Computer equipment and system for realizing puncture guidance

Abstract

The present application relates to a computer device and system for implementing puncture guidance. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program: determining a safe treatment area that encloses the lesion area of ​​the target object; determining the puncture target in the safe treatment area; constructing a three-dimensional image based on the contour of the lesion area, the safe treatment area and the target object; registering the ultrasound image acquired in real time with the three-dimensional image to obtain the registered three-dimensional image; in response to the rotation operation of the ultrasound probe, updating the cross-sectional image, mapping points and the imaging area of ​​the sagittal plane in real time in the first display area according to the rotation operation; when any target mapping point is located in the imaging area of ​​the sagittal plane in the cross-sectional image, the relative position of the target mapping point located in the imaging area of ​​the sagittal plane in the sagittal plane image is displayed in the second display area. In this way, the accuracy of puncture guidance is improved.

Description

Technical Field

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

[0002] Traditional puncture guidance equipment or systems often perform punctures on lesions or targets in the body under the monitoring and guidance of real-time ultrasound images. The specific method is to avoid important organs and larger blood vessels and nerves under the guidance of ultrasound, and accurately insert the interventional ablation device into the diseased tissue for treatment or to aspirate or cut out a small amount of cells or tissues for pathological examination.

[0003] Currently, the operator needs to constantly and repeatedly observe the real-time relative position of the interventional ablation device and the target object, and repeatedly observe the ultrasound image to guide the puncture. There are problems such as the operator being unable to accurately locate the puncture target and low work efficiency. In view of this, the existing technology needs to be improved and developed. Summary of the invention

[0004] Based on this, it is necessary to provide a computer device and system for implementing puncture guidance in response to the above technical problems.

[0005] In a first aspect, the present application provides a computer device for implementing puncture guidance, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0006] Determine a safe treatment area that encompasses the lesion area of ​​the target subject;

[0007] determining a plurality of puncture target points in the safe treatment area;

[0008] constructing a three-dimensional image based on the lesion area of ​​the target object, the safe treatment area, and the contour of the target object;

[0009] The ultrasound image of the target object acquired in real time is registered with the three-dimensional image to obtain a registration transformation matrix and a three-dimensional image after registration fusion; the ultrasound image is acquired by an ultrasound probe; the registration transformation matrix is ​​used to indicate the spatial conversion relationship between the three-dimensional coordinate system corresponding to the three-dimensional image and the two-dimensional coordinate system corresponding to the ultrasound image;

[0010] Displaying in the first display area the cross-sectional image in the registered and fused three-dimensional image, the mapping point where the puncture point on the puncture plate is projected on the cross-sectional image, and the imaging area of ​​the sagittal plane;

[0011] In response to the rotation operation of the ultrasound probe, updating the cross-sectional image, the mapping points, and the imaging area of ​​the sagittal plane in the first display area in real time according to the rotation operation;

[0012] When any target mapping point is located in the imaging area of ​​the sagittal plane in the cross-sectional image, the second display area displays the relative position of the target mapping point located in the imaging area of ​​the sagittal plane in the sagittal image; the target mapping point indicates the mapping point closest to the puncture target point.

[0013] In one embodiment, the lesion area is a two-dimensional lesion area; and determining a safe treatment area that encloses the lesion area of ​​the target object includes:

[0014] 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;

[0015] 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;

[0016] 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;

[0017] Based on the multiple two-dimensional safe treatment areas, a three-dimensional safe treatment area is generated.

[0018] In one embodiment, the lesion area is a three-dimensional lesion area; and determining a safe treatment area that encloses the lesion area of ​​the target object includes:

[0019] 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;

[0020] 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;

[0021] Based on each of the target points, a safe treatment area that encloses the three-dimensional lesion area of ​​the target object is obtained.

[0022] In one embodiment, obtaining the second distance moved by each contour point along the unit normal vector includes:

[0023] Presetting an initial moving distance of each of the contour points along the unit normal vector;

[0024] 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;

[0025] Determine a target ray consisting of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point;

[0026] 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.

[0027] In one embodiment, determining a plurality of puncture target points in the safe treatment area includes:

[0028] Determine a comprehensive safety area for the lesion area of ​​the target object according to the safe treatment area; the comprehensive safety area is a two-dimensional area;

[0029] 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;

[0030] In the contour of each sub-region, any contour point of the sub-region is respectively used as the first puncture target point, and the next puncture target point is determined according to the ablation distance and the position of the first puncture target point, until the puncture target points are evenly distributed throughout the sub-region.

[0031] In one embodiment, in the contour of each sub-region, any contour point of the sub-region is respectively used as the first puncture target point, and the next puncture target point is determined according to the ablation distance and the position of the first puncture target point until the puncture target points are evenly distributed in the sub-region, including:

[0032] In each of the sub-areas, any contour point of the sub-area is used as the first puncture target point;

[0033] Based on the position of the first puncture target point and the ablation distance, determining a candidate puncture target point in the sub-region; the distance between the candidate puncture target point and the first puncture target point is less than or equal to the ablation distance;

[0034] When the candidate puncture target point coincides with the avoidance position of the target object, the candidate puncture target point is adjusted until the adjusted candidate puncture target point does not coincide with the avoidance position, and the adjusted candidate puncture target point is determined as the next puncture target point.

[0035] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0036] When the ultrasonic probe and the puncture plate are orthogonal, the sensor coordinates, the first matrix and the second matrix of the positioning sensor in the corresponding space coordinate system are obtained through the positioning sensor connected to the ultrasonic probe; the first matrix is ​​a matrix determined according to the sensor coordinate transformation; the second matrix is ​​used to represent the first position transformation relationship between the positioning sensor and the ultrasonic probe;

[0037] Determine a second position conversion relationship between the two-dimensional coordinate system and a spatial coordinate system corresponding to a positioning sensor connected to the ultrasound probe according to the sensor coordinates, the first matrix and / or the second matrix;

[0038] When any one of the target mapping points is located in the imaging area of ​​the sagittal plane in the cross-sectional image, displaying in the second display area the relative position of the target mapping point located in the imaging area of ​​the sagittal plane in the sagittal plane image, comprises:

[0039] Determining coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system according to the second position conversion relationship;

[0040] Determining target coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the three-dimensional coordinate system according to the coordinate data and the registration transformation matrix;

[0041] The relative position of the target mapping point in the sagittal plane image at the relative position of the imaging area of ​​the sagittal plane is displayed in the second display area according to the target coordinate data.

[0042] In one of the embodiments, determining the second position conversion relationship between the two-dimensional coordinate system and the spatial coordinate system corresponding to the positioning sensor connected to the ultrasound probe according to the sensor coordinates, the first matrix and / or the second matrix includes any one of the following:

[0043] The first method: obtaining the first coordinate of the target mapping point in the two-dimensional coordinate system, and determining the second coordinate of the target mapping point in the spatial coordinate system according to the first matrix, the second matrix and the first coordinate; establishing the second position conversion relationship according to the first coordinate and the second coordinate;

[0044] The second method: obtaining the vertex coordinates of the vertices of the cross-sectional image in the spatial coordinate system according to the first matrix, the second matrix and the size of the cross-sectional image; determining the second coordinates of the target mapping point in the spatial coordinate system according to the first coordinates and the vertex coordinates; establishing the second position conversion relationship according to the first coordinates and the second coordinates.

[0045] In one embodiment, determining the coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system according to the second position conversion relationship includes:

[0046] Updating the second matrix of the positioning sensor in the spatial coordinate system to a third matrix; the third matrix is ​​used to represent a third position conversion relationship between the positioning sensor and the rotated ultrasound probe;

[0047] According to the second coordinates of the target mapping point located on the imaging area of ​​the sagittal plane and the third matrix, the coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system corresponding to the updated cross-sectional image is determined using the second position transformation relationship.

[0048] In the second aspect, the present application also provides a puncture guidance system, comprising: a computer device as described above, an ultrasound probe, an interventional ablation device, a puncture plate and a navigation unit; the navigation unit comprises a positioning sensor; the ultrasound probe, the interventional ablation device, the puncture plate and the navigation unit are all communicatively connected to the computer device.

[0049] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps executed by the processor of the computer device described above are implemented.

[0050] The computer device and system for implementing puncture guidance as described above, by determining a safe treatment area that encloses the lesion area of ​​the target object; determining multiple puncture target points in the safe treatment area, when there is a lesion outside the determined lesion area of ​​the target object, multiple puncture target points can be determined in the safe treatment area that encloses the lesion area to guide the interventional ablation device to perform puncture and / or ablation. Moreover, in response to the rotation operation of the ultrasound probe, during the rotation of the ultrasound probe, information such as the cross-sectional image, mapping points, and the imaging area of ​​the sagittal plane can be updated in real time. When any target mapping point coincides with the imaging area of ​​the sagittal plane, the relative position of the target mapping point located on the imaging area of ​​the sagittal plane in the sagittal plane image can be displayed in the second display area; thereby achieving that the same target mapping point can be displayed simultaneously in the cross-sectional image and the sagittal plane image. On the one hand, the puncture position of each puncture can be accurately determined with relatively high accuracy and stability, reducing the occurrence of multiple punctures due to inaccurate puncture positions; on the other hand, there is no need to repeatedly move the ultrasound probe to observe the puncture position for each puncture. After the last puncture, the ultrasound probe can be directly rotated to the next target mapping point for puncture, which simplifies the operation, saves time and improves puncture efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a schematic diagram of a puncture guide system according to an exemplary embodiment;

[0052] Figure 2 is a schematic diagram of a flow chart of implementing puncture guidance by a computer device according to an exemplary embodiment;

[0053] Figure 3 is a schematic diagram of a cross-sectional image according to an exemplary embodiment;

[0054] Figure 4 is a schematic diagram of a cross-sectional image according to an exemplary embodiment;

[0055] Figure 5 is a schematic diagram showing a cross-sectional image and a sagittal image according to an exemplary embodiment;

[0056] Figure 6 is a schematic diagram showing an outline of an initial safety area before replacement according to an exemplary embodiment;

[0057] Figure 7 is a schematic diagram showing a replaced outline of an initial safety area according to an exemplary embodiment;

[0058] Figure 8 is a schematic diagram showing an overlapping area according to an exemplary embodiment;

[0059] Fig. 9is a schematic diagram showing a puncture plate and an ultrasound probe being orthogonal to each other according to an exemplary embodiment;

[0060] Fig.10 is a schematic diagram showing a non-orthogonal display of a puncture plate and an ultrasound probe according to an exemplary embodiment;

[0061] Fig.11 is a schematic diagram of vertices of a cross-sectional image according to an exemplary embodiment;

[0062] Fig.12 is a schematic diagram of a flow chart of implementing puncture guidance by a computer device according to an exemplary embodiment;

[0063] Fig.13 The figure is a diagram showing the internal structure of a computer device according to an exemplary embodiment. DETAILED DESCRIPTION

[0064] 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.

[0065] The terms "first", "second" and "third" in the embodiments of the present application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include at least one of the features. In the description of the present application, "at least one" is used to indicate one or more; "multiple" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0066] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0067] The present application embodiment provides a puncture guidance system, such as Figure 1As shown, the puncture guidance system includes: a computer device 101, an ultrasound probe 102, an interventional ablation device 103, a puncture plate 104, and a navigation unit 105; the navigation unit 105 includes a positioning sensor; the ultrasound probe 102, the interventional ablation device 103, the puncture plate 104, and the navigation unit 105 are all communicatively connected to the computer device 101. The computer device 101 can be used to implement the steps of puncture guidance of the target object in any embodiment of the present application.

[0068] In the embodiments of the present application, the computer device may be any mobile terminal or fixed terminal. The terminal may be a device that provides voice and / or data connectivity to a user. Exemplarily, the terminal may be an IoT terminal, such as a sensor device, a mobile phone or a so-called "cellular" phone, and a computer with an IoT terminal, for example, a fixed, portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted device.

[0069] In some embodiments, the communication connection may include a wired connection and a wireless connection. For example, the ultrasound probe 102, the interventional ablation device 103, the puncture plate 104, and the navigation unit 105 are all connected to the computer device 101 by wire through a physical medium, and data transmission is performed through a physical line, which has higher stability and speed. Alternatively, the ultrasound probe 102, the interventional ablation device 103, the puncture plate 104, and the navigation unit 105 are all connected to the computer device 101 by wireless technology, and data transmission is not limited by physical lines, and the flexibility is relatively better.

[0070] In some embodiments, Figure 2 As shown, a computer device for implementing puncture guidance 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:

[0071] Step S201: Determine a safe treatment area that encloses the lesion area of ​​the target object.

[0072] In the embodiment of the present application, the target object refers to an object that may undergo a disease, and the target object includes but is not limited to at least one of an organ, a tissue, and a structure.

[0073] In the embodiment of the present application, the lesion indicates a part of the body where a lesion occurs. The lesion area indicates the area where the lesion is located in the medical image sequence image corresponding to the target object acquired by the computer device.

[0074] Exemplarily, the lesion region can be obtained by inputting the medical image sequence image into a segmentation model (e.g., a convolutional neural network model) to perform lesion region segmentation. Alternatively, the lesion region can also be a manually outlined lesion region in the medical image sequence image. The division method of the lesion region is not limited here.

[0075] In the embodiment of the present application, the safe treatment area can be determined by the recognition result of the lesion area. For example, according to the recognition result of the lesion area, an area surrounding the lesion area in space is generated outside the lesion area as the safe treatment area.

[0076] Step S202: determining a plurality of puncture target points in the safe treatment area.

[0077] In some embodiments, the location of the puncture target point can be determined according to the ablation distance of the interventional ablation device, or any contour point of the safe treatment area can be used as the puncture target point. Exemplarily, the computer device determines multiple puncture target points from the contour of the safe treatment area according to the ablation distance of the ablation needle.

[0078] Step S203: constructing a three-dimensional image based on the lesion area of ​​the target object, the safe treatment area, and the contour of the target object.

[0079] In an embodiment of the present application, the construction of a three-dimensional image can be performed after the outline of the target object, the outline of the lesion area, and the safe treatment area. After obtaining the outline of the target object, the outline of the lesion area, and the safe treatment area in each frame of two-dimensional slices, the two-dimensional contour points on each frame of two-dimensional slices are used to construct three-dimensional volume data to obtain a three-dimensional image. Each voxel represents a point in the three-dimensional volume data, and the voxel contains a density value or a label value to indicate whether the point belongs to the target object or the lesion. For the gaps between two-dimensional slices, Marchingcube can be used for interpolation processing to ensure the continuity and integrity of the three-dimensional volume data. The DICOM or NIFTI file contains information such as the image's direction matrix, pixel spacing, slice thickness, and origin position. This information is used to convert the image coordinates into three-dimensional coordinates in physical space and visualize the three-dimensional image.

[0080] Step S204: aligning the ultrasonic image of the target object acquired in real time with the three-dimensional image to obtain a registration transformation matrix and a three-dimensional image after registration fusion; the ultrasonic image is acquired through an ultrasonic probe; the registration transformation matrix is ​​used to indicate the spatial conversion relationship between the three-dimensional coordinate system corresponding to the three-dimensional image and the two-dimensional coordinate system corresponding to the ultrasonic image.

[0081] In some embodiments, the specific process of registering the three-dimensional image based on the real-time acquired ultrasound image of the target object to obtain the registered three-dimensional image is as follows: extracting feature points or key points from the ultrasound image and the three-dimensional image, and finding corresponding points in the ultrasound point cloud and the point cloud of the three-dimensional image; for each point in the ultrasound point cloud, calculating its nearest neighbor point in the three-dimensional image point cloud, and finding the point pair that minimizes the Euclidean distance; calculating the center of gravity of the ultrasound point cloud and the three-dimensional image point cloud of the matching point set; using the center of gravity of the matching point set, calculating the optimal rotation matrix and translation vector, and applying them to the ultrasound point cloud, rigidly transforming it, and generating a new point set; calculating the average distance between the transformed ultrasound point cloud and the three-dimensional image point cloud. By calculating the average Euclidean distance between the class point clouds, the registration effect of the current iteration is evaluated, and the iteration is judged whether it is finished according to the average Euclidean distance; using the non-rigid registration algorithm to further optimize the registration result, so that the registration result is more accurate. The finely registered ultrasound image and the three-dimensional image are fused to generate a registered three-dimensional image.

[0082] In the embodiment of the present application, the ultrasound probe is used to obtain images of the cross section (cross section) and / or sagittal section (longitudinal section) and display them on the screen in real time. The ultrasound probe may include but is not limited to a single-plane ultrasound probe and a dual-plane ultrasound probe.

[0083] Illustratively, the ultrasound probe may be a transrectal biplane intracavitary probe.

[0084] In the embodiment of the present application, the transverse plane (tra), also known as the horizontal plane or the axial plane, is used to indicate the section parallel to the horizontal plane and perpendicular to the vertical axis when the human body is standing upright. In medical imaging, the transverse image is obtained by collecting data parallel to the transverse plane during scanning imaging.

[0085] In the embodiments of the present application, the sagittal plane (sag), also called the longitudinal section or lateral section, is used to indicate the section passing through the sagittal axis and perpendicular to the coronal plane and the horizontal plane. The sagittal plane divides the human body into two symmetrical parts. In medical imaging, the sagittal plane image corresponds to the longitudinal section along the front-to-back direction of the human body, which can show the symmetrical structures on both sides of the body and their relative positional relationship.

[0086] In some embodiments, when the ultrasound probe is a dual-plane ultrasound probe, the computer device can transmit high-frequency sound waves through the ultrasound probe. When these sound waves propagate in human tissues and encounter different interfaces (such as tissues, organs, blood vessels, etc.), they will produce reflection, refraction, and scattering phenomena. The ultrasound probe receives these reflected sound wave signals and converts them into electrical signals. After computer processing, images in two different directions are obtained; that is, the cross-sectional image and sagittal image of the target object are obtained simultaneously.

[0087] In some embodiments, when the ultrasound probe is a single-plane ultrasound probe, multiple cross-sectional images of the target object can be acquired, and all the cross-sectional images are superimposed. The superimposed cross-sectional images are reconstructed through multi-plane reconstruction technology to obtain a three-dimensional model of the target object, and a sagittal image is obtained by cutting from the three-dimensional model.

[0088] Step S205: Displaying the cross-sectional image in the registered and fused three-dimensional image, the mapping point where the puncture point on the puncture plate is projected onto the cross-sectional image, and the imaging area of ​​the sagittal plane in the first display area.

[0089] In the embodiment of the present application, the puncture plate can be a positioning guide plate for assisting puncture surgery. A color ribbon and a plurality of puncture points (puncture holes) set at fixed intervals can be set on the puncture plate. The color ribbon is located between two adjacent puncture points, and the color ribbon can be set to different colors; medical staff can judge the position of the puncture point by simply observing the color ribbon, so as to find the puncture point corresponding to the target mapping point more intuitively, conveniently and accurately.

[0090] In some embodiments, the computer device can project the puncture point on the puncture plate onto the cross-sectional image according to the mapping relationship between the cross-sectional image and the puncture plate; the mapping relationship is used to indicate the mapping relationship between the coordinate data of the cross-sectional image and the coordinate data of the puncture point on the puncture plate. The computer device determines the mapping point closest to the puncture target point as the target mapping point. The puncture target point indicates the target puncture point of the safe treatment area on the target object determined by the computer device before registration; the target mapping point is for the interventional ablation device to perform puncture and / or ablation.

[0091] In some embodiments, the computer device projects the puncture points of the puncture plate onto the cross-sectional image, and can determine the mapping points located in the safe treatment area; the puncture points on the puncture plate correspond one to one with the mapping points in the cross-sectional image. For example, when the ultrasound probe and the puncture plate are orthogonal, the schematic diagram of the projected cross-sectional image is as follows: Figure 3 shown. Figure 3 The mid-sectional image includes the anterior fibromuscular stroma (AS), central zone (CZ), anterior peripheral zone (PZa), posterior peripheral zone (PZpl), anterior transition zone (TZa), posterior transition zone (TZp), and safe treatment area (P_tumor) of the target object.

[0092] In some embodiments, the imaging region representing the sagittal plane in the cross-sectional image is a centerline (symmetry axis) region in the cross-sectional image. Figure 3 The middle safe treatment area includes 6 target mapping points, and none of the target mapping points is located on the centerline area.

[0093] Step S206: In response to the rotation operation of the ultrasound probe, the cross-sectional image, the mapping points, and the imaging area of ​​the sagittal plane are updated in the first display area in real time according to the rotation operation.

[0094] In some embodiments, when the target mapping point of the current puncture is not located in the imaging area of ​​the sagittal plane in the first display area, the computer device rotates the ultrasound probe until the target mapping point of the current puncture is located in the imaging area of ​​the sagittal plane. During the rotation process, the computer device can scan and display the first display area in real time through the ultrasound probe, and the first display area updates the cross-sectional image, the mapping point of the puncture target point, and the imaging area of ​​the sagittal plane in real time according to the rotation operation, and displays the updated cross-sectional image, mapping point, and the imaging area of ​​the sagittal plane in the first display area.

[0095] For example, Figure 3 As shown, Figure 3 is the cross-sectional image before the ultrasound probe is rotated, when the ultrasound probe and the puncture plate are orthogonal; assuming that the target mapping point of this puncture is E3, E3 is located on the right side of the imaging area of ​​the sagittal plane in the cross-sectional image. Figure 4 As shown, Figure 4 It is a schematic diagram of a cross-sectional image after the ultrasound probe is rotated. At this time, the ultrasound probe and the puncture plate are not orthogonal, and E3 is located in the imaging area of ​​the sagittal plane in the cross-sectional image. Figure 4 The mid-sectional image includes the anterior fibromuscular stroma (AS), central zone (CZ), anterior peripheral zone (PZa), posterior peripheral zone (PZpl), anterior transition zone (TZa), posterior transition zone (TZp), and safe treatment area (P_tumor) of the target object.

[0096] Step S207: When any target mapping point is located in the imaging area of ​​the sagittal plane in the cross-sectional image, the relative position of the target mapping point located in the imaging area of ​​the sagittal plane in the sagittal plane image is displayed in the second display area; the target mapping point indicates the mapping point closest to the puncture target point.

[0097] In some embodiments, Figure 5 As shown, the target object is the prostate. Figure 5 Schematic diagram of cross-sectional and sagittal images of the prostate. Figure 5The device includes a first display area and a second display area, wherein the first display area is used to display a cross-sectional image, and the second display area is used to display a sagittal image; wherein the cross-sectional image in the first display area includes the anterior fibromuscular layer (AFS), transition zone (TZ), central zone (CZ) and ejaculatory duct (EJD) of the prostate; and the sagittal image in the second display area includes the anterior fibromuscular layer (AFS) and peripheral zone (PZ) of the prostate. When any target mapping point is located in the imaging area of ​​the sagittal plane on the cross-sectional image in the first display area, the second display area synchronously displays the relative position of the same target mapping point in the sagittal image. The computer device can synchronously and real-time display the target mapping point of the current puncture in the sagittal image of the second display area by rotating the ultrasound probe until the target mapping point of the current puncture is located in the imaging area of ​​the sagittal plane in the cross-sectional image.

[0098] The computer device and system for implementing puncture guidance as described above, by determining a safe treatment area that encloses the lesion area of ​​the target object; determining multiple puncture target points in the safe treatment area, when there is a lesion outside the determined lesion area of ​​the target object, multiple puncture target points can be determined in the safe treatment area that encloses the lesion area to guide the interventional ablation device to perform puncture and / or ablation. Moreover, in response to the rotation operation of the ultrasound probe, during the rotation of the ultrasound probe, information such as the cross-sectional image, mapping points, and the imaging area of ​​the sagittal plane can be updated in real time. When any target mapping point coincides with the imaging area of ​​the sagittal plane, the relative position of the target mapping point located on the imaging area of ​​the sagittal plane in the sagittal plane image can be displayed in the second display area; thereby achieving that the same target mapping point can be displayed simultaneously in the cross-sectional image and the sagittal plane image. On the one hand, the puncture position of each puncture can be accurately determined with relatively high accuracy and stability, reducing the occurrence of multiple punctures due to inaccurate puncture positions; on the other hand, there is no need to repeatedly move the ultrasound probe to observe the puncture position for each puncture. After the last puncture, the ultrasound probe can be directly rotated to the next target mapping point for puncture, which simplifies the operation, saves time and improves puncture efficiency.

[0099] In some embodiments, the lesion area is a two-dimensional lesion area; and determining a safe treatment area that encloses the lesion area of ​​the target object includes:

[0100] 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;

[0101] 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;

[0102] 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;

[0103] Based on the multiple two-dimensional safe treatment areas, a three-dimensional safe treatment area is generated.

[0104] In the embodiment of the present application, the multiple frames of two-dimensional images of the target object refer to medical imaging data obtained by scanning the target object from the sagittal plane, coronal plane and / or cross-section of the target object.

[0105] In some embodiments, the two-dimensional image of the lesion area can be obtained by segmentation model or manual recognition. For example, multiple frames of two-dimensional images where the target object is located 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.

[0106] In some embodiments, 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 2mm to 8mm, any value between 2mm and 8mm 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.

[0107] In some embodiments, the initial safety area is generated by: 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 a 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.

[0108] In some embodiments, the contour of the target object can be determined by a segmentation model or manually identified. For example, multiple frames of two-dimensional images containing the target object 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.

[0109] In some embodiments, 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 puncture target planning is based on the safe treatment area, if the initial safety area exceeds the outline of the target object, the puncture target will be 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 puncture targets are all in the safe treatment area, that is, the planned puncture targets are all inside 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 shown in FIG. Figure 6 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 7 shown.

[0110] In some embodiments, the method of obtaining a 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. 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 the three-dimensional safe treatment area is obtained based on the triangulated mesh.

[0111] 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.

[0112] In one embodiment, generating a three-dimensional safe treatment area based on multiple two-dimensional safe treatment areas includes:

[0113] Determine the first frame image and the last frame image in the two-dimensional image where the two-dimensional lesion area exists.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] In some embodiments, 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 of the two-dimensional lesion area is the first frame image, and the last frame 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.

[0118] Exemplarily, the calculation method of n in the first n two-dimensional image frames and the next n two-dimensional image frames may be:

[0119]

[0120] 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.

[0121] In some embodiments, 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 conducive to the three-dimensional reconstruction of the safe treatment area.

[0122] In some embodiments, 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.

[0123] 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, needle layout planning based on a three-dimensional safe treatment area helps to determine the best puncture target, thereby avoiding sensitive structures such as blood vessels and nerves and reducing the risk of complications.

[0124] 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.

[0125] In this embodiment, by replacing the outline of the excess portion in the initial safe area with the outline of the target object, it can be ensured that the planned puncture target points are all in the safe treatment area, that is, it can be ensured that the planned puncture target points are all within the outline of the target object and will not exceed the outline of the target object.

[0126] In some embodiments, the lesion area is a three-dimensional lesion area; and determining a safe treatment area that encloses the lesion area of ​​the target object includes:

[0127] 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;

[0128] 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;

[0129] Based on each of the target points, a safe treatment area is obtained that encloses the three-dimensional lesion area of ​​the target object.

[0130] In some embodiments, the second distance is the distance that the contour point on the surface of the three-dimensional lesion area needs to move from the current position. The coordinates of the three-dimensional target point after the contour point moves along the unit normal vector according to the second distance can be obtained by Get, where (x', y', z') is the coordinate of the three-dimensional target point after the contour point moves, (x, y, z) is the three-dimensional coordinate before the contour point moves, (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.

[0131] In some embodiments, 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 a contour point ,in Represents the nth contour point of the mth plane of the three-dimensional lesion area. 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. 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 .

[0132] In some embodiments, 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.

[0133] 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.

[0134] In an embodiment of the present application, 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, puncture target planning can be performed on the positive sites outside the lesion area, so as to perform ablation treatment on the positive sites outside the lesion area and improve the effectiveness of ablation.

[0135] In some embodiments, obtaining a second distance moved by each contour point along the unit normal vector includes:

[0136] Presetting an initial moving distance of each of the contour points along the unit normal vector;

[0137] 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;

[0138] Determine a target ray consisting of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point;

[0139] 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.

[0140] In some embodiments, 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.

[0141] In some embodiments, the three-dimensional coordinates of each contour point can be obtained by the two-dimensional coordinates of the contour point in the two-dimensional image and the space transformation matrix. For example, the three-dimensional coordinates of the temporary point after the contour point moves along the unit normal vector can be obtained by Get, where is the three-dimensional coordinate of the temporary point after the contour point moves, is the three-dimensional coordinate of the contour point before moving, is the unit normal vector of the contour point, is the initial moving distance.

[0142] Exemplarily, 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.

[0143] In some embodiments, the contour of the target object refers to a three-dimensional contour. The unit normal vector of the target point is always within the contour of the target object. If the temporary point is outside the contour of the target object, then the target ray formed by the temporary point and the unit normal vector of the target 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 within 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 within the safe treatment area or the contour of the target object, so that no damage can be caused to other objects 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.

[0144] In some embodiments, the adjustment of the initial moving distance can be achieved by changing a fixed value or changing an arbitrary value. For example, when the temporary point is determined to be outside the outline of the target object by the number of intersections, the fixed value is increased / decreased or an arbitrary value is increased / decreased on the basis of the initial moving distance, so that the adjustment of the initial moving distance can be achieved. 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 outline 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 outline 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 outline of the target object is an odd number, and the adjusted initial moving distance is the second distance.

[0145] 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.

[0146] In an embodiment of the present application, 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 puncture target points do not exceed the contour of the target object, thereby not damaging other normal tissues during puncture and / or ablation.

[0147] In some embodiments, determining a plurality of puncture target points in the safe treatment area comprises:

[0148] Determine a comprehensive safety area for the lesion area of ​​the target object according to the safe treatment area; the comprehensive safety area is a two-dimensional area;

[0149] 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;

[0150] In the contour of each sub-region, any contour point of the sub-region is respectively used as the first puncture target point, and the next puncture target point is determined according to the ablation distance and the position of the first puncture target point, until the puncture target points are evenly distributed throughout the sub-region.

[0151] In some embodiments, the computer device can project the three-dimensional safe treatment area directly into a two-dimensional plane to obtain a comprehensive safe area.

[0152] In one embodiment, determining a comprehensive safety area for a lesion area of ​​a target object includes:

[0153] Obtain a three-dimensional safe treatment area. The three-dimensional safe treatment area is an area that encompasses the lesion area of ​​the target object;

[0154] Slice the three-dimensional safe treatment area to obtain multiple two-dimensional safe treatment areas;

[0155] Multiple two-dimensional safe treatment areas are projected onto the same two-dimensional plane to obtain a comprehensive safe area for the target object.

[0156] In the embodiment of the present application, 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 each contour point on the surface of the three-dimensional lesion area is moved.

[0157] In some embodiments, when the computer device slices the three-dimensional safe treatment area, it slices 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.

[0158] 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 method of extracting the two-dimensional safe treatment area includes but is not limited to using a U-type network to extract. The image of the two-dimensional safe treatment area extracted by the U-type network can be a binary image, which can more intuitively distinguish the safe treatment area and the unsafe treatment area on the two-dimensional image. It should be noted that 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 after taking the union of multiple two-dimensional safe treatment areas.

[0159] 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.

[0160] In the embodiment of the present application, the size information includes but is not limited to at least one of the area, contour circumference and diameter of the comprehensive safety area.

[0161] In some embodiments, the block processing of the comprehensive security area according to the size information may be to divide the comprehensive security area into blocks according to the area of ​​the comprehensive security area, to divide the comprehensive security area into blocks according to the contour perimeter of the comprehensive security area, or to divide the comprehensive security area into blocks according to the diameter of the comprehensive security area. For example, the total area of ​​the comprehensive security area is S, and it is preset to be divided into a plurality of sub-areas of area s. When performing the block processing, the computer device divides the comprehensive security area into a plurality of sub-areas of area s according to the area S of the comprehensive security area.

[0162] In the embodiment of the present application, the interventional ablation device is a device that transmits energy to the lesion of the target object through a catheter or other small device to destroy the lesion. The interventional ablation device includes but is not limited to at least one of a radiofrequency ablation device, a microwave ablation device, a cryoablation device, and a chemical ablation device.

[0163] In the embodiment of the present application, the ablation distance of the interventional ablation device is used to indicate 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.

[0164] 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.

[0165] Optionally, the computer device divides the comprehensive safety area into blocks according to the area, or the perimeter, or the diameter of the comprehensive safety area to obtain a plurality of sub-areas.

[0166] In some embodiments, the first puncture target 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 a computer device so that it can be obtained when compared with the puncture target point. The avoidance position can be identified by static medical images taken before surgery. Static medical images may include but are not limited to X-ray imaging, computerized tomography (CT) imaging and nuclear magnetic resonance imaging (MRI) imaging. By comparing the position of the first puncture target point with each avoidance position, it can be determined whether the first puncture target point coincides with the avoidance position. Thereby, needle arrangement planning at the avoidance position can be avoided, and damage to important parts and tissues of the target object can be avoided.

[0167] In some embodiments, the distance between the next puncture target point and the first puncture target point is less than or equal to the ablation distance of the interventional ablation device. This ensures that when the interventional ablation device performs puncture and / or ablation according to the puncture target point, 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 area, thereby improving the effectiveness of ablation.

[0168] In some embodiments, the position of the next puncture target point may be located on the outline of the sub-region or inside the sub-region.

[0169] In some embodiments, the puncture target planning of each sub-area can be performed simultaneously, which can reduce the time required for puncture target planning for the comprehensive safety area and improve the efficiency of puncture target planning, thereby enabling rapid ablation treatment of the comprehensive safety area of ​​the target object and improving the efficiency of ablation treatment.

[0170] Optionally, the computer device determines any contour point in the contour of each sub-region that does not overlap with the avoidance position of the target object as the first puncture target point. The computer device determines the point in the sub-region whose distance from the first puncture target point is less than or equal to the ablation distance as the next puncture target point based on the position of the first puncture target point and the ablation distance of the ablation device. In some embodiments, in the contour of each sub-region, any contour point of the sub-region is respectively used as the first puncture target point, and the next puncture target point is determined based on the ablation distance and the position of the first puncture target point until the puncture target points are evenly distributed in the sub-region, including:

[0171] In each of the sub-areas, any contour point of the sub-area is used as the first puncture target point;

[0172] Based on the position of the first puncture target point and the ablation distance, determining a candidate puncture target point in the sub-region; the distance between the candidate puncture target point and the first puncture target point is less than or equal to the ablation distance;

[0173] When the candidate puncture target point coincides with the avoidance position of the target object, the candidate puncture target point is adjusted until the adjusted candidate puncture target point does not coincide with the avoidance position, and the adjusted candidate puncture target point is determined as the next puncture target point.

[0174] In some embodiments, the first puncture target point determined in each sub-region does not overlap with the avoidance position of the target object. The candidate puncture target 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 puncture target point as the center and the ablation distance of the interventional ablation device as the radius, and the candidate puncture target point can be determined in the area where the circle overlaps with the sub-region. The overlapping area for determining the candidate puncture target point is as follows: Figure 8 shown.

[0175] In some embodiments, the avoidance position refers to a position in the target object where needle placement is not possible. The avoidance position includes, but is not limited to, various important parts and tissues. By comparing the position of the candidate puncture target point with each avoidance position, it can be determined whether the candidate puncture target point coincides with the avoidance position. The adjusted puncture target point should also not coincide with the avoidance position, and the distance between the adjusted puncture target point and the first puncture target point should be less than or equal to the ablation distance of the interventional ablation device. For example, when the determined candidate puncture target point coincides with the avoidance position, the position that is closer to the first puncture target point and does not coincide with the avoidance position is determined as the position of the candidate puncture target point.

[0176] In some embodiments, when the candidate puncture target point does not overlap with the avoidance position, the candidate puncture target point can be directly determined as the next puncture target point. Furthermore, through the next puncture target point and the ablation distance of the interventional ablation device, a puncture target point can be determined again until the puncture target points are evenly distributed throughout the entire sub-area and there are no overlapping puncture target points. For example, first, a circle A is drawn with the selected first puncture target 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 puncture target 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. When the next intersection b does not overlap with the avoidance position, the next intersection b is the re-determined puncture target point until the puncture target points are evenly distributed throughout the entire sub-area and there are no overlapping puncture target points.

[0177] Optionally, in each sub-region, the computer device uses any contour point in the boundary of the sub-region as the first puncture target point, and determines in the sub-region a candidate puncture target point whose distance from the first puncture target point is less than or equal to the ablation distance. The computer device compares the candidate puncture target point with each pre-stored avoidance position. When the candidate puncture target point coincides with one of the avoidance positions, the computer adjusts the candidate puncture target point, and when the adjusted candidate puncture target point does not coincide with any of the avoidance positions, the computer determines the adjusted candidate puncture target point as the next puncture target point, wherein the distance between the adjusted candidate puncture target point and the first puncture target point is less than or equal to the ablation distance, and the replaced candidate puncture target point is also located in the sub-region. When the candidate puncture target point does not coincide with the avoidance position of the target object, the computer device directly determines the candidate puncture target point as the next puncture target point.

[0178] In some embodiments, the computer device obtains the tissue dielectric characteristic parameters of the electrode of the interventional ablation device in multiple 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 puncture target planning scheme to analyze the response of each target object to the electric field and obtain simulation results; the current puncture target planning scheme includes the positions of each puncture target determined based on the ablation distance, the first puncture target, and the avoidance position. The computer device adjusts the puncture target to optimize the electric field distribution according to the simulation results, and obtains a new puncture target planning scheme, and the new puncture target planning scheme includes the adjusted positions of each puncture target. Among them, the computer device adjusts the puncture target to optimize the electric field distribution according to the simulation results, which can be achieved by reallocating the puncture target, increasing or reducing the puncture target. One or more of the above can ensure that the lesions in the target object are subjected to sufficient electric field strength while reducing damage to normal tissues.

[0179] In the embodiment of the present application, by determining the comprehensive safety area for the lesion area of ​​the target object, the comprehensive safety area is divided into blocks according to the size information of the comprehensive safety area to obtain multiple sub-areas, and the ablation distance of the interventional ablation device is obtained, so that the puncture target planning of each sub-area can be carried out simultaneously, which can improve the efficiency of puncture target 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 puncture target point, and the next puncture target point is determined according to the ablation distance and the position of the first puncture target point, until the puncture target points are evenly distributed in the sub-area, so that the efficiency of ablation treatment can be further improved, and the lesion area of ​​the target object can also be thoroughly ablated, thereby improving the effectiveness of ablation and reducing the occurrence of lesion ablation again due to incomplete ablation.

[0180] In some embodiments, when the processor executes the computer program, the processor further implements the following steps:

[0181] When the ultrasonic probe and the puncture plate are orthogonal, the sensor coordinates, the first matrix and the second matrix of the positioning sensor in the corresponding space coordinate system are obtained through the positioning sensor connected to the ultrasonic probe; the first matrix is ​​a matrix determined according to the sensor coordinate transformation; the second matrix is ​​used to represent the first position transformation relationship between the positioning sensor and the ultrasonic probe;

[0182] Determine a second position conversion relationship between the two-dimensional coordinate system and a spatial coordinate system corresponding to a positioning sensor connected to the ultrasound probe according to the sensor coordinates, the first matrix and / or the second matrix;

[0183] When any one of the target mapping points is located in the imaging area of ​​the sagittal plane in the cross-sectional image, displaying in the second display area the relative position of the target mapping point located in the imaging area of ​​the sagittal plane in the sagittal plane image, comprises:

[0184] Determining coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system according to the second position conversion relationship;

[0185] Determining target coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the three-dimensional coordinate system according to the coordinate data and the registration transformation matrix;

[0186] The relative position of the target mapping point in the sagittal plane image at the relative position of the imaging area of ​​the sagittal plane is displayed in the second display area according to the target coordinate data.

[0187] For example, Fig. 9 As shown, Fig. 9 This is a schematic diagram showing the puncture plate and the ultrasound probe being orthogonal.

[0188] For example, when the ultrasound probe is rotated, Fig.10 As shown, Fig.10 This is a schematic diagram of the display after the ultrasound probe is rotated. At this time, the ultrasound probe and the puncture plate are in a non-orthogonal state.

[0189] Exemplarily, the sensor coordinates may be: ; A calculation method to determine the first matrix is: ;in, Indicates the rotational position matrix of the positioning sensor in the spatial coordinate system; the computer device can determine the second matrix in advance by measurement and / or calibration .

[0190] In some embodiments, the positioning sensor may be an electromagnetic tracker, and the spatial coordinate system may be a magnetic field coordinate system; the electromagnetic tracker senses the magnetic field and can calculate the coordinate information of the puncture plate and / or the guided ablation device in the magnetic field coordinate system. Alternatively, the positioning sensor may be an optical tracker, and the spatial coordinate system may be a three-dimensional coordinate system; by attaching a marker to the surgical instrument, the optical tracker illuminates the target object with infrared light, and then the infrared light is reflected from the marker back to the infrared sensor on the optical tracker, and the intersection of the light rays can be used to triangulate the three-dimensional coordinates of the marker of the target object.

[0191] In the embodiment of the present application, the position conversion relationship may indicate the coordinate data conversion between two coordinate systems. For example, the second position conversion relationship may be a conversion from a two-dimensional coordinate system to a spatial coordinate system, or from a spatial coordinate system to a two-dimensional coordinate system.

[0192] Exemplarily, a method for determining target coordinate data of a target mapping point in a three-dimensional coordinate system is: in, indicates the registration transformation matrix; Indicates the coordinate data of the target mapping point in the two-dimensional coordinate system; Indicates the target coordinate data of the target mapping point in the three-dimensional coordinate system.

[0193] In some embodiments, the computer device can update the coordinate data of any target mapping point in the two-dimensional coordinate system in the updated cross-sectional image in real time according to the second position conversion relationship, so as to accurately determine the coordinate data of the target mapping point located in the imaging area of ​​the sagittal plane during the puncture (i.e., the target mapping point of the puncture) in the three-dimensional coordinate system.

[0194] In an embodiment of the present application, by determining the second position conversion relationship between the two-dimensional coordinate system and the spatial coordinate system corresponding to the positioning sensor connected to the ultrasound probe when the ultrasound probe is orthogonal to the puncture plate, the coordinate data of any target mapping point in the two-dimensional coordinate system in the updated cross-sectional image can be updated in real time during the rotation of the ultrasound probe according to the second position conversion relationship, thereby achieving precise positioning of the puncture position and improving the precision and accuracy of the puncture guidance.

[0195] In some embodiments, determining the second position conversion relationship between the two-dimensional coordinate system and the spatial coordinate system corresponding to the positioning sensor connected to the ultrasound probe according to the sensor coordinates, the first matrix and / or the second matrix includes any one of the following:

[0196] The first method: obtaining the first coordinate of the target mapping point in the two-dimensional coordinate system, and determining the second coordinate of the target mapping point in the spatial coordinate system according to the first matrix, the second matrix and the first coordinate; establishing the second position conversion relationship according to the first coordinate and the second coordinate;

[0197] The second method: obtaining the vertex coordinates of the vertices of the cross-sectional image in the spatial coordinate system according to the first matrix, the second matrix and the size of the cross-sectional image; determining the second coordinates of the target mapping point in the spatial coordinate system according to the first coordinates and the vertex coordinates; establishing the second position conversion relationship according to the first coordinates and the second coordinates.

[0198] Exemplarily, a first method of determining the second coordinate according to the first matrix, the second matrix and the first coordinate may be: ;in, Indicates the first matrix; Indicates the second matrix; Indicates the second coordinate of the target mapping point in the two-dimensional coordinate system in the cross-sectional image.

[0199] For example, Fig.11 As shown, Fig.11 A method for calculating the vertex coordinates of the vertices of the cross-sectional image in a spatial coordinate system includes:

[0200]

[0201] in, Indicates the first matrix; Indicates the second matrix; Indicates the length of the cross-sectional image; Indicates the width of the cross-sectional image; Indicates the coordinates of the upper left vertex in the cross-sectional image; Indicates the coordinates of the upper right vertex in the cross-sectional image; Indicates the coordinates of the lower left vertex in the cross-sectional image; Indicates the coordinates of the lower right vertex in the cross-sectional image.

[0202] Exemplarily, the second method of determining the second coordinate according to the first coordinate and the vertex coordinate includes:

[0203]

[0204] in, Indicates the coordinates of the upper left vertex in the cross-sectional image; Indicates the coordinates of the upper right vertex in the cross-sectional image; Indicates the coordinates of the lower left vertex in the cross-sectional image; , Indicates the first coordinate of the target mapping point in the two-dimensional coordinate system in the cross-sectional image.

[0205] In some embodiments, the two methods of determining the second coordinate in the above embodiments determine the conversion relationship between the first coordinate in the two-dimensional coordinate system and the second coordinate in the spatial coordinate system, thereby establishing a second position conversion relationship; based on the second position conversion relationship, the spatial position conversion between the two coordinate systems can be achieved.

[0206] In an embodiment of the present application, a second position conversion relationship between the two-dimensional coordinate system corresponding to the ultrasound image and the spatial coordinate system of the positioning sensor can be accurately established in a variety of ways, thereby eliminating the need to move the ultrasound probe to the center position after each rotation of the ultrasound probe, thereby simplifying operations and improving efficiency.

[0207] In some embodiments, determining the coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system according to the second position conversion relationship includes:

[0208] Updating the second matrix of the positioning sensor in the spatial coordinate system to a third matrix; the third matrix is ​​used to represent a third position conversion relationship between the positioning sensor and the rotated ultrasound probe;

[0209] According to the second coordinates of the target mapping point located on the imaging area of ​​the sagittal plane and the third matrix, the coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system corresponding to the updated cross-sectional image is determined using the second position transformation relationship.

[0210] Exemplarily, a method of updating a first coordinate of a target mapping point located in an imaging area of ​​a sagittal plane in a two-dimensional coordinate system includes:

[0211]

[0212] in, Indicates the third matrix; indicating a second coordinate of a target mapping point; Indicates the horizontal coordinate in the first coordinate; Indicates the vertical coordinate in the first coordinate; Indicates the first coordinate.

[0213] In an embodiment of the present application, after rotating the ultrasound probe, the computer device can update the first coordinate of the target mapping point on the updated cross-sectional image through the second position conversion relationship between the two-dimensional coordinate system corresponding to the ultrasound image and the spatial coordinate system corresponding to the positioning sensor connected to the ultrasound probe, while keeping the second coordinate of the target mapping point unchanged, thereby achieving precise positioning of the target mapping point and improving the accuracy and precision of puncture guidance.

[0214] In the embodiments of the present application, the following provides specific examples in combination with any of the above embodiments:

[0215] Specific example 1: Fig.12 As shown, Fig.12 A flowchart of implementing puncture guidance for a computer device; when a processor in the computer device executes a computer program, the following steps are implemented:

[0216] S100, determining a safe treatment area covering the lesion area of ​​the target object, and determining a comprehensive safe area based on the safe treatment area.

[0217] In an optional embodiment, 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 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 outline of the initial safe area exceeds the outline of the target object, the computer device replaces the outline of the excess part of the initial safe area with the outline 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.

[0218] In an optional embodiment, 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.

[0219] S200, determining a plurality of puncture target points in the comprehensive safety area.

[0220] In an optional embodiment, the computer device divides the comprehensive safety area into blocks according to the area, contour 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. In each sub-area, the computer device takes any contour point in the boundary of the sub-area as the first puncture target point, and determines in the sub-area a candidate puncture target point whose distance from the first puncture target point is less than or equal to the ablation distance. The computer device compares the candidate puncture target point with each pre-stored avoidance position. When the candidate puncture target point coincides with one of the avoidance positions, the computer adjusts the candidate puncture target point, and when the adjusted candidate puncture target point does not coincide with each avoidance position, the adjusted candidate puncture target point is determined as the next puncture target point, wherein the distance between the adjusted candidate puncture target point and the first puncture target point is less than or equal to the ablation distance, and the replaced candidate puncture target point is also located in the sub-area. When the candidate puncture target point does not overlap with the avoidance position of the target object, the computer device directly determines the candidate puncture target point as the next puncture target point until the puncture target points are evenly distributed in the sub-area.

[0221] S300, constructing a three-dimensional image based on the lesion area of ​​the target object, the safe treatment area, and the contour of the target object.

[0222] S400, registering the ultrasonic image of the target object acquired in real time with the three-dimensional image to obtain a registration transformation matrix and a registered fused three-dimensional image.

[0223] In an optional embodiment, the registration transformation matrix is ​​used to indicate the spatial conversion relationship between the two-dimensional coordinate system corresponding to the ultrasound image and the three-dimensional coordinate system corresponding to the three-dimensional image.

[0224] S500: When the ultrasonic probe and the puncture plate are orthogonal to each other, determine a second position conversion relationship between the two-dimensional coordinate system and the spatial coordinate system corresponding to the positioning sensor.

[0225] In an optional embodiment, when the ultrasound probe and the puncture plate are orthogonal, the puncture point on the puncture plate is projected onto the cross-sectional image; the projected mapping point on the cross-sectional image can accurately guide the puncture operation of the target object. The computer device obtains the sensor coordinates, the first matrix and the second matrix of the positioning sensor in the corresponding spatial coordinate system through the positioning sensor connected to the ultrasound probe; the first matrix is ​​a matrix determined according to the sensor coordinate transformation; the second matrix is ​​used to characterize the first position transformation relationship between the positioning sensor and the ultrasound probe; according to the sensor coordinates, the first matrix and / or the second matrix, the second position transformation relationship between the two-dimensional coordinate system and the spatial coordinate system corresponding to the positioning sensor is determined.

[0226] S600, displaying in a first display area a cross-sectional image in the registered and fused three-dimensional image, a mapping point where a puncture point on a puncture plate is projected onto the cross-sectional image, and an imaging area on a sagittal plane.

[0227] S700 , in response to a rotation operation of the ultrasound probe, updating the cross-sectional image, the mapping points, and the imaging area of ​​the sagittal plane in the first display area in real time according to the rotation operation.

[0228] S800, when any target mapping point is located in the imaging area of ​​the sagittal plane in the cross-sectional image, the relative position of the target mapping point located in the imaging area of ​​the sagittal plane in the sagittal plane image is displayed in the second display area.

[0229] In an optional embodiment, the target mapping point indicates the mapping point closest to the puncture target point. When the target mapping point of the current puncture is located in the imaging area of ​​the sagittal plane on the cross-sectional image, the rotation of the ultrasound probe can be stopped; the coordinate data of the target mapping point of the current mapping in the two-dimensional coordinate system is updated through the second position conversion relationship; the target coordinate data of the target mapping point of the current puncture in the three-dimensional coordinate system is determined according to the registration transformation matrix and the updated coordinate data of the target mapping point of the current mapping; and the relative position of the target mapping point of the current mapping in the sagittal plane image is displayed in the second display area according to the target coordinate data.

[0230] The computer device and system for implementing puncture guidance as described above, by determining a safe treatment area that encloses the lesion area of ​​the target object; determining multiple puncture target points in the safe treatment area, when there is a lesion outside the determined lesion area of ​​the target object, multiple puncture target points can be determined in the safe treatment area that encloses the lesion area to guide the interventional ablation device to perform puncture and / or ablation. Moreover, in response to the rotation operation of the ultrasound probe, during the rotation of the ultrasound probe, information such as the cross-sectional image, mapping points, and the imaging area of ​​the sagittal plane can be updated in real time. When any target mapping point coincides with the imaging area of ​​the sagittal plane, the relative position of the target mapping point located on the imaging area of ​​the sagittal plane in the sagittal plane image can be displayed in the second display area; thereby achieving that the same target mapping point can be displayed simultaneously in the cross-sectional image and the sagittal plane image. On the one hand, the puncture position of each puncture can be accurately determined with relatively high accuracy and stability, reducing the occurrence of multiple punctures due to inaccurate puncture positions; on the other hand, there is no need to repeatedly move the ultrasound probe to observe the puncture position for each puncture. After the last puncture, the ultrasound probe can be directly rotated to the next target mapping point for puncture, which simplifies the operation, saves time and improves puncture efficiency.

[0231] 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.

[0232] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.13As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for detecting the safety of high-altitude operations is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0233] Those skilled in the art will understand that Fig.13 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.

[0234] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0239] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A computer device for implementing puncture guidance, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the following steps are implemented: Determine a safe treatment area that encompasses the lesion area of ​​the target subject; determining a plurality of puncture target points in the safe treatment area; constructing a three-dimensional image based on the lesion area of ​​the target object, the safe treatment area, and the contour of the target object; The ultrasound image of the target object acquired in real time is registered with the three-dimensional image to obtain a registration transformation matrix and a three-dimensional image after registration fusion; the ultrasound image is acquired by an ultrasound probe; the registration transformation matrix is ​​used to indicate the spatial conversion relationship between the three-dimensional coordinate system corresponding to the three-dimensional image and the two-dimensional coordinate system corresponding to the ultrasound image; Displaying in the first display area the cross-sectional image in the registered and fused three-dimensional image, the mapping point where the puncture point on the puncture plate is projected on the cross-sectional image, and the imaging area of ​​the sagittal plane; In response to the rotation operation of the ultrasound probe, updating the cross-sectional image, the mapping points, and the imaging area of ​​the sagittal plane in the first display area in real time according to the rotation operation; When any target mapping point is located in the imaging area of ​​the sagittal plane in the cross-sectional image, the second display area displays the relative position of the target mapping point located in the imaging area of ​​the sagittal plane in the sagittal image; the target mapping point indicates the mapping point closest to the puncture target point.

2. The computer device according to claim 1, characterized in that The lesion area is a two-dimensional lesion area; the step of determining a safe treatment area that encloses the lesion area of ​​the target object 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.

3. The computer device according to claim 1, characterized in that The lesion area is a three-dimensional lesion area; the step of determining a safe treatment area that encloses 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 that encloses the three-dimensional lesion area of ​​the target object is obtained.

4. The computer device according to claim 3, 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.

5. The computer device according to claim 1, characterized in that Determining a plurality of puncture target points in the safe treatment area comprises: Determine a comprehensive safety area for the lesion area of ​​the target object according to the safe treatment area; 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-region, any contour point of the sub-region is respectively used as the first puncture target point, and the next puncture target point is determined according to the ablation distance and the position of the first puncture target point, until the puncture target points are evenly distributed throughout the sub-region.

6. The computer device according to claim 5, characterized in that In the contour of each sub-region, any contour point of the sub-region is respectively used as the first puncture target point, and the next puncture target point is determined according to the ablation distance and the position of the first puncture target point until the puncture target points are evenly distributed in the sub-region, including: In each of the sub-areas, any contour point of the sub-area is used as the first puncture target point; Based on the position of the first puncture target point and the ablation distance, determining a candidate puncture target point in the sub-region; the distance between the candidate puncture target point and the first puncture target point is less than or equal to the ablation distance; When the candidate puncture target point coincides with the avoidance position of the target object, the candidate puncture target point is adjusted until the adjusted candidate puncture target point does not coincide with the avoidance position, and the adjusted candidate puncture target point is determined as the next puncture target 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: When the ultrasonic probe and the puncture plate are orthogonal, the sensor coordinates, the first matrix and the second matrix of the positioning sensor in the corresponding space coordinate system are obtained through the positioning sensor connected to the ultrasonic probe; the first matrix is ​​a matrix determined according to the sensor coordinate transformation; The second matrix is ​​used to represent a first position conversion relationship between the positioning sensor and the ultrasound probe; Determine a second position conversion relationship between the two-dimensional coordinate system and a spatial coordinate system corresponding to a positioning sensor connected to the ultrasound probe according to the sensor coordinates, the first matrix and / or the second matrix; When any one of the target mapping points is located in the imaging area of ​​the sagittal plane in the cross-sectional image, displaying the relative position of the target mapping point located in the imaging area of ​​the sagittal plane in the sagittal plane image in the second display area includes: Determining coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system according to the second position conversion relationship; Determining target coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the three-dimensional coordinate system according to the coordinate data and the registration transformation matrix; The relative position of the target mapping point in the sagittal plane image at the relative position of the imaging area of ​​the sagittal plane is displayed in the second display area according to the target coordinate data.

8. The computer device according to claim 7, characterized in that Determining, according to the sensor coordinates, the first matrix and / or the second matrix, a second position conversion relationship between the two-dimensional coordinate system and a spatial coordinate system corresponding to the positioning sensor connected to the ultrasound probe includes any one of the following: The first method: obtaining the first coordinate of the target mapping point in the two-dimensional coordinate system, and determining the second coordinate of the target mapping point in the spatial coordinate system according to the first matrix, the second matrix and the first coordinate; establishing the second position conversion relationship according to the first coordinate and the second coordinate; The second method: obtaining the vertex coordinates of the vertices of the cross-sectional image in the spatial coordinate system according to the first matrix, the second matrix and the size of the cross-sectional image; determining the second coordinates of the target mapping point in the spatial coordinate system according to the first coordinates and the vertex coordinates; establishing the second position conversion relationship according to the first coordinates and the second coordinates.

9. The computer device according to claim 8, characterized in that Determining the coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system according to the second position conversion relationship includes: Updating the second matrix of the positioning sensor in the spatial coordinate system to a third matrix; the third matrix is ​​used to represent a third position conversion relationship between the positioning sensor and the rotated ultrasound probe; According to the second coordinates of the target mapping point located on the imaging area of ​​the sagittal plane and the third matrix, the coordinate data of the target mapping point located on the imaging area of ​​the sagittal plane in the two-dimensional coordinate system corresponding to the updated cross-sectional image is determined using the second position transformation relationship.

10. A puncture guide system, characterized in that: include: The computer device, ultrasound probe, interventional ablation device, puncture plate and navigation unit as described in any one of claims 1 to 9; the navigation unit includes a positioning sensor; the ultrasound probe, the interventional ablation device, the puncture plate and the navigation unit are all communicatively connected to the computer device.

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