Puncture path determination method based on two-dimensional image and related products

Abstract

The present application discloses a method for determining a puncture path based on a two-dimensional image and related products. The method includes: obtaining a target image of an object to be punctured, the target image being a two-dimensional image acquired by a target imaging device; determining a first reference position of a reference point of the target imaging device in the target image; determining a second reference position of the reference point in a world coordinate system based on the first reference position; obtaining a first end point position of a first end point of a needle insertion channel in a world coordinate system based on a first position relationship and a second reference position, the first position relationship being a position relationship between the reference point and the first end point in a world coordinate system, and the puncture needle moves along the needle insertion channel during the process of puncturing the object to be punctured using the puncture needle; obtaining a second end point position of a second end point of the needle insertion channel in a world coordinate system based on a second position relationship and a second reference position; determining the actual puncture path of the puncture needle based on the first end point position and the second end point position.

Description

Technical Field

[0001] The present application relates to the field of medical image processing technology, and in particular to a puncture path determination method based on two-dimensional images and related products. Background Art

[0002] In the medical field, puncture surgery refers to puncturing a lesion of a subject to be punctured along a puncture path using a puncture needle so that the puncture needle penetrates the lesion. Specifically, after the puncture path is planned, the puncture needle can be controlled to move along the needle insertion channel so that the movement path of the puncture needle coincides with the puncture path.

[0003] The current method is to plan the puncture path based on three-dimensional images, for example, puncture based on three-dimensional computed tomography (CT) image degradation. However, this method requires obtaining a three-dimensional image, and the data processing required to obtain the three-dimensional image is large, and the amount of data processing required to process the three-dimensional image is also large, which results in a slow speed for planning the puncture path based on the three-dimensional image, and places high requirements on the processing performance of the equipment used to plan the puncture path based on the three-dimensional image. Summary of the invention

[0004] The present application provides a puncture path determination method based on two-dimensional images and related products, so as to plan a puncture path based on a two-dimensional image and perform puncture based on the puncture path, wherein the related products include a puncture path determination device based on a two-dimensional image, an electronic device, a computer-readable storage medium, and a computer program product.

[0005] In a first aspect, a method for determining a puncture path based on a two-dimensional image is provided, the method comprising:

[0006] Acquire a target image of the object to be punctured, wherein the target image is a two-dimensional image acquired by a target imaging device;

[0007] Determine a first reference position of a reference point of the target imaging device in the target image;

[0008] Based on the first reference position, determining a second reference position of the reference point in a world coordinate system;

[0009] Based on the first position relationship and the second reference position, a first endpoint position of the first endpoint of the needle insertion channel in the world coordinate system is obtained, wherein the first position relationship is a position relationship between the reference point and the first endpoint in the world coordinate system, and the puncture needle moves along the needle insertion channel during the process of puncturing the object to be punctured using the puncture needle;

[0010] Based on the second positional relationship and the second reference position, obtaining the second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system, wherein the second positional relationship is the positional relationship between the reference point and the second endpoint in the world coordinate system;

[0011] Based on the first reference position and the second reference position, an actual puncture path of the puncture needle is determined.

[0012] In combination with any embodiment of the present application, the target image includes the lesion of the object to be punctured and the needle insertion point for puncturing the lesion, and the method further includes:

[0013] Determine the lesion position of the lesion in the world coordinate system and the needle insertion position of the needle insertion point in the world coordinate system based on the position of the lesion in the target image and the position of the needle insertion point in the target image;

[0014] Determining a planned puncture path for the lesion based on the lesion location and the needle insertion position;

[0015] Based on the path angle between the planned puncture path and the actual puncture path, the movement parameter of the needle channel is determined. When the needle channel moves based on the movement parameter, the path angle is less than or equal to an angle threshold.

[0016] In combination with any embodiment of the present application, the target imaging device obtains a two-dimensional image by scanning and capturing a scanning area, and the first position relationship and the second position relationship are both position relationships within the scanning area, and the scanning area is an area within a two-dimensional plane.

[0017] In combination with any embodiment of the present application, the movement parameter is used to indicate the movement of the needle channel within the scanning area.

[0018] In combination with any embodiment of the present application, the planned puncture path includes a planned vector between the lesion position and the needle insertion position, and the actual puncture path includes an actual vector between the first endpoint position and the second endpoint position;

[0019] The determining of the movement parameters of the needle insertion channel based on the path angle between the planned puncture path and the actual puncture path includes:

[0020] Determining the rotation angle of the needle insertion channel according to the angle between the planned vector and the actual vector;

[0021] Determining the outer product between the planned vector and the actual vector;

[0022] Determining the rotation direction of the needle insertion channel according to the outer product;

[0023] The movement parameter is obtained according to the rotation angle and the rotation direction.

[0024] In combination with any embodiment of the present application, the target imaging device includes an ultrasound probe, and the reference point includes a point on a boundary of an acoustic lens of the ultrasound probe;

[0025] Before determining a first reference position of a reference point of the target imaging device in the target image, the method further comprises:

[0026] Determining a scanning area of ​​the ultrasound probe from the target image;

[0027] The point with the largest ordinate in the scanning area is determined as the reference point of the ultrasound probe.

[0028] In combination with any embodiment of the present application, the ultrasonic probe transmits the ultrasonic wave at the maximum transmission angle through the reference point; or, the ultrasonic probe transmits the ultrasonic wave at the maximum transmission angle through the reference point.

[0029] In a second aspect, a puncture path determination device based on a two-dimensional image is provided, and the puncture path determination device based on a two-dimensional image comprises:

[0030] An acquisition unit, used for acquiring a target image of the object to be punctured, wherein the target image is a two-dimensional image acquired by a target imaging device;

[0031] A determining unit, configured to determine a first reference position of a reference point of the target imaging device in the target image;

[0032] The determining unit is configured to determine a second reference position of the reference point in a world coordinate system based on the first reference position;

[0033] a processing unit, configured to obtain a first endpoint position of a first endpoint of the needle insertion channel in the world coordinate system based on a first position relationship and the second reference position, wherein the first position relationship is a position relationship between the reference point and the first endpoint in the world coordinate system, and the puncture needle moves along the needle insertion channel during a process of puncturing the object to be punctured using the puncture needle;

[0034] The processing unit is used to obtain a second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system based on a second position relationship and the second reference position, wherein the second position relationship is a position relationship between the reference point and the second endpoint in the world coordinate system;

[0035] The determining unit is used to determine an actual puncture path of the puncture needle based on the first reference position and the second reference position.

[0036] In combination with any embodiment of the present application, the target image includes the lesion of the object to be punctured and the needle insertion point for puncturing the lesion, and the determination unit is further used to:

[0037] Determine the lesion position of the lesion in the world coordinate system and the needle insertion position of the needle insertion point in the world coordinate system based on the position of the lesion in the target image and the position of the needle insertion point in the target image;

[0038] Determining a planned puncture path for the lesion based on the lesion location and the needle insertion position;

[0039] Based on the path angle between the planned puncture path and the actual puncture path, the movement parameter of the needle channel is determined. When the needle channel moves based on the movement parameter, the path angle is less than or equal to an angle threshold.

[0040] In combination with any embodiment of the present application, the target imaging device obtains a two-dimensional image by scanning and capturing a scanning area, and the first position relationship and the second position relationship are both position relationships within the scanning area, and the scanning area is an area within a two-dimensional plane.

[0041] In combination with any embodiment of the present application, the movement parameter is used to indicate the movement of the needle channel within the scanning area.

[0042] In combination with any embodiment of the present application, the planned puncture path includes a planned vector between the lesion position and the needle insertion position, and the actual puncture path includes an actual vector between the first endpoint position and the second endpoint position;

[0043] The determining unit is specifically used for:

[0044] Determining the rotation angle of the needle insertion channel according to the angle between the planned vector and the actual vector;

[0045] Determining the outer product between the planned vector and the actual vector;

[0046] Determining the rotation direction of the needle insertion channel according to the outer product;

[0047] The movement parameter is obtained according to the rotation angle and the rotation direction.

[0048] In combination with any embodiment of the present application, the target imaging device includes an ultrasound probe, and the reference point includes a point on a boundary of an acoustic lens of the ultrasound probe;

[0049] The determining unit is further configured to:

[0050] Determining a scanning area of ​​the ultrasound probe from the target image;

[0051] The point with the largest ordinate in the scanning area is determined as the reference point of the ultrasound probe.

[0052] In combination with any embodiment of the present application, the ultrasonic probe transmits the ultrasonic wave at the maximum transmission angle through the reference point; or, the ultrasonic probe transmits the ultrasonic wave at the maximum transmission angle through the reference point.

[0053] In a third aspect, an electronic device is provided, comprising: a processor and a memory, the memory being used to store computer program code, the computer program code comprising computer instructions, and when the processor executes the computer instructions, the electronic device executes the method as described in the first aspect above and any possible implementation thereof.

[0054] In a fourth aspect, another electronic device is provided, comprising: a processor, a sending device, an input device, an output device and a memory, wherein the memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the electronic device executes the method as described in the first aspect above and any possible implementation method thereof.

[0055] In a fifth aspect, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to execute the method as described in the first aspect above and any possible implementation method thereof.

[0056] In a sixth aspect, a computer program product is provided, which includes a computer program or instructions, and when the computer program or instructions are run on a computer, the computer is enabled to execute the method of the above-mentioned first aspect and any possible implementation thereof.

[0057] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

[0058] In the embodiment of the present application, the target image is a two-dimensional image acquired by the target imaging device, and the target image includes the object to be punctured. After acquiring the target image of the object to be punctured, the puncture device determines the first reference position of the reference point of the target imaging device in the target image. Then, based on the first reference position, the second reference position of the reference point in the world coordinate system is determined. Because the first position relationship is the position relationship between the reference point and the first endpoint in the world coordinate system, the first endpoint position of the first endpoint of the needle insertion channel in the world coordinate system can be obtained based on the first position relationship and the second reference position. In the process of puncturing the object to be punctured using the puncture needle, the puncture needle moves along the needle insertion channel, so the actual puncture path of the puncture needle passes through the first endpoint. Because the second position relationship is the position relationship between the reference point and the second endpoint in the world coordinate system, the second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system is obtained based on the second position relationship and the second reference position. Because the second endpoint is the endpoint of the needle insertion channel, the actual puncture path of the puncture needle passes through the second endpoint. Since the actual puncture path of the puncture needle passes through both the first endpoint and the second endpoint, and the actual puncture path is a straight line, the actual puncture path of the puncture needle can be determined based on the first endpoint position and the second endpoint position. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0060] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0061] Figure 1 A schematic diagram of a flow chart of a method for determining a puncture path based on a two-dimensional image provided in an embodiment of the present application;

[0062] Figure 2 A schematic diagram of an ultrasound probe provided in an embodiment of the present application;

[0063] Figure 3a A method for utilizing the embodiment of the present application Figure 2 A schematic diagram of an ultrasound image obtained by scanning with an ultrasound probe is shown;

[0064] Figure 3b Another method for utilizing the present application is as follows: Figure 2 A schematic diagram of an ultrasound image obtained by scanning with an ultrasound probe is shown;

[0065] Figure 4 A schematic diagram of a puncture scenario provided in an embodiment of the present application;

[0066] Figure 5 A schematic diagram of an actual planned puncture path aligned with a planned puncture path provided in an embodiment of the present application;

[0067] Figure 6 A schematic diagram of determining the rotation direction of a needle insertion channel provided in an embodiment of the present application;

[0068] Figure 7 A schematic diagram of the structure of a puncture path determination device based on a two-dimensional image provided in an embodiment of the present application;

[0069] Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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 part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0071] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0072] Mentioning "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places 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 can be combined with other embodiments. It should be understood that in this application, "at least one (item)" means one or more, "multiple" means two or more, and "at least two (items)" means two or three and more.

[0073] In the medical field, puncture surgery refers to puncturing a lesion of a subject to be punctured along a puncture path using a puncture needle so that the puncture needle penetrates the lesion. Specifically, after the puncture path is planned, the puncture needle can be controlled to move along the needle insertion channel so that the movement path of the puncture needle coincides with the puncture path.

[0074] The current method is to plan the puncture path based on three-dimensional images, for example, puncture based on three-dimensional computed tomography (CT) image degradation. However, this method requires obtaining a three-dimensional image, and the data processing required to obtain the three-dimensional image is large, and the amount of data processing required to process the three-dimensional image is also large, which results in a slow speed for planning the puncture path based on the three-dimensional image, and places high requirements on the processing performance of the equipment used to plan the puncture path based on the three-dimensional image.

[0075] Based on this, an embodiment of the present application provides a method for determining a puncture path based on a two-dimensional image. The puncture method can realize planning of the puncture path based on the two-dimensional image, thereby improving the speed of planning the puncture path and reducing the requirements for the processing performance of the device used to plan the puncture path based on the three-dimensional image.

[0076] The execution subject of the embodiment of the present application is a puncture path determination device based on a two-dimensional image (hereinafter referred to as a puncture device), wherein the puncture device can be any electronic device that can execute the technical solution disclosed in the method embodiment of the present application. Optionally, the puncture device can be one of the following: a mobile phone, a computer, a tablet computer, and a wearable smart device.

[0077] It should be understood that the method embodiment of the present application can also be implemented by a processor executing a computer program code. The following describes the embodiment of the present application in conjunction with the drawings in the embodiment of the present application. Figure 1 , Figure 1 A schematic flow chart of a method for determining a puncture path based on a two-dimensional image provided in an embodiment of the present application.

[0078] 101. Acquire a target image of an object to be punctured.

[0079] In the embodiment of the present application, the object to be punctured is an object that needs to be punctured, for example, the object to be punctured is a patient. The target image is a two-dimensional image acquired by a target imaging device. Optionally, the target imaging device includes: an ultrasound probe, a CT device. For example, the target image is a two-dimensional ultrasound image obtained by scanning a patient using an ultrasound probe, wherein the two-dimensional ultrasound image includes information in the patient's body (such as organs in the patient's body).

[0080] In one implementation of acquiring a target image, a communication connection exists between the puncture device and the target imaging device. Through the communication connection, the puncture device acquires the image of the object to be punctured acquired by the target imaging device as the target image.

[0081] In another implementation of acquiring the target image, the puncture device receives the target image input by the user through an input component to acquire the target image, wherein the input component includes: a mouse, a keyboard, a touch screen, a touch pad, and an audio input device.

[0082] In another implementation method of acquiring the target image, the puncture device receives the target image sent by the user through a terminal to acquire the target image, wherein the terminal includes: a mobile phone, a computer, a tablet computer, and a smart wearable device.

[0083] 102. Determine a first reference position of a reference point of the target imaging device in the target image.

[0084] In the embodiment of the present application, the reference point is any point on the target imaging device. Optionally, the target imaging device is an ultrasonic probe, the reference point is a point on the boundary of the acoustic lens of the ultrasonic probe, and the reference point corresponds to the end point of the scanning area of ​​the ultrasonic probe, wherein the acoustic lens is a physical structure of the ultrasonic probe, and the scanning area is the area scanned by the ultrasonic probe when scanning. Optionally, the scanning area is a sector-shaped area.

[0085] Optionally, the ultrasonic wave emitted by the ultrasonic probe passes through the reference point. Optionally, the ultrasonic wave emitted by the ultrasonic probe at the minimum emission angle passes through the reference point, or the ultrasonic wave emitted by the ultrasonic probe at the maximum emission angle passes through the reference point. For example, the emission angle range of the ultrasonic wave emitted by the ultrasonic probe is 5 degrees to 80 degrees. Then, when the ultrasonic probe emits the ultrasonic wave at an emission angle of 5 degrees, the emitted ultrasonic wave passes through the reference point, or when the ultrasonic probe emits the ultrasonic wave at an emission angle of 80 degrees, the emitted ultrasonic wave passes through the reference point.

[0086] For example, Figure 2 A schematic diagram of an ultrasonic probe provided in an embodiment of the present application. Figure 2 In the ultrasound probe, the acoustic lens is located at the outermost side of the ultrasound probe. The acoustic lens is used to focus the ultrasound emitted by the ultrasound probe, thereby enhancing the penetration and sensitivity of the ultrasound. Figure 2 As shown, the reference point is a point on the boundary of the acoustic lens of the ultrasonic probe, that is, the ultrasonic wave emitted by the ultrasonic probe at the minimum emission angle passes through the reference point, or the ultrasonic wave emitted by the ultrasonic probe at the maximum emission angle passes through the reference point. Figure 3a A method for utilizing the embodiment of the present application Figure 2 Schematic diagram of an ultrasound image obtained by scanning with an ultrasound probe as shown, Figure 3b Another method for utilizing the present application is as follows: Figure 2Schematic diagram of an ultrasound image obtained by scanning with an ultrasound probe, wherein: Figure 3a It is the display effect of the ultrasound image scanned by the ultrasound probe in the ultrasound contrast mode. Figure 3b It is the display effect of the ultrasound image scanned by the ultrasound probe in B-ultrasound mode. Figure 3a and Figure 3b In the figure, the pixel coordinate system of the ultrasound image is O1X1Y1, where O1 is the origin, X1 is the horizontal axis, and Y1 is the vertical axis. Figure 3a and Figure 3b As shown, the reference point is the point with the largest longitudinal axis in the sector-shaped scanning area of ​​the ultrasound image, that is, the reference point is the end point of the sector-shaped scanning area. It should be understood that since the acoustic lens of the ultrasound probe is an outwardly convex curved surface, in the ultrasound image scanned by the ultrasound probe, the side with the largest longitudinal coordinate in the scanning area (hereinafter referred to as the top side) is the curved surface. Moreover, for the point within the top side, the larger the longitudinal coordinate, the larger the emission angle of the ultrasound scanned at that point, or the larger the longitudinal coordinate, the smaller the emission angle of the ultrasound scanned at that point. Therefore Figure 3a and Figure 3b The reference point in the diagram is the point at which the ultrasonic wave emitted by the ultrasonic probe at the minimum emission angle passes through the reference point, or the point at which the ultrasonic wave emitted by the ultrasonic probe at the maximum emission angle passes through the reference point.

[0087] In the embodiment of the present application, the first reference position is the position of the reference point in the target image. Optionally, the first reference position is the position of the reference point in the pixel coordinate system of the target image. For example, in the case where the target imaging device is an ultrasound probe, the target image is Figure 3b The ultrasound image shown, at this time the first reference position is Figure 3b The reference point in Figure 3b The position in the pixel coordinate system of the ultrasound image is shown.

[0088] 103. Based on the first reference position, determine a second reference position of the reference point in the world coordinate system.

[0089] In the embodiment of the present application, the second reference position is the position of the reference point in the world coordinate system. Optionally, the puncture device transforms the first reference position using a transformation relationship to obtain the position of the reference point in the world coordinate system as the second reference position, wherein the transformation relationship is used to transform the position in the target image into the position in the world coordinate system. In other words, the position in the target image can be transformed into the position in the world coordinate system using the transformation relationship.

[0090] Optionally, the conversion relationship is obtained by calibration. Specifically, the conversion relationship can be obtained by calibrating the position in the ultrasound image collected by the ultrasound probe with the position in the world position system. For example, the calibration tool is scanned by the ultrasound probe to obtain a calibrated ultrasound image including the calibration tool, wherein the calibration tool includes at least four calibration points. The real positions of the at least four calibration points in the world position system and the pixel positions of the at least four calibration points in the pixel position system of the calibrated ultrasound image are determined. The conversion relationship is determined based on the real positions of the at least four calibration points in the world position system and the pixel positions of the at least four calibration points in the pixel position system.

[0091] 104. Based on the first position relationship and the second reference position, obtain the first endpoint position of the first endpoint of the needle insertion channel in the world coordinate system.

[0092] In the embodiment of the present application, when the puncture needle is used to puncture the object to be punctured, the puncture needle moves along the needle insertion channel to achieve puncture. Therefore, the actual puncture path of the puncture needle coincides with the needle insertion channel.

[0093] In the embodiment of the present application, the first position relationship is the position relationship between the reference point and the first endpoint in the world coordinate system. For example, the first position relationship includes the relative position relationship between the first endpoint and the reference point. For another example, the first position relationship includes the relationship between the coordinates of the reference point in the world coordinate system and the coordinates of the first endpoint in the world coordinate system. Therefore, the puncture device can obtain the first endpoint position of the first endpoint of the needle insertion channel in the world coordinate system based on the first position relationship and the second reference position.

[0094] For example, the first positional relationship includes that the first endpoint abscissa of the first endpoint in the world coordinate system is 20 greater than the reference abscissa of the reference point in the world coordinate system, and the first endpoint ordinate of the first endpoint in the world coordinate system is 60 greater than the reference ordinate of the reference point in the world coordinate system. If the reference abscissa of the reference point in the world coordinate system is determined to be 3 based on the second reference position, and the reference ordinate of the reference point in the world coordinate system is determined to be 9 based on the second reference position, then based on the first positional relationship and the second reference position, the first endpoint abscissa of the first endpoint in the world coordinate system can be determined to be: (20+3)=23, and the first endpoint ordinate of the first endpoint in the world coordinate system can be determined to be: (60+9)=69.

[0095] In the embodiment of the present application, the first endpoint is the endpoint of the needle insertion channel. During the process of puncturing the object to be punctured with the puncture needle, the puncture needle moves along the needle insertion channel. That is, during the process of puncturing the object to be punctured with the puncture needle, the actual puncture path of the puncture needle coincides with the needle insertion channel. Since the first endpoint is the endpoint of the needle insertion channel, the actual puncture path of the puncture needle passes through the first endpoint.

[0096] 105. Based on the second position relationship and the second reference position, obtain the second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system.

[0097] In the embodiment of the present application, the second positional relationship is the positional relationship between the reference point and the second endpoint in the world coordinate system. For example, the second positional relationship includes the relative positional relationship between the second endpoint and the reference point. For another example, the second positional relationship includes the relationship between the coordinates of the reference point in the world coordinate system and the coordinates of the second endpoint in the world coordinate system. Therefore, the puncture device can obtain the second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system based on the second positional relationship and the second reference position.

[0098] For example, the second positional relationship includes that the second endpoint abscissa of the second endpoint in the world coordinate system is 48 greater than the reference abscissa of the reference point in the world coordinate system, and the second endpoint ordinate of the second endpoint in the world coordinate system is 82 greater than the reference ordinate of the reference point in the world coordinate system. If the reference abscissa of the reference point in the world coordinate system is determined to be 3 based on the second reference position, and the reference ordinate of the reference point in the world coordinate system is determined to be 9 based on the second reference position, then based on the second positional relationship and the second reference position, the second endpoint abscissa of the second endpoint in the world coordinate system can be determined to be: (48+3)=51, and the second endpoint ordinate of the second endpoint in the world coordinate system can be determined to be: (82+9)=91.

[0099] In the embodiment of the present application, the second endpoint is the endpoint of the needle insertion channel. During the process of puncturing the object to be punctured with the puncture needle, the puncture needle moves along the needle insertion channel. That is, during the process of puncturing the object to be punctured with the puncture needle, the actual puncture path of the puncture needle coincides with the needle insertion channel. Since the second endpoint is the endpoint of the needle insertion channel, the actual puncture path of the puncture needle passes through the second endpoint.

[0100] It should be understood that the first endpoint and the second endpoint are two different endpoints on the needle insertion channel. The straight line passing through the first endpoint and the second endpoint is the actual puncture path of the puncture needle. In a possible implementation, the needle insertion device includes a puncture channel. When the needle insertion device is used for puncture, the puncture needle punctures along the needle insertion channel, that is, the puncture channel is the actual puncture path of the puncture needle. The first endpoint and the second endpoint are two endpoints of the puncture channel.

[0101] 106. Based on the first endpoint position and the second endpoint position, determine an actual puncture path of the puncture needle.

[0102] Since the actual puncture path of the puncture needle passes through both the first endpoint and the second endpoint, and the actual puncture path is a straight line, the actual puncture path of the puncture needle can be determined based on the first endpoint position and the second endpoint position. In a possible implementation, the puncture device determines a straight line passing through the first endpoint position and the second endpoint position as the actual puncture path of the puncture needle.

[0103] In the embodiment of the present application, the target image is a two-dimensional image acquired by the target imaging device, and the target image includes the object to be punctured. After acquiring the target image of the object to be punctured, the puncture device determines the first reference position of the reference point of the target imaging device in the target image. Then, based on the first reference position, the second reference position of the reference point in the world coordinate system is determined. Because the first position relationship is the position relationship between the reference point and the first endpoint in the world coordinate system, the first endpoint position of the first endpoint of the needle insertion channel in the world coordinate system can be obtained based on the first position relationship and the second reference position. In the process of puncturing the object to be punctured using the puncture needle, the puncture needle moves along the needle insertion channel, so the actual puncture path of the puncture needle passes through the first endpoint. Because the second position relationship is the position relationship between the reference point and the second endpoint in the world coordinate system, the second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system is obtained based on the second position relationship and the second reference position. Because the second endpoint is the endpoint of the needle insertion channel, the actual puncture path of the puncture needle passes through the second endpoint. Since the actual puncture path of the puncture needle passes through both the first endpoint and the second endpoint, and the actual puncture path is a straight line, the actual puncture path of the puncture needle can be determined based on the first endpoint position and the second endpoint position.

[0104] Based on the above-mentioned method for determining the puncture path based on two-dimensional images, the present application embodiment provides a puncture application scenario. Figure 4 , Figure 4 A schematic diagram of a puncture scenario provided in an embodiment of the present application. Figure 4 As shown, the puncture scene includes an ultrasound probe, a mechanical arm and a needle insertion device, wherein the ultrasound probe and the needle insertion device are both fixed on the mechanical arm. The ultrasound probe is used to obtain a target image of the object to be punctured by scanning and collecting the object to be punctured. The needle insertion device includes a needle insertion channel, which is used to control the puncture needle to puncture along the needle insertion channel.

[0105] like Figure 4 As shown in FIG. 1 , the scanning area of ​​the ultrasonic probe is a sector-shaped area, wherein the sector-shaped area is a sector-shaped area in a two-dimensional plane, and the two-dimensional plane can be represented by a coordinate system O2X2Y2, wherein O2 is the origin of the coordinate system, X2 represents the horizontal axis of the coordinate system, and Y2 represents the vertical axis of the coordinate system. It should be understood that in actual applications, when scanning with an ultrasonic probe, the scanning area is invisible to the naked eye. Figure 4 For easier understanding, the scan area is visualized.

[0106] When the ultrasound probe scans the object to be punctured, it can image the information in the scanning area to obtain an ultrasound image. After obtaining the ultrasound image, the needle insertion point and the lesion of the object to be punctured can be determined from the ultrasound image. Then, the position of the needle insertion point in the ultrasound image is converted to the position in the world coordinate system, and the position of the lesion in the ultrasound image is converted to the position in the world coordinate system. Figure 4 As shown in the figure, the fan-shaped area includes the needle insertion point and the lesion, and the path through the needle insertion point and the lesion is the planned puncture path. Figure 4 As shown, the needle insertion device includes a first end point and a second end point, wherein the path passing through the first end point and the second end point is the needle insertion channel, that is, the actual puncture path of the puncture needle.

[0107] Since the ultrasonic probe is fixed on the mechanical arm, when the ultrasonic probe is used to scan the object to be punctured, the position of the reference point of the ultrasonic probe in the world coordinate system (i.e., the second reference position mentioned above) is unchanged. Also, because the relative position relationship between the reference point and the first endpoint is unchanged when the position of the needle insertion device changes, the first position relationship can be obtained by calibrating the relative position relationship between the ultrasonic probe and the first endpoint before the needle insertion device moves, and then the first endpoint position of the first endpoint in the world coordinate system can be obtained based on the first position relationship and the second reference position. Similarly, the second endpoint position of the second endpoint in the world coordinate system can also be obtained based on the second position relationship and the second reference position. For example, before scanning the object to be punctured, the first position relationship and the second position relationship can be determined by calibration.

[0108] It should be understood that Figure 4 In the embodiment, the needle insertion device and the fan-shaped area are in the same two-dimensional plane, that is, the needle insertion channel and the fan-shaped area are in the same two-dimensional plane, so the first position relationship and the second position relationship are also position relationships within the two-dimensional plane. In this way, when the ultrasonic probe is used to scan the object to be punctured, the actual puncture path of the puncture needle can be determined based on the two-dimensional position of the reference point of the ultrasonic probe (that is, the first reference position and the second reference position).

[0109] After obtaining the first endpoint position and the second endpoint position, the planned puncture path for puncturing the lesion of the object to be punctured can be determined based on the first endpoint position and the second endpoint position. Then, based on the planned puncture path, the mechanical arm is controlled to drive the needle insertion device to move so that the needle insertion channel of the needle insertion device is aligned with the planned puncture path, and then the actual puncture path of the puncture needle can be aligned with the planned puncture path, and puncture can be performed through the needle insertion device.

[0110] As an optional implementation, the target image includes the lesion of the object to be punctured and the needle insertion point for puncturing the lesion, and the puncture device further performs the following steps:

[0111] 201. Determine the lesion position of the lesion in the world coordinate system and the needle insertion position of the needle insertion point in the world coordinate system based on the position of the lesion in the target image and the position of the needle insertion point in the target image.

[0112] 202. Based on the lesion location and the needle insertion position, determine a planned puncture path for the lesion.

[0113] 203. Determine a movement parameter of the needle insertion channel based on a path angle between the planned puncture path and the actual puncture path, and when the needle insertion channel moves based on the movement parameter, the path angle is less than or equal to an angle threshold.

[0114] In an embodiment of the present application, the puncture device uses a conversion relationship to convert the position of the lesion in the target image to obtain the position of the lesion in the world coordinate system, and uses a conversion relationship to convert the position of the needle insertion point in the target image to obtain the position of the needle insertion point in the world coordinate system. The puncture device can then determine the path through the position of the lesion in the world coordinate system and the position of the needle insertion point in the world coordinate system as the planned puncture path. Based on the path angle between the planned puncture path and the actual puncture path, the movement parameters of the needle insertion channel are determined, and the movement parameters of the needle insertion channel can include the path angle. In this way, the needle insertion channel moves according to the movement parameters, which can reduce the path angle, thereby aligning the planned puncture path with the actual puncture path.

[0115] It should be understood that the first position relationship is the relative position relationship between the reference point and the first end point in the world coordinate system before the needle is moved according to the movement parameter. The second position relationship is the relative position relationship between the reference point and the second end point in the world coordinate system before the needle is moved according to the movement parameter.

[0116] In this embodiment, after the puncture device determines the planned puncture path for the lesion based on the lesion position and the needle insertion position, it determines the movement parameter of the needle insertion channel based on the path angle between the planned puncture path and the actual puncture path. When the needle insertion channel moves based on the movement parameter, the path angle is less than or equal to the angle threshold. In this way, the actual puncture path can be aligned with the planned puncture path.

[0117] As an optional implementation, the target imaging device obtains a two-dimensional image by scanning and collecting the scanning area, and the first position relationship and the second position relationship are both position relationships within the scanning area, wherein the scanning area is an area within a two-dimensional plane. Figure 4 The fan-shaped area in .

[0118] As an optional embodiment, the movement parameter is used to indicate that the needle channel moves within the scanning area. By moving the needle channel within the scanning area, the actual puncture path determined based on the needle channel can be aligned with the planned puncture path. For example, Figure 5 A schematic diagram of an actual planned puncture path aligned with a planned puncture path provided in an embodiment of the present application. Figure 5 As shown, the ultrasound probe and the needle insertion device are both fixed on the robotic arm. The ultrasound probe is used to obtain a target image of the object to be punctured by scanning and collecting the object to be punctured. The needle insertion device includes a needle insertion channel, and the needle insertion device is used to control the puncture needle to puncture along the needle insertion channel. The scanning area of ​​the ultrasound probe is a fan-shaped area, wherein the fan-shaped area is a fan-shaped area in a two-dimensional plane, and the two-dimensional plane can be represented by a coordinate system O2X2Y2, wherein O2 is the origin of the coordinate system, X2 represents the horizontal axis of the coordinate system, and Y2 represents the vertical axis of the coordinate system. The fan-shaped area includes the needle insertion point and the lesion, and the path through the needle insertion point and the lesion is the planned puncture path. The needle insertion device includes a first endpoint and a second endpoint, wherein the first endpoint and the second endpoint are two endpoints of the needle insertion channel, and the path through the first endpoint and the second endpoint is the actual puncture path. Figure 5 In order to make the needle channel move in the scanning area according to the moving parameters, a schematic diagram of the relationship between the puncture path and the needle device, the first end point, and the second end point is planned. Figure 5 In the embodiment, the planned puncture path is aligned with the actual puncture path passing through the first end point and the second end point, that is, the actual puncture path determined based on the needle insertion channel is aligned with the planned puncture path.

[0119] As an optional implementation, the planned puncture path includes a planned vector between the lesion position and the needle insertion position, and the actual puncture path includes an actual vector between the first endpoint position and the second endpoint position, wherein the two endpoints of the planned vector are the lesion position and the needle insertion position, respectively, and the two endpoints of the actual vector are the first endpoint position and the second endpoint position, respectively. The puncture device performs the following steps during the execution of the step of "determining the movement parameters of the needle insertion channel based on the path angle between the planned puncture path and the actual puncture path":

[0120] 301. Determine a rotation angle of the needle insertion channel according to an angle between the planned vector and the actual vector.

[0121] 302. Determine the outer product between the planned vector and the actual vector.

[0122] 303. Determine the rotation direction of the needle insertion channel according to the outer product.

[0123] 304. Obtain the movement parameter according to the rotation angle and the rotation direction.

[0124] In this embodiment, the puncture device first determines the rotation angle of the needle channel according to the angle between the planned vector and the actual vector. Then, the rotation direction of the needle channel is determined according to the outer product. Finally, the movement parameter is obtained according to the rotation angle and the rotation direction. In this way, the movement of the needle channel in the scanning area is controlled according to the movement parameter, so that the actual puncture path of the puncture needle can be aligned with the planned puncture path.

[0125] Optional, Figure 6 A schematic diagram of determining the rotation direction of a needle insertion channel provided in an embodiment of the present application. Figure 6 In the figure, vector A represents the actual vector, and vector B represents the planned vector. Vector C is the normal vector between vector A and vector B. According to the right-hand helical definition, the rotation direction of the needle channel can be determined as Figure 6 Specifically, when judging according to the right-hand screw definition, the direction pointed by the thumb is aligned with the vector C, and the fingers other than the thumb are consistent with the rotation direction. Figure 6 As shown, after the rotation direction is determined, it can be determined that when the angle of rotation of vector A according to the rotation direction is r, vector A is aligned with vector B, that is, the actual vector is aligned with the planned vector, and the actual puncture path is aligned with the planned puncture path. At this time, the movement parameters include the rotation direction and the rotation angle r.

[0126] Optionally, the needle insertion device includes a needle insertion channel. When the actual puncture path is aligned with the planned puncture path, the puncture device sends a puncture instruction to the needle insertion device, so that the needle insertion device controls the puncture needle to move along the puncture channel, thereby enabling the puncture needle to puncture the object to be punctured along the actual puncture path. Since the actual puncture path is aligned with the planned puncture path, the actual puncture path of the puncture needle can be made to coincide with the planned puncture path.

[0127] As an optional implementation, the control device determines a first distance between the first end point and the lesion, and determines a second distance between the second end point and the lesion when the actual puncture path is aligned with the planned puncture path. The minimum value between the first distance and the second distance is determined as the puncture depth. At this time, when the needle insertion device controls the puncture needle to move along the puncture channel to puncture the object to be punctured, the puncture needle can be inserted into the lesion by making the distance the puncture needle moves be the puncture depth.

[0128] Optionally, in the process of the needle insertion device controlling the puncture needle to move along the puncture channel to puncture the object to be punctured, the point on the puncture needle closest to the object to be punctured starts to move from the closest endpoint, wherein the closest endpoint is the endpoint corresponding to the minimum value of the first distance and the second distance. For example, the minimum value of the first distance and the second distance is the first distance, and the endpoint corresponding to the first distance is the first endpoint, so the closest endpoint is the first endpoint. Accordingly, the point on the puncture needle closest to the object to be punctured starts to move from the first endpoint, and stops moving when the moving distance is the first distance.

[0129] Optionally, the puncture instruction includes the needle insertion depth. The control device sends the puncture instruction to the needle insertion device, so that the needle insertion device controls the puncture needle to move along the puncture channel, and stops inserting the needle when the movement distance of the puncture needle is the needle insertion depth, thereby reducing the damage of the puncture needle to the object to be punctured.

[0130] As an optional embodiment, the target imaging device includes an ultrasound probe, and the reference point includes a point on the boundary of the acoustic lens of the ultrasound probe. Before determining the first reference position of the reference point of the target imaging device in the target image, the puncture device further performs the following steps:

[0131] 401. Determine a scanning area of ​​the ultrasound probe from the target image.

[0132] 402. Determine the point with the largest ordinate in the scanning area as the reference point of the ultrasonic probe.

[0133] Since in the ultrasound image collected by the ultrasound probe, the point corresponding to the point on the boundary of the acoustic lens of the ultrasound probe is the end point of the scanning area of ​​the ultrasound probe, for example, Figure 3a and Figure 3b The reference point in is the end point of the scanning area. The end point of the scanning area is the point with the largest ordinate in the scanning area. Therefore, after the control device determines the scanning area of ​​the ultrasound probe from the target image, it determines the point with the largest ordinate in the scanning area as the reference point of the ultrasound probe. For example, Figure 3a and Figure 3b The reference point in is the point with the largest ordinate in the scanning area.

[0134] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0135] If the technical solution of this application involves personal information, the product using the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using the technical solution of this application has obtained the individual's separate consent before processing the sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, clear and prominent signs are set to inform that the personal information collection scope has been entered and personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that he or she agrees to the collection of his or her personal information; or on the device that processes personal information, the personal information processing rules are notified by obvious signs / information, and the individual's authorization is obtained through pop-up information or by asking the individual to upload his or her personal information; among which, personal information processing may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.

[0136] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0137] See also Figure 7 , Figure 7 The schematic diagram of the structure of a puncture path determination device based on a two-dimensional image provided in an embodiment of the present application. The puncture path determination device based on a two-dimensional image 1 comprises an acquisition unit 11, a determination unit 12, and a processing unit 13, specifically:

[0138] An acquisition unit 11 is used to acquire a target image of the object to be punctured, wherein the target image is a two-dimensional image acquired by a target imaging device;

[0139] A determination unit 12, configured to determine a first reference position of a reference point of the target imaging device in the target image;

[0140] The determining unit 12 is used to determine a second reference position of the reference point in a world coordinate system based on the first reference position;

[0141] The processing unit 13 is used to obtain a first endpoint position of a first endpoint of the needle insertion channel in the world coordinate system based on the first position relationship and the second reference position, wherein the first position relationship is a position relationship between the reference point and the first endpoint in the world coordinate system, and the puncture needle moves along the needle insertion channel during the process of puncturing the object to be punctured using the puncture needle;

[0142] The processing unit 13 is used to obtain a second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system based on the second position relationship and the second reference position, wherein the second position relationship is a position relationship between the reference point and the second endpoint in the world coordinate system;

[0143] The determining unit 12 is used to determine an actual puncture path of the puncture needle based on the first reference position and the second reference position.

[0144] In combination with any embodiment of the present application, the target image includes the lesion of the object to be punctured and the needle insertion point for puncturing the lesion, and the determination unit 12 is further used to:

[0145] Determine the lesion position of the lesion in the world coordinate system and the needle insertion position of the needle insertion point in the world coordinate system based on the position of the lesion in the target image and the position of the needle insertion point in the target image;

[0146] Determining a planned puncture path for the lesion based on the lesion location and the needle insertion position;

[0147] Based on the path angle between the planned puncture path and the actual puncture path, the movement parameter of the needle channel is determined. When the needle channel moves based on the movement parameter, the path angle is less than or equal to an angle threshold.

[0148] In combination with any embodiment of the present application, the target imaging device obtains a two-dimensional image by scanning and capturing a scanning area, and the first position relationship and the second position relationship are both position relationships within the scanning area, and the scanning area is an area within a two-dimensional plane.

[0149] In combination with any embodiment of the present application, the movement parameter is used to indicate the movement of the needle channel within the scanning area.

[0150] In combination with any embodiment of the present application, the planned puncture path includes a planned vector between the lesion position and the needle insertion position, and the actual puncture path includes an actual vector between the first endpoint position and the second endpoint position;

[0151] The determining unit 12 is specifically configured to:

[0152] Determining the rotation angle of the needle insertion channel according to the angle between the planned vector and the actual vector;

[0153] Determining the outer product between the planned vector and the actual vector;

[0154] Determining the rotation direction of the needle insertion channel according to the outer product;

[0155] The movement parameter is obtained according to the rotation angle and the rotation direction.

[0156] In combination with any embodiment of the present application, the target imaging device includes an ultrasound probe, and the reference point includes a point on a boundary of an acoustic lens of the ultrasound probe;

[0157] The determining unit 12 is further configured to:

[0158] Determining a scanning area of ​​the ultrasound probe from the target image;

[0159] The point with the largest ordinate in the scanning area is determined as the reference point of the ultrasound probe.

[0160] In combination with any embodiment of the present application, the ultrasonic probe transmits the ultrasonic wave at the maximum transmission angle through the reference point; or, the ultrasonic probe transmits the ultrasonic wave at the maximum transmission angle through the reference point.

[0161] In the embodiment of the present application, the target image is a two-dimensional image acquired by a target imaging device, and the target image includes an object to be punctured. After acquiring the target image of the object to be punctured, the puncture path determination device based on the two-dimensional image determines the first reference position of the reference point of the target imaging device in the target image. Then, based on the first reference position, the second reference position of the reference point in the world coordinate system is determined. Because the first position relationship is the position relationship between the reference point and the first end point in the world coordinate system, the first end point position of the first end point of the needle insertion channel in the world coordinate system can be obtained based on the first position relationship and the second reference position. In the process of puncturing the object to be punctured using the puncture needle, the puncture needle moves along the needle insertion channel, so the actual puncture path of the puncture needle passes through the first end point. Because the second position relationship is the position relationship between the reference point and the second end point in the world coordinate system, the second end point position of the second end point of the needle insertion channel in the world coordinate system is obtained based on the second position relationship and the second reference position. Because the second end point is the end point of the needle insertion channel, the actual puncture path of the puncture needle passes through the second end point. Since the actual puncture path of the puncture needle passes through both the first endpoint and the second endpoint, and the actual puncture path is a straight line, the actual puncture path of the puncture needle can be determined based on the first endpoint position and the second endpoint position.

[0162] In some embodiments, the functions or modules included in the device provided in the embodiments of the present application can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0163] Figure 8A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 also includes an input device 23 and an output device 24. The processor 21, the memory 22, the input device 23 and the output device 24 are coupled via a connector, and the connector includes various interfaces, transmission lines or buses, etc., which are not limited in the embodiments of the present application. It should be understood that in each embodiment of the present application, coupling refers to mutual connection in a specific manner, including direct connection or indirect connection through other devices, for example, it can be connected through various interfaces, transmission lines, buses, etc.

[0164] The processor 21 may be one or more graphics processing units (GPUs). When the processor 21 is a GPU, the GPU may be a single-core GPU or a multi-core GPU. Optionally, the processor 21 may be a processor group consisting of multiple GPUs, and the multiple processors are coupled to each other via one or more buses. Optionally, the processor may also be other types of processors, etc., which are not limited in the embodiments of the present application.

[0165] The memory 22 can be used to store computer program instructions and various computer program codes including the program code for executing the program code of the present application. Optionally, the memory includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM), or portable read only memory (CD-ROM), which is used for related instructions and data.

[0166] The input device 23 is used to input data and / or signals, and the output device 24 is used to output data and / or signals. The input device 23 and the output device 24 can be independent devices or an integrated device.

[0167] It can be understood that in the embodiment of the present application, the memory 22 can be used not only to store relevant instructions, but also to store relevant data. The embodiment of the present application does not limit the specific data stored in the memory.

[0168] Understandably, Figure 8Only a simplified design of an electronic device is shown. In practical applications, the electronic device may also include other necessary components, including but not limited to any number of input / output devices, processors, memories, etc., and all electronic devices that can implement the embodiments of the present application are within the protection scope of the present application.

[0169] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0170] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. Those skilled in the art can also clearly understand that the descriptions of the various embodiments of the present application have different focuses. For the convenience and brevity of description, the same or similar parts may not be repeated in different embodiments. Therefore, for parts not described or not described in detail in a certain embodiment, refer to the records of other embodiments.

[0171] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0172] 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.

[0173] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0174] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0175] A person skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by a computer program to instruct the relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments. The aforementioned storage medium includes: a read-only memory (ROM) or a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

Claims

1. A method for determining a puncture path based on a two-dimensional image, characterized in that: The method comprises: Acquire a target image of the object to be punctured, wherein the target image is a two-dimensional image acquired by a target imaging device, wherein the target imaging device includes an ultrasonic probe; Determining a scanning area of ​​the ultrasound probe from the target image; Determine the point with the largest ordinate in the scanning area as the reference point of the ultrasonic probe, the reference point being a point on the boundary of the acoustic lens of the ultrasonic probe, and the ultrasonic wave emitted by the ultrasonic probe at the maximum emission angle passes through the reference point; Determine a first reference position of a reference point of the target imaging device in the target image; Based on the first reference position, determining a second reference position of the reference point in a world coordinate system; Based on the first position relationship and the second reference position, a first endpoint position of the first endpoint of the needle insertion channel in the world coordinate system is obtained, wherein the first position relationship is a position relationship between the reference point and the first endpoint in the world coordinate system, and the puncture needle moves along the needle insertion channel during the process of puncturing the object to be punctured using the puncture needle; Based on the second positional relationship and the second reference position, obtaining the second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system, wherein the second positional relationship is the positional relationship between the reference point and the second endpoint in the world coordinate system; Based on the first endpoint position and the second endpoint position, an actual puncture path of the puncture needle is determined.

2. The method according to claim 1, characterized in that The target image includes the lesion of the object to be punctured and the needle insertion point for puncturing the lesion, and the method further includes: Determine the lesion position of the lesion in the world coordinate system and the needle insertion position of the needle insertion point in the world coordinate system based on the position of the lesion in the target image and the position of the needle insertion point in the target image; Determining a planned puncture path for the lesion based on the lesion location and the needle insertion position; Based on the path angle between the planned puncture path and the actual puncture path, the movement parameter of the needle channel is determined. When the needle channel moves based on the movement parameter, the path angle is less than or equal to an angle threshold.

3. The method according to claim 2, characterized in that The target imaging device obtains a two-dimensional image by scanning and collecting a scanning area. The first positional relationship and the second positional relationship are both positional relationships within the scanning area, and the scanning area is an area within a two-dimensional plane.

4. The method according to claim 3, characterized in that: The planned puncture path includes a planned vector between the lesion position and the needle insertion position, and the actual puncture path includes an actual vector between the first end point position and the second end point position; The determining of the movement parameters of the needle insertion channel based on the path angle between the planned puncture path and the actual puncture path includes: Determining the rotation angle of the needle insertion channel according to the angle between the planned vector and the actual vector; Determining the outer product between the planned vector and the actual vector; Determining the rotation direction of the needle insertion channel according to the outer product; The movement parameter is obtained according to the rotation angle and the rotation direction.

5. A puncture path determination device based on two-dimensional images, characterized in that: The puncture path determination device based on two-dimensional images comprises: An acquisition unit, used for acquiring a target image of the object to be punctured, wherein the target image is a two-dimensional image acquired by a target imaging device, wherein the target imaging device includes an ultrasonic probe; a determination unit, configured to determine a scanning area of ​​the ultrasound probe from the target image; The determining unit is used to determine the point with the largest ordinate in the scanning area as the reference point of the ultrasonic probe, wherein the reference point is a point on the boundary of the acoustic lens of the ultrasonic probe, and the ultrasonic wave emitted by the ultrasonic probe at the maximum emission angle passes through the reference point; The determining unit is used to determine a first reference position of a reference point of the target imaging device in the target image; The determining unit is configured to determine a second reference position of the reference point in a world coordinate system based on the first reference position; a processing unit, configured to obtain a first endpoint position of a first endpoint of a needle insertion channel in the world coordinate system based on a first position relationship and the second reference position, wherein the first position relationship is a position relationship between the reference point and the first endpoint in the world coordinate system, and the puncture needle moves along the needle insertion channel during a process of puncturing the object to be punctured using the puncture needle; The processing unit is used to obtain a second endpoint position of the second endpoint of the needle insertion channel in the world coordinate system based on a second position relationship and the second reference position, wherein the second position relationship is a position relationship between the reference point and the second endpoint in the world coordinate system; The determining unit is used to determine an actual puncture path of the puncture needle based on the first reference position and the second reference position.

6. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and when the processor executes the computer instructions, the electronic device executes the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor is enabled to execute the method according to any one of claims 1 to 4.

8. A computer program product, characterized in that The computer program product comprises a computer program; when the computer program is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 4.

Images