Puncture method and related products based on three-dimensional scanning

Abstract

The present application discloses a puncture method based on three-dimensional scanning and related products, the method comprising: acquiring a target three-dimensional CT image, the target three-dimensional CT image being a CT image obtained by performing three-dimensional scanning of an object to be punctured by a three-dimensional scanning device; determining a lesion of the object to be punctured from the target three-dimensional CT image; determining a needle insertion point of the object to be punctured from the target three-dimensional CT image; determining a first puncture path for the lesion based on the lesion and the needle insertion point, the first puncture path being a path in a CT coordinate system, the CT coordinate system being a coordinate system established based on the three-dimensional scanning device; and converting the first puncture path into a second puncture path in a world coordinate system based on a conversion matrix, the conversion matrix comprising a conversion relationship between the CT coordinate system and the world coordinate system.

Description

Technical Field

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

[0002] In the medical field, puncture surgery refers to puncturing the lesion of the object to be punctured along the puncture path with a puncture needle so that the puncture needle penetrates the lesion. The current puncture method first plans the puncture path for the object to be punctured, and then controls the puncture needle to move along the needle insertion channel so that the movement path of the puncture needle coincides with the puncture path, thereby completing the puncture of the object to be punctured. However, the current puncture method takes a long time to plan the puncture path. Summary of the invention

[0003] The present application provides a puncture method based on three-dimensional scanning and related products to reduce the time for planning a puncture path, wherein the related products include a puncture device based on three-dimensional scanning, an electronic device, a computer-readable storage medium, and a computer program product.

[0004] In a first aspect, a puncture method based on three-dimensional scanning is provided, the method comprising:

[0005] Acquiring a target three-dimensional computed tomography (CT) image, wherein the target three-dimensional CT image is a CT image obtained by three-dimensionally scanning the object to be punctured using a three-dimensional scanning device;

[0006] Determine the lesion of the object to be punctured from the target three-dimensional CT image;

[0007] Determining the needle insertion point of the object to be punctured from the target three-dimensional CT image;

[0008] Based on the lesion and the needle insertion point, determining a first puncture path for the lesion, the first puncture path being a path in a CT coordinate system, and the CT coordinate system being a coordinate system established based on the three-dimensional scanning device;

[0009] The first puncture path is converted into a second puncture path in a world coordinate system based on a conversion matrix, wherein the conversion matrix includes a conversion relationship between the CT coordinate system and the world coordinate system.

[0010] In combination with any embodiment of the present application, before converting the first puncture path into a second puncture path in a world coordinate system based on a conversion matrix, the method further includes:

[0011] Acquire a calibration three-dimensional CT image, wherein the calibration three-dimensional CT image is a CT image obtained by three-dimensionally scanning a calibration tool with the three-dimensional scanning device, wherein the calibration tool includes at least one optical marker;

[0012] determining at least one first position of the at least one optical marker in the CT coordinate system;

[0013] The transformation matrix is ​​obtained based on the at least one first position and at least one second position of the at least one optical marker in the world coordinate system, wherein the at least one second position is obtained by positioning the at least one optical marker through an optical tracking system.

[0014] In combination with any embodiment of the present application, in the process of the three-dimensional scanning device scanning to obtain the target three-dimensional CT image and the calibration three-dimensional CT image, the three-dimensional scanning device starts scanning with the third position as the starting position.

[0015] In combination with any embodiment of the present application, the step of acquiring a target three-dimensional CT image includes:

[0016] Acquire first three-dimensional image information and second three-dimensional image information, wherein the first three-dimensional image information includes three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a first posture, and the second three-dimensional image information includes three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a second posture;

[0017] In a case where image content represented by first to-be-confirmed three-dimensional image information in the first three-dimensional image information is different from image content represented by second to-be-confirmed three-dimensional image information in the second three-dimensional image information, third three-dimensional image information is determined from the first three-dimensional image information, and fourth three-dimensional image information is determined from the second three-dimensional image information; a position represented by the first to-be-confirmed three-dimensional image information and a position represented by the second to-be-confirmed three-dimensional image information are both to-be-confirmed positions; the position represented by the third three-dimensional image information does not exist in the second three-dimensional image information, and the position represented by the fourth three-dimensional image information does not exist in the first three-dimensional image information;

[0018] determining the image content of the position to be confirmed based on the third three-dimensional image information and the fourth three-dimensional image information;

[0019] The target three-dimensional CT image is obtained based on the image content of the position to be confirmed, the first three-dimensional image information, and the second three-dimensional image information.

[0020] In combination with any embodiment of the present application, determining the image content of the to-be-confirmed position based on the third three-dimensional image information and the fourth three-dimensional image information includes:

[0021] determining, from the third three-dimensional image information, fifth three-dimensional image information which is closest to the first three-dimensional image information to be confirmed;

[0022] determining, from the fourth three-dimensional image information, sixth three-dimensional image information which is closest to the second three-dimensional image information to be confirmed;

[0023] Based on the fifth three-dimensional image information and the sixth three-dimensional image information, image content of the to-be-confirmed position is determined.

[0024] In combination with any embodiment of the present application, determining the image content of the to-be-confirmed position based on the fifth three-dimensional image information and the sixth three-dimensional image information includes:

[0025] determining a first distance between the first to-be-confirmed three-dimensional image information and the fifth three-dimensional image information;

[0026] determining a second distance between the second to-be-confirmed three-dimensional image information and the sixth three-dimensional image information;

[0027] When the first distance is less than the second distance, determining the image content of the to-be-confirmed position based on the fifth three-dimensional image information;

[0028] When the first distance is greater than the second distance, determining the image content of the to-be-confirmed position based on the sixth three-dimensional image information;

[0029] When the first distance is equal to the second distance, the image content of the to-be-confirmed position is determined based on one of the fifth three-dimensional image information and the sixth three-dimensional image information.

[0030] In a second aspect, a puncture device based on three-dimensional scanning is provided, and the puncture device based on three-dimensional scanning comprises:

[0031] An acquisition unit, used for acquiring a target three-dimensional CT image, wherein the target three-dimensional CT image is a CT image obtained by three-dimensionally scanning the object to be punctured with a three-dimensional scanning device;

[0032] a determination unit, configured to determine the lesion of the object to be punctured from the target three-dimensional CT image;

[0033] The determination unit is used to determine the needle insertion point of the object to be punctured from the target three-dimensional CT image;

[0034] The determining unit is used to determine a first puncture path for the lesion based on the lesion and the needle insertion point, the first puncture path being a path in a CT coordinate system, and the CT coordinate system is a coordinate system established based on the three-dimensional scanning device;

[0035] A conversion unit is used to convert the first puncture path into a second puncture path in a world coordinate system based on a conversion matrix, wherein the conversion matrix includes a conversion relationship between the CT coordinate system and the world coordinate system.

[0036] In combination with any embodiment of the present application, in combination with any embodiment of the present application, the acquisition unit is further used to acquire a calibration three-dimensional CT image, wherein the calibration three-dimensional CT image is a CT image obtained by three-dimensionally scanning a calibration tool by the three-dimensional scanning device, and the calibration tool includes at least one optical marker;

[0037] The determining unit is further configured to determine at least one first position of the at least one optical marker in the CT coordinate system;

[0038] The determination unit is further used to obtain the transformation matrix based on the at least one first position and at least one second position of the at least one optical marker in the world coordinate system, wherein the at least one second position is obtained by positioning the at least one optical marker through an optical tracking system.

[0039] In combination with any embodiment of the present application, in the process of the three-dimensional scanning device scanning to obtain the target three-dimensional CT image and the calibration three-dimensional CT image, the three-dimensional scanning device starts scanning with the third position as the starting position.

[0040] In combination with any implementation manner of the present application, the acquisition unit is specifically used to:

[0041] Acquire first three-dimensional image information and second three-dimensional image information, wherein the first three-dimensional image information includes three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a first posture, and the second three-dimensional image information includes three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a second posture;

[0042] In a case where image content represented by first to-be-confirmed three-dimensional image information in the first three-dimensional image information is different from image content represented by second to-be-confirmed three-dimensional image information in the second three-dimensional image information, third three-dimensional image information is determined from the first three-dimensional image information, and fourth three-dimensional image information is determined from the second three-dimensional image information; a position represented by the first to-be-confirmed three-dimensional image information and a position represented by the second to-be-confirmed three-dimensional image information are both to-be-confirmed positions; the position represented by the third three-dimensional image information does not exist in the second three-dimensional image information, and the position represented by the fourth three-dimensional image information does not exist in the first three-dimensional image information;

[0043] determining the image content of the position to be confirmed based on the third three-dimensional image information and the fourth three-dimensional image information;

[0044] The target three-dimensional CT image is obtained based on the image content of the position to be confirmed, the first three-dimensional image information, and the second three-dimensional image information.

[0045] In combination with any implementation manner of the present application, the acquisition unit is specifically used to:

[0046] determining, from the third three-dimensional image information, fifth three-dimensional image information which is closest to the first three-dimensional image information to be confirmed;

[0047] determining, from the fourth three-dimensional image information, sixth three-dimensional image information which is closest to the second three-dimensional image information to be confirmed;

[0048] Based on the fifth three-dimensional image information and the sixth three-dimensional image information, image content of the to-be-confirmed position is determined.

[0049] In combination with any implementation manner of the present application, the acquisition unit is specifically used to:

[0050] determining a first distance between the first to-be-confirmed three-dimensional image information and the fifth three-dimensional image information;

[0051] determining a second distance between the second to-be-confirmed three-dimensional image information and the sixth three-dimensional image information;

[0052] When the first distance is less than the second distance, determining the image content of the to-be-confirmed position based on the fifth three-dimensional image information;

[0053] When the first distance is greater than the second distance, determining the image content of the to-be-confirmed position based on the sixth three-dimensional image information;

[0054] When the first distance is equal to the second distance, the image content of the to-be-confirmed position is determined based on one of the fifth three-dimensional image information and the sixth three-dimensional image information.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] In an embodiment of the present application, the target three-dimensional CT image is a CT image obtained by three-dimensionally scanning the object to be punctured by a three-dimensional scanning device. After acquiring the target three-dimensional CT image, the puncture device determines the lesion of the object to be punctured from the target three-dimensional CT image, and determines the needle insertion point of the object to be punctured from the target three-dimensional CT image. Then, based on the lesion and the needle insertion point, a first puncture path for the lesion is determined, wherein the first puncture path is a path in the CT coordinate system, and the CT coordinate system is a coordinate system established based on the three-dimensional scanning device. Because the conversion matrix includes the conversion relationship between the CT coordinate system and the world coordinate system, the first puncture path can be converted into a second puncture path in the world coordinate system based on the conversion matrix, wherein the conversion matrix includes the conversion relationship between the CT coordinate system and the world coordinate system. This can reduce the time to obtain the second puncture path. Furthermore, since the three-dimensional scanning device obtains a target three-dimensional CT image by performing three-dimensional scanning on the object to be punctured, the puncture device does not need to obtain a three-dimensional CT image of the object to be punctured through three-dimensional reconstruction, thereby reducing the time required to obtain a three-dimensional CT image of the object to be punctured, and further reducing the time required to obtain a first puncture path based on the three-dimensional CT image of the object to be punctured, thereby reducing the time required to obtain a second puncture path in the world coordinate system based on the first puncture path. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] 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.

[0062] 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.

[0063] Figure 1 A schematic diagram of a process flow of a puncture method based on three-dimensional scanning provided in an embodiment of the present application;

[0064] Figure 2 A schematic diagram of the structure of a puncture device based on three-dimensional scanning provided in an embodiment of the present application;

[0065] Figure 3 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] 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.

[0067] 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.

[0068] 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.

[0069] With the continuous development of medical technology, precision medicine has become an important goal of modern medicine. Among them, the requirement for precision in puncturing lesions is particularly obvious. In puncture surgery, accurate puncture is crucial to improving the success rate of surgery and reducing surgical risks and complications. Traditional puncture surgery mainly relies on the doctor's experience for puncture. However, the structure of the object's body is complex, and it is difficult to achieve accurate puncture only by naked eyes and experience.

[0070] Therefore, a method for performing puncture based on CT images has been derived. Specifically, when the object to be punctured is located on the scanning bed, a spiral CT scanning device is used to perform a spiral scan on the object to be punctured to obtain multiple two-dimensional CT images of the object to be punctured. Then, a three-dimensional CT image of the object to be punctured is obtained by performing three-dimensional reconstruction on the multiple two-dimensional CT images. Then, a puncture path for the lesion in the body of the object to be punctured is planned based on the three-dimensional CT image, and the planned puncture path is converted into a puncture path in a world coordinate system, and then the object to be punctured can be punctured based on the puncture path in the world coordinate system.

[0071] However, when a two-dimensional CT image is obtained by scanning the object to be punctured with a spiral CT scanning device, the pixel coordinate system of the two-dimensional CT image is constructed based on the scanning bed. Therefore, the pixel coordinate system of the three-dimensional CT image obtained by three-dimensional reconstruction based on the two-dimensional CT image is also constructed based on the scanning bed. In addition, because the scanning bed needs to move during the operation (the spiral CT scanning device needs to generate relative movement between the scanning bed and the spiral CT scanning device based on the movement of the scanning bed, so that the spiral CT scanning device can scan different areas of the object to be punctured), and the position of the scanning bed is difficult to calibrate, the position of the scanning bed is uncertain for each puncture operation, which leads to the uncertainty of the pixel coordinate system of the three-dimensional CT image. As a result, for each puncture operation, the pixel coordinate system of the three-dimensional CT image is uncertain, which leads to the uncertainty of the conversion relationship between the pixel coordinate system of the three-dimensional CT image and the world coordinate system. Therefore, before each puncture operation, the conversion relationship between the three-dimensional CT image and the world coordinate system needs to be re-determined. This results in a long time to determine the puncture path in the world coordinate system based on the conversion relationship.

[0072] Based on this, an embodiment of the present application provides a puncture method based on three-dimensional scanning. In this method, a three-dimensional CT image of the object to be punctured can be obtained by performing a three-dimensional scanning of the object to be punctured by a three-dimensional scanning device, wherein the pixel coordinate system of the three-dimensional CT image is constructed based on the three-dimensional scanning device. Because the position of the three-dimensional scanning device is determined, after the conversion matrix between the pixel coordinate system of the three-dimensional CT image and the world coordinate system is determined by calibration once, in subsequent puncture operations, there is no need to determine the conversion matrix between the pixel coordinate system of the three-dimensional CT image and the world coordinate system again, thereby reducing the time for planning the puncture path.

[0073] The puncture method based on three-dimensional scanning will be described in detail below. The puncture method based on three-dimensional scanning in the embodiment of the present application is performed by a puncture device based on three-dimensional scanning (hereinafter referred to as the puncture device), wherein the puncture device can be any electronic device that can execute the technical solution disclosed in the embodiment of the method of the present application. Optionally, the puncture device based on three-dimensional scanning can be one of the following: a mobile phone, a computer, and a tablet computer.

[0074] 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 puncture method based on three-dimensional scanning provided in an embodiment of the present application.

[0075] 101. Obtain a target three-dimensional CT image.

[0076] In an embodiment of the present application, the target three-dimensional CT image is a CT image obtained by performing three-dimensional scanning on the object to be punctured by a three-dimensional scanning device, wherein the three-dimensional image information of the object to be punctured can be obtained by performing three-dimensional scanning on the object to be punctured. Optionally, the three-dimensional scanning device includes a C-arm computed tomography (CT) scanning device. Since the target three-dimensional CT image is obtained by performing three-dimensional scanning on the object to be punctured by a three-dimensional scanning device, the target three-dimensional CT image includes the three-dimensional image information of the object to be punctured. Specifically, the target three-dimensional CT image includes the three-dimensional image information of the object to be punctured, wherein the three-dimensional image information of the object to be punctured includes the three-dimensional position of any point in the body of the object to be punctured in the pixel coordinate system of the target three-dimensional CT image.

[0077] In an implementation method of acquiring a target three-dimensional CT image, the puncture device receives the target three-dimensional CT image input by a user through an input component, wherein the input component includes: a mouse, a keyboard, a touch screen, a touch pad, and an audio input device.

[0078] In another implementation method of acquiring a target three-dimensional CT image, the puncture device receives the target three-dimensional CT image sent by a terminal, wherein the terminal includes: a mobile phone, a computer, a tablet computer, and a smart wearable device.

[0079] 102. Determine the lesion of the object to be punctured from the target three-dimensional CT image.

[0080] In a possible implementation, after the puncture device displays the target three-dimensional CT image, the relevant personnel can determine the lesion of the object to be punctured from the target three-dimensional CT image by observing the target three-dimensional CT image, and then input the location of the lesion to the puncture device. For example, the location of the lesion is input to the puncture device by clicking. The puncture device can then determine the lesion of the object to be punctured from the target three-dimensional CT image based on the location of the lesion.

[0081] In another possible implementation, the puncture device determines the lesion from the target three-dimensional CT image by performing image segmentation on the target three-dimensional CT image.

[0082] 103. Determine the needle insertion point of the object to be punctured from the target three-dimensional CT image.

[0083] In a possible implementation, after the puncture device displays the target three-dimensional CT image, the relevant personnel can determine the needle entry point of the object to be punctured from the target three-dimensional CT image by observing the target three-dimensional CT image, and then input the position of the needle entry point to the puncture device. For example, the position of the needle entry point is input to the puncture device by clicking. The puncture device can then determine the needle entry point of the object to be punctured from the target three-dimensional CT image based on the position of the needle entry point.

[0084] In another possible implementation, the puncture device determines the skin area from the target three-dimensional CT image by performing image segmentation on the target three-dimensional CT image, and selects a point from the skin area as the needle insertion point. Optionally, the puncture device determines the needle insertion point from the skin area based on the principle that the angle between the line between the needle insertion point and the lesion and the horizontal plane is within a preset range. Among them, the line between the needle insertion point and the lesion is the puncture path in the target three-dimensional CT image, and the angle between the puncture path and the horizontal plane is within a preset range, which is more convenient for relevant personnel to use a surgical needle for puncture. Therefore, the puncture device determines the needle insertion point from the skin area based on the principle that the angle between the line between the needle insertion point and the lesion and the horizontal plane is within a preset range, which is conducive to subsequent relevant personnel to perform puncture based on the puncture path.

[0085] 104. Based on the lesion and the needle insertion point, determine a first puncture path for the lesion.

[0086] In the embodiment of the present application, the first puncture path is a path in the CT coordinate system, wherein the CT coordinate system is a coordinate system established based on a three-dimensional scanning device, and the CT coordinate system is a pixel coordinate system of a target three-dimensional CT image. In a possible implementation, the puncture device determines a straight line passing through the lesion and the needle insertion point as the first puncture path.

[0087] 105. Based on the conversion matrix, convert the first puncture path into a second puncture path in the world coordinate system.

[0088] In the embodiment of the present application, the conversion matrix includes the conversion relationship between the CT coordinate system and the world coordinate system. The position in the CT coordinate system can be converted into the position in the world coordinate system by using the conversion matrix. Therefore, the puncture device can convert the first puncture path into the puncture path in the world coordinate system by using the conversion matrix, that is, the second puncture path.

[0089] In an embodiment of the present application, the target three-dimensional CT image is a CT image obtained by three-dimensionally scanning the object to be punctured by a three-dimensional scanning device. After acquiring the target three-dimensional CT image, the puncture device determines the lesion of the object to be punctured from the target three-dimensional CT image, and determines the needle insertion point of the object to be punctured from the target three-dimensional CT image. Then, based on the lesion and the needle insertion point, a first puncture path for the lesion is determined, wherein the first puncture path is a path in the CT coordinate system, and the CT coordinate system is a coordinate system established based on the three-dimensional scanning device. Because the conversion matrix includes the conversion relationship between the CT coordinate system and the world coordinate system, the first puncture path can be converted into a second puncture path in the world coordinate system based on the conversion matrix, wherein the conversion matrix includes the conversion relationship between the CT coordinate system and the world coordinate system. This can reduce the time to obtain the second puncture path. Furthermore, since the three-dimensional scanning device obtains a target three-dimensional CT image by performing three-dimensional scanning on the object to be punctured, the puncture device does not need to obtain a three-dimensional CT image of the object to be punctured through three-dimensional reconstruction, thereby reducing the time required to obtain a three-dimensional CT image of the object to be punctured, and further reducing the time required to obtain a first puncture path based on the three-dimensional CT image of the object to be punctured, thereby reducing the time required to obtain a second puncture path in the world coordinate system based on the first puncture path.

[0090] Optionally, since the radiation dose of scanning the object to be punctured using a C-arm CT scanning device is smaller than that of scanning the object to be punctured using a spiral CT scanning device, when the three-dimensional scanning device is a C-arm CT scanning device, the radiation dose of the object to be punctured is reduced by using the C-arm CT scanning device to scan the object to be punctured to obtain a target three-dimensional CT image.

[0091] As an optional implementation, before the puncture device transforms the first puncture path into the second puncture path in the world coordinate system based on the transformation matrix, it further performs the following steps:

[0092] 201. Obtain a calibrated three-dimensional CT image.

[0093] In the embodiment of the present application, the calibration three-dimensional CT image is a CT image obtained by three-dimensionally scanning the calibration tooling with a three-dimensional scanning device, wherein the calibration tooling includes at least one optical marker. Optionally, the coordinates of the optical marker in the world coordinate system can be determined by an optical tracking system, thereby achieving tracking and positioning of the optical marker.

[0094] 202. Determine at least one first position of the at least one optical marker in the CT coordinate system.

[0095] In the embodiment of the present application, since the calibrated three-dimensional CT image is obtained by scanning with a three-dimensional scanning device, the pixel coordinate system of the calibrated three-dimensional CT image is the CT coordinate system, and at least one first position of at least one optical marker in the CT coordinate system is at least one position of at least one optical marker in the calibrated three-dimensional CT image.

[0096] 203. Obtain the transformation matrix based on the at least one first position and the at least one second position of the at least one optical marker in the world coordinate system.

[0097] In the embodiment of the present application, at least one second position is obtained by positioning at least one optical marker by an optical tracking system. Specifically, the optical tracking system can be used to determine the position of the optical marker in the world coordinate system. It should be understood that the world coordinate system is the coordinate system of the actual space where the puncture surgery is performed. Optionally, the space where the puncture surgery is performed is the space where the object to be punctured is located.

[0098] As an optional implementation, in the process of obtaining the target 3D CT image and the calibration 3D CT image by the 3D scanning device, the 3D scanning device starts scanning with the third position as the starting position. In this way, the pixel coordinate system of the target 3D CT image and the pixel coordinate system of the calibration 3D CT image are the same, and the transformation matrix can accurately represent the transformation relationship between the CT coordinate system and the world coordinate system.

[0099] As an optional implementation, the puncture device acquires a target three-dimensional CT image by performing the following steps:

[0100] 301. Obtain first three-dimensional image information and second three-dimensional image information.

[0101] In the embodiment of the present application, the first three-dimensional image information includes the three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in the first posture, and the second three-dimensional image information includes the three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in the second posture. The three-dimensional image information includes imaging information of a three-dimensional CT image. Optionally, the imaging information of the three-dimensional CT image includes: image content and three-dimensional position. For example, the imaging information of the three-dimensional CT image includes imaging information of position A of the object to be punctured, and the imaging information of position A specifically includes that the image content of position A is a kidney, and the three-dimensional position of position A in the pixel coordinate system.

[0102] The first posture is different from the second posture, that is, the first three-dimensional image information and the second three-dimensional image information are obtained by scanning the object to be punctured with a three-dimensional scanning device in different postures, so the first three-dimensional image information and the second three-dimensional image information are different. In other words, the three-dimensional scanning device can obtain the first three-dimensional image information and the second three-dimensional image information by scanning the object to be punctured from different angles. In this way, more comprehensive three-dimensional image information of the object to be punctured can be obtained through the first three-dimensional image information and the second three-dimensional image information.

[0103] 302. When image content represented by first three-dimensional image information to be confirmed in the first three-dimensional image information is different from image content represented by second three-dimensional image information to be confirmed in the second three-dimensional image information, determine third three-dimensional image information from the first three-dimensional image information, and determine fourth three-dimensional image information from the second three-dimensional image information.

[0104] In the embodiment of the present application, the first three-dimensional image information to be confirmed is the three-dimensional image information in the first three-dimensional image information, and the second three-dimensional image information to be confirmed is the three-dimensional image information in the second three-dimensional image information, and the position represented by the first three-dimensional image information to be confirmed and the position represented by the second three-dimensional image information to be confirmed are both positions to be confirmed. However, the image content represented by the first three-dimensional image information to be confirmed is different from the image content represented by the second three-dimensional image information to be confirmed. In other words, for the position to be confirmed in the body of the object to be punctured, the image content represented by the first three-dimensional image information to be confirmed is different from the image content represented by the second three-dimensional image information to be confirmed, that is, the three-dimensional scanning device scans the object to be punctured in the first posture and scans the object to be punctured in the second posture, and both scans the three-dimensional image information of the position to be confirmed, but the image content obtained by the two scans is different. For example, for the position to be confirmed in the body of the object to be punctured, the first three-dimensional image information to be confirmed indicates that the image content of the position to be confirmed is a lesion, and the second three-dimensional image information to be confirmed indicates that the image content of the position to be confirmed is not a lesion. For another example, for a position to be confirmed in the body of a subject to be punctured, the first three-dimensional image information to be confirmed indicates that the image content of the position to be confirmed is a kidney, and the second three-dimensional image information to be confirmed indicates that the image content of the position to be confirmed is a blood vessel.

[0105] The first three-dimensional image information also includes the third three-dimensional image information, and the second three-dimensional image information also includes the fourth three-dimensional image information, wherein the position represented by the third three-dimensional image information does not exist in the second three-dimensional image information, and the position represented by the fourth three-dimensional image information does not exist in the first three-dimensional image information. In other words, for a certain position in the body of the object to be punctured, the three-dimensional image information of the position exists in the first three-dimensional image information, but the three-dimensional image information of the position does not exist in the second three-dimensional image information, that is, when the three-dimensional scanning device scans the object to be punctured in the first posture, the three-dimensional image information of the position is scanned, but when the three-dimensional device scans the object to be punctured in the second posture, the three-dimensional image information of the position is not scanned. For example, for position A in the body of the object to be punctured, the first three-dimensional image information indicates that the image content of position A is a blood vessel, and the second three-dimensional image information does not include the information of position A.

[0106] 303. Determine the image content of the to-be-confirmed position based on the third three-dimensional image information and the fourth three-dimensional image information.

[0107] On the one hand, since the third three-dimensional image information is the three-dimensional image information of the object to be punctured, and the position to be confirmed is the position in the body of the object to be punctured, the three-dimensional image information of the position to be confirmed is related to the third three-dimensional image information, and similarly, the three-dimensional image information of the position to be confirmed is also related to the fourth three-dimensional image information. Therefore, the puncture device can determine the image content of the position to be confirmed based on the third three-dimensional image information, or can determine the image content of the position to be confirmed based on the third three-dimensional image information. For example, the image content represented by the third three-dimensional image information is the kidney, and the puncture device can determine that the image content of the position to be confirmed is the kidney based on the relationship between the position represented by the third three-dimensional image information and the position to be confirmed.

[0108] On the other hand, because the position represented by the third three-dimensional image information does not exist in the second three-dimensional image information, the image content of the position to be confirmed in the second three-dimensional image information (i.e., the image content represented by the second three-dimensional image information to be confirmed) is not determined by using the image content of the position represented by the third three-dimensional image information. Therefore, the puncture device determines the image content of the position to be confirmed based on the third three-dimensional image information, which can improve the accuracy of the image content of the position to be confirmed. Similarly, the puncture device determines the image content of the position to be confirmed based on the fourth three-dimensional image information, which can also improve the accuracy of the image content of the position to be confirmed.

[0109] Based on the above two aspects, the puncture device can determine the image content of the position to be confirmed based on the third three-dimensional image information and the fourth three-dimensional image information.

[0110] In a possible implementation, the puncture device determines the image content of the position to be confirmed as the first image content to be confirmed based on the third three-dimensional image information, and determines the image content of the position to be confirmed as the second image content to be confirmed based on the fourth three-dimensional image information. From the first image content to be confirmed and the second image content to be confirmed, one is selected as the image content of the position to be confirmed. For example, for the position to be confirmed in the body of the object to be punctured, the first image content to be confirmed is the kidney, and the second image content to be confirmed is the blood vessel. At this time, the puncture device can determine that the position to be confirmed is the kidney or the blood vessel.

[0111] In another possible implementation, the puncture device obtains the target safety priority of the tissue of the object to be punctured, wherein the target safety priority includes the safety priority of the tissue of the object to be punctured, and the higher the safety priority of the tissue, the higher the safety level of the object to be punctured when the tissue is punctured. For example, the tissue of the object to be punctured includes blood vessels and bones, wherein if the blood vessels are punctured (i.e., the blood vessels are punctured by the puncture needle), it may bring greater danger to the object to be punctured (such as the puncture of the aorta may endanger life). If the bones are punctured (i.e., the bones are punctured by the puncture needle), the danger to the punctured object is lower than the danger brought by the blood vessels. Therefore, the safety priority of the bones is higher than the safety priority of the blood vessels. The puncture device determines the image content of the position to be confirmed as the first image content to be confirmed based on the third three-dimensional image information, and the puncture device determines the image content of the position to be confirmed as the second image content to be confirmed based on the fourth three-dimensional image information. The puncture device determines the first safety priority of the first image content to be confirmed and the second safety priority of the second image content to be confirmed according to the target safety priority. For example, the first image content to be confirmed is the bone, and the second image content to be confirmed is the blood vessel. If in the target security priority, the security priority of bones is level 5 and the security priority of blood vessels is level 1, then the first security priority is level 5 and the second security priority is level 1, wherein the higher the level, the higher the security priority. The puncture device determines that the image content corresponding to the security priority with the lowest security priority between the first security priority and the second security priority is the image content of the position to be confirmed. For example, the first image content to be confirmed is bones, and the second image content to be confirmed is blood vessels. The first security priority is level 5 and the second security priority is level 1, wherein the higher the level, the higher the security priority, then the security priority of the second security priority is lower than that of the first security priority, and the security priority with the lowest security priority between the first security priority and the second security priority is the second security priority. The puncture device further determines that the image content corresponding to the second security priority is the image content of the position to be confirmed, wherein the image content corresponding to the second security priority is blood vessels, and therefore the image content of the position to be confirmed is blood vessels.

[0112] The puncture device determines the image content of the position to be confirmed in this way, which can make the security priority of the image content of the position to be confirmed lower. Therefore, when planning the puncture path for the lesion of the object to be punctured, the probability that the puncture path passes through the position to be confirmed can be reduced, thereby reducing the probability of the object to be punctured being in danger when puncturing the object to be punctured based on the planned puncture path.

[0113] In another possible implementation, the puncture device determines the fifth three-dimensional image information closest to the first three-dimensional image information to be confirmed from the third three-dimensional image information, determines the sixth three-dimensional image information closest to the second three-dimensional image information to be confirmed from the fourth three-dimensional image information, and determines the image content of the position to be confirmed based on the fifth three-dimensional image information and the sixth three-dimensional image information.

[0114] In this implementation, the puncture device can determine the distance between the three-dimensional image information based on the three-dimensional position information in the three-dimensional image information, and then determine the fifth three-dimensional image information closest to the first three-dimensional image information to be confirmed from the third three-dimensional image information, and determine the sixth three-dimensional image information closest to the second three-dimensional image information to be confirmed from the fourth three-dimensional image information. Since in the first three-dimensional image information, the closer the three-dimensional image information is to the first three-dimensional image information to be confirmed, the more relevant the image content of the three-dimensional image information is to the image content of the first three-dimensional image information to be confirmed (i.e., the image content of the position to be confirmed), the fifth three-dimensional image information is the three-dimensional image information in the third three-dimensional image information that is most relevant to the image content of the position to be confirmed. Similarly, the sixth three-dimensional image information is the three-dimensional image information in the fourth three-dimensional image information that is most relevant to the image content of the position to be confirmed. Therefore, the puncture device determines the image content of the position to be confirmed based on the fifth three-dimensional image information and the sixth three-dimensional image information, which can improve the accuracy of the image content of the position to be confirmed.

[0115] Optionally, the puncture device performs the following steps during the process of executing the step of "determining the image content of the position to be confirmed based on the fifth three-dimensional image information and the sixth three-dimensional image information": determine the first distance between the first three-dimensional image information to be confirmed and the fifth three-dimensional image information. Determine the second distance between the second three-dimensional image information to be confirmed and the sixth three-dimensional image information. When the first distance is less than the second distance, determine the image content of the position to be confirmed based on the fifth three-dimensional image information. When the first distance is greater than the second distance, determine the image content of the position to be confirmed based on the sixth three-dimensional image information. When the first distance is equal to the second distance, determine the image content of the position to be confirmed based on one of the fifth three-dimensional image information and the sixth three-dimensional image information.

[0116] As mentioned above, the closer the three-dimensional image information is to the position to be confirmed, the more relevant the image content of the three-dimensional image information is to the image content of the position to be confirmed. Therefore, the puncture device first determines the first distance between the first three-dimensional image information to be confirmed and the fifth three-dimensional image information, and determines the second distance between the second three-dimensional image information to be confirmed and the sixth three-dimensional image information. Then, when the first distance is less than the second distance, it is determined that the fifth three-dimensional image information is more relevant to the image content of the position to be confirmed, and then the image content of the position to be confirmed is determined based on the fifth three-dimensional image information. When the first distance is greater than the second distance, it is determined that the sixth three-dimensional image information is more relevant to the image content of the position to be confirmed, and then the image content of the position to be confirmed is determined based on the sixth three-dimensional image information. When the first distance is equal to the second distance, it is determined that both the fifth three-dimensional image information and the sixth three-dimensional image information are relevant to the image content of the position to be confirmed, and then the image content of the position to be confirmed is determined based on the fifth three-dimensional image information, or the image content of the position to be confirmed is determined based on the sixth three-dimensional image information.

[0117] It should be understood that determining the image content of the position to be confirmed based on the fifth three-dimensional image information, or determining the image content of the position to be confirmed based on the sixth three-dimensional image information, can be directly determining the image content of the position to be confirmed based on the fifth three-dimensional image information, or directly determining the image content of the position to be confirmed based on the sixth three-dimensional image information. For example, the image content represented by the fifth three-dimensional image information is the kidney, and the position to be confirmed is surrounded by the position represented by the fifth three-dimensional image information. At this time, based on the fifth three-dimensional image information, it can be determined that the image content of the position to be confirmed is the kidney.

[0118] 304. Obtain the target three-dimensional CT image based on the image content of the position to be confirmed, the first three-dimensional image information, and the second three-dimensional image information.

[0119] After determining the image content of the position to be confirmed, the puncture device can obtain the target three-dimensional CT image based on the image content of the position to be confirmed, the three-dimensional image information in the first three-dimensional image information except the three-dimensional image information corresponding to the position to be confirmed, and the three-dimensional image information in the second three-dimensional image information except the three-dimensional image information corresponding to the position to be confirmed.

[0120] In this embodiment, after the puncture device acquires the first three-dimensional image information and the second three-dimensional image information, when the image content represented by the first three-dimensional image information to be confirmed in the first three-dimensional image information is different from the image content represented by the second three-dimensional image information to be confirmed in the second three-dimensional image information, the third three-dimensional image information is determined from the first three-dimensional image information, and the fourth three-dimensional image information is determined from the second three-dimensional image information. Then, based on the third three-dimensional image information and the fourth three-dimensional image information, the image content of the position to be confirmed is determined, thereby solving the problem of differences in the three-dimensional image information obtained by scanning from different angles. After determining the image content of the position to be confirmed, a target three-dimensional CT image is obtained based on the image content of the position to be confirmed, the first three-dimensional image information, and the second three-dimensional image information, so as to improve the accuracy of the three-dimensional image information in the target three-dimensional CT image.

[0121] It should be understood that the first and second postures are only selected for the purpose of briefly describing the technical solution, and should not be understood as the three-dimensional scanning device only scanning the puncture object in two different postures. Optionally, in practical applications, the three-dimensional scanning device can scan the puncture object in n different postures to obtain n different three-dimensional image information of the puncture object. Then, the target three-dimensional CT image can be determined according to the n different postures for puncture.

[0122] After obtaining the second puncture path based on the three-dimensional scanning-based puncture method described above, the robotic arm can be further controlled to drive the terminal stereoscopic device to move so that the surgical needle fixed on the terminal stereoscopic device coincides with the second puncture path, thereby allowing the surgical needle to pierce the lesion.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] See also Figure 2 , Figure 2 A schematic diagram of the structure of a puncture device based on three-dimensional scanning provided in an embodiment of the present application, wherein the puncture device based on three-dimensional scanning 1 comprises: an acquisition unit 11, a determination unit 12, and a conversion unit 13, wherein:

[0127] An acquisition unit 11 is used to acquire a target three-dimensional CT image, where the target three-dimensional CT image is a CT image obtained by three-dimensionally scanning the object to be punctured with a three-dimensional scanning device;

[0128] A determination unit 12, configured to determine the lesion of the object to be punctured from the target three-dimensional CT image;

[0129] The determination unit 12 is used to determine the needle insertion point of the object to be punctured from the target three-dimensional CT image;

[0130] The determining unit 12 is used to determine a first puncture path for the lesion based on the lesion and the needle insertion point, where the first puncture path is a path in a CT coordinate system, and the CT coordinate system is a coordinate system established based on the three-dimensional scanning device;

[0131] The conversion unit 13 is used to convert the first puncture path into a second puncture path in a world coordinate system based on a conversion matrix, wherein the conversion matrix includes a conversion relationship between the CT coordinate system and the world coordinate system.

[0132] In combination with any embodiment of the present application, in combination with any embodiment of the present application, the acquisition unit 11 is further used to acquire a calibration three-dimensional CT image, wherein the calibration three-dimensional CT image is a CT image obtained by three-dimensionally scanning a calibration tool by the three-dimensional scanning device, and the calibration tool includes at least one optical marker;

[0133] The determining unit 12 is further configured to determine at least one first position of the at least one optical marker in the CT coordinate system;

[0134] The determination unit 12 is further used to obtain the transformation matrix based on the at least one first position and at least one second position of the at least one optical marker in the world coordinate system, and the at least one second position is obtained by positioning the at least one optical marker through an optical tracking system.

[0135] In combination with any embodiment of the present application, in the process of the three-dimensional scanning device scanning to obtain the target three-dimensional CT image and the calibration three-dimensional CT image, the three-dimensional scanning device starts scanning with the third position as the starting position.

[0136] In combination with any embodiment of the present application, the acquisition unit 11 is specifically used for:

[0137] Acquire first three-dimensional image information and second three-dimensional image information, wherein the first three-dimensional image information includes three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a first posture, and the second three-dimensional image information includes three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a second posture;

[0138] In a case where image content represented by first to-be-confirmed three-dimensional image information in the first three-dimensional image information is different from image content represented by second to-be-confirmed three-dimensional image information in the second three-dimensional image information, third three-dimensional image information is determined from the first three-dimensional image information, and fourth three-dimensional image information is determined from the second three-dimensional image information; a position represented by the first to-be-confirmed three-dimensional image information and a position represented by the second to-be-confirmed three-dimensional image information are both to-be-confirmed positions; the position represented by the third three-dimensional image information does not exist in the second three-dimensional image information, and the position represented by the fourth three-dimensional image information does not exist in the first three-dimensional image information;

[0139] determining the image content of the position to be confirmed based on the third three-dimensional image information and the fourth three-dimensional image information;

[0140] The target three-dimensional CT image is obtained based on the image content of the position to be confirmed, the first three-dimensional image information, and the second three-dimensional image information.

[0141] In combination with any embodiment of the present application, the acquisition unit 11 is specifically used for:

[0142] determining, from the third three-dimensional image information, fifth three-dimensional image information which is closest to the first three-dimensional image information to be confirmed;

[0143] determining, from the fourth three-dimensional image information, sixth three-dimensional image information which is closest to the second three-dimensional image information to be confirmed;

[0144] Based on the fifth three-dimensional image information and the sixth three-dimensional image information, image content of the to-be-confirmed position is determined.

[0145] In combination with any embodiment of the present application, the acquisition unit 11 is specifically used for:

[0146] determining a first distance between the first to-be-confirmed three-dimensional image information and the fifth three-dimensional image information;

[0147] determining a second distance between the second to-be-confirmed three-dimensional image information and the sixth three-dimensional image information;

[0148] When the first distance is less than the second distance, determining the image content of the to-be-confirmed position based on the fifth three-dimensional image information;

[0149] When the first distance is greater than the second distance, determining the image content of the to-be-confirmed position based on the sixth three-dimensional image information;

[0150] When the first distance is equal to the second distance, the image content of the to-be-confirmed position is determined based on one of the fifth three-dimensional image information and the sixth three-dimensional image information.

[0151] In an embodiment of the present application, the target three-dimensional CT image is a CT image obtained by three-dimensionally scanning the object to be punctured by a three-dimensional scanning device. After acquiring the target three-dimensional CT image, the puncture device determines the lesion of the object to be punctured from the target three-dimensional CT image, and determines the needle insertion point of the object to be punctured from the target three-dimensional CT image. Then, based on the lesion and the needle insertion point, a first puncture path for the lesion is determined, wherein the first puncture path is a path in the CT coordinate system, and the CT coordinate system is a coordinate system established based on the three-dimensional scanning device. Because the conversion matrix includes the conversion relationship between the CT coordinate system and the world coordinate system, the first puncture path can be converted into a second puncture path in the world coordinate system based on the conversion matrix, wherein the conversion matrix includes the conversion relationship between the CT coordinate system and the world coordinate system. This can reduce the time to obtain the second puncture path. Furthermore, since the three-dimensional scanning device obtains a target three-dimensional CT image by performing three-dimensional scanning on the object to be punctured, the puncture device does not need to obtain a three-dimensional CT image of the object to be punctured through three-dimensional reconstruction, thereby reducing the time required to obtain a three-dimensional CT image of the object to be punctured, and further reducing the time required to obtain a first puncture path based on the three-dimensional CT image of the object to be punctured, thereby reducing the time required to obtain a second puncture path in the world coordinate system based on the first puncture path.

[0152] 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.

[0153] Figure 3 A 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] Understandably, Figure 3 Only 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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)).

[0165] 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 puncture method based on three-dimensional scanning, characterized in that: The method comprises: Acquire a target three-dimensional CT image, wherein the target three-dimensional CT image is a CT image obtained by performing a three-dimensional scanning on an object to be punctured by a three-dimensional scanning device; the acquiring of the target three-dimensional CT image comprises: acquiring first three-dimensional image information and second three-dimensional image information, wherein the first three-dimensional image information comprises three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a first posture, and the second three-dimensional image information comprises three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a second posture; in a case where image content represented by first three-dimensional image information to be confirmed in the first three-dimensional image information is different from image content represented by second three-dimensional image information to be confirmed in the second three-dimensional image information In the embodiment of the present invention, the third three-dimensional image information is determined from the first three-dimensional image information, and the fourth three-dimensional image information is determined from the second three-dimensional image information; the position represented by the first three-dimensional image information to be confirmed and the position represented by the second three-dimensional image information to be confirmed are both positions to be confirmed; the position represented by the third three-dimensional image information does not exist in the second three-dimensional image information, and the position represented by the fourth three-dimensional image information does not exist in the first three-dimensional image information; based on the third three-dimensional image information and the fourth three-dimensional image information, the image content of the position to be confirmed is determined; based on the image content of the position to be confirmed, the first three-dimensional image information and the second three-dimensional image information, the target three-dimensional CT image is obtained; Determine the lesion of the object to be punctured from the target three-dimensional CT image; Determining the needle insertion point of the object to be punctured from the target three-dimensional CT image; Based on the lesion and the needle insertion point, determining a first puncture path for the lesion, the first puncture path being a path in a CT coordinate system, and the CT coordinate system being a coordinate system established based on the three-dimensional scanning device; The first puncture path is converted into a second puncture path in a world coordinate system based on a conversion matrix, wherein the conversion matrix includes a conversion relationship between the CT coordinate system and the world coordinate system.

2. The method according to claim 1, characterized in that Before converting the first puncture path into a second puncture path in a world coordinate system based on the conversion matrix, the method further includes: Acquire a calibration three-dimensional CT image, wherein the calibration three-dimensional CT image is a CT image obtained by three-dimensionally scanning a calibration tool with the three-dimensional scanning device, wherein the calibration tool includes at least one optical marker; determining at least one first position of the at least one optical marker in the CT coordinate system; The transformation matrix is ​​obtained based on the at least one first position and at least one second position of the at least one optical marker in the world coordinate system, wherein the at least one second position is obtained by positioning the at least one optical marker through an optical tracking system.

3. The method according to claim 2, characterized in that In the process of the three-dimensional scanning device scanning to obtain the target three-dimensional CT image and the calibration three-dimensional CT image, the three-dimensional scanning device starts scanning with the third position as the starting position.

4. The method according to claim 1, characterized in that: The determining, based on the third three-dimensional image information and the fourth three-dimensional image information, the image content of the to-be-confirmed position includes: determining, from the third three-dimensional image information, fifth three-dimensional image information which is closest to the first three-dimensional image information to be confirmed; determining, from the fourth three-dimensional image information, sixth three-dimensional image information which is closest to the second three-dimensional image information to be confirmed; Based on the fifth three-dimensional image information and the sixth three-dimensional image information, image content of the to-be-confirmed position is determined.

5. The method according to claim 4, characterized in that The determining, based on the fifth three-dimensional image information and the sixth three-dimensional image information, the image content of the to-be-confirmed position includes: determining a first distance between the first to-be-confirmed three-dimensional image information and the fifth three-dimensional image information; determining a second distance between the second to-be-confirmed three-dimensional image information and the sixth three-dimensional image information; When the first distance is less than the second distance, determining the image content of the to-be-confirmed position based on the fifth three-dimensional image information; When the first distance is greater than the second distance, determining the image content of the to-be-confirmed position based on the sixth three-dimensional image information; When the first distance is equal to the second distance, the image content of the to-be-confirmed position is determined based on one of the fifth three-dimensional image information and the sixth three-dimensional image information.

6. A puncture device based on three-dimensional scanning, characterized in that: The puncture device based on three-dimensional scanning includes: The acquisition unit is used to acquire a target three-dimensional CT image, wherein the target three-dimensional CT image is a CT image obtained by performing three-dimensional scanning on the object to be punctured by a three-dimensional scanning device; the acquisition of the target three-dimensional CT image comprises: acquiring first three-dimensional image information and second three-dimensional image information, wherein the first three-dimensional image information comprises three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a first posture, and the second three-dimensional image information comprises three-dimensional image information obtained by scanning the object to be punctured by the three-dimensional scanning device in a second posture; and the image content represented by the first three-dimensional image information to be confirmed in the first three-dimensional image information is different from the image content represented by the second three-dimensional image information to be confirmed in the second three-dimensional image information. In the same case, determining third three-dimensional image information from the first three-dimensional image information, and determining fourth three-dimensional image information from the second three-dimensional image information; the position represented by the first three-dimensional image information to be confirmed and the position represented by the second three-dimensional image information to be confirmed are both positions to be confirmed; the position represented by the third three-dimensional image information does not exist in the second three-dimensional image information, and the position represented by the fourth three-dimensional image information does not exist in the first three-dimensional image information; determining the image content of the position to be confirmed based on the third three-dimensional image information and the fourth three-dimensional image information; and obtaining the target three-dimensional CT image based on the image content of the position to be confirmed, the first three-dimensional image information, and the second three-dimensional image information; a determination unit, configured to determine the lesion of the object to be punctured from the target three-dimensional CT image; The determination unit is used to determine the needle insertion point of the object to be punctured from the target three-dimensional CT image; The determining unit is used to determine a first puncture path for the lesion based on the lesion and the needle insertion point, the first puncture path being a path in a CT coordinate system, and the CT coordinate system is a coordinate system established based on the three-dimensional scanning device; A conversion unit is used to convert the first puncture path into a second puncture path in a world coordinate system based on a conversion matrix, wherein the conversion matrix includes a conversion relationship between the CT coordinate system and the world coordinate system.

7. 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 5.

8. 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 caused to execute the method according to any one of claims 1 to 5.

9. 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 5.

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