin point.

[0072] The first needle placement point determined in each sub-region does not overlap with the avoidance position of the target object. The candidate needle placement point can be determined from the outline of the sub-region or from the inside of the sub-region. For example, a circle is drawn with the first needle placement point as the center and the ablation distance of the interventional ablation device as the radius, and the candidate needle placement point can be determined in the area where the circle overlaps with the sub-region. The overlapping area used to determine the candidate needle placement point is as follows: Figure 3 shown.

[0073] 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 parts and tissues. By comparing the position of the candidate needle placement point with each avoidance position, it can be determined whether the candidate needle placement point coincides with the avoidance position.

[0074] The adjusted needle placement point should also not overlap with the avoidance position, and the distance between the adjusted 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 position of the candidate needle placement point.

[0075] In the case where the candidate needle placement point does not overlap with the avoidance position, the candidate needle placement point can be directly determined as the next needle placement point. Furthermore, through the next needle placement point and the ablation distance of the interventional ablation device, a needle placement point can be determined again, 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 first 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 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 intersection b of circle B and the sub-area is searched again. In the case where the next intersection b does not overlap with the avoidance position, the next intersection b is the re-determined needle placement point, until the needle placement points are evenly distributed throughout the entire sub-area and there are no overlapping needle placement points.

[0076] Optionally, in each sub-region, the computer device uses any contour point in the boundary of the sub-region as the first needle placement point, and determines in the sub-region a candidate needle placement point whose distance from the first needle placement point is less than or equal to the ablation distance. The computer device compares the candidate needle placement point with each pre-stored avoidance position. When the candidate needle placement point coincides with one of the avoidance positions, the computer adjusts the candidate needle placement point, and when the adjusted candidate needle placement point does not coincide with any avoidance position, the computer determines the adjusted candidate needle placement point as the next needle placement point, wherein the distance between the adjusted candidate needle placement point and the first needle placement point is less than or equal to the ablation distance, and the replaced candidate needle placement point is also located in the sub-region. When the candidate needle placement point does not coincide with the avoidance position of the target object, the computer device directly determines the candidate needle placement point as the next needle placement point.

[0077] In some embodiments, a computer device obtains tissue dielectric characteristic parameters of electrodes of an 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 determined based on the ablation distance, the first needle layout point, and the avoidance position. The computer device adjusts the needle layout points to optimize the electric field distribution based on the simulation results, and obtains a new needle layout scheme, which includes the adjusted positions of each needle layout point. Among them, the computer device adjusts the needle layout points to optimize the electric field distribution based on the simulation results, which can be achieved by reallocating the needle layout points, increasing or reducing the needle layout points, or one or more of them. This ensures that the lesions in the target object are subjected to sufficient electric field strength while reducing damage to normal tissues.

[0078] In this embodiment, by determining the next needle placement point in each sub-area according to the ablation distance of the interventional ablation device and the avoidance position of the target object, it can be ensured that the needle placement points are evenly distributed throughout the entire sub-area, so that when the interventional ablation device is placed according to the needle placement points, the ablation effect produced by the ablation probe or electrode tip of the interventional ablation device can spread throughout the entire sub-area, that is, throughout the entire comprehensive safety treatment area, thereby improving the effectiveness of ablation. At the same time, it can also ensure that the key tissues of the target object will not be damaged during needle placement.

[0079] In one embodiment, determining a comprehensive safety area for a lesion area of ​​a target object includes:

[0080] A three-dimensional safe treatment area is obtained. The three-dimensional safe treatment area is an area that encloses the lesion area of ​​the target object.

[0081] The three-dimensional safe treatment area is sliced ​​to obtain multiple two-dimensional safe treatment areas.

[0082] Multiple two-dimensional safe treatment areas are projected onto the same two-dimensional plane to obtain a comprehensive safe area for the target object.

[0083] The three-dimensional safe treatment area refers to the area surrounding the three-dimensional lesion area. The three-dimensional safe treatment area can be obtained from multiple two-dimensional safe treatment areas. The method of obtaining the three-dimensional safe treatment area based on multiple two-dimensional safe treatment areas includes but is not limited to interpolation technology and surface reconstruction technology. The three-dimensional safe treatment area can also be directly generated based on the target point after the contour points on the surface of the three-dimensional lesion area are moved.

[0084] When slicing the three-dimensional safe treatment area, the slicing is performed according to the slice spacing. The slice spacing refers to the distance between two adjacent two-dimensional safe treatment areas. The slice spacing can be pre-set in the computer device, or the computer device can take a random value as the slice spacing when slicing.

[0085] In some embodiments, multiple two-dimensional safe treatment areas are displayed in a two-dimensional image including a two-dimensional lesion area and a two-dimensional target object. When projecting, the multiple two-dimensional safe treatment areas need to be extracted from the two-dimensional image first and then projected into the two-dimensional plane. The extraction method of the two-dimensional safe treatment area includes but is not limited to extraction using a U-shaped network. The image of the two-dimensional safe treatment area extracted by the U-shaped network can be a binary image, which can more intuitively distinguish the safe treatment area and the non-safe treatment area on the two-dimensional image.

[0086] Since the comprehensive safety area is the area obtained by projecting multiple two-dimensional safe treatment areas onto the same two-dimensional plane, the comprehensive safety area can be understood as the area obtained by taking the union of multiple two-dimensional safe treatment areas.

[0087] Optionally, the computer device obtains a three-dimensional safe treatment area that encloses the three-dimensional lesion area. The computer device slices the three-dimensional safe treatment area according to a preset slice spacing to obtain multiple two-dimensional safe treatment areas. The multiple two-dimensional safe treatment areas are displayed in a two-dimensional image including a two-dimensional lesion area and a two-dimensional target object. The computer device uses a U-shaped network to extract the safe treatment area in each frame of the two-dimensional image, and projects the extracted multiple two-dimensional safe treatment areas onto the same two-dimensional plane to obtain a comprehensive safe area.

[0088] In this embodiment, the comprehensive safe area of ​​the target object is obtained by projecting the extracted multiple safe treatment areas onto the same two-dimensional plane, which ensures that the planned needle points cover the entire three-dimensional safe treatment area.

[0089] In one embodiment, the lesion area is a two-dimensional lesion area, and obtaining a three-dimensional safe treatment area includes:

[0090] In the multiple frames of two-dimensional images where the target object is located, a two-dimensional image in which a two-dimensional lesion area exists is determined, and a preset first distance is obtained.

[0091] In a two-dimensional image where a two-dimensional lesion region exists, an initial safety region enclosing the two-dimensional lesion region is generated based on a first distance.

[0092] When the outline of the initial safety area exceeds the outline of the target object, the outline of the exceeding portion in the initial safety area is replaced with the outline of the target object to obtain a plurality of two-dimensional safe treatment areas.

[0093] Based on multiple two-dimensional safe treatment areas, a three-dimensional safe treatment area is generated.

[0094] The multi-frame two-dimensional images of the target object refer to image data obtained by scanning the target object from the sagittal plane, coronal plane, and transverse plane.

[0095] The two-dimensional image of the lesion area can be obtained through a segmentation model or manual recognition. For example, multiple frames of two-dimensional images of the target object are input into the segmentation model for lesion area recognition and segmentation, and the two-dimensional image of the lesion area is output. For another example, each frame of the two-dimensional image is checked one by one to determine the two-dimensional image of the lesion area.

[0096] The first distance refers to the first distance to be moved for each contour point in the two-dimensional lesion area. The first distance can be preset according to the standard distance between the two-dimensional safe treatment area and the two-dimensional lesion area. For example, if the standard distance between the two-dimensional safe treatment area and the two-dimensional lesion area is 0mm to 10mm, any value between 0mm and 10mm can be taken as the first distance. The first distances corresponding to each contour point can be the same or different. The first distance can also be determined according to the number of intersections between the ray composed of the candidate points and the unit normal vector after each contour point in the two-dimensional lesion area moves and the contour of the target object. Specifically, the determination process of the first distance is: presetting the initial first distance for each contour point to move 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, determining the two-dimensional coordinates of the candidate point after the contour point moves along the unit normal vector; obtaining the ray composed of 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 even, adjusting the initial first distance until the number of intersections between the ray and the contour of the target object is odd, and determining the adjusted initial first distance as the first distance.

[0097] The initial safety area is generated in the following manner: according to the first distance corresponding to each contour point of the two-dimensional lesion area, each contour point of the two-dimensional lesion area is moved along the corresponding unit normal vector in the opposite direction of the two-dimensional lesion area to obtain the two-dimensional target point after each contour point is moved; based on the two-dimensional target point, the initial safety area is obtained. Among them, the technology for obtaining the initial safety area based on the two-dimensional target point includes but is not limited to the convex hull algorithm, Alpha shape, and Delaunay triangulation. For example, using the convex hull algorithm, the minimum convex polygon generated by the two-dimensional target point is used to smooth the generated minimum convex polygon to obtain the initial safety area that wraps the two-dimensional lesion area.

[0098] 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 identified.

[0099] The outline of the initial safety area exceeds the outline of the target object, that is, the outline of the target object is between the outline of the initial safety area and the outline of the lesion area. Since the needle placement planning is based on the comprehensive safety area, if the initial safety 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 of the initial safety area is replaced with the outline of the target object. This ensures that the planned needle placement points are all in the comprehensive safety area, that is, it ensures 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 the initial safety area is replaced is as follows: 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. The schematic diagram after the initial safety area is replaced is as follows Figure 5 shown.

[0100] Methods for obtaining a three-dimensional safe treatment area based on multiple two-dimensional safe treatment areas include, but are not limited to, interpolation technology and surface reconstruction technology. For example, the two-dimensional images of each two-dimensional lesion area are aligned in space, the two-dimensional contour points of the two-dimensional 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 subjected to Delaunay triangulation, a triangulated mesh is generated, and a three-dimensional safe treatment area is obtained based on the triangulated mesh.

[0101] Optionally, the computer device inputs multiple frames of two-dimensional images where the target object is located into the segmentation model to perform lesion area identification and segmentation, determine the two-dimensional image where the lesion area exists, and obtain a preset first distance. According to the first distance corresponding to each contour point of the two-dimensional lesion area, the computer device 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 to obtain the two-dimensional target point after each contour point moves. The computer device uses a convex hull algorithm to generate the minimum convex polygon corresponding to the two-dimensional image where the two-dimensional lesion area exists, and smoothes the generated minimum convex polygon to obtain an initial safe area that wraps 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 of the initial safe area with the contour of the target object to obtain multiple two-dimensional safe treatment areas. The computer device generates a three-dimensional safe treatment area based on multiple two-dimensional safe treatment areas.

[0102] In this embodiment, by replacing the outline of the excess part in the initial safety area with the outline of the target object, it can be ensured that the planned needle points are all in the comprehensive safety area, that is, it can be ensured that the planned needle points are all within the outline of the target object and will not exceed the outline of the target object.

[0103] In one embodiment, generating a three-dimensional safe treatment area based on multiple two-dimensional safe treatment areas includes:

[0104] Determine the first frame image and the last frame image in the two-dimensional image where the two-dimensional lesion area exists.

[0105] 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.

[0106] 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.

[0107] A three-dimensional safe treatment area is generated based on multiple two-dimensional safe treatment areas, the safe treatment area in the next n two-dimensional images, and the safe treatment area in the first n two-dimensional images.

[0108] Among them, in the target object, a single lesion is presented in a three-dimensional form, and the two-dimensional image of the two-dimensional lesion area is obtained by continuous scanning of the lesion, so the first frame of the two-dimensional image in the two-dimensional image of the two-dimensional lesion area 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 of the two-dimensional image where the lesion appears is not the last frame of the two-dimensional 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.

[0109] The calculation method of n in the first n frames of two-dimensional images and the next n frames of two-dimensional images is:

[0110]

[0111] 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 within 5mm to 10mm.

[0112] 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, a region 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 an area smaller than that of the safe treatment area in the first frame of image, and the generated region 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 beneficial to the three-dimensional reconstruction of the safe treatment area.

[0113] 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.

[0114] The generation method of the three-dimensional safe treatment area includes but is not limited to interpolation and surface reconstruction technology. For example, 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 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 the 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 nuclear magnetic resonance. 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. Although the needle layout planning is ultimately carried out on a two-dimensional comprehensive safe area, the needle layout planning based on the three-dimensional safe treatment area helps to determine the best needle layout point, thereby avoiding sensitive structures such as blood vessels and nerves and reducing the risk of complications.

[0115] Optionally, the computer device determines the first frame of the two-dimensional image in which the lesion area exists as the first frame of the image, and determines the last frame of the two-dimensional image in which the lesion area exists as the last frame of the image. In the first n frames of the two-dimensional image adjacent to the first frame of the 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 of the image. In the last n frames of the two-dimensional image adjacent to the last frame of the 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 of the image. The computer device aligns the two-dimensional images of each two-dimensional lesion area, the first n frames of the two-dimensional image, and the last n frames of the two-dimensional image 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.

[0116] 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.

[0117] In one embodiment, the lesion area is a three-dimensional lesion area, and determining a comprehensive safety area for the lesion area of ​​the target object includes:

[0118] The unit normal vector of each contour point on the surface of the three-dimensional lesion area and the second distance moved by each contour point along the unit normal vector are obtained.

[0119] Each contour point is moved along the unit normal vector by a second distance to obtain a target point after the contour point is moved.

[0120] Based on each target point, a safe treatment area is obtained that encloses the three-dimensional lesion area of ​​the target object.

[0121] The safe treatment area is mapped to a two-dimensional plane to obtain a comprehensive safe area.

[0122] 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 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 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 before the contour point moves can be obtained by converting the two-dimensional coordinates of the contour point using the space transformation matrix. The moving direction of each contour point on the surface of the three-dimensional lesion area is opposite to the direction of the three-dimensional lesion area.

[0123] The unit normal vector of the contour point is a normalized normal vector. The method for determining the unit normal vector of each contour point includes, but is not limited to, a surface gradient calculation method and a least squares calculation method. For example, a computer device determines the contour point ,in The nth contour point of 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 2p+1 planes searched out, 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 console 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 .

[0124] The three-dimensional safe treatment area may be generated by: generating a triangulated mesh according to the position coordinates of each target point by Delaunay triangulation, and constructing the three-dimensional safe treatment area based on the triangulated mesh.

[0125] Optionally, the computer device obtains the second distance to be moved from the current position of each contour point on the surface of the three-dimensional lesion area, and the unit normal vector of each contour point on the surface of the three-dimensional lesion area. The computer device moves each contour point along the unit normal vector by the corresponding second distance to obtain the target point after each contour point is moved. The computer device generates a triangulated mesh based on the position coordinates of each target point by Delaunay triangulation, and constructs a three-dimensional safe treatment area based on the triangulated mesh. The computer device directly projects the three-dimensional safe treatment area into a two-dimensional plane to obtain a comprehensive safe area.

[0126] 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 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 needled to perform ablation treatment on the positive sites outside the lesion area, thereby improving the effectiveness of ablation.

[0127] In some embodiments, obtaining a second distance moved by each contour point along the unit normal vector includes:

[0128] Preset the initial moving distance of each contour point along the unit normal vector.

[0129] Based on the initial moving 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 corresponding unit normal vector are determined respectively.

[0130] Determine the target ray consisting of the 3D coordinates of the temporary point and the unit normal vector of the contour point.

[0131] When the number of intersection points between the target ray and the contour of the target object is even, the initial moving distance is adjusted until the number of intersection points between the target ray and the contour of the target object is odd, thereby obtaining a second distance corresponding to each contour point.

[0132] The initial movement 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 movement distance can be preset to 10mm, or the initial movement distance can be preset to any value between 5mm and 10mm. In general scenarios, the maximum value of the initial movement distance is consistent with the maximum value of the average spacing of the safety zone contour. Each contour point corresponds to an initial movement distance, and the initial movement distance corresponding to each contour point can be the same or different.

[0133] 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 moving distance.

[0134] 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.

[0135] 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 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 inside the contour of 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 interventional ablation device is used for ablation, 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 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.

[0136] The adjustment of the initial moving distance can be achieved 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 fixed value or an arbitrary value is increased / decreased on the basis of the initial moving distance, so that the initial moving distance can be adjusted. The size of the fixed value and the arbitrary value can be set by yourself. For example, if the average spacing of the safe zone contour is within 5-10mm, then the initial moving 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, it is reduced by 0.1 on the basis of the current initial moving distance until the number of intersections between the target ray and the contour of the target object is an odd number, and the adjusted initial moving distance is the second distance.

[0137] Optionally, the computer device presets an initial moving distance of the contour point along the unit normal vector according to 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 moving distance, the three-dimensional coordinates of the contour point, and the unit normal vector of the contour point. The computer device 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 computer device adjusts the initial moving 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 moving distance as the second distance.

[0138] 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 moving 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 target point after the contour point moves is still within the contour of the target object, so that the safe treatment area generated based on the target point does not exceed the contour of the target object, thereby ensuring that the planned needle placement points do not exceed the contour of the target object, thereby preventing other normal tissues from being damaged during needle placement.

[0139] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0140] Get the size information of each sub-area.

[0141] Based on the size information of each sub-area, the target number of needles for each sub-area is determined.

[0142] When the number of needle points planned in the sub-area reaches the target number of needle points, it is determined that the needle points are evenly distributed in the sub-area.

[0143] The size information of each sub-region includes but is not limited to the area, contour perimeter, and diameter of the sub-region.

[0144] In some embodiments, the target number of pins is also related to the size information corresponding to each pin point. For example, the area corresponding to each pin point is preset, and the target number of pins for each sub-area is determined based on the quotient between the area of ​​each sub-area and the area corresponding to each pin point.

[0145] In some embodiments, the target number of needles is also related to the interval of the size information. For example, when the area of ​​the preset sub-region is in the interval S1 to S2, the target number of needles in the sub-region is M, and when the area of ​​the sub-region is any value between S1 and S2, the target number of needles in the sub-region is M.

[0146] The number of pin points planned in a sub-area can be determined by a timer. For example, when a pin point is planned in a sub-area, the timer is incremented by 1. When the number of pin points planned in a sub-area is determined by a timer, each sub-area corresponds to a timer, which can avoid errors in the number of pin points planned in the sub-area.

[0147] In some embodiments, the target number of needles in each sub-area may be determined simultaneously or sequentially.

[0148] Optionally, the computer device obtains the size information of each sub-region. The computer device determines the interval in which the size information of each sub-region is located, and determines the target number of needles for each sub-region according to the interval. When the number of needle points planned by the computer device in the sub-region reaches the target number of needle points, it is determined that the needle points are evenly distributed in the sub-region.

[0149] In this embodiment, the target number of needle placement in each sub-region is determined based on the size information of each sub-region, and when the number of needle placement points planned in the sub-region reaches the target number of needle placement points, the needle placement points are determined to be evenly distributed in the sub-region. In this way, the number of needle placement points in each sub-region can be reasonably planned, thereby ensuring that the lesion area in each sub-region is within the ablation range of the interventional ablation device, reducing missed areas and improving the thoroughness of treatment.

[0150] The present application also provides an application scenario, which uses the above-mentioned computer device for implementing needle arrangement planning. Specifically, the application of the computer device for implementing needle arrangement planning in the application scenario is as follows:

[0151] When the lesion area is two-dimensional, the computer device inputs multiple frames of two-dimensional images where the target object is located into the segmentation model to perform lesion area identification and segmentation, determine the two-dimensional image where the lesion area exists, and obtain the preset first distance. According to the first distance corresponding to each contour point of the two-dimensional lesion area, the computer device 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 to obtain the two-dimensional target point after each contour point moves. The computer device uses a convex hull algorithm to generate the minimum convex polygon corresponding to the two-dimensional image where the two-dimensional lesion area exists, and smoothes the generated minimum convex polygon to obtain the initial safe area that wraps 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 of the initial safe area with the contour of the target object to obtain multiple two-dimensional safe treatment areas. The computer device 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. The computer device generates safe treatment areas in the first n frames of two-dimensional images adjacent to the first frame of the image according to the shape and area of ​​the safe treatment area in the first frame of the image. The computer device generates safe treatment areas in the last n frames of two-dimensional images adjacent to the last frame of the image according to the shape and area of ​​the safe treatment area in the last frame of the image. The computer device 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. The computer device slices the three-dimensional safe treatment area according to the preset slice spacing to obtain multiple two-dimensional safe treatment areas. Among them, the multiple two-dimensional safe treatment areas are displayed in a two-dimensional image including a two-dimensional lesion area and a two-dimensional target object. The computer device uses a U-shaped network to extract the safe treatment area in each frame of the two-dimensional image, and projects the extracted multiple two-dimensional safe treatment areas onto the same two-dimensional plane to obtain a comprehensive safe area.

[0152] When the lesion area is three-dimensional, the computer device obtains the second distance to be moved from the current position of each contour point on the surface of the three-dimensional lesion area, and the unit normal vector of each contour point on the surface of the three-dimensional lesion area. The computer device moves each contour point along the unit normal vector by the corresponding second distance to obtain the target point after each contour point is moved. The computer device generates a triangulated mesh based on the position coordinates of each target point by Delaunay triangulation, and constructs a three-dimensional safe treatment area based on the triangulated mesh. The computer device directly projects the three-dimensional safe treatment area into a two-dimensional plane to obtain a comprehensive safe area.

[0153] The computer device divides the comprehensive safety area into blocks according to the area, perimeter, or diameter of the comprehensive safety area to obtain multiple sub-areas. At the same time, the computer device also obtains the ablation distance of the interventional ablation device.

[0154] In each sub-region, the computer device uses any contour point in the boundary of the sub-region as the first needle placement point, and determines in the sub-region a candidate needle placement point whose distance from the first needle placement point is less than or equal to the ablation distance. The computer device compares the candidate needle placement point with each pre-stored avoidance position. When the candidate needle placement point coincides with one of the avoidance positions, the computer adjusts the candidate needle placement point, and when the adjusted candidate needle placement point does not coincide with any avoidance position, the computer determines the adjusted candidate needle placement point as the next needle placement point, wherein the distance between the adjusted candidate needle placement point and the first needle placement point is less than or equal to the ablation distance, and the replaced candidate needle placement point is also located in the sub-region. When the candidate needle placement point does not coincide with the avoidance position of the target object, the computer device directly determines the candidate needle placement point as the next needle placement point until the needle placement points are evenly distributed in the sub-region.

[0155] 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.

[0156] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Figure 6As 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 comprehensive safety areas, size information of comprehensive safety areas, sub-areas, ablation distances of interventional ablation devices, first needle placement points, and next needle placement points. 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, the steps executed by the processor of the computer device in the above-mentioned embodiments are implemented.

[0157] Those skilled in the art will understand that Figure 6 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.

[0158] In one embodiment, a system for implementing needle placement planning is provided, characterized in that it includes: a computer device, an interventional ablation device, and an image scanning device as in the above embodiments, wherein the interventional ablation device and the image scanning device are both electrically connected to the computer device.

[0159] 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 executed by a processor of a computer device are implemented.

[0160] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps executed by a processor of a computer device according to any one of the above items.

[0161] 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.

[0162] 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.

[0163] The technical features of the above embodiments may be arbitrarily combined. 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.

[0164] 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 implementing needle arrangement planning, 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 a comprehensive safe area for the lesion area of ​​the target object; the comprehensive safe area is a two-dimensional area projected from multiple two-dimensional safe treatment areas; the multiple two-dimensional safe treatment areas are obtained by slicing the three-dimensional safe treatment areas; The three-dimensional safe treatment area refers to an area that encompasses the lesion area of ​​the target object; According to the size information of the comprehensive safety area, the comprehensive safety area is divided into blocks to obtain multiple sub-areas, and the ablation distance of the interventional ablation device is obtained; In the contour of each sub-region, any contour point of the sub-region is respectively used as the first needle placement point, and the next needle placement point is determined according to the ablation distance and the position of the first needle placement point, until the needle placement points are evenly distributed throughout the sub-region; Wherein, the lesion area is a two-dimensional lesion area, and the three-dimensional safe treatment area is determined by determining the first frame image and the last frame image in the two-dimensional image where the two-dimensional lesion area exists; In the first n frames of two-dimensional images adjacent to the first frame image, an area corresponding to the safe treatment area of ​​the first frame image is generated, and the generated area is used as the safe treatment area in the first n frames of two-dimensional images; in the last n frames of two-dimensional images adjacent to the last frame image, an area corresponding to the safe treatment area of ​​the last frame image is generated, and the generated area is used as the safe treatment area in the last n frames of two-dimensional images; based on the multiple two-dimensional safe treatment areas, the safe treatment areas in the last n frames of two-dimensional images, and the safe treatment areas in the first n frames of two-dimensional images, a three-dimensional safe treatment area is generated.

2. The computer device according to claim 1, characterized in that In the contour of each sub-region, any contour point of the sub-region is respectively used as the first needle placement point, and the next needle placement point is determined according to the ablation distance and the position of the first needle placement point, including: In each of the sub-areas, any contour point of the sub-area is used as the first needle placement point; Based on the position of the first needle placement point and the ablation distance, a candidate needle placement point is determined in the sub-area; the distance between the candidate needle placement point and the first needle placement point is less than or equal to the ablation distance; When the candidate needle point coincides with the avoidance position of the target object, the candidate needle point is adjusted until the adjusted candidate needle point does not coincide with the avoidance position, and the adjusted candidate needle point is determined as the next needle point.

3. The computer device according to claim 1, characterized in that The step of determining a comprehensive safety area for the lesion area of ​​the target object includes: Acquire a three-dimensional safe treatment area; the three-dimensional safe treatment area is an area that encloses the lesion area of ​​the target object; Slicing the three-dimensional safe treatment area to obtain a plurality of two-dimensional safe treatment areas; Multiple two-dimensional safe treatment areas are projected onto the same two-dimensional plane to obtain a comprehensive safe area of ​​the target object.

4. The computer device according to claim 3, characterized in that The lesion area is a two-dimensional lesion area, and obtaining a three-dimensional safe treatment area includes: Determine a two-dimensional image of a two-dimensional lesion region in a plurality of two-dimensional image frames where the target object is located, and obtain a preset first distance; In the two-dimensional image where the two-dimensional lesion area exists, generating an initial safety area enclosing the two-dimensional lesion area based on the first distance; 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 plurality of two-dimensional safe treatment areas; Based on the multiple two-dimensional safe treatment areas, a three-dimensional safe treatment area is generated.

5. The computer device according to claim 1, characterized in that The lesion area is a three-dimensional lesion area, and the step of determining a comprehensive safety area for the lesion area of ​​the target object includes: Acquire a unit normal vector of each contour point on the surface of the three-dimensional lesion area, and a second distance that each contour point moves along the unit normal vector; Move each of the contour points along the unit normal vector by the second distance to obtain a target point after each of the contour points is moved; Based on each of the target points, a safe treatment area is obtained that encloses the three-dimensional lesion area of ​​the target object; The safe treatment area is mapped to a two-dimensional plane to obtain a comprehensive safe area.

6. The computer device according to claim 5, characterized in that Obtaining a second distance moved by each contour point along the unit normal vector comprises: Presetting an initial moving distance of each of the contour points along the unit normal vector; Based on the initial moving 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 corresponding unit normal vector; Determine 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 even, the initial moving distance is adjusted until the number of intersections between the target ray and the contour of the target object is odd, thereby obtaining a second distance corresponding to each contour point.

7. The computer device according to claim 1, characterized in that When the processor executes the computer program, the processor further implements the following steps: Obtaining size information of each of the sub-regions; Based on the size information of each of the sub-areas, determining the target number of needle points in each of the sub-areas; When the number of needle points planned in the sub-area reaches the target number of needle points, it is determined that the needle points are evenly distributed in the sub-area.

8. A system for realizing needle arrangement planning, characterized in that: include: The computer device, interventional ablation device, and image scanning device as described in any one of claims 1 to 7, wherein the interventional ablation device and the image scanning device are both electrically connected to the computer device.

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 executed by the processor of the computer device according to any one of claims 1 to 7 are implemented.

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