Medical image-based planning method and device, equipment and storage medium

Abstract

The invention relates to a planning method and device based on a medical image, equipment and a storage medium. The method comprises the following steps: acquiring planning positioning data corresponding to a first medical image; the planned positioning data comprises a starting point position and a final point position; obtaining a starting point reference line and an end point reference line corresponding to the second medical image according to the planning positioning data; detecting the relative position between the screen pointer and the starting point reference line or the end point reference line in real time, and determining whether the screen pointer enters the target area or not; if it is confirmed that the screen pointer enters the target area, generating a planned positioning reference line according to a pointer movement track of the screen pointer in the target area; obtaining planning positioning data corresponding to the second medical image based on an intersection point among the planning positioning reference line, the starting point reference line and the terminal point reference line; and obtaining a physical space planning position of the to-be-planned element according to the planning positioning data of the first medical image and the second medical image.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a planning method, apparatus, device and storage medium based on medical imaging. Background Art

[0002] In orthopedic surgery, it is often necessary to fix the patient's bone trauma site by means of nail placement, etc. It is necessary to plan the placement path of the fixation device in advance based on medical imaging data from different shooting angles before the operation.

[0003] However, since the prior art does not realize real-time display of the placement direction of the fixation device according to the physical spatial relationship between medical imaging data from different shooting angles during the planning of the placement path of the fixation device, it is difficult to accurately plan and locate the placement path of the fixation device based on the prior art. Summary of the invention

[0004] Based on this, it is necessary to provide a planning method, device, equipment and storage medium based on medical imaging to address the above technical problems.

[0005] In a first aspect, the present application provides a planning method based on medical images, the method comprising:

[0006] Acquire planning positioning data corresponding to the first medical image; the planning positioning data includes a starting point position and an end point position;

[0007] According to the planning positioning data, a starting point reference line and an end point reference line corresponding to the second medical image are obtained; the first medical image and the second medical image are images obtained by photographing the target part from different angles;

[0008] Detecting the relative position between the screen pointer and the starting reference line or the ending reference line in real time to confirm whether the screen pointer has entered the target area;

[0009] If it is confirmed that the screen pointer has entered the target area, generating a planning positioning reference line according to the pointer movement trajectory of the screen pointer in the target area;

[0010] Based on the intersection of the planning positioning reference line, the starting point reference line, and the end point reference line, obtaining planning positioning data corresponding to the second medical image;

[0011] The physical space planning position of the element to be planned is obtained according to the planning positioning data of the first medical image and the second medical image.

[0012] In one embodiment, the planned positioning data further includes a planned trajectory; the planned trajectory is determined based on a connecting line between the starting position and the end position; and the method further includes:

[0013] When performing translation adjustment on the planned trajectory, based on the monitoring of the relative position between the screen pointer and the planned trajectory, confirm whether the planned trajectory has been selected by the screen pointer; if it is confirmed that the planned trajectory has been selected by the screen pointer, obtain the moving direction of the screen pointer; according to the moving direction, perform translation adjustment on the planned trajectory to obtain the planned trajectory after translation adjustment.

[0014] In one embodiment, the method further comprises:

[0015] When performing rotation adjustment on the planned trajectory, based on the monitoring of the relative position between the screen pointer and the starting position or the ending position, the starting position or the ending position is determined as the rotation reference point, and the starting reference line or the ending reference line is determined as the rotation reference line; according to the rotation reference point and the current position of the screen pointer, a trajectory rotation reference line is generated; based on the intersection between the trajectory rotation reference line and the rotation reference line, the planned trajectory after rotation adjustment is obtained.

[0016] In one embodiment, the real-time detection of the relative position between the screen pointer and the starting reference line or the ending reference line to confirm whether the screen pointer has entered the target area includes:

[0017] Based on a preset tolerance value, an error tolerance range corresponding to the screen pointer is obtained; when the starting reference line or the end reference line is within the error tolerance range, it is confirmed that the screen pointer has entered the target area.

[0018] In one of the embodiments, generating a planning positioning reference line according to the pointer motion trajectory of the screen pointer in the target area includes:

[0019] If it is confirmed that the screen pointer is in a selected state, the pointer movement trajectory is obtained based on the connecting line between the initial position of the screen pointer when entering the target area and the final position of the screen pointer after entering the target area; and the planned positioning reference line is generated according to the pointer movement trajectory.

[0020] In one embodiment, the method further comprises:

[0021] According to the planning and positioning data corresponding to the first medical image, a first starting point reference line and a first end point reference line corresponding to the third medical image are obtained; the shooting angle corresponding to the third medical image is different from the shooting angles corresponding to the first medical image and the second medical image; according to the planning and positioning data corresponding to the second medical image, a second starting point reference line and a second end point reference line corresponding to the third medical image are obtained; based on the intersection between the first starting point reference line and the second starting point reference line, and the intersection between the first end point reference line and the first end point reference line, the planning and positioning data corresponding to the third medical image are obtained; according to the planning and positioning data in the third medical image, the physical space planning position of the element to be planned is verified.

[0022] In a second aspect, the present application further provides a medical image-based planning device, the device comprising:

[0023] A positioning data acquisition module, used to acquire planning positioning data corresponding to the first medical image; the planning positioning data includes a starting position and an end position;

[0024] A start and end reference line acquisition module, used to obtain a start reference line and an end reference line corresponding to a second medical image according to the planning positioning data; the first medical image and the second medical image are images obtained by photographing the target part from different angles;

[0025] A relative position detection module, used to detect the relative position between the screen pointer and the starting reference line or the end reference line in real time, and confirm whether the screen pointer has entered the target area;

[0026] A positioning reference line generating module, for generating a planned positioning reference line according to a pointer motion trajectory of the screen pointer in the target area if it is confirmed that the screen pointer has entered the target area;

[0027] A positioning data output module, configured to obtain planning positioning data corresponding to the second medical image based on the intersection of the planning positioning reference line, the starting reference line, and the ending reference line;

[0028] The physical space planning and positioning module is used to obtain the physical space planning position of the element to be planned according to the planning and positioning data of the first medical image and the second medical image.

[0029] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0030] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0031] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0032] The above-mentioned planning method, device, equipment and storage medium based on medical images, first, obtain the planning positioning data corresponding to the first medical image. Then, according to the planning positioning data, obtain the starting reference line and the end reference line corresponding to the second medical image. Next, detect the relative position between the screen pointer and the starting reference line or the end reference line in real time to confirm whether the screen pointer has entered the target area. Afterwards, if it is confirmed that the screen pointer has entered the target area, generate a planning positioning reference line according to the pointer motion trajectory of the screen pointer in the target area. Afterwards, based on the intersection between the planning positioning reference line, the starting reference line, and the end reference line, obtain the planning positioning data corresponding to the second medical image. Finally, according to the planning positioning data of the first medical image and the second medical image, obtain the physical space planning position of the element to be planned. This application adjusts the placement path of the fixture in the medical image data of different shooting angles in real time during the process of planning the placement path of the fixture according to the physical space relationship between the medical image data of different shooting angles, which can not only improve the accuracy of the planning result for the placement path of the fixture, but also effectively improve the operational efficiency of planning the placement path of the fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a process flow of a medical imaging-based planning method provided in an embodiment;

[0034] Figure 2 A schematic diagram of a specific representation form for planning medical images provided in an embodiment;

[0035] Figure 3 A schematic diagram of an association relationship between planning positioning data corresponding to a first medical image and planning positioning data corresponding to a second medical image provided in an embodiment;

[0036] Figure 4 A schematic diagram of a flow chart of a specific method for performing translation adjustment on a planned trajectory provided in an embodiment;

[0037] Figure 5 A schematic diagram of a specific operation method for performing translation adjustment on a planned trajectory provided in an embodiment;

[0038] Figure 6 A flowchart of a specific method for performing rotation adjustment on a planned trajectory provided in an embodiment;

[0039] Figure 7 A schematic diagram of a specific operation method for performing rotation adjustment on a planned trajectory provided in an embodiment;

[0040] Figure 8 A schematic diagram of another specific operation method for performing rotation adjustment on a planned trajectory provided in an embodiment;

[0041] Fig. 9 A flowchart of a specific method for confirming that a screen pointer has entered a target area provided in an embodiment;

[0042] Fig.10 A schematic diagram of a flow chart of a specific method for generating a planning positioning reference line according to a pointer motion trajectory provided in an embodiment;

[0043] Fig.11 A flowchart of a specific method for verifying the physical space planning position of an element to be planned provided in an embodiment;

[0044] Fig.12 A schematic diagram of an overall operation flow for obtaining a physical space planning position of an element to be planned provided in one embodiment;

[0045] Fig.13 A schematic diagram of an overall operation flow of drawing surgical pin placement in an exit position image provided in an embodiment;

[0046] Fig.14 A schematic diagram of an overall operation flow of adjusting the position of surgical pins in an exit image provided in an embodiment;

[0047] Fig.15 A structural block diagram of a medical imaging-based planning method and device provided in one embodiment;

[0048] Fig.16 An internal structure diagram of a computer device provided in one embodiment. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0050] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0051] The medical image-based planning method provided in the embodiment of the present application can be applied to a terminal for execution, wherein the terminal can be, but is not limited to, various personal computers, laptops, and tablet computers.

[0052] In one embodiment, Figure 1 As shown, a medical imaging-based planning method is provided, comprising the following steps:

[0053] Step S110, obtaining planning positioning data corresponding to the first medical image; the aforementioned planning positioning data includes a starting point position and an end point position.

[0054] In this step, the first medical image refers to the first medical image obtained by shooting a target part at a specific angle; the specific angle refers to a medical image shooting angle that has a certain reference value for the placement path planning of the fixation device in traumatic orthopedic surgery; the starting position refers to the starting position of the fixation device in the target part during traumatic orthopedic surgery; the end position refers to the end position of the fixation device in the target part during traumatic orthopedic surgery.

[0055] Specifically, the specific manifestation of the first medical image may be an X-ray image (i.e., an X-ray film) obtained by taking a specific position of the patient's target part during traumatic orthopedic surgery; the X-ray image obtained by taking a specific position of the patient's target part during traumatic orthopedic surgery may be specifically manifested as an entrance X-ray image, an exit X-ray image, and a lateral X-ray image that can be used to plan the insertion path of the fixation device; the specific manifestation of the fixation device inserted through traumatic orthopedic surgery may be surgical nail placement, based on which the planning positioning data corresponding to the first medical image may be specifically manifested as the surgical nail placement positioning data corresponding to the first medical image, the starting point position in the planning positioning data corresponding to the first medical image may be the entry point position of the surgical nail placement in the patient's target part, and the end point position in the planning positioning data corresponding to the first medical image may be the exit point position of the surgical nail placement in the patient's target part.

[0056] In practical applications, the target part of the patient may be the target part of the patient for traumatic orthopedic surgery, for example, the pelvic part of the patient. Based on this, the entrance X-ray image, exit X-ray image, and lateral X-ray image of the insertion path of the surgical screw in the pelvic part of the patient may be specifically shown as follows: Figure 2 The starting position in the planning positioning data corresponding to the first medical image and the end position in the planning positioning data corresponding to the first medical image can be specifically expressed as follows Figure 3 The form shown by point A of the entrance image (i.e., the starting point, the entry point for the surgical nail placement), and point B of the entrance image (i.e., the end point, the exit point for the surgical nail placement).

[0057] Step S120, obtaining a starting point reference line and an end point reference line corresponding to the second medical image according to the planning positioning data; the aforementioned first medical image and the aforementioned second medical image are images obtained by photographing the target part from different angles.

[0058] In this step, the planning positioning data refers to the planning positioning data corresponding to the first medical image; the second medical image refers to the second medical image photographed at the target part at a shooting angle different from that of the first medical image; the shooting angle refers to a medical image shooting angle that has a certain reference value for the placement path planning of the fixation device in traumatic orthopedic surgery; the starting point reference line and the end point reference line corresponding to the second medical image refer to the starting point reference line and the end point reference line corresponding to the second medical image obtained according to the planning positioning data corresponding to the first medical image.

[0059] Specifically, the specific method of obtaining the starting point reference line and the end point reference line corresponding to the second medical image based on the planning positioning data can be to obtain the starting point reference line corresponding to the second medical image based on the starting point position in the planning positioning data corresponding to the first medical image, and to obtain the end point reference line corresponding to the second medical image based on the end point position in the planning positioning data corresponding to the first medical image.

[0060] In practical applications, assuming that it is known that the first medical image is an entry position X-ray image of a path for planning the surgical pinning in the patient's pelvic region, the second medical image taken at a target region at a shooting angle different from that of the first medical image may be an exit position X-ray image of a path for planning the surgical pinning in the patient's pelvic region.

[0061] Step S130, detecting the relative position between the screen pointer and the starting reference line or the ending reference line in real time to confirm whether the screen pointer has entered the target area.

[0062] In this step, the starting reference line, that is, the starting reference line corresponding to the second medical image, can be obtained based on the starting position in the planning and positioning data corresponding to the first medical image; the end point reference line, that is, the end point reference line corresponding to the second medical image, can be obtained based on the end point position in the planning and positioning data corresponding to the first medical image; the target area refers to the image area located near the starting reference line corresponding to the second medical image or the end point reference line corresponding to the second medical image, within which the planning and positioning reference line corresponding to the second medical image can be drawn by moving the screen pointer.

[0063] In practical applications, the specific form of the screen pointer may be a mouse pointer; the specific method of real-time detection of the relative position between the screen pointer and the starting reference line or the end reference line may be to detect in real time based on the collision detection principle whether the mouse pointer is located in the image area (i.e., the target area) near the starting reference line corresponding to the second medical image or the end reference line corresponding to the second medical image.

[0064] Exemplarily, the specific implementation of the collision detection principle can be to assume that the tolerance factor Tolerance corresponding to the mouse pointer is a preset double value. Then, when the mouse pointer is detected in real time to have contact with the starting position or the end position, the current position of the mouse pointer can be used as the center of the circle, and the tolerance factor Tolerance can be used as the horizontal axis radius and the vertical axis radius to draw an ellipse. The ellipse area is the tolerance area corresponding to the mouse pointer. If the starting position is located within the aforementioned ellipse area, it means that the mouse pointer has collided with the starting position, otherwise it means that the mouse pointer has not collided with the starting position. The larger the value of the tolerance factor Tolerance, the larger the range of collision detection, and the probability of the mouse pointer colliding with the starting position or the end position will also increase accordingly. However, in this case, the deviation between the actual operation position of the mouse pointer and the position of the image area where the mouse pointer is located detected in real time will also increase accordingly. If the other parts of the connecting line between the starting position and the end position, except for the end points, are located within the aforementioned ellipse area, it means that the mouse pointer has collided with the connecting line between the starting position and the end position. When the area corresponding to the connecting line between the starting position and the end position (i.e., the area calculated based on the difference between the horizontal axis coordinates and the vertical axis coordinates corresponding to the starting position and the end position respectively) is small, in order to expand the range of collision detection, the value of the tolerance factor Tolerance can be appropriately increased.

[0065] Step S140: If it is confirmed that the screen pointer has entered the target area, a planning positioning reference line is generated according to the pointer movement trajectory of the screen pointer in the target area.

[0066] In this step, the target area refers to the image area located near the starting reference line corresponding to the second medical image or the end reference line corresponding to the second medical image. In this image area, the planning positioning reference line corresponding to the second medical image can be drawn by moving the screen pointer; the specific method of confirming that the screen pointer has entered the target area can be to detect in real time based on the collision detection principle whether the screen pointer is located in the image area (i.e., the target area) near the starting reference line corresponding to the second medical image or the end reference line corresponding to the second medical image; the planning positioning reference line, i.e., the planning positioning reference line corresponding to the second medical image, refers to the planning positioning reference line corresponding to the second medical image, which is generated according to the pointer movement trajectory of the screen pointer in the target area when it is confirmed that the screen pointer has entered the target area.

[0067] In practical applications, the specific form of the screen pointer may be a mouse pointer; the specific method of generating the planning positioning reference line according to the pointer movement trajectory of the screen pointer in the target area may be that, on the premise that, according to the collision detection principle, it is confirmed that the mouse pointer is located in the image area (i.e., the target area) near the starting reference line corresponding to the second medical image or the end reference line corresponding to the second medical image, if it is detected that the mouse pointer is in a selected state (for example, the left button of an external mouse device used to control the movement of the mouse pointer has been pressed), the cursor image of the mouse pointer may be converted from an arrow to a brush, and the planning positioning reference line corresponding to the second medical image may be generated according to the movement trajectory of the mouse pointer in the aforementioned image area (i.e., the pointer movement trajectory); the specific method of generating the planning positioning reference line according to the pointer movement trajectory of the screen pointer in the aforementioned image area may be that, on the premise that the mouse pointer is located in the image area (i.e., the target area) near the starting reference line corresponding to the second medical image or the end reference line corresponding to the second medical image The physical representation may be a connection line (which may be a straight line calculated based on the initial position and the real-time moving position) between the initial position of the mouse pointer when it enters the aforementioned image area and the real-time moving position of the mouse pointer after entering the aforementioned image area (or the final position where the mouse pointer stays after entering the aforementioned image area), thereby obtaining the movement trajectory of the mouse pointer in the aforementioned image area; the specific method for obtaining the final position where the mouse pointer stays after entering the aforementioned image area may be to record the current screen coordinates of the mouse pointer as the final position where the mouse pointer stays after entering the aforementioned image area when it is detected that the mouse pointer contacts the starting reference line corresponding to the second medical image or the ending reference line corresponding to the second medical image, and convert the cursor image of the mouse pointer from a brush to an arrow.

[0068] Step S150, obtaining planning positioning data corresponding to the second medical image based on the intersection of the planning positioning reference line, the starting reference line, and the ending reference line.

[0069] In this step, the planning positioning reference line, that is, the planning positioning reference line corresponding to the second medical image, refers to the planning positioning reference line corresponding to the second medical image, which is generated according to the pointer movement trajectory of the screen pointer in the target area when it is confirmed that the screen pointer has entered the target area; the starting point reference line, that is, the starting point reference line corresponding to the second medical image, can be obtained based on the starting point position in the planning positioning data corresponding to the first medical image; the end point reference line, that is, the end point reference line corresponding to the second medical image, can be obtained based on the end point position in the planning positioning data corresponding to the first medical image; the planning positioning data corresponding to the second medical image refers to the planning positioning data corresponding to the second medical image obtained based on the intersection of the planning positioning reference line corresponding to the second medical image, the starting point reference line corresponding to the second medical image, and the end point reference line corresponding to the second medical image, and the planning positioning data may include the starting point position and the end point position.

[0070] In practical applications, a specific method of obtaining the planning positioning data corresponding to the second medical image based on the intersections between the planning positioning reference line, the starting point reference line, and the end point reference line may be to determine the starting point position in the planning positioning data corresponding to the second medical image and the end point position in the planning positioning data corresponding to the second medical image based on the first intersection between the planning positioning reference line corresponding to the second medical image and the starting point reference line corresponding to the second medical image, and the second intersection between the planning positioning reference line corresponding to the second medical image and the end point reference line corresponding to the second medical image, respectively, and generate an insertion path of the fixing device corresponding to the second medical image according to the connecting line between the starting point position in the planning positioning data corresponding to the second medical image and the end point position in the planning positioning data corresponding to the second medical image; the specific manifestation of the fixing device corresponding to the second medical image may be surgical nail placement, based on which, the planning positioning data corresponding to the second medical image may be specifically manifested as surgical nail placement positioning data corresponding to the second medical image, the starting point position in the planning positioning data corresponding to the second medical image may be the entry point position of the surgical nail placement in the target part of the patient, and the end point position in the planning positioning data corresponding to the second medical image may be the exit point position of the surgical nail placement in the target part of the patient.

[0071] Step S160: obtaining the physical space planning position of the element to be planned according to the planning positioning data of the first medical image and the second medical image.

[0072] In this step, the planning and positioning data of the first medical image and the second medical image, that is, the planning and positioning data corresponding to the first medical image and the second medical image respectively, refer to the planning and positioning data corresponding to the first medical image and the planning and positioning data corresponding to the second medical image; the physical space planning position of the element to be planned refers to the physical space planning position of the element to be planned determined based on the planning and positioning data corresponding to the first medical image and the planning and positioning data corresponding to the second medical image.

[0073] In practical applications, the specific form of the element to be planned may be a fixture that needs to be inserted into the target part of the patient during traumatic orthopedic surgery; the specific form of the fixture may be a surgical pin. Based on this, the physical space planning position of the element to be planned may be the physical space planning position of the surgical pin determined based on the planning positioning data corresponding to the first medical image and the planning positioning data corresponding to the second medical image.

[0074] The above-mentioned planning method based on medical images, first, obtains the planning positioning data corresponding to the first medical image. Then, according to the planning positioning data, obtains the starting reference line and the end reference line corresponding to the second medical image. Next, the relative position between the screen pointer and the starting reference line or the end reference line is detected in real time to confirm whether the screen pointer has entered the target area. Afterwards, if it is confirmed that the screen pointer has entered the target area, the planning positioning reference line is generated according to the pointer motion trajectory of the screen pointer in the target area. Afterwards, based on the intersection between the planning positioning reference line, the starting reference line, and the end reference line, the planning positioning data corresponding to the second medical image is obtained. Finally, according to the planning positioning data of the first medical image and the second medical image, the physical space planning position of the element to be planned is obtained. The present application adjusts the placement path of the fixture in the medical image data of different shooting angles in real time during the process of planning the placement path of the fixture according to the physical space relationship between the medical image data of different shooting angles, which can not only improve the accuracy of the planning result for the placement path of the fixture, but also effectively improve the operational efficiency of planning the placement path of the fixture.

[0075] Regarding the specific method of performing translation adjustment on the planned trajectory, in one embodiment, the above-mentioned planned positioning data also includes a planned trajectory; the above-mentioned planned trajectory is determined based on the connecting line between the starting position and the end position; Figure 4 As shown, the above method also includes:

[0076] Step S410, when performing translation adjustment on the planned trajectory, based on monitoring of the relative position between the screen pointer and the planned trajectory, confirm whether the planned trajectory has been selected by the screen pointer.

[0077] In this step, the planned trajectory refers to the planned trajectory in the planned positioning data; and the translation adjustment for the planned trajectory refers to the translation adjustment for the location of the planned trajectory by moving the screen pointer.

[0078] In practical applications, the specific form of the planned trajectory may be the planned trajectory in the planned positioning data corresponding to the second medical image; the specific form of the screen pointer may be a mouse pointer; based on the monitoring of the relative position between the screen pointer and the planned trajectory, a specific method of confirming whether the planned trajectory has been selected by the screen pointer may be to detect the relative position between the mouse pointer and the planned trajectory in real time to determine whether the mouse pointer has been placed on the planned trajectory and the planned trajectory has been selected; when it is determined that the mouse pointer has been placed on the planned trajectory and the planned trajectory has been selected, the cursor image of the mouse pointer may be converted from an arrow to a translation icon.

[0079] Step S420: If it is confirmed that the planned trajectory has been selected by the screen pointer, the moving direction of the screen pointer is obtained.

[0080] In this step, the specific method of confirming that the planned trajectory has been selected by the screen pointer can be to detect the relative position between the mouse pointer and the planned trajectory in real time to determine whether the mouse pointer has been placed on the planned trajectory and the planned trajectory has been selected; the moving direction of the screen pointer refers to the moving direction of the screen pointer obtained when it is confirmed that the planned trajectory has been selected by the screen pointer, and the moving direction can be used to calculate the position of the planned trajectory after translation adjustment.

[0081] In actual applications, the specific form of the screen pointer can be a mouse pointer; when it is confirmed that the planned trajectory has been selected by the screen pointer, the specific method of obtaining the moving direction of the screen pointer can be to obtain the moving direction of the mouse pointer in real time when it is confirmed that the planned trajectory has been selected by the screen pointer.

[0082] Step S430: performing translation adjustment on the planned trajectory according to the moving direction to obtain a planned trajectory after translation adjustment.

[0083] In this step, the moving direction refers to the moving direction of the screen pointer; the planned trajectory after translation adjustment refers to the planned trajectory after translation adjustment obtained according to the moving direction of the screen pointer.

[0084] Specifically, during the process of adjusting the planned trajectory in translation, a dashed extension line can be displayed in real time at the end of the planned trajectory (the dashed extension line can be as follows: Figure 5 The exit position is in the form shown by the dotted line extending the end of the line connecting point C and point D in the image).

[0085] In practical applications, the specific manifestation of the screen pointer may be a mouse pointer; the specific method of performing translation adjustment on the planned trajectory according to the moving direction to obtain the planned trajectory after translation adjustment may be to obtain the moving direction of the mouse pointer in real time when confirming that the planned trajectory has been selected by the screen pointer, so as to calculate the starting position and the end position after translation adjustment in real time according to the intersection between the planned trajectory that moves with the translation of the mouse pointer and the starting reference line and the end reference line, and generate the planned trajectory after translation adjustment according to the connecting line between the starting position and the end position after translation adjustment; the specific method of determining that the operation of the planned trajectory according to the translation movement of the mouse pointer has ended may be to convert the cursor icon of the mouse pointer from a translation icon to an arrow when detecting that the left button of the external mouse device is no longer selected (that is, when the left button of the external mouse device has been released by the user); the specific manifestation of the planned trajectory before translation adjustment may be as follows Figure 5The specific form of the planned trajectory after translation adjustment can be as follows: Figure 5 The form shown by the connecting line between point C0 and point D0 in the middle exit image.

[0086] In the embodiment of the present application, the moving direction of the screen pointer is obtained on the premise that the planned trajectory has been confirmed to have been selected by the screen pointer, and the planned trajectory is translated and adjusted according to the moving direction to obtain the planned trajectory after the translation adjustment. This reduces the operational difficulty of planning the insertion path of the fixing device, thereby effectively improving the operational efficiency of planning the insertion path of the fixing device.

[0087] Regarding the specific method of performing rotation adjustment on the planned trajectory, in one embodiment, Figure 6 As shown, the above method also includes:

[0088] Step S610, when performing rotation adjustment on the planned trajectory, based on monitoring the relative position between the screen pointer and the starting position or the ending position, the starting position or the ending position is determined as the rotation reference point, and the starting reference line or the ending reference line is determined as the rotation reference line.

[0089] In this step, the planned trajectory refers to the planned trajectory in the planned positioning data; the starting position refers to the starting position in the planned positioning data; the end position refers to the end position in the planned positioning data; and the monitoring of the relative position between the screen pointer and the starting position or the end position refers to determining whether the screen pointer has come into contact with the starting position or the end position by detecting the relative position between the screen pointer and the starting position or the end position in real time.

[0090] Specifically, based on the monitoring of the relative position between the screen pointer and the starting position or the end position, the starting position or the end position is determined as the rotation reference point, and the starting reference line or the end reference line is determined as the rotation reference line. If the relative position between the screen pointer and the starting position or the end position is detected in real time to determine whether the screen pointer has come into contact with the starting position, the end position can be determined as the rotation reference point, and the starting reference line corresponding to the starting position can be determined as the rotation reference line. If the relative position between the screen pointer and the starting position or the end position is detected in real time to determine whether the screen pointer has come into contact with the end position, the starting position can be determined as the rotation reference point, and the end reference line corresponding to the end position can be determined as the rotation reference line.

[0091] In practical applications, the specific form of the planned trajectory may be the planned trajectory in the planned positioning data corresponding to the second medical image; the specific form of the screen pointer may be the mouse pointer; the specific method of determining whether the screen pointer has made contact with the starting position or the end position by detecting the relative position between the screen pointer and the starting position or the end position in real time may be to detect the relative position between the screen pointer and the starting position or the end position in real time based on the collision detection principle, so as to determine whether the mouse pointer has made contact with the starting position or the end position.

[0092] Furthermore, assuming that according to the collision detection principle, it has been confirmed that the mouse pointer has come into contact with the starting position or the end position, the cursor image of the mouse pointer can be converted from an arrow to a rotating icon to inform the user of the starting position or the end position where the mouse pointer has come into contact. Currently, it can be dragged and moved by pressing the left mouse button.

[0093] Step S620, generating a trajectory rotation reference line according to the rotation reference point and the current position of the screen pointer.

[0094] In this step, the rotation reference point refers to the rotation reference point determined based on the monitoring of the relative position between the screen pointer and the starting position or the end position; the trajectory rotation reference line refers to the trajectory rotation reference line generated based on the rotation reference point and the current position of the screen pointer.

[0095] In practical applications, the specific form of the trajectory rotation reference line may be a connecting line between the rotation reference point and the current position of the screen pointer (it may be a straight line calculated based on the aforementioned rotation reference point and the aforementioned current position of the screen pointer).

[0096] Step S630, obtaining a planned trajectory after rotation adjustment based on the intersection point between the trajectory rotation reference line and the rotation baseline.

[0097] In this step, the rotation reference point refers to the rotation reference point determined based on the monitoring of the relative position between the screen pointer and the starting position or the end position; the trajectory rotation reference line refers to the trajectory rotation reference line generated according to the rotation reference point and the current position of the screen pointer; the planned trajectory after rotation adjustment refers to the planned trajectory after rotation adjustment obtained based on the intersection between the trajectory rotation reference line and the rotation reference line.

[0098] Specifically, during the process of rotating and adjusting the planned trajectory, a dotted extension line can be displayed in real time at the end of the planned trajectory (the dotted extension line can be as follows: Figure 7 or Figure 8The exit position is in the form shown by the dotted line extending the end of the line connecting point C and point D in the image).

[0099] In actual applications, a specific method for obtaining the planned trajectory after rotation adjustment based on the intersection between the trajectory rotation reference line and the rotation baseline may be to obtain the starting position after rotation adjustment or the end position after rotation adjustment based on the intersection between the trajectory rotation reference line and the rotation baseline, and to obtain the planned trajectory after rotation adjustment based on the connecting line between the starting position after rotation adjustment or the end position after rotation adjustment and the rotation reference point (which may be a straight line calculated based on the starting position after rotation adjustment or the end position after rotation adjustment and the rotation reference point); a specific method for confirming that the rotation adjustment operation on the planned trajectory has ended may be to convert the cursor icon of the mouse pointer from a rotation icon to an arrow when it is detected that the left button of the external mouse device is no longer selected (that is, when the left button of the external mouse device has been released by the user).

[0100] Further, when it is confirmed that the mouse pointer has come into contact with the end point according to the collision detection principle, the specific implementation of the above steps S610 to S630 may be as follows: Figure 7 In the form shown; according to the collision detection principle, it has been confirmed that the mouse pointer has contacted the starting position, the specific implementation of the above steps S610 to S630 can be as follows Figure 8 The form shown.

[0101] In the embodiment of the present application, a trajectory rotation reference line is generated according to the rotation reference point and the current position of the screen pointer, and a rotationally adjusted planned trajectory is obtained based on the intersection between the trajectory rotation reference line and the rotation reference line, thereby effectively improving the operational efficiency of planning the insertion path of the fixing device.

[0102] Regarding the specific method of confirming that the screen pointer has entered the target area, in one embodiment, Fig. 9 As shown, the above step S130 specifically includes:

[0103] Step S910, based on the preset tolerance value, obtain the tolerance range corresponding to the screen pointer.

[0104] In this step, the preset fault tolerance value refers to the preset fault tolerance value used to calculate the fault tolerance range corresponding to the screen pointer; the fault tolerance range corresponding to the screen pointer refers to the fault tolerance range corresponding to the screen pointer obtained based on the preset fault tolerance value.

[0105] In actual applications, the specific form of the screen pointer can be a mouse pointer; based on the preset tolerance value, the specific method of obtaining the tolerance range corresponding to the screen pointer can be to take the mouse pointer as the center of the circle and the preset tolerance value as the radius to obtain the circular tolerance area corresponding to the mouse pointer.

[0106] Step S920: When the starting reference line or the ending reference line is within the error tolerance range, confirm that the screen pointer has entered the target area.

[0107] In this step, the starting reference line, that is, the starting reference line corresponding to the second medical image, can be obtained based on the starting position in the planning and positioning data corresponding to the first medical image; the end point reference line, that is, the end point reference line corresponding to the second medical image, can be obtained based on the end point position in the planning and positioning data corresponding to the first medical image; the fault tolerance range, that is, the fault tolerance range corresponding to the screen pointer, refers to the fault tolerance range corresponding to the screen pointer obtained based on the preset fault tolerance value; the target area refers to the image area located near the starting reference line corresponding to the second medical image or the end point reference line corresponding to the second medical image, within which the planning and positioning reference line corresponding to the second medical image can be drawn by moving the screen pointer.

[0108] In actual applications, the specific form of the screen pointer may be a mouse pointer; when the starting reference line or the end reference line is within the tolerance range, the specific method of confirming that the screen pointer has entered the target area may be to confirm that the mouse pointer has come into contact with the starting reference line (i.e., the mouse pointer is located in the image area near the starting reference line) when the starting reference line is within the tolerance range, and to confirm that the mouse pointer has come into contact with the end reference line (i.e., the mouse pointer is located in the image area near the end reference line) when the end reference line is within the tolerance range.

[0109] Furthermore, when the starting position is within the tolerance range, the end position can be determined as the rotation reference point, and the starting reference line can be determined as the rotation reference line; when the end position is within the tolerance range, the starting position can be determined as the rotation reference point, and the end reference line can be determined as the rotation reference line.

[0110] In the embodiment of the present application, the tolerance range corresponding to the screen pointer is obtained based on a preset tolerance value, and when the starting reference line or the end reference line is within the tolerance range, it is confirmed that the screen pointer has entered the target area, thereby effectively improving the operational efficiency of planning the placement path of the fixing device.

[0111] Regarding the specific method of generating a planned positioning reference line according to the pointer motion trajectory, in one embodiment, Fig.10As shown, the above step S140 specifically includes:

[0112] Step S1010, if it is confirmed that the screen pointer is in the selected state, then the pointer movement trajectory is obtained based on the connection line between the initial position of the screen pointer when entering the target area and the final position of the screen pointer after entering the target area.

[0113] In this step, the target area refers to the image area located near the starting reference line corresponding to the second medical image or the end reference line corresponding to the second medical image. In this image area, the planning positioning reference line corresponding to the second medical image can be drawn by moving the screen pointer; the pointer motion trajectory refers to the pointer motion trajectory obtained based on the connecting line between the initial position of the screen pointer when entering the target area and the final position of the screen pointer after entering the target area, when confirming that the screen pointer is in a selected state.

[0114] In actual applications, the specific form of the screen pointer can be a mouse pointer; the specific way to confirm that the screen pointer is in a selected state can be to confirm that the left button of an external mouse device has been pressed; the specific form of the connecting line between the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after entering the target area can be a straight line calculated based on the initial position of the mouse pointer when it enters the target area and the final position of the mouse pointer after entering the target area.

[0115] Step S1020: Generate a planning positioning reference line according to the pointer motion trajectory.

[0116] In this step, the pointer motion trajectory refers to the pointer motion trajectory obtained based on the connection line between the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after entering the target area, when confirming that the screen pointer is in a selected state; the planning positioning reference line refers to the pointer motion trajectory obtained based on the connection line between the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after entering the target area, and the planning positioning reference line is generated.

[0117] In the embodiment of the present application, the pointer movement trajectory is obtained based on the connecting line between the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after entering the target area, and a planning positioning reference line is generated according to the pointer movement trajectory, thereby effectively reducing the operational difficulty of planning the insertion path of the fixing device.

[0118] Regarding the specific method of verifying the physical space planning position of the element to be planned, in one embodiment, Fig.11 As shown, the above method also includes:

[0119] Step S1110, obtaining a first starting point reference line and a first end point reference line corresponding to the third medical image according to the planning positioning data corresponding to the first medical image; the shooting angle corresponding to the third medical image is different from the shooting angles corresponding to the first medical image and the second medical image.

[0120] In this step, the first starting point reference line, that is, the first starting point reference line corresponding to the third medical image, refers to the first starting point reference line corresponding to the third medical image obtained according to the starting point position in the planning and positioning data corresponding to the first medical image; the first end point reference line, that is, the first end point reference line corresponding to the third medical image, refers to the first end point reference line corresponding to the third medical image obtained according to the end point position in the planning and positioning data corresponding to the first medical image.

[0121] In practical applications, assuming that it is known that the first medical image is an entry X-ray image of a path for planning the surgical pinning of the patient's pelvic region, and the second medical image is an exit X-ray image of a path for planning the surgical pinning of the patient's pelvic region, then the third medical image obtained by photographing the patient's pelvic region at a shooting angle different from the shooting angles corresponding to the first and second medical images, can be a lateral X-ray image of a path for planning the surgical pinning of the patient's pelvic region.

[0122] Step S1120: obtaining a second starting point reference line and a second ending point reference line corresponding to the third medical image according to the planning positioning data corresponding to the second medical image.

[0123] In this step, the second starting point reference line, that is, the second starting point reference line corresponding to the third medical image, refers to the second starting point reference line corresponding to the third medical image obtained according to the starting point position in the planning and positioning data corresponding to the second medical image; the second end point reference line, that is, the second end point reference line corresponding to the third medical image, refers to the second end point reference line corresponding to the third medical image obtained according to the end point position in the planning and positioning data corresponding to the second medical image.

[0124] Step S1130, obtaining planning positioning data corresponding to the third medical image based on the intersection point between the first starting point reference line and the second starting point reference line, and the intersection point between the first end point reference line and the first end point reference line.

[0125] In this step, the first starting point reference line, i.e., the first starting point reference line corresponding to the third medical image, refers to the first starting point reference line corresponding to the third medical image obtained according to the starting point position in the planning and positioning data corresponding to the first medical image; the first end point reference line, i.e., the first end point reference line corresponding to the third medical image, refers to the first end point reference line corresponding to the third medical image obtained according to the end point position in the planning and positioning data corresponding to the first medical image; the second starting point reference line, i.e., the second starting point reference line corresponding to the third medical image, refers to the second starting point reference line corresponding to the third medical image obtained according to the starting point position in the planning and positioning data corresponding to the second medical image; the second end point reference line, i.e., the second end point reference line corresponding to the third medical image, refers to the second end point reference line corresponding to the third medical image obtained according to the end point position in the planning and positioning data corresponding to the second medical image; the planning and positioning data corresponding to the third medical image refers to the planning and positioning data corresponding to the third medical image obtained based on the intersection between the first starting point reference line and the second starting point reference line, and the intersection between the first end point reference line and the first end point reference line.

[0126] Step S1140: verifying the physical space planning position of the element to be planned according to the planning positioning data in the third medical image.

[0127] In this step, the planning positioning data in the third medical image, that is, the planning positioning data corresponding to the third medical image, refers to the planning positioning data corresponding to the third medical image obtained based on the intersection between the first starting point reference line and the second starting point reference line, and the intersection between the first end point reference line and the first end point reference line; the physical space planning position of the element to be planned refers to the physical space planning position of the element to be planned determined based on the planning positioning data corresponding to the first medical image and the planning positioning data corresponding to the second medical image.

[0128] Specifically, the specific way to verify the physical space planning position of the element to be planned can be that the user further determines whether the physical space planning position of the element to be planned is accurate by observing the planning positioning data in the third medical image displayed on the screen. In addition, the user can also further determine whether the physical space planning position of the element to be planned is accurate by observing the planning positioning data in the first medical image or the planning positioning data in the second medical image displayed on the screen (i.e., verify the physical space planning position of the element to be planned according to the planning positioning data in the first medical image; or, verify the physical space planning position of the element to be planned according to the planning positioning data in the second medical image). If it is determined that the physical space planning position of the element to be planned is not accurate enough, the planning positioning data in the medical image used to obtain the physical space planning position (i.e., the planning positioning data corresponding to the first medical image, and / or the planning positioning data corresponding to the second medical image, and / or the planning positioning data corresponding to the third medical image) can be adjusted in real time to update the physical space planning position of the element to be planned in real time, and then obtain the physical space planning position of the element to be planned after real-time update.

[0129] In practical applications, the specific form of the element to be planned may be a fixture that needs to be inserted into the target part of the patient during traumatic orthopedic surgery; the specific form of the fixture may be a surgical pin, based on which the physical space planning position of the element to be planned may be the physical space planning position of the surgical pin, and the specific method of verifying the physical space planning position of the element to be planned according to the planning positioning data in the third medical image may be to verify the physical space planning position of the surgical pin according to the planning positioning data in the third medical image; the specific implementation process of the above steps S1110 to S1140 may be specifically expressed as follows: Fig.12 The form shown.

[0130] In the embodiment of the present application, the planning positioning data corresponding to the third medical image is obtained based on the intersection between the first starting point reference line and the second starting point reference line, and the intersection between the first terminal reference line and the first terminal reference line, and the physical space planning position of the planned element is verified according to the planning positioning data in the third medical image. This method can not only improve the accuracy of the planning results of the implantation path of the fixture, but also effectively improve the operational efficiency of planning the implantation path of the fixture.

[0131] In one embodiment, in combination with the above embodiments, the specific implementation process of the medical imaging-based planning method provided by the present application in practical application is described as follows:

[0132] First, an X-ray of the patient's pelvis is taken. At this time, the patient's pelvic position remains unchanged. By adjusting the positions of the C-arm and the robotic arm, three X-ray images of the pelvis (i.e., the entrance position image, the exit position image, and the lateral position image) are taken from the entrance position for inserting surgical nails (which can be medical screws), the exit position for inserting surgical nails, and the lateral position for inserting surgical nails.

[0133] Then, a surgical nail is drawn in the entry image, that is, a surgical nail is drawn in the entry image, the nail entry point in the entry image is point A, and the nail exit point in the entry image is point B, and during the drawing process, the extended auxiliary line in the form of a dotted line is displayed in real time. When the surgical nail drawing in the entry image is completed, the extended auxiliary line in the form of a dotted line disappears, and the nail entry point A in the entry image is marked with a small triangle.

[0134] Next, according to the positional relationship between the entry image and the exit image, two reference lines can be obtained on the exit image through a physical algorithm, wherein the line generated corresponding to the nail entry point A is A1, and the line generated corresponding to the nail exit point B is B1. According to the positional relationship between the entry image and the lateral image, two reference lines can be obtained on the lateral image through a physical algorithm, wherein the line generated corresponding to the nail entry point A is A2, and the line generated corresponding to the nail exit point B is B2.

[0135] After that, by adjusting the positions of point A and point B in the entrance image, the A1 line and B1 line in the exit image, and the A2 line and B2 line in the lateral image are recalculated. During the adjustment process, the end of the connecting line between point A and point B displays an extended auxiliary line in the form of a dotted line in real time. After the adjustment is completed, the extended auxiliary line in the form of a dotted line disappears.

[0136] After that, by drawing the surgical nail placement in the exit image, the screen position of the mouse pointer is detected in real time, and based on the collision detection principle, it is determined whether the mouse pointer is close to the A1 line or the B1 line. If so, the drawing begins, and during the drawing process, the extended auxiliary lines in the form of dotted lines are displayed in real time. According to the initial position of the mouse pointer at the beginning of drawing and the real-time position of the mouse when moving, a straight line is calculated, and the two intersection points of the straight line with the A1 line and the B1 line are calculated in real time, namely the nail entry point C in the exit image and the nail exit point D in the exit image. After the surgical nail placement is drawn, the extended auxiliary lines in the form of dotted lines will disappear. The specific operation process of the above steps can be as follows Fig.13 The form shown.

[0137] Afterwards, in the exit image, adjust the position of the surgical pins. When performing translation adjustment, the intersection of the straight line determined based on point C and point D with line A1 and line B1 is calculated in real time to obtain point C and point D after translation adjustment. When performing rotation adjustment, if point C remains stationary and point D is rotated, the intersection of the straight line determined based on point C and the real-time position of the mouse and B1 is calculated in real time to obtain point D after rotation adjustment; if point D does not move and point C is rotated, the intersection of the straight line determined based on point D and the real-time position of the mouse and A1 is calculated in real time to obtain point C after rotation adjustment. The specific operation process of the aforementioned steps can be as follows: Fig.14 The form shown.

[0138] Finally, after point C and point D are determined, two reference lines C1 and D1 are generated in the lateral image. The entry point of the surgical nail in the lateral image is determined according to the intersection of A2 and C1, and the exit point of the surgical nail in the lateral image is determined according to the intersection of B2 and D1. At the same time, the position of the surgical nail in the physical space (i.e., the three-dimensional coordinates corresponding to the entry point and the exit point) and the length can be calculated according to the aforementioned planning data.

[0139] In one embodiment, during surgery using an orthopedic surgical robot, the interactive operation method described in the above-mentioned "Specific implementation process of the medical image-based planning method provided in the present application in practical applications" can be used to specifically plan the placement path of marking points or fixing devices (e.g., medical screws) in the medical image (e.g., X-Ray image) of the target surgical object.

[0140] Exemplarily, when performing a specific plan of a marking point in the process of using an orthopedic surgical robot for surgery, the relative position relationship between the positioning reference line in the X-Ray image of the target surgical object can be detected in real time based on the above-mentioned collision detection principle, so that when the mouse is detected to be located on a certain positioning reference line in the X-Ray image of the target surgical object, the user can be prompted to perform specific planning of the marking point in the current image area by converting the mouse cursor image into an editable icon (e.g., a brush icon) (i.e., prompting the user to plan the location of the marking point on a certain reference positioning line located near the current mouse position). In addition, when performing a specific plan of the insertion path of a medical screw in the process of using an orthopedic surgical robot for surgery, the various steps recorded in the above-mentioned embodiments of the present application can be directly applied to achieve specific planning of the three-dimensional physical space position of the medical screw in two X-Ray images taken at different angles. Further, when it is necessary to perform specific planning of the position of the same marking point on the positioning reference lines in two X-Ray images taken at different angles, the various steps recorded in the above-mentioned embodiments of the present application can also be directly applied.

[0141] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0142] Based on the same inventive concept, the embodiment of the present application also provides a medical image-based planning device for implementing the medical image-based planning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more medical image-based planning device embodiments provided below can refer to the limitations of the medical image-based planning method above, and will not be repeated here.

[0143] In one embodiment, Fig.15 As shown, a medical image-based planning device is provided, the device comprising:

[0144] The positioning data acquisition module 1510 is used to acquire the planning positioning data corresponding to the first medical image; the planning positioning data includes a starting position and an end position;

[0145] A start and end reference line acquisition module 1520 is used to obtain a start reference line and an end reference line corresponding to a second medical image according to the planning positioning data; the first medical image and the second medical image are images obtained by photographing the target part from different angles;

[0146] The relative position detection module 1530 is used to detect the relative position between the screen pointer and the starting reference line or the ending reference line in real time to confirm whether the screen pointer has entered the target area;

[0147] A positioning reference line generating module 1540 is configured to generate a planned positioning reference line according to a pointer motion trajectory of the screen pointer in the target area if it is confirmed that the screen pointer has entered the target area;

[0148] A positioning data output module 1550 is used to obtain planning positioning data corresponding to the second medical image based on the intersection of the planning positioning reference line, the starting reference line, and the ending reference line;

[0149] The physical space planning and positioning module 1560 is used to obtain the physical space planning position of the element to be planned according to the planning and positioning data of the first medical image and the second medical image.

[0150] In one of the embodiments, the planned positioning data also includes a planned trajectory; the planned trajectory is determined based on the connecting line between the starting position and the end position; the above-mentioned device also includes: a planned trajectory translation adjustment module, which is used to confirm whether the planned trajectory has been selected by the screen pointer based on the monitoring of the relative position between the screen pointer and the planned trajectory when performing translation adjustment on the planned trajectory; if it is confirmed that the planned trajectory has been selected by the screen pointer, the moving direction of the screen pointer is obtained; according to the moving direction, the planned trajectory is translated and adjusted to obtain the planned trajectory after translation adjustment.

[0151] In one embodiment, the above-mentioned device also includes: a planned trajectory rotation adjustment module, which is used to determine the starting position or the end position as the rotation reference point and the starting reference line or the end reference line as the rotation reference line when performing rotation adjustment on the planned trajectory based on the monitoring of the relative position between the screen pointer and the starting position or the end position; generate a trajectory rotation reference line according to the rotation reference point and the current position of the screen pointer; and obtain the planned trajectory after rotation adjustment based on the intersection between the trajectory rotation reference line and the rotation reference line.

[0152] In one of the embodiments, the relative position detection module 1530 is specifically used to obtain the tolerance range corresponding to the screen pointer based on a preset tolerance value; when the starting reference line or the end reference line is within the tolerance range, confirm that the screen pointer has entered the target area.

[0153] In one of the embodiments, the positioning reference line generation module 1540 is specifically used to obtain the pointer movement trajectory based on the connecting line between the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after entering the target area if it is confirmed that the screen pointer is in a selected state; and generate the planned positioning reference line according to the pointer movement trajectory.

[0154] In one embodiment, the above-mentioned device also includes: a physical space planning position verification module, which is used to obtain a first starting point reference line and a first end point reference line corresponding to the third medical image according to the planning positioning data corresponding to the first medical image; the shooting angle corresponding to the third medical image is different from the shooting angles corresponding to the first medical image and the second medical image; according to the planning positioning data corresponding to the second medical image, a second starting point reference line and a second end point reference line corresponding to the third medical image are obtained; based on the intersection between the first starting point reference line and the second starting point reference line, and the intersection between the first end point reference line and the first end point reference line, the planning positioning data corresponding to the third medical image is obtained; according to the planning positioning data in the third medical image, the physical space planning position of the element to be planned is verified.

[0155] Each module in the above-mentioned medical image-based planning device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0156] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.16 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a planning method based on medical images is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0157] Those skilled in the art will understand that Fig.16 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0158] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0159] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0160] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0161] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0162] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0163] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A planning method based on medical images, characterized in that: The method comprises: Acquire planning positioning data corresponding to the first medical image; the planning positioning data includes a starting point position and an end point position; According to the planning positioning data, a starting point reference line and an end point reference line corresponding to the second medical image are obtained; the first medical image and the second medical image are images obtained by photographing the target part from different angles; Detecting the relative position between the screen pointer and the starting reference line or the ending reference line in real time to confirm whether the screen pointer has entered the target area; If it is confirmed that the screen pointer has entered the target area, generating a planning positioning reference line according to the pointer movement trajectory of the screen pointer in the target area; Based on the intersection of the planning positioning reference line, the starting point reference line, and the end point reference line, obtaining planning positioning data corresponding to the second medical image; The physical space planning position of the element to be planned is obtained according to the planning positioning data of the first medical image and the second medical image.

2. The method according to claim 1, characterized in that: The planned positioning data also includes a planned trajectory; the planned trajectory is determined based on a connecting line between the starting position and the end position; The method further comprises: When performing translation adjustment on the planned trajectory, based on monitoring of the relative position between the screen pointer and the planned trajectory, confirming whether the planned trajectory has been selected by the screen pointer; If it is confirmed that the planned trajectory has been selected by the screen pointer, obtaining the moving direction of the screen pointer; According to the moving direction, the planned trajectory is adjusted in translation to obtain a planned trajectory after translation adjustment.

3. The method according to claim 2, characterized in that The method further comprises: When performing rotation adjustment on the planned trajectory, based on monitoring of the relative position between the screen pointer and the starting position or the ending position, determining the starting position or the ending position as a rotation reference point, and determining the starting reference line or the ending reference line as a rotation reference line; Generate a trajectory rotation reference line according to the rotation reference point and the current position of the screen pointer; Based on the intersection point between the trajectory rotation reference line and the rotation base line, a planned trajectory after rotation adjustment is obtained.

4. The method according to claim 1, characterized in that The real-time detection of the relative position between the screen pointer and the starting reference line or the ending reference line to confirm whether the screen pointer has entered the target area includes: Based on a preset fault tolerance value, obtaining a fault tolerance range corresponding to the screen pointer; When the starting point reference line or the ending point reference line is within the error tolerance range, it is confirmed that the screen pointer has entered the target area.

5. The method according to claim 1, characterized in that The generating a planning positioning reference line according to the pointer motion trajectory of the screen pointer in the target area includes: If it is confirmed that the screen pointer is in the selected state, obtaining the pointer movement trajectory based on a connecting line between an initial position of the screen pointer when entering the target area and a final position of the screen pointer after entering the target area; The planned positioning reference line is generated according to the pointer motion trajectory.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: According to the planning positioning data corresponding to the first medical image, a first starting point reference line and a first end point reference line corresponding to the third medical image are obtained; the filming angle corresponding to the third medical image is different from the filming angles corresponding to the first medical image and the second medical image; Obtaining a second starting point reference line and a second end point reference line corresponding to the third medical image according to the planning positioning data corresponding to the second medical image; Based on the intersection point between the first starting point reference line and the second starting point reference line, and the intersection point between the first end point reference line and the first end point reference line, obtaining planning positioning data corresponding to the third medical image; The physical space planning position of the element to be planned is verified according to the planning positioning data in the third medical image.

7. A planning device based on medical images, characterized in that: The device comprises: A positioning data acquisition module, used to acquire planning positioning data corresponding to the first medical image; the planning positioning data includes a starting position and an end position; A start and end reference line acquisition module, used to obtain a start reference line and an end reference line corresponding to a second medical image according to the planning positioning data; the first medical image and the second medical image are images obtained by photographing the target part from different angles; A relative position detection module, used for detecting the relative position between the screen pointer and the starting reference line or the end reference line in real time, and confirming whether the screen pointer has entered the target area; A positioning reference line generating module, for generating a planned positioning reference line according to a pointer motion trajectory of the screen pointer in the target area if it is confirmed that the screen pointer has entered the target area; A positioning data output module, configured to obtain planning positioning data corresponding to the second medical image based on the intersection of the planning positioning reference line, the starting reference line, and the ending reference line; The physical space planning and positioning module is used to obtain the physical space planning position of the element to be planned according to the planning and positioning data of the first medical image and the second medical image.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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