Interactive determination method of geodetic selection area, geodetic method and related equipment

Abstract

The present invention relates to the technical field of endoscopes, and specifically discloses an interactive determination method for a geodesic selection area, a geodesic method and related equipment, wherein the interactive determination method for a geodesic selection area comprises the steps of: long pressing the left button of a mouse to generate a geodesic center point in a display screen; clicking the right button of a mouse to generate a target area centered on the geodesic center point in the display screen; sliding the mouse wheel to change the shape of the target area into a sector and adjusting the angle of the sector; long pressing the right button of the mouse and dragging the mouse to change the direction of the sector; fixing the target area to generate a geodesic line in the target area; the interactive determination method for a geodesic selection area makes full use of the mouse operation characteristics to quickly draw the target area as a selection area for generating a geodesic line, so as to screen out data not needed for generating a geodesic line as much as possible, so as to quickly generate a geodesic line that meets user needs in the target area, and can effectively ensure the real-time performance of the geodesic line.

Description

Technical Field

[0001] The present application relates to the field of endoscope technology, and in particular to an interactive determination method for geodetic selection areas, a geodetic method and related equipment. Background Art

[0002] In recent years, with the rapid development of medical technology, endoscopes, as cutting-edge medical imaging tools, have been widely used in major hospitals.

[0003] In related technologies, the endoscope has a point cloud matching function, which can effectively enhance the doctor's spatial perception ability, making surgical operations more precise and safer, and more intuitively showing the depth and spatial layout of tissue structures, providing powerful visual assistance for complex operations.

[0004] In delicate surgeries such as liver and lung lesion resection, the combination of endoscopy and geodesic computing technology is particularly important. This is mainly manifested in the need to use endoscopy to calculate the surface distance (geodesic distance) of organs in real time and mark the geodesic lines required for the operation, so as to achieve precise resection planning and reduce the risk of bleeding.

[0005] Geodesic algorithms generally help doctors plan the precise range of resection by reconstructing three-dimensional spatial information and calculating the shortest path (geodetic distance) between two points on the surface of the point cloud data, ensuring that neither excessive resection will cause bleeding nor the risk of recurrence caused by insufficient resection. However, existing geodesic algorithms take a long time to process high-definition surgical images and there is a certain delay, which affects surgical efficiency.

[0006] There is currently no effective technical solution to the above problems. Summary of the invention

[0007] The purpose of the present application is to provide an interactive determination method for geodetic selection, a geodetic method and related equipment, so as to redefine the target area that needs to be geodetic through user interaction, so as to quickly generate geodesic lines that meet user needs in the target area and ensure the real-time performance of the geodesic lines.

[0008] In a first aspect, the present application provides a method for interactively determining a geodesic selection area, which is applied in an endoscope. The method for interactively determining a geodesic selection area comprises the following steps:

[0009] S1. Press and hold the left mouse button to generate the geodetic center point in the display screen;

[0010] S2. Click the right button of the mouse to generate a target area centered on the geodetic center point in the display screen, wherein the initial shape of the target area is a circle;

[0011] S3, sliding the mouse wheel to change the shape of the target area into a sector shape and adjusting the angle of the sector shape;

[0012] S4, long-press the right button of the mouse and drag the mouse to change the direction of the sector;

[0013] S5. Fix the target area to generate a geodesic line in the target area.

[0014] The interactive determination method of the geodesic selection area of ​​the present application makes full use of the characteristics of mouse operation to quickly draw the target area as the selection area for geodesic line generation. The process reasonably plans the functions and processes of the mouse operation adopted by the user, and defines the finally determined target area as a fan-shaped area to screen out data that is not needed for generating geodesic lines as much as possible, so as to quickly generate geodesic lines that meet user needs within the target area, and can effectively ensure the real-time performance of geodesic lines.

[0015] The interactive determination method of geodesic selection area, wherein the step between step S2 and step S3 further includes the following steps:

[0016] SA, based on long pressing the right mouse button and dragging the mouse to scale and adjust the graphic size of the target area.

[0017] In this example, after the circular target area is initially generated in step S2, the user can also fine-tune the circular edge through step SA. By long pressing the right button of the mouse and dragging the mouse, the endoscope system can scale the edge of the circular target area according to the radial offset relative to the geodetic center point generated by dragging the right button, so as to achieve fine-tuning of the graphic size of the target area.

[0018] The interactive determination method of the geodetic selection area further includes the following steps performed after step S5:

[0019] S6. Unlock the target area, change the position of the target area by long pressing the left mouse button and dragging the mouse, and adjust the graphic size, sector angle size, and orientation of the target area based on steps SA, S3, and S4, and then fix the target area to generate a new geodesic within the target area.

[0020] In this example, when the display screen undergoes significant changes or the object of the surgical operation changes, the user can readjust the shape of the target area through step S6 to obtain a new target area required by the user that matches the current display screen, and then generate a new geodesic.

[0021] In a second aspect, the present application further provides a geodesic method, which is applied in an endoscope, and the geodesic method comprises the following steps:

[0022] A1. Based on the user long pressing the left mouse button, the coordinate information of the mouse pointer in the display screen is obtained, and the geodetic center point is generated;

[0023] A2, obtaining distance information between the mouse pointer and the geodesic center point in the display screen based on the user clicking the right button of the mouse, and generating a target area centered on the geodesic center point based on the distance information, wherein the initial shape of the target area is a circle;

[0024] A3, based on the user sliding the mouse wheel, changing the shape of the target area into a sector shape, acquiring the rotation amount information of the mouse wheel in real time, and adjusting the angle size of the sector shape in real time according to the rotation amount information;

[0025] A4, based on the user pressing the right button of the mouse and dragging the mouse, obtaining the drag offset information of the mouse pointer in the display screen, and changing the direction of the sector according to the drag offset information;

[0026] A5. After the user fixes the target area, a geodesic line is generated in the target area.

[0027] The geodesic method of the present application draws a target area as a selection area for geodesic generation by obtaining relevant mouse operations. The drawing process makes full use of the mouse operation characteristics and reasonably plans the functions and processes of the mouse operations adopted by the user. The target area finally determined is defined as a fan-shaped area to screen out data that is not needed for generating geodesic lines as much as possible, and quickly generates geodesic lines that meet user needs in the target area, which can effectively ensure the real-time performance of geodesic lines.

[0028] The geodesic method, wherein the process of generating geodesic lines in the target area comprises:

[0029] A51, obtaining point cloud data measured by the endoscope;

[0030] A52, intercepting point cloud data based on the target area;

[0031] A53. Generate a geodesic line in the display screen based on the intercepted point cloud data, the geodesic center point and the geodesic distance input by the user based on a heat propagation algorithm.

[0032] In this example, the point cloud data that needs to be analyzed by the heat propagation algorithm only includes the point cloud data intercepted in step A52, so there is no need to analyze all the point cloud data obtained by the entire endoscope shooting, which can greatly improve the efficiency of generating geodesics.

[0033] The geodetic method, wherein the geodetic center point is fixed in the display screen or moves with the corresponding point cloud data.

[0034] The geodetic method, wherein the drag offset information includes radial distance offset information and circumferential angle offset information.

[0035] In a third aspect, the present application further provides a geodesic device for use in an endoscope, the geodesic device comprising:

[0036] A first generating module, configured to obtain coordinate information of a mouse pointer in a display screen based on a user long pressing the left mouse button, and generate a geodesic center point;

[0037] A second generating module is used to obtain the distance information between the mouse pointer and the geodesic center point in the display screen based on the user clicking the right button of the mouse, and generate a target area centered on the geodesic center point based on the distance information, wherein the initial shape of the target area is a circle;

[0038] A first adjustment module, configured to change the shape of the target area into a sector shape based on the user sliding the mouse wheel, and to obtain the rotation amount information of the mouse wheel in real time, and to adjust the angle of the sector shape in real time according to the rotation amount information;

[0039] A second adjustment module is used to obtain the drag offset information of the mouse pointer in the display screen based on the user pressing the right button of the mouse and dragging the mouse, and change the direction of the sector according to the drag offset information;

[0040] The geodesic module is used to generate a geodesic line in the target area after the user fixes the target area.

[0041] The geodesic device of the present application draws a target area as a selection area for generating geodesic lines by acquiring relevant mouse operations. The drawing process makes full use of the mouse operation characteristics and reasonably plans the functions and processes of the mouse operations adopted by the user. The target area finally determined is defined as a fan-shaped area to screen out data not needed for generating geodesic lines as much as possible, and quickly generate geodesic lines that meet user needs in the target area, which can effectively ensure the real-time performance of the geodesic lines.

[0042] In a fourth aspect, the present application further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the second aspect are executed.

[0043] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the method provided in the second aspect are performed.

[0044] From the above, it can be seen that the present application provides an interactive determination method for a geodesic selection area, a geodesic method and related equipment, wherein the interactive determination method for a geodesic selection area makes full use of the characteristics of mouse operation to quickly draw a target area as a selection area for generating geodesic lines. The process reasonably plans the functions and processes of the mouse operations adopted by the user, and defines the final target area as a fan-shaped area to screen out data that is not needed to generate geodesic lines as much as possible, so as to quickly generate geodesic lines that meet user needs within the target area, and can effectively ensure the real-time nature of the geodesic lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A flowchart of the interactive determination method of the geodesic selection area provided in an embodiment of the present application.

[0046] Figure 2-Figure 6 A schematic diagram of changes in the displayed screen when the interactive determination method for geodetic selection provided in an embodiment of the present application is running.

[0047] Figure 7 A flow chart of a geodesic method provided in an embodiment of the present application.

[0048] Figure 8 A schematic diagram of the structure of a geodetic device provided in an embodiment of the present application.

[0049] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0050] Figure numerals: 301, first generating module; 302, second generating module; 303, first adjusting module; 304, second adjusting module; 305, geodesic module; 401, processor; 402, memory; 403, communication bus. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0052] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0053] First, please refer to Figure 1 Some embodiments of the present application provide a method for interactively determining a geodesic selection area, which is applied in an endoscope. The method for interactively determining a geodesic selection area includes the following steps:

[0054] S1. Press and hold the left mouse button to generate the geodetic center point in the display screen;

[0055] S2. Click the right button of the mouse to generate a target area centered on the geodetic center point in the display screen. The initial shape of the target area is a circle.

[0056] S3. Slide the mouse wheel to change the shape of the target area into a sector and adjust the angle of the sector;

[0057] S4. Press and hold the right button of the mouse and drag the mouse to change the direction of the sector;

[0058] S5. Fix the target area to generate geodesics in the target area.

[0059] Specifically, Figure 2-Figure 6 The execution process of the interactive determination method of the geodesic selection area of ​​the embodiment of the present application is demonstrated through the display screen. The interactive determination method of the geodesic selection area of ​​the embodiment of the present application is applied in the use of the endoscope, mainly through the interaction between the user and the display screen of the endoscope system to generate a target area for constraining the range of geodesic generation, so as to define the amount of data required for analysis in the geodesic generation process, so that the endoscope can dynamically generate geodesics according to the point cloud data in the target area in real time, reduce the amount of data used for geodesic generation analysis, improve the generation efficiency of geodesic lines, and thus ensure the timeliness of geodesic lines.

[0060] More specifically, the geodesic process is actually a process of obtaining point cloud data whose surface distance from a specific position point on the outer surface of an object in an image conforms to a specific geodesic distance, and forming lines based on these point cloud data. Therefore, the geodesic line is actually line data formed around the center point of a specific position in the display screen of the endoscope. The interactive determination method of the geodesic selection area in the embodiment of the present application determines the target area based on this characteristic, wherein the geodesic center point determined in step S1 corresponds to the aforementioned center point of the specific position, and the geodesic line is calculated and generated based on the geodesic center point. Considering that the geodesic line is actually generated around the geodesic center point, and the larger the set geodesic distance, the longer the corresponding generated geodesic line, and the more point cloud data need to be analyzed, in order to minimize the amount of data to be analyzed, the embodiment of the present application The interactive determination method of the geodesic selection defines the target area finally determined as a fan-shaped area, so as to screen out data not needed for generating geodesics as much as possible, and generate geodesics of appropriate length and position; therefore, after the user determines the geodesic center point, the user can sequentially generate a circular area of ​​appropriate radius through steps S2-S4, remove part of the area to form a fan-shaped area to match the length of the geodesic, and adjust the direction of the fan-shaped area to match the generated position of the geodesic, thereby determining the target area used to finally generate the geodesic. The interactive method reasonably plans the functions and processes of the mouse operation adopted by the user, so that the user can quickly determine the target area required by the endoscope system in combination with the image or video displayed on the display screen, so as to quickly generate a geodesic that meets the user's needs in the target area.

[0061] More specifically, by right-clicking at any position in the display screen through step S2, a circular area passing through the position clicked by the right button and with the geodesic midline point as the center can be generated as the starting target area based on the position clicked by the right button, that is, the radius of the circle is determined based on the distance between the position clicked by the right button and the geodesic center point to generate the target area.

[0062] It should be noted that the user may repeat step S2 multiple times to determine a suitable circular area.

[0063] More specifically, by sliding the mouse wheel through step S3, the user can obtain the corresponding angle data corresponding to the rotation amount information of the wheel based on a preset mapping relationship, so as to change the shape of the target area from a circle to a sector and adjust the angle size of the sector based on the angle data, wherein the forward and reverse sliding of the mouse wheel are used to reduce and increase the angle size of the sector, respectively.

[0064] It should be noted that the user may repeat step S3 multiple times to determine a suitable angle size of the target area.

[0065] More specifically, the user can long press the right button of the mouse and drag the mouse in step S4 to make the sector-shaped target area rotate in a plane with the geodesic center point as the base point to change the direction of the sector-shaped target area.

[0066] It should be noted that the user may repeat step S4 multiple times to determine a suitable orientation of the target area.

[0067] More specifically, the target area is displayed semi-transparently in the display screen, and the geodetic center point is displayed in the display screen based on an opaque dot, so that the user can easily confirm the status of the geodetic center point and the target area without hindering the user from observing the endoscope field of view.

[0068] More specifically, the interactive determination method of the geodesic selection in the embodiment of the present application makes full use of the mouse operation characteristics to distinguish the generation process of the target area, so that the user can quickly draw the target area as the selection for geodesic generation through the mouse, wherein the relevant operations of the left button are equivalent to the reference position for defining the selection, the relevant operations of the scroll wheel are equivalent to the approximate length of the geodesic in the definition selection, and the relevant operations of the right button are equivalent to the coverage area of ​​the definition selection. The division of labor of various operation behaviors is clear and unambiguous, which is convenient for users to adjust the target area.

[0069] More specifically, the endoscope system applied in the interactive determination method of the geodesic selection area in the embodiment of the present application has a point cloud analysis function, such as a 3D endoscope or an endoscope with a depth camera, so that after determining the target area, the endoscope system can obtain the point cloud data in the target area for analysis to generate geodesics, and accordingly, the drawing of the target area needs to be performed on a display screen with a plane display, that is, the target area drawing is superimposed on the two-dimensional image.

[0070] It should be noted that after determining the target area, the endoscope system dynamically and in real time captures the point cloud data in the target area to generate geodesics, that is, the geodesics can be dynamically generated according to the images captured by the endoscope system. The fan-shaped target area determined based on the above steps can effectively reduce the generation delay of the geodesics and ensure that the geodesics continue to match the image displayed on the display.

[0071] More specifically, in step S5, the user can fix the target area by clicking a confirmation button or double-clicking, or the target area can be automatically fixed after the user has no operation for a preset delay time.

[0072] The interactive determination method of the geodesic selection area in the embodiment of the present application makes full use of the characteristics of mouse operation to quickly draw the target area as the selection area for generating geodesic lines. The process reasonably plans the functions and processes of the mouse operations adopted by the user, and defines the finally determined target area as a fan-shaped area to screen out data that is not needed for generating geodesic lines as much as possible, so as to quickly generate geodesic lines that meet user needs within the target area, and can effectively ensure the real-time performance of the geodesic lines.

[0073] In some preferred embodiments, the step S2 and S3 further include the following steps:

[0074] SA, based on long pressing the right mouse button and dragging the mouse to scale and adjust the graphic size of the target area.

[0075] Specifically, after the circular target area is initially generated in step S2, the user can also fine-tune the circular edge through step SA. By long pressing the right button of the mouse and dragging the mouse, the endoscope system can scale the edge of the circular target area according to the radial offset relative to the geodetic center point generated by dragging the right button, so as to achieve fine-tuning of the graphic size of the target area.

[0076] In some preferred embodiments, the following steps are further included after step S5:

[0077] S6. Unlock the target area, change the position of the target area by long pressing the left mouse button and dragging the mouse, and adjust the graphic size, sector angle size, and direction of the target area based on steps SA, S3, and S4, and then fix the target area to generate a new geodesic within the target area.

[0078] Specifically, when the display screen undergoes a significant change or the object of the surgical operation changes, the user can readjust the shape of the target area through step S6 to obtain a new target area required by the user that matches the current display screen, and then generate a new geodesic.

[0079] More specifically, the adjustment of the graphic size of the target area, the angle size of the sector, and the direction can be performed sequentially or in any order. The graphic size and direction of the target area are both performed by long pressing the right mouse button and dragging the mouse, so the user can adjust the image size and direction at the same time.

[0080] More specifically, in this embodiment, the relevant operations of the left mouse button are still used to define the reference position of the selection area, so the position of the target area (selection) can be moved without temporarily changing the shape of the entire target area by long pressing the left mouse button and dragging the mouse, thereby achieving the position adjustment of the target area and the geodetic center point.

[0081] Second, please refer to Figure 7 Some embodiments of the present application also provide a geodesic method, which is applied in an endoscope. The geodesic method includes the following steps:

[0082] A1. Based on the user long pressing the left mouse button, the coordinate information of the mouse pointer in the display screen is obtained, and the geodetic center point is generated;

[0083] A2. Based on the user clicking the right button of the mouse, the distance information between the mouse pointer and the geodesic center point in the display screen is obtained, and based on the distance information, a target area centered on the geodesic center point is generated, and the initial shape of the target area is a circle;

[0084] A3, based on the user sliding the mouse wheel, the shape of the target area is changed into a sector shape, and the rotation amount information of the mouse wheel is obtained in real time, and the angle size of the sector shape is adjusted in real time according to the rotation amount information;

[0085] A4, based on the user pressing the right button of the mouse and dragging the mouse, obtaining the drag offset information of the mouse pointer in the display screen, and changing the direction of the sector according to the drag offset information;

[0086] A5. After the user fixes the target area, a geodesic line is generated in the target area.

[0087] Specifically, the geodesic method of the embodiment of the present application is applied in an endoscope to generate or adjust the target area required by the user based on the user's operation feedback, and after the target area is fixed, generate the geodesic line required by the user based on the point cloud data in the target area, so as to present the geodesic line in the display screen, so that the user can perform relevant surgical operations according to the geodesic line.

[0088] More specifically, steps A1 to A5 are respectively the underlying logic of steps S1 to S5 in the interactive determination method of the geodesic selection area provided in the first aspect, and are used to realize the interaction between the user and the endoscope system, so as to display the graphic information obtained by the user's related operations through the display screen in a timely manner, so as to facilitate the user to quickly adjust and obtain a suitable target area as the selection area for geodesic generation.

[0089] More specifically, in step A3, a straight line boundary of the sector can be determined based on a preset direction, or based on the current position of the mouse pointer, or based on the straight line boundary of the sector determined when the target area was generated in the previous round. In this embodiment of the present application, it is preferably determined based on the current position of the mouse pointer. The user can adjust the position of the other boundary of the sector by sliding the mouse wheel to adjust the angle of the sector.

[0090] The geodesic method of the embodiment of the present application draws the target area as the selection area for generating geodesic lines by obtaining relevant mouse operations. The drawing process makes full use of the mouse operation characteristics and reasonably plans the functions and processes of the mouse operations adopted by the user. The target area finally determined is defined as a fan-shaped area to screen out data that is not needed for generating geodesic lines as much as possible, and quickly generates geodesic lines that meet user needs in the target area, which can effectively ensure the real-time performance of the geodesic lines.

[0091] In some preferred embodiments, the process of generating geodesics in the target area includes:

[0092] A51. Obtain point cloud data measured by endoscope;

[0093] A52, intercepting point cloud data based on the target area;

[0094] A53. Based on the heat propagation algorithm, a geodesic line is generated in the display screen according to the intercepted point cloud data, the geodesic center point and the geodesic distance input by the user.

[0095] Specifically, the point cloud data is obtained by internal analysis of the endoscope system, such as by performing point cloud matching based on the parallax of the left and right views in a 3D endoscope, or by performing point cloud matching based on depth information and image information in an endoscope with a depth camera. After determining the target area, step S52 uses the target area as a selection frame to select pixel data in the display screen, and based on the matching relationship between the pixel data and the point cloud data, intercepts the point cloud data corresponding to the pixel data in the selection area. These intercepted point cloud data are used for geodetic analysis to obtain geodesic lines.

[0096] More specifically, the principle of the heat propagation algorithm is: based on the heat flow equation, the geodesic distance on the grid surface is solved by the vector field and the Poisson equation. The algorithm transforms the nonlinear geodesic distance problem into a linear Poisson equation solution, reducing the computational complexity; the specific calculation process is: through time discretization and space discretization, the Laplace matrix and the area diagonal matrix are constructed, and then the scalar field u and its gradient field ▽u are solved, and the gradient field is normalized and reversely processed to obtain the geodesic distance gradient field, and finally, the divergence of the geodesic distance gradient field is solved, and the geodesic distance of each vertex on the grid is obtained by the Poisson equation; in the embodiment of the present application, the grid surface is a surface constructed by matching point cloud sets, which represents The actual surface morphology of the object photographed by the endoscope, so the heat propagation algorithm can quickly and conveniently calculate the geodesic distance between different position points (point cloud data) on different surfaces and the geodesic center point, and then filter and extract the point cloud data that meets the geodesic distance input by the user, so as to obtain a continuous, point cloud-based, three-dimensional geodesic line. Finally, the geodesic line can be superimposed and displayed on the display screen through projection or coordinate transformation to display the geodesic line; in this embodiment of the present application, the point cloud data that the heat propagation algorithm needs to analyze only includes the point cloud data intercepted in step A52, so there is no need to analyze all the point cloud data obtained by the entire endoscope shooting, which can greatly improve the efficiency of generating geodesic lines.

[0097] It should be noted that other implementations may use a vector algorithm instead of a heat propagation algorithm to generate geodesics.

[0098] In some other embodiments, the process of generating geodesics in the target area includes:

[0099] A51', obtain pixel data in the target area;

[0100] A52', performing point cloud matching according to the pixel data in the target area to obtain corresponding point cloud data;

[0101] A53', based on the heat propagation algorithm, geodesic lines are generated in the display according to the point cloud data, the geodesic center point and the geodesic distance input by the user.

[0102] Specifically, in this embodiment, the target area is used to limit the pixel data for intercepting point cloud matching so that the point cloud matching processing only generates point cloud data within the target area. This processing method can reduce the processing load of point cloud matching to further improve the efficiency of geodesic generation. This processing method is particularly suitable for situations where the endoscope system does not have high requirements for three-dimensional reconstruction functions or the display screen range does not change much.

[0103] In some preferred embodiments, the geodesic center point is fixed in the display image or moves along with the corresponding point cloud data.

[0104] Specifically, the geodesic center point can be fixed in the display screen based on the position coordinates, or adjusted through a tracking algorithm so that the geodesic center point can track the displacement with the corresponding pixel data or point cloud data, so that after the target area is determined, the target area can achieve the target tracking effect, that is, the target area is positioned and tracked by the anchor point of the geodesic center point in the corresponding object, and the adaptive tracking of the geodesic line is realized, that is, the position of the geodesic line on the surface of the object is ensured to remain relatively unchanged, ensuring that the user can successfully complete the relevant surgical operations.

[0105] In some preferred embodiments, after the geodesic is generated, at least one side edge of the target area is displaced according to the point cloud data corresponding to the corresponding geodesic edge point.

[0106] Specifically, when the edge point of the geodesic line is on the straight boundary (one side edge) of the fan-shaped target area and the pixel data or point cloud data at the corresponding position is displaced, the edge is tracked by a tracking algorithm to realize the tracking of the straight boundary of the target area, that is, the anchor point of the geodesic line edge point in the corresponding object is used for positioning and tracking to realize adaptive tracking of the geodesic line, ensure that the boundary of the geodesic line on the surface of the object remains unchanged, and ensure that the user can successfully complete the relevant surgical operations.

[0107] More specifically, the target area is preferably displaced at both side edges according to the point cloud data corresponding to the corresponding geodesic edge points, so as to ensure that the corresponding spatial length of the geodesic remains stable and the user can successfully complete the relevant surgical operation.

[0108] In some preferred embodiments, the step A2 and the step A3 further include the following steps:

[0109] AA. Based on the user pressing the right button of the mouse and dragging the mouse, the drag offset information of the mouse pointer in the display screen is obtained, and the graphic size of the target area is scaled and adjusted according to the drag offset information.

[0110] In some preferred embodiments, the following steps are further included after step S5:

[0111] S6. After the user unlocks the target area, the left button offset information is obtained by long pressing the left button of the mouse and dragging the mouse, and the position of the geodesic center point is changed according to the left button offset information. Then, the graphic size, the angle size and the direction of the sector of the target area are adjusted based on steps AA, A3 and A4. After the user fixes the target area again, a new geodesic line is generated in the target area.

[0112] In some preferred embodiments, the drag offset information includes radial distance offset information and circumferential angle offset information.

[0113] Specifically, the drag offset information can be divided into radial distance offset information and circumferential angle offset information about the geodetic center point, wherein the radial distance offset information is the distance change value between the mouse pointer position and the geodetic center point during the dragging process, and the circumferential angle offset information is the angle change of the line connecting the mouse pointer position and the geodetic center point during the dragging process; therefore, step A4 can adjust the rotating target area to change the direction of the sector by obtaining the circumferential angle offset information, and step AA can increase the radius of the target area (circular or sector) by obtaining the radial distance offset information to change the size of the graphic.

[0114] Third, please refer to Figure 8 Some embodiments of the present application further provide a geodesic device, which is applied in an endoscope. The geodesic device includes:

[0115] The first generating module 301 is used to obtain the coordinate information of the mouse pointer in the display screen based on the user long pressing the left mouse button, and generate the geodetic center point;

[0116] The second generating module 302 is used to obtain the distance information between the mouse pointer and the geodesic center point in the display screen based on the user clicking the right button of the mouse, and generate a target area centered on the geodesic center point based on the distance information, and the initial shape of the target area is a circle;

[0117] The first adjustment module 303 is used to change the shape of the target area into a sector shape based on the user sliding the mouse wheel, and obtain the rotation amount information of the mouse wheel in real time, and adjust the angle size of the sector in real time according to the rotation amount information;

[0118] The second adjustment module 304 is used to obtain the drag offset information of the mouse pointer in the display screen based on the user pressing the right button of the mouse and dragging the mouse, and change the direction of the sector according to the drag offset information;

[0119] The geodesic module 305 is used to generate geodesic lines in the target area after the user fixes the target area.

[0120] The geodetic device of the embodiment of the present application draws the target area as the selected area for generating geodesic lines by obtaining relevant mouse operations. The drawing process makes full use of the mouse operation characteristics and reasonably plans the functions and processes of the mouse operations adopted by the user. The target area finally determined is defined as a fan-shaped area to screen out data that is not needed for generating geodesic lines as much as possible, and quickly generates geodesic lines that meet user needs in the target area, which can effectively ensure the real-time performance of the geodesic lines.

[0121] In some preferred embodiments, the geodetic device of the embodiment of the present application is used to execute the geodetic method provided in the second aspect above.

[0122] Fourth, please refer to Fig. 9 Some embodiments of the present application also provide a structural diagram of an electronic device. The present application provides an electronic device, including: a processor 401 and a memory 402. The processor 401 and the memory 402 are interconnected and communicate with each other through a communication bus 403 and / or other forms of connection mechanisms (not marked). The memory 402 stores computer-readable instructions executable by the processor 401. When the electronic device is running, the processor 401 executes the computer-readable instructions to execute the method in any optional implementation of the above embodiments.

[0123] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method in any optional implementation of the above embodiment is executed. The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk.

[0124] In summary, the embodiments of the present application provide an interactive determination method for a geodesic selection area, a geodesic method, and related equipment, wherein the interactive determination method for a geodesic selection area fully utilizes the characteristics of mouse operation to quickly draw a target area as a selection area for generating geodesic lines. The process rationally plans the functions and processes of the mouse operations adopted by the user, and defines the target area finally determined as a fan-shaped area to screen out data that is not needed for generating geodesic lines as much as possible, so as to quickly generate geodesic lines that meet user needs within the target area, and can effectively ensure the real-time nature of the geodesic lines.

[0125] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0126] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0128] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0129] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for interactively determining a geodesic selection area, applied in an endoscope, characterized in that: The interactive determination method of the geodesic selection area comprises the following steps: S1. Press and hold the left mouse button to generate the geodetic center point in the display screen; S2. Click the right button of the mouse to generate a target area centered on the geodetic center point in the display screen, wherein the initial shape of the target area is a circle; SA, based on long pressing the right mouse button and dragging the mouse to scale and adjust the graphics size of the target area; S3, sliding the mouse wheel to change the shape of the target area into a sector shape and adjusting the angle of the sector shape; S4, long-press the right button of the mouse and drag the mouse to change the direction of the sector; S5, fixing the target area to generate a geodesic line within the target area; S6, unlocking the target area, changing the position of the target area by long pressing the left button of the mouse and dragging the mouse, adjusting the graphic size, the angle size and the direction of the sector of the target area based on step SA, step S3 and step S4, and then fixing the target area to generate a new geodesic within the target area; The process of generating geodesics within the target area includes: A51, obtaining point cloud data measured by the endoscope; A52, intercepting point cloud data based on the target area; A53. Generate a geodesic line in the display screen based on the intercepted point cloud data, the geodesic center point and the geodesic distance input by the user based on a heat propagation algorithm.

2. A geodetic method, applied in an endoscope, characterized in that: The geodesic method comprises the following steps: A1. Based on the user long pressing the left mouse button, the coordinate information of the mouse pointer in the display screen is obtained, and the geodetic center point is generated; A2, obtaining distance information between the mouse pointer and the geodesic center point in the display screen based on the user clicking the right button of the mouse, and generating a target area centered on the geodesic center point based on the distance information, wherein the initial shape of the target area is a circle; A3, based on the user sliding the mouse wheel, changing the shape of the target area into a sector shape, acquiring the rotation amount information of the mouse wheel in real time, and adjusting the angle size of the sector shape in real time according to the rotation amount information; A4, based on the user pressing the right button of the mouse and dragging the mouse, obtaining the drag offset information of the mouse pointer in the display screen, and changing the direction of the sector according to the drag offset information; A5. After the user fixes the target area, a geodesic line is generated within the target area; The process of generating geodesics within the target area includes: A51, obtaining point cloud data measured by the endoscope; A52, intercepting point cloud data based on the target area; A53. Generate a geodesic line in the display screen based on the intercepted point cloud data, the geodesic center point and the geodesic distance input by the user based on a heat propagation algorithm.

3. The geodetic method according to claim 2, characterized in that: The geodesic center point is fixed in the display image or moves along with the corresponding point cloud data.

4. The geodetic method according to claim 2, characterized in that: The drag offset information includes radial distance offset information and circumferential angle offset information.

5. A geodesic device, used in an endoscope, characterized in that: The geodetic device comprises: A first generating module, configured to obtain coordinate information of a mouse pointer in a display screen based on a user long pressing the left mouse button, and generate a geodesic center point; A second generating module is used to obtain the distance information between the mouse pointer and the geodesic center point in the display screen based on the user clicking the right button of the mouse, and generate a target area centered on the geodesic center point based on the distance information, wherein the initial shape of the target area is a circle; A first adjustment module, configured to change the shape of the target area into a sector shape based on the user sliding the mouse wheel, and to obtain the rotation amount information of the mouse wheel in real time, and to adjust the angle of the sector shape in real time according to the rotation amount information; A second adjustment module is used to obtain the drag offset information of the mouse pointer in the display screen based on the user pressing the right button of the mouse and dragging the mouse, and change the direction of the sector according to the drag offset information; A geodesic module, configured to generate a geodesic line within the target area after the user fixes the target area; The process of generating geodesics within the target area includes: A51, obtaining point cloud data measured by the endoscope; A52, intercepting point cloud data based on the target area; A53. Generate a geodesic line in the display screen based on the intercepted point cloud data, the geodesic center point and the geodesic distance input by the user based on a heat propagation algorithm.

6. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 2 to 4 are executed.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 2 to 4 are executed.

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