Tumor puncture path planning method and related device

Abstract

The invention discloses a tumor puncture path planning method and a related device. The method comprises the following steps: acquiring a medical CT image of a target object; segmenting and extracting an image area of the target object from the medical CT image to obtain a medical CT segmented target object image; segmenting a target object image area according to the target medical CT, and extracting a concave bag set of organ tissues of a non-puncture target; calculating a tumor puncture path of a concave bag set of organs effectively avoiding the non-puncture target to obtain a first puncture path set; extracting a convex hull set of the organ tissue of the non-puncture target; calculating a tumor puncture path of a convex hull set of organs effectively avoiding a non-puncture target to obtain a second puncture path set; and integrating the first puncture path set and the second puncture path set to form an intersection to obtain a tumor puncture path. By means of the innovative application of the method, the automation level of medical tumor puncture is improved, powerful technical support is provided for formulation of a treatment plan, and the safety and the treatment effect of an operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical operation path planning, and in particular to a tumor puncture path planning method and related devices. Background Art

[0002] With the advancement of computer technology, medical technology has also ushered in a huge breakthrough. Traditional puncture path planning relies on the doctor's personal experience. This method has certain limitations, including low puncture accuracy and high risk of complications. Traditional puncture path planning relies too much on personal experience, resulting in low puncture accuracy. Therefore, how to solve the shortcomings of traditional puncture is a very important issue. Summary of the invention

[0003] The present invention relates to a method and related devices for tumor puncture path planning, which include but are not limited to path planning equipment, electronic devices, computer-readable storage media and computer program products.

[0004] In a first aspect, a method for tumor puncture path planning is provided, the method comprising: Acquire a medical CT image of a target object and a target medical CT segmentation target object image region; the medical CT image is obtained by performing a CT scan on the target object, and the target medical CT segmentation target object image region is obtained based on manual segmentation and extraction of the medical CT image of the target object by a doctor; Segmenting the target object image region from the target medical CT, extracting and quantifying organ tissue parameters of non-puncture target, wherein the extracted and quantified parameters include: a concave hull set of non-puncture target organ tissue and a convex hull set of non-puncture target organ tissue; Extracting a concave hull set of non-puncture target organ tissues according to the target medical CT segmentation target object image region; Extracting a convex hull set of non-puncture target organ tissues according to the target medical CT segmentation target object image area; According to the concave hull set of the organ tissues that are not puncture targets, a tumor puncture path that effectively avoids the concave hull set of the organs that are not puncture targets is calculated to obtain a first puncture path set; According to the convex hull set of the organ tissues that are not puncture targets, a tumor puncture path that effectively avoids the convex hull set of the organs that are not puncture targets is calculated to obtain a second puncture path set; The intersection of the first puncture path set and the second puncture path set is determined to obtain a tumor puncture path.

[0005] In combination with any embodiment of the present application, extracting a concave hull set of non-puncture target organ tissue from the target medical CT segmentation target object image region includes: Determine the target medical CT segmentation target object image region, extract the non-puncture target object image region, and sort all points in the non-puncture target object image region in ascending order according to polar angle; Select the leftmost point from the sorted points as the first point of the concave hull; Traverse the sorted points one by one. If the current point is on the left side of the straight line formed by the last point and the second to last point of the concave hull, add the current point to the concave hull to obtain the concave hull set of the organ tissue that is not the puncture target.

[0006] In combination with any embodiment of the present application, the step of calculating a tumor puncture path that effectively avoids the concave hull set of the non-puncture target organ tissue according to the concave hull set of the non-puncture target organ tissue to obtain a first puncture path set includes: A method is constructed with the tumor target as the origin, emitting rays in the directions of the X-axis, Y-axis and Z-axis, screening out each ray that avoids the concave hull set of organs that are not puncture targets as the tumor puncture path that avoids the concave hull set of organs that are not puncture targets, and obtaining a first puncture path set.

[0007] In combination with any embodiment of the present application, the step of segmenting the target object image region according to the target medical CT and extracting the convex hull set of the organ tissue of the non-puncture target includes: Determine the target medical CT segmentation target object image region, extract the non-puncture target object image region, and sort all points in the non-puncture target object image region in ascending order according to polar angle; Select the leftmost point from the sorted points as the first point of the convex hull; The sorted points are traversed one by one. If the current point is on the left side of the straight line formed by the last point and the second to last point of the convex hull, the current point is added to the convex hull to obtain the convex hull set of the organ tissue that is not the puncture target.

[0008] In combination with any embodiment of the present application, the step of calculating the tumor puncture path that effectively avoids the convex hull set of the non-puncture target organ tissue according to the convex hull set of the non-puncture target organ tissue to obtain the second puncture path set includes: A method is constructed with the tumor target as the origin, emitting rays in the directions of the X-axis, Y-axis and Z-axis, and each ray that avoids the convex hull set of organs that are not puncture targets is screened out as a tumor puncture path that avoids the convex hull set of organs that are not puncture targets, thereby obtaining a second puncture path set.

[0009] In combination with any embodiment of the present application, determining the intersection of the first puncture path set and the second puncture path set to obtain the tumor puncture path includes: The first puncture path set and the second puncture path are determined, the first puncture path set and the second puncture path set are integrated, and a path set where the two path sets intersect is taken to obtain a tumor puncture path.

[0010] In a second aspect, a tumor puncture path planning device is provided, the tumor puncture path planning device comprising: An acquisition unit is used to acquire a transformation matrix of a pixel coordinate system, wherein the transformation matrix of the pixel coordinate system is obtained by multiplying a voxel distance in a medical CT image with a position of a medical CT segmentation target object image, wherein the medical CT segmentation target object image is obtained according to the method of the first aspect and any embodiment thereof, and wherein the medical CT image is acquired by a CT imaging device.

[0011] The acquisition unit is also used to acquire the position coordinates of the three-dimensional space pixel coordinate system of the medical CT image, the medical CT image is acquired by the CT imaging device, and the medical CT image includes the tumor target in the target organ and other key organs in the abdominal cavity, and the three-dimensional space pixel coordinates include the position coordinates of the tumor target in the target organ and other key organs in the abdominal cavity.

[0012] The conversion unit is used to convert the position coordinates of the medical CT image into the three-dimensional space pixel coordinates of the medical CT segmentation target object image by using the conversion matrix of the pixel coordinate system to obtain the three-dimensional space pixel coordinate position.

[0013] A determination unit is used to determine the tumor puncture path of the puncture needle for the tumor target according to the method of the first aspect based on the coordinates of the target in vitro needle insertion point position and the pixel coordinate position of the tumor target in three-dimensional space.

[0014] According to a third aspect, an electronic device is provided, comprising: a processor, a communication module, a sensor, a user interface and a memory, wherein the memory is used to store computer program code, and the computer program code comprises computer instructions. When the processor executes the computer instructions, the electronic device executes the method according to the second aspect and any one of its embodiments.

[0015] In a fourth aspect, another electronic device is provided, comprising: a processor, a wireless communication module, a touch screen, a speaker and a memory, wherein the memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the electronic device executes the method of the second aspect and any embodiment thereof.

[0016] In a fifth aspect, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes program instructions. When the program instructions are executed by a processor, the processor is caused to execute the method of the second aspect and any of its embodiments.

[0017] In a sixth aspect, a computer program product is provided, wherein the computer program product comprises a computer program or instructions, and when the computer program or instructions are run on a computer, the computer is caused to execute the method of the second aspect and any embodiment thereof.

[0018] It should be understood that the foregoing general description and the following detailed description are for purposes of illustration and explanation only and are not restrictive of the present application.

[0019] In the present application, the second puncture path set is calculated based on the concave hull condition of avoiding non-target organs, the second puncture path set is calculated based on the convex hull condition of avoiding non-target organs, and the tumor puncture path is obtained by integrating the first puncture path set and the second puncture path set, and taking the path set that intersects the two path sets. Since the medical CT image is different from the three-dimensional space pixel coordinate system used for path planning, the medical CT image is composed of multiple two-dimensional CT image slices, and the voxel distance is not uniform, and the medical CT image has an associated relationship with the three-dimensional space pixel coordinate system. Therefore, after obtaining the medical CT image and the segmentation target object image in the tumor puncture path planning device, the three-dimensional space pixel coordinate system of the medical CT image and the segmentation target object image is calculated based on the voxel distance in the medical CT image. The segmentation target object image is the segmentation target object image obtained by the deep neural network segmentation model segmenting the medical CT image. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0022] Figure 1 A schematic diagram of a flow chart of a tumor puncture path planning method provided in an embodiment of the present application; Figure 2 is a schematic diagram of a medical CT image under this implementation mode; Figure 3 A schematic diagram of an image region for segmenting and extracting a target object from a medical CT image provided in an embodiment of the present application; Figure 4 A schematic diagram of a concave bag collection for extracting non-puncture target organ tissue provided in an embodiment of the present application; Figure 5 A schematic diagram of the first puncture path set provided in an embodiment of the present application; Figure 6 A schematic diagram of a convex hull set for extracting non-puncture target organ tissues provided in an embodiment of the present application; Figure 7 A schematic diagram of the second puncture path set provided in an embodiment of the present application; Figure 8 A schematic diagram of a tumor puncture path provided in an embodiment of the present application; Fig. 9 A schematic diagram of the structure of a tumor puncture path planning device provided in an embodiment of the present application; Fig.10 A schematic diagram of the hardware architecture of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to allow professionals in this technical field to have a deeper understanding of the technical solution of the present application, the technical solution of the present application will be explained in detail and clearly through the drawings in the present application. It should be clear that the described embodiments only represent some cases of the present application, not all. Based on these embodiments, all other possible embodiments that can be directly derived by a person of ordinary skill in the art without performing creative work are also included in the scope of protection of the present application.

[0024] The terms "first", "second", "third", etc. used in the specification, claims and related drawings of this application are intended to distinguish different elements rather than indicate any particular order. At the same time, the use of "including" and "having" and all their variations are intended to express a non-exclusive inclusion. This means that if a process, method, system, product or device includes a series of steps or components, it does not mean that it is limited to the listed steps or components, but may also include other steps or components that are not explicitly listed, or may include other steps or units inherent to these processes, methods, products or devices.

[0025] The "embodiment" referred to in this article means that any case that combines specific features, structures or characteristics in the description may be included in at least one embodiment of the present application. The "embodiment" mentioned in the text does not always refer to the same case, nor does it mean that they are independent or mutually exclusive alternative cases. Those skilled in the art should clearly understand that the embodiments described in the text can be used in combination with other embodiments. It should be pointed out that in the present application, "at least one" includes one or more instances, "multiple" refers to two or more, and "at least two" refers to two or three or more.

[0026] The present application provides a puncture path planning method. The operating entity of the puncture path planning method is called a puncture path planning device (hereinafter referred to as the planning device), which can execute the technical solution described in the puncture path planning method. The planning device can be any electronic device as long as it can implement the disclosed instance of the puncture path planning method. As an option, the planning device may be one of the following devices: a computer or a server.

[0027] It should be understood that the method embodiment of the present application can also be implemented by a processor executing a computer program code. The following describes the embodiment of the present application in conjunction with the drawings in the embodiment of the present application. Figure 1 , Figure 1 A schematic flow chart of a tumor puncture path planning method provided in an embodiment of the present application.

[0028] 101. Obtain a medical CT image of a target object.

[0029] In an embodiment of the present application, the medical CT image is an image obtained by performing a CT scan on the target object, and the medical CT image includes the target object, wherein the image area of ​​the target object includes target object images such as the target object's bones, liver, tumors, and blood vessels.

[0030] In the embodiment of the present application, the reference object lies on the bed for CT scanning, which results in the inclusion of non-target objects in the medical CT image. Figure 2 It is a schematic diagram of a medical CT image under this implementation mode, which includes a target object and a non-target object. The non-target object is a bed board, and the image area of ​​the target object includes target object images such as the target object's bones, liver, tumor, and blood vessels.

[0031] 102. Segment and extract an image region of a target object from the medical CT image to obtain the medical CT segmented target object image.

[0032] In an embodiment of the present application, when a medical CT image includes a target object and a non-target object, an image area of ​​the target object is segmented and extracted from the medical CT image to obtain a segmented target object image, and the segmented target object image does not include an image of a segmented non-target object.

[0033] In a possible implementation, a deep neural network segmentation model is used to segment the target object to obtain a segmented target object image; In another possible implementation method, the target object image is segmented using a threshold value to obtain a segmented target object image; In another possible implementation, multi-dimensional information is formed by extracting the HU value of the target object and the spatial coordinate information of the target object in the medical CT image, and machine learning is used to cluster the multi-dimensional information to separate the segmented target object image of each target object, and the target objects include target object images such as bones, liver, tumors, and blood vessels.

[0034] See also Figure 3 , Figure 3 A schematic diagram of an image region for segmenting and extracting a target object from a medical CT image provided in an embodiment of the present application. Figure 3 The target object image shown is obtained by scanning the upper part of the target organ to obtain a medical CT image, and then segmenting it based on a deep neural network segmentation model to obtain the target object image.

[0035] 103. Segment the target object image region by the target medical CT, extract the concave hull set of the organ tissue of the non-puncture target, and obtain the concave hull set of the organ tissue of the non-puncture target.

[0036] In the embodiment of the present application, the target medical CT segmentation target object image area is determined, the object image area of ​​the non-puncture target is extracted, and all points in the object image area of ​​the non-puncture target are sorted from small to large according to the polar angle. If the polar angles of two points are the same, they are sorted according to their distance from the origin, with the larger distance in front, and the first point after sorting is selected as the starting point, and it is added to the vertex list of the concave hull, and the point set is divided into two parts, one part is the point on the left side of the starting point, and the other part is the point on the right side. For the point set on the left side, the rightmost point is found, and it is used together with the starting point as the baseline, and the concave hull vertex on the left side of the baseline is recursively found. For the point set on the right side, the leftmost point is found, and it is used together with the starting point as the baseline, and the concave hull vertex on the right side of the baseline is recursively found. The leftmost point and the starting point are used as the baseline, and the concave hull vertex on the right side of the baseline are recursively found, and the left and right concave hull vertices are merged, and the duplicate points are removed to obtain the concave hull set of the organ tissue of the non-puncture target.

[0037] See also Figure 4 , Figure 4 A schematic diagram of a concave bag collection for extracting non-puncture target organ tissue provided in an embodiment of the present application. Figure 4 The schematic diagram of the concave hull set shown is for the concave hull set of the organ tissue of the non-puncture target, and based on the concave hull calculation, the concave hull set of the organ tissue of the non-puncture target is obtained.

[0038] 104. According to the concave hull set of the non-puncture target organ, calculate a tumor puncture path that effectively avoids the concave hull set of the non-puncture target organ to obtain a first puncture path set.

[0039] In an embodiment of the present application, based on the concave hull set of organs that are not puncture targets, a structure is constructed with the tumor target as the origin, and rays are emitted in the directions of the X-axis, Y-axis, and Z-axis. Each ray that avoids the concave hull set of organs that are not puncture targets is calculated as the tumor puncture path that avoids the concave hull set of organs that are not puncture targets, and a first puncture path set is obtained.

[0040] See also Figure 5 , Figure 5 A schematic diagram of the first puncture path set provided in an embodiment of the present application. Figure 5 The first puncture path set shown is a concave hull set of organs that are not puncture targets, with the tumor target point as the origin, to screen out tumor puncture paths that avoid the concave hull set of organs that are not puncture targets, and obtain the first puncture path set.

[0041] 105. According to the target medical CT segmentation target object image region, extract the convex hull set of the organ tissue of the non-puncture target to obtain the convex hull set of the organ tissue of the non-puncture target.

[0042] In the embodiment of the present application, the target medical CT segmentation target object image area is determined, the object image area of ​​the non-puncture target is extracted, and all points in the object image area of ​​the non-puncture target are sorted from small to large according to the polar angle. If the polar angles of two points are the same, they are sorted according to their distance from the origin, with the larger distance in front, and the first point after sorting is selected as the starting point, and it is added to the vertex list of the convex hull, and the point set is divided into two parts, one part is the point on the left side of the starting point, and the other part is the point on the right side. For the point set on the left side, find the rightmost point, use it together with the starting point as the baseline, recursively find the convex hull vertex on the left side of the baseline, and for the point set on the right side, find the leftmost point, use it together with the starting point as the baseline, recursively find the convex hull vertex on the right side of the baseline, merge the convex hull vertices on the left and right sides, remove duplicate points, and obtain the convex hull set of organ tissues of non-puncture targets.

[0043] See also Figure 6 , Figure 6 A schematic diagram of a convex hull set for extracting organ tissues that are not puncture targets provided in an embodiment of the present application. Figure 4The schematic diagram of the concave hull set shown is for the convex hull set of the organ tissue of the non-puncture target, and based on the convex hull calculation, the convex hull set of the organ tissue of the non-puncture target is obtained.

[0044] 106. According to the convex hull set of the non-puncture target organs, calculate a tumor puncture path that effectively avoids the convex hull set of the non-puncture target organs to obtain a second puncture path set.

[0045] In an embodiment of the present application, based on the convex hull set of organs that are not puncture targets, a ray set is constructed with the tumor target as the origin, emitting rays in the directions of the X-axis, Y-axis, and Z-axis, and each ray is calculated to avoid the convex hull set of organs that are not puncture targets, as a tumor puncture path that avoids the convex hull set of organs that are not puncture targets, to obtain a second puncture path set.

[0046] See also Figure 7 , Figure 7 A schematic diagram of the second puncture path set provided in an embodiment of the present application. Figure 7 The second puncture path set shown is obtained by taking the tumor target point as the origin of the convex hull set of organs that are not puncture targets, screening out tumor puncture paths that avoid the concave hull set of organs that are not puncture targets, and obtaining the second puncture path set.

[0047] 107. Extract an intersection path from the first puncture path set and the second puncture path set to obtain a tumor puncture path.

[0048] In the embodiment of the present application, an intersection path is extracted from the first puncture path set and the second puncture path set to obtain a tumor puncture path.

[0049] See also Figure 8 , Figure 8 A schematic diagram of the tumor puncture path provided in an embodiment of the present application. Figure 8 The tumor puncture path shown is obtained by extracting the intersection path from the first puncture path set and the second puncture path set, and obtaining the tumor puncture path set based on the first puncture path set and the second puncture path set.

[0050] In the embodiment of the present application, the concave hull set of the non-puncture target organ and the convex hull set of the non-puncture target organ are both non-puncture target organs of the medical CT image, the first puncture path set and the second puncture path set are both puncture paths of the target organs of the medical CT image, the first puncture path set is calculated based on the concave hull set of the non-puncture target organ avoided by the puncture path, the second puncture path set is calculated based on the convex hull set of the non-puncture target organ avoided by the puncture path, the tumor puncture path is obtained by extracting the intersection path from the first puncture path set and the second puncture path set, the medical CT image is acquired by using a CT imaging device, wherein the medical CT image includes the target organ. The target organ can be any organ, for example, the target organ is the liver, and for another example, the target organ is the lung. Optionally, the target organ includes a lesion, for example, the target organ is a kidney including a lesion.

[0051] Optionally, after the puncture path is determined, the puncture path can be used to guide the robotic arm to move to a predetermined position so that the surgical needle fixed on the robotic arm is aligned with the puncture path, thereby achieving puncture of the target point by moving the surgical needle along the puncture path.

[0052] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0053] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0054] See also Fig. 9 , Fig. 9 The schematic diagram of the structure of a tumor puncture path planning device provided in an embodiment of the present application is as follows. The tumor puncture path planning device 1 includes: an acquisition unit 11, a conversion unit 12, and a determination unit 13. Specifically: An acquisition unit 11 is used to acquire a transformation matrix of a pixel coordinate system, wherein the transformation matrix of the pixel coordinate system is obtained by multiplying a voxel distance in a medical CT image with a position of a medical CT segmentation target object image, wherein the medical CT segmentation target object image is obtained according to the method of the first aspect and any embodiment thereof, and wherein the medical CT image is acquired by a CT imaging device; The acquisition unit 11 is further used to acquire a medical CT image, wherein the medical CT image is acquired by the CT imaging device, and the CT image includes a needle insertion point for puncturing the target organ and a tumor target point; A conversion unit 12 is used to convert the position of the needle insertion point of the medical CT image in the three-dimensional space pixel coordinates by using the conversion matrix of the pixel coordinate system to obtain the three-dimensional space pixel coordinate position of the needle insertion point for puncturing the target organ; The determination unit 13 is used to determine the puncture path for the tumor target based on the concave hull set of the non-puncture target organ, the concave hull set of all organs avoiding the non-puncture target under the convex hull set of the non-puncture target organ, and the convex hull set of the non-puncture target organ, the calculated needle insertion point position for puncturing the target organ and the tumor target position of the tumor target in the three-dimensional space pixel coordinates.

[0055] In combination with any embodiment of the present application, the transformation matrix of the above-mentioned pixel coordinate system indicates the transformation relationship between the medical CT image and the pixel coordinate position in the three-dimensional space.

[0056] In combination with any embodiment of the present application, the above-mentioned three-dimensional space pixel coordinate position is obtained by converting the transformation matrix of the coordinate system through the medical CT image.

[0057] In the embodiment of the present application, when the tumor path planning is obtained by segmenting the target object based on the deep neural network segmentation model described above, the accuracy of the three-dimensional coordinates of the points of the segmented target object is high. Therefore, when the transformation matrix of the pixel coordinate system is obtained by multiplying the medical CT image and the voxel distance, the accuracy of the transformation matrix of the pixel coordinate system is high. Finally, based on the concave hull set of organs that avoid non-puncture targets, the convex hull set of organs that are not puncture targets, and the position of the tumor target in the three-dimensional space pixel coordinates, the puncture path for the target is determined, which can improve the accuracy of the puncture path.

[0058] In some embodiments, the functions or modules included in the device provided in the embodiments of the present application can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0059] Fig.10 A schematic diagram of the hardware architecture of an electronic device described in an embodiment of the present application is shown. The electronic device 2 is mainly composed of a processor 21 and a memory 22. In addition, the device may also include an input device 23 and an output device 24. The processor 21, the memory 22, the input device 23 and the output device 24 are interconnected through connection components, and these connection components can be various interfaces, data lines or communication buses, etc., which are not specifically specified in the embodiments of the present application. It should be clear that in multiple embodiments of the present application, the so-called connection refers to the mutual connection achieved by a specific method, which can be a direct connection or an indirect connection through other devices, such as connecting through various interfaces, data lines, communication buses, etc.

[0060] The processor 21 may be one or more graphics processing units (GPUs). If the processor 21 is a GPU, the GPU may be single-core or multi-core. As an option, the processor 21 may also be a processor group consisting of multiple GPUs, which are interconnected via one or more buses. In addition, the processor may also be other types of processors, which are not specifically limited in the embodiments of the present application.

[0061] The memory 22 is designed to store computer program instructions and various program codes required to execute the solution of the present application. As an option, the memory may include but is not limited to a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or a compact disc read-only memory (CD-ROM), which are used to store relevant instructions and data.

[0062] The input device 23 is used to input data and / or signals, and the output device 24 is used to output data and / or signals. The input device 23 and the output device 24 can be independent devices or an integrated device.

[0063] It should be appreciated that in the embodiment of the present application, the memory 22 can store not only related instructions but also related data. The embodiment of the present application does not specifically specify the specific data content stored in the memory.

[0064] You should understand that Fig.10 Only a simplified design of an electronic device is shown. In actual use, the electronic device may also include other necessary components, such as different numbers of input / output devices, processors, memories, etc. All electronic devices that can implement the embodiments of the present application belong to the protection scope of the present application.

[0065] Those skilled in the art should recognize that, according to the components and algorithm steps of each example described in the embodiments disclosed herein, these functions can be implemented by electronic hardware or by combining computer software and electronic hardware. Whether these functions are performed by hardware or software will be determined based on the specific application requirements and design limitations of the technical solution. Technicians can adopt different implementation methods according to the needs of each specific application, but such implementation methods should not be considered to exceed the scope of protection of this application.

[0066] Professionals should understand that, for the convenience of description and simplification, the specific operation process of the above-mentioned systems, devices and components can refer to the corresponding steps in the previous method embodiments, and will not be repeated here. At the same time, professionals should also understand that each embodiment in this application has its own focus. For the convenience of description and simplification, the same or similar content may not be repeated in different embodiments. Therefore, if a part is not mentioned or described in detail in a certain embodiment, it can refer to the relevant description of other embodiments.

[0067] In several embodiments provided in the present application, it should be recognized that the disclosed systems, devices and methods can also be implemented in other ways. For example, the described device embodiments are only exemplary, wherein the division of the units is only a division of logical functions, and there may be different division methods in actual implementation. For example, multiple units or components may be merged or integrated into another system, or certain features may be omitted, or certain steps may not be performed. In addition, the connections between each other shown or discussed, whether direct or indirect, whether coupled or communicatively connected, may be implemented in electrical, mechanical or other forms through interfaces, devices or units.

[0068] The units described as independent components may or may not actually be physically separated; the parts presented as units may or may not be physical entities, that is, they may be concentrated in one location or dispersed across multiple network nodes. Depending on actual needs, some or all of these units may be selected to achieve the objectives of this embodiment.

[0069] In addition, in various embodiments of the present application, each functional unit can be integrated into one processing unit, or can exist physically independently, or two or more units can be merged into one unit. In the aforementioned embodiments, the relevant functions can be fully or partially implemented by software, hardware, firmware, or any combination thereof. If software implementation is selected, it can be carried out in whole or in part in the form of a computer program product. This computer program product contains one or more computer instructions. When these instructions are loaded and executed on a computer, a process or function that fully or partially complies with the description of the embodiment of the present application will be generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. These computer instructions can be stored in a computer-readable storage medium or transmitted through these media. Computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (e.g., coaxial cable, optical fiber, DSL) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any computer-accessible available medium, or a data storage facility such as a server or data center that integrates one or more available media. These available media may include magnetic media (such as floppy disks, hard disks, tapes), optical media (such as DVDs), semiconductor media (such as SSDs), etc. Those skilled in the art should understand that all or part of the processes for implementing the above-mentioned embodiments can be completed by computer program instructions related to hardware, and these programs can be stored in computer-readable storage media. When these programs are executed, they will contain the processes of the above-mentioned method embodiments. The above-mentioned storage media include, but are not limited to, various media that can store program codes, such as read-only memory (ROM), random access memory (RAM), disk or optical disk.

Claims

1. A tumor puncture path planning method, characterized in that: The method comprises: Acquire a medical CT image of a target object and a target medical CT segmentation target object image region; the medical CT image is obtained by performing a CT scan on the target object, and the target medical CT segmentation target object image region is obtained based on manual segmentation and extraction of the medical CT image of the target object by a doctor; Segmenting the target object image region from the target medical CT, extracting and quantifying organ tissue parameters of non-puncture target, wherein the extracted and quantified parameters include: a concave hull set of non-puncture target organ tissue and a convex hull set of non-puncture target organ tissue; Extracting a concave hull set of non-puncture target organ tissues according to the target medical CT segmentation target object image region; Extracting a convex hull set of non-puncture target organ tissues according to the target medical CT segmentation target object image area; According to the concave hull set of the organ tissues that are not puncture targets, a tumor puncture path that effectively avoids the concave hull set of the organs that are not puncture targets is calculated to obtain a first puncture path set; According to the convex hull set of the organ tissues that are not puncture targets, a tumor puncture path that effectively avoids the convex hull set of the organs that are not puncture targets is calculated to obtain a second puncture path set; The intersection of the first puncture path set and the second puncture path set is determined to obtain a tumor puncture path.

2. The method according to claim 1, characterized in that The step of segmenting the target object image region according to the target medical CT and extracting the concave hull set of the organ tissue of the non-puncture target comprises: Determine the target medical CT segmentation target object image region, extract the non-puncture target object image region, and sort all points in the non-puncture target object image region in ascending order according to polar angle; Select the leftmost point from the sorted points as the first point of the concave hull; Traverse the sorted points one by one. If the current point is on the left side of the straight line formed by the last point and the second to last point of the concave hull, add the current point to the concave hull to obtain the concave hull set of the organ tissue that is not the puncture target.

3. The method according to claim 1, characterized in that The step of calculating a tumor puncture path that effectively avoids the concave hull set of the non-puncture target organ tissue according to the concave hull set of the non-puncture target organ tissue to obtain a first puncture path set includes: A method is constructed with the tumor target as the origin, emitting rays in the directions of the X-axis, Y-axis and Z-axis, screening out each ray that avoids the concave hull set of organs that are not puncture targets as the tumor puncture path that avoids the concave hull set of organs that are not puncture targets, and obtaining a first puncture path set.

4. The method according to claim 1, characterized in that: The step of segmenting the target object image region according to the target medical CT and extracting the convex hull set of the organ tissue of the non-puncture target includes: Determine the target medical CT segmentation target object image region, extract the non-puncture target object image region, and sort all points in the non-puncture target object image region in ascending order according to polar angle; Select the leftmost point from the sorted points as the first point of the convex hull; The sorted points are traversed one by one. If the current point is on the left side of the straight line formed by the last point and the second to last point of the convex hull, the current point is added to the convex hull to obtain the convex hull set of the organ tissue that is not the puncture target.

5. The method according to claim 1, characterized in that The step of calculating a tumor puncture path that effectively avoids the convex hull set of organs that are not puncture targets based on the convex hull set of organs that are not puncture targets, and obtaining a second puncture path set, comprises: A method is constructed with the tumor target as the origin, emitting rays in the directions of the X-axis, Y-axis and Z-axis, and each ray that avoids the convex hull set of organs that are not puncture targets is screened out as a tumor puncture path that avoids the convex hull set of organs that are not puncture targets, thereby obtaining a second puncture path set.

6. The method according to claim 1, characterized in that The determining the intersection of the first puncture path set and the second puncture path set to obtain the tumor puncture path includes: The first puncture path set and the second puncture path are determined, the first puncture path set and the second puncture path set are integrated, and a path set where the two path sets intersect is taken to obtain a tumor puncture path.

7. A tumor puncture path planning device, comprising: an acquisition unit, configured to acquire a transformation matrix of a pixel coordinate system, wherein the transformation matrix of the pixel coordinate system is obtained by multiplying a voxel distance in a medical CT image with a position of a medical CT segmentation target object image, wherein the medical CT segmentation target object image is obtained by manually segmenting the medical CT image, and the medical CT image is acquired by a CT imaging device; A conversion unit, used to convert the position coordinates of the medical CT image into the three-dimensional space pixel coordinates of the medical CT segmentation target object image by using the conversion matrix of the pixel coordinate system, so as to obtain the three-dimensional space pixel coordinate position; The determination unit is used to determine the puncture path of the tumor target based on the pixel coordinate position of the tumor target in the three-dimensional space and the condition that the tumor target ray avoids the concave hull and convex hull of the non-puncture target.

8. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store computer program code, wherein the computer program code includes computer instructions, and when the processor executes the computer instructions, the electronic device executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor is enabled to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises a computer program or instructions; when the computer program or instructions are run on a computer, the computer is enabled to execute the method according to any one of claims 1 to 6.

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