Method, device, equipment and storage medium for planning the placement path of a fixation device based on medical imaging

Abstract

This application relates to a planning method, apparatus, device, and storage medium based on medical images. The method includes: acquiring planning and positioning data corresponding to a first medical image; the planning and positioning data includes a start position and an end position; obtaining a start reference line and an end reference line corresponding to a second medical image based on the planning and positioning data; detecting the relative position between a screen pointer and the start reference line or the end 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 and positioning reference line based on the pointer movement trajectory of the screen pointer in the target area; obtaining planning and positioning data corresponding to the second medical image based on the intersection points between the planning and positioning reference line, the start reference line, and the end reference line; and obtaining the physical spatial planning position of the element to be planned based on the planning and positioning data of the first and second medical images.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a method, apparatus, device, and storage medium for planning the placement path of a fixation device based on medical imaging. Background Technology

[0002] In orthopedic surgery, it is often necessary to fix the injured bone site by means of screws or other methods. The insertion path of the fixation device needs to be planned in advance based on medical imaging data from different angles.

[0003] However, since existing technologies do not enable the real-time display of the placement direction of the fixation device based on the physical spatial relationship between medical image 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 existing technologies. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, device, and storage medium for planning the implantation path of a fixation device based on medical imaging to address the aforementioned technical problems.

[0005] In a first aspect, this application provides a method for planning the placement path of a fixation device based on medical imaging, the method comprising:

[0006] Acquire the planning and positioning data corresponding to the first medical image; the planning and positioning data includes the starting and ending positions of the fixation device to be placed in the target area.

[0007] Based on the starting point position in the planning and positioning data, the starting point reference line corresponding to the second medical image is obtained, and based on the ending point position in the planning and positioning data, the ending point reference line corresponding to the second medical image is obtained; the first medical image and the second medical image are images obtained by taking pictures of the target area from different angles;

[0008] 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;

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

[0010] Based on the intersection of the planning and positioning reference line, the starting point reference line, and the ending point reference line, the planning and positioning data corresponding to the second medical image is obtained; the planning and positioning data corresponding to the second medical image includes the starting point and ending point of the fixation device being placed in the target area;

[0011] Based on the planning and positioning data of the first and second medical images, the physical spatial planning location of the fixed device is obtained.

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

[0013] When adjusting the planned trajectory, based on monitoring the relative position between the screen pointer and the planned trajectory, it is confirmed 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, the movement direction of the screen pointer is obtained; according to the movement direction, the planned trajectory is adjusted by translation to obtain the adjusted planned trajectory.

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

[0015] When adjusting the rotation of 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; a trajectory rotation reference line is generated according to the current position of the rotation reference point and the screen pointer; based on the intersection point 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, and the confirmation of whether the screen pointer has entered the target area, includes:

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

[0018] In one embodiment, generating a planning positioning reference line based on the pointer movement trajectory of the screen pointer in the target area includes:

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

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

[0021] Based on the starting point position in the planning and positioning data corresponding to the first medical image, a first starting point reference line corresponding to the third medical image is obtained, and based on the ending point position in the planning and positioning data corresponding to the first medical image, a first ending point reference line corresponding to the third medical image is obtained; the imaging angle corresponding to the third medical image is different from the imaging angles corresponding to the first medical image and the second medical image; based on the planning and positioning data corresponding to the second medical image, a second starting point reference line and a second ending point reference line corresponding to the third medical image are obtained; 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 ending point reference line and the second ending point reference line, the planning and positioning data corresponding to the third medical image is obtained; based on the planning and positioning data in the third medical image, the physical space planning position of the fixed device is verified.

[0022] Secondly, this application also provides a device for planning the insertion path of a fixation device based on medical imaging, the device comprising:

[0023] The positioning data acquisition module is used to acquire the planning positioning data corresponding to the first medical image; the planning positioning data includes the starting position and the ending position of the fixation device to be placed in the target area;

[0024] The start-end reference line acquisition module is used to obtain the start-end reference line corresponding to the second medical image based on the start-end position in the planning and positioning data, and to obtain the end-end reference line corresponding to the second medical image based on the end-end position in the planning and positioning data; the first medical image and the second medical image are images obtained by taking pictures of the target area from different angles;

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

[0026] The positioning reference line generation module is used to generate a planned positioning reference line based on the pointer movement trajectory of the screen pointer in the target area if it is confirmed that the screen pointer has entered the target area.

[0027] The positioning data output module is used to obtain the planning positioning data corresponding to the second medical image based on the intersection of the planning positioning reference line, the starting point reference line, and the ending point reference line; the planning positioning data corresponding to the second medical image includes the starting point position and the ending point position of the fixation device placed in the target area;

[0028] The physical space planning and positioning module is used to obtain the physical space planning position of the fixed device based on the planning and positioning data of the first medical image and the second medical image.

[0029] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the above-described method.

[0030] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0031] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described method.

[0032] The aforementioned method, apparatus, device, and storage medium for planning the insertion path of a fixation device based on medical images first acquire planning and positioning data corresponding to a first medical image. Then, based on the planning and positioning data, a starting reference line and an ending reference line corresponding to a second medical image are obtained. Next, the relative position between the screen pointer and the starting or ending reference line is detected in real time to confirm whether the screen pointer has entered the target area. Afterward, if it is confirmed that the screen pointer has entered the target area, a planning and positioning reference line is generated based on the pointer movement trajectory within the target area. Then, based on the intersection points between the planning and positioning reference line, the starting reference line, and the ending reference line, planning and positioning data corresponding to the second medical image is obtained. Finally, based on the planning and positioning data of the first and second medical images, the physical spatial planning position of the element to be planned is obtained. This application, by adjusting the insertion path of the fixation device in real time during the planning process based on the physical spatial relationship between medical image data from different shooting angles, not only improves the accuracy of the planning results for the fixation device insertion path but also effectively enhances the operational efficiency of planning the insertion path of the fixation device. Attached Figure Description

[0033] Figure 1 This is a flowchart illustrating a planning method based on medical images provided in one embodiment;

[0034] Figure 2 This is a schematic diagram illustrating a specific representation of a medical image for planning, as provided in one embodiment.

[0035] Figure 3This is a schematic diagram illustrating the relationship between planning and positioning data corresponding to a first medical image and planning and positioning data corresponding to a second medical image, provided in one embodiment.

[0036] Figure 4 This is a flowchart illustrating a specific method for translating and adjusting a planned trajectory, as provided in one embodiment.

[0037] Figure 5 This is a schematic diagram illustrating a specific operation method for translating and adjusting a planned trajectory in one embodiment.

[0038] Figure 6 This is a flowchart illustrating a specific method for rotating and adjusting a planned trajectory, as provided in one embodiment.

[0039] Figure 7 This is a schematic diagram illustrating a specific operation method for rotating and adjusting a planned trajectory in one embodiment.

[0040] Figure 8 This is a schematic diagram illustrating another specific operation method for rotating and adjusting a planned trajectory, as provided in one embodiment.

[0041] Figure 9 This is a flowchart illustrating a specific method for confirming that the screen pointer has entered the target area, as provided in one embodiment.

[0042] Figure 10 This is a flowchart illustrating a specific method for generating a planning positioning reference line based on the pointer movement trajectory in one embodiment;

[0043] Figure 11 This is a flowchart illustrating a specific method for verifying the physical spatial planning location of an element to be planned, as provided in one embodiment.

[0044] Figure 12 This is a schematic diagram of the overall operation process for obtaining the physical space planning location of an element to be planned, provided in one embodiment.

[0045] Figure 13 This is a schematic diagram of the overall operation process for drawing surgical screw placement in an exit position image, provided in one embodiment;

[0046] Figure 14 This is a schematic diagram of the overall operation process for adjusting the position of surgical staples in an exit position image, as provided in one embodiment.

[0047] Figure 15 This is a structural block diagram of a planning method device based on medical images provided in one embodiment;

[0048] Figure 16This is an internal structural diagram of a computer device provided in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0051] The medical image-based planning method provided in this application can be applied to terminal execution. The terminal can be, but is not limited to, various personal computers, laptops, and tablets.

[0052] In one embodiment, such as Figure 1 As shown, a planning method based on medical images is provided, including the following steps:

[0053] Step S110: Obtain the planning and positioning data corresponding to the first medical image; the aforementioned planning and positioning data includes the starting point position and the ending point position.

[0054] In this step, the first medical image refers to the first medical image obtained by taking pictures of the target area from a specific angle; the specific angle refers to the medical image taking angle that has certain reference value for planning the placement path of the fixation device in trauma orthopedic surgery; the starting position refers to the starting position of the fixation device in the target area during trauma orthopedic surgery; and the ending position refers to the ending position of the fixation device in the target area during trauma orthopedic surgery.

[0055] Specifically, the first medical image can be an X-ray image (i.e., an X-ray film) obtained by taking pictures of the patient's target area in a specific position during trauma orthopedic surgery. This X-ray image can specifically be represented as an inlet X-ray image, an outlet X-ray image, and a lateral X-ray image, which can be used to plan the insertion path of a fixation device. The fixation device inserted through trauma orthopedic surgery can be a surgical screw. Based on this, the planning and positioning data corresponding to the first medical image can specifically be represented as surgical screw positioning data. The starting point in the planning and positioning data corresponding to the first medical image can be the insertion point of the surgical screw in the patient's target area, and the ending point in the planning and positioning data corresponding to the first medical image can be the exit point of the surgical screw in the patient's target area.

[0056] In practical applications, the target site for a patient can be any site suitable for trauma orthopedic surgery, such as the pelvic region. Based on this, X-ray images of the entry, exit, and lateral views can be used to plan the insertion path for surgical screws in the pelvic region. Specifically, this can be represented as follows: Figure 2 The form shown; the starting position and the ending position in the planning and positioning data corresponding to the first medical image can be specifically represented as follows: Figure 3 The image shows the form of point A (i.e., the starting position, the insertion point of the surgical screw) in the entry position image and point B (i.e., the ending position, the exit point of the surgical screw) in the entry position image.

[0057] Step S120: Based on the planning and positioning data, obtain the starting reference line and the ending reference line corresponding to the second medical image; the aforementioned first medical image and the aforementioned second medical image are images obtained by taking pictures of the target area from different angles.

[0058] In this step, the planning and positioning data refers to the planning and positioning data corresponding to the first medical image; the second medical image refers to the second medical image taken at a different angle than the first medical image, targeting the target area; the shooting angle refers to the medical image shooting angle that has certain reference value for planning the insertion path of fixation devices in trauma orthopedic surgery; the starting reference line and ending reference line corresponding to the second medical image refer to the starting reference line and ending reference line corresponding to the second medical image obtained based on the planning and positioning data corresponding to the first medical image.

[0059] Specifically, the method for obtaining the starting reference line and ending reference line corresponding to the second medical image based on the planning and positioning data can be as follows: obtain the starting reference line corresponding to the second medical image based on the starting position in the planning and positioning data corresponding to the first medical image, and obtain the ending reference line corresponding to the second medical image based on the ending position in the planning and positioning data corresponding to the first medical image.

[0060] In practical applications, assuming that the first medical image is known as the entry X-ray image for planning the insertion path of surgical screws in the patient's pelvic region, the second medical image, which is taken at a different angle than the first medical image and is taken at the target area, can be the exit X-ray image for planning the insertion path of surgical screws in the patient's pelvic region.

[0061] Step S130: 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.

[0062] In this step, the starting reference line, i.e., 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 ending reference line, i.e., the ending reference line corresponding to the second medical image, can be obtained based on the ending 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 or the ending reference line corresponding to the second medical image. Within this image area, 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 can be the mouse pointer; the specific method for real-time detection of the relative position between the screen pointer and the starting reference line or the ending reference line can be based on the collision detection principle to detect in real time whether the mouse pointer is located in the image area (i.e., the target area) near the starting reference line or the ending reference line corresponding to the second medical image.

[0064] For example, a specific implementation of the collision detection principle can be as follows: assuming the tolerance factor (Tolerance) for the mouse pointer is a preset double value, when real-time contact between the mouse pointer and the starting or ending position is detected, an ellipse can be drawn with the current position of the mouse pointer as the center and the tolerance factor (Tolerance) as the horizontal and vertical radii. This elliptical area is the tolerance region corresponding to the mouse pointer. If the starting position is located within the aforementioned elliptical region, 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 collision detection range, and the higher the probability of the mouse pointer colliding with the starting or ending position. However, this also increases the deviation between the actual operating position of the mouse pointer and the image area where the mouse pointer is located in real-time. If the part of the connecting line between the starting and ending positions, excluding the endpoints, is located within the aforementioned elliptical region, it means that the mouse pointer has collided with the connecting line between the starting and ending positions. When the area corresponding to the connecting line between the starting position and the ending position (i.e., the area calculated based on the difference between the horizontal axis coordinates and the vertical axis coordinates of the starting position and the ending position) is small, the value of the tolerance factor Tolerance can be appropriately increased in order to expand the collision detection range.

[0065] Step S140: If it is confirmed that the screen pointer has entered the target area, then generate a planning positioning reference line based on 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 or the ending reference line corresponding to the second medical image. Within this image area, the planned positioning reference line corresponding to the second medical image can be drawn by moving the screen pointer. The specific method to confirm that the screen pointer has entered the target area can be based on the collision detection principle to detect in real time whether the screen pointer is located in the image area (i.e., the target area) near the starting reference line or the ending reference line corresponding to the second medical image. The planned positioning reference line, that is, the planned positioning reference line corresponding to the second medical image, refers to the planned positioning reference line corresponding to the second medical image generated according to the pointer movement trajectory of the screen pointer in the target area after confirming that the screen pointer has entered the target area.

[0067] In practical applications, the specific form of the screen pointer can be a mouse pointer. The specific method for generating the planning and positioning reference line based on the pointer's movement trajectory in the target area can be as follows: Based on the collision detection principle, if it is confirmed that the mouse pointer is located in the image area (i.e., the target area) near the starting or ending reference line corresponding to the second medical image, and if it is detected that the mouse pointer is selected (e.g., the left button of the external mouse device used to control the mouse pointer's movement has been pressed), the cursor image of the mouse pointer can be changed from an arrow to a pen, and the planning and positioning reference line corresponding to the second medical image can be generated based on the movement trajectory of the mouse pointer in the aforementioned image area (i.e., the pointer movement trajectory). The specific... The physical representation can be the movement trajectory of the mouse pointer in the aforementioned image area obtained by connecting the initial position of the mouse pointer when it enters the aforementioned image area and the real-time movement position of the mouse pointer after entering the aforementioned image area (or the final position where the mouse pointer stops after entering the aforementioned image area). The specific method for obtaining the final position where the mouse pointer stops after entering the aforementioned image area can be that when it is detected that the mouse pointer is in contact with the starting reference line or the ending reference line corresponding to the second medical image, the current screen coordinates of the mouse pointer are recorded and used as the final position where the mouse pointer stops after entering the aforementioned image area, and the cursor image of the mouse pointer is changed from a pen to an arrow.

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

[0069] In this step, the planning and positioning reference line, i.e., the planning and positioning reference line corresponding to the second medical image, refers to the planning and positioning reference line corresponding to the second medical image generated based on the pointer movement trajectory of the screen pointer in the target area after confirming that the screen pointer has entered the target area; the starting reference line, i.e., 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 ending reference line, i.e., the ending reference line corresponding to the second medical image, can be obtained based on the ending position in the planning and positioning data corresponding to the first medical image; the planning and positioning data corresponding to the second medical image refers to the planning and positioning data corresponding to the second medical image obtained based on the intersection points between the planning and positioning reference line, the starting reference line, and the ending reference line, which can include the starting position and the ending position.

[0070] In practical applications, the specific method for obtaining the planning and positioning data corresponding to the second medical image based on the intersections between the planning and positioning reference lines, the starting reference line, and the ending reference line can be as follows: Based on the first intersection between the planning and positioning reference lines and the starting reference line corresponding to the second medical image, and the second intersection between the planning and positioning reference lines and the ending reference line corresponding to the second medical image, the starting position and the ending position in the planning and positioning data corresponding to the second medical image can be determined respectively. Then, based on the connecting line between the starting position and the ending position in the planning and positioning data corresponding to the second medical image, the insertion path of the fixation device corresponding to the second medical image can be generated. The specific manifestation of the fixation device corresponding to the second medical image can be surgical screw placement. Based on this, the planning and positioning data corresponding to the second medical image can be specifically represented as surgical screw placement positioning data. The starting position in the planning and positioning data can be the insertion point of the surgical screw in the target area of ​​the patient, and the ending position can be the exit point of the surgical screw in the target area of ​​the patient.

[0071] Step S160: Based on the planning and positioning data of the first medical image and the second medical image, obtain the physical spatial planning location of the element to be planned.

[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, refers 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 spatial planning location of the element to be planned refers to the physical spatial planning location 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 can be a fixation device that needs to be inserted into the target area of ​​the patient during trauma orthopedic surgery; the specific form of the fixation device can be a surgical screw. Based on this, the physical spatial planning position of the element to be planned can be determined by the planning and positioning data corresponding to the first medical image and the planning and positioning data corresponding to the second medical image, which yields the physical spatial planning position of the surgical screw.

[0074] The aforementioned planning method based on medical images first acquires the planning and positioning data corresponding to the first medical image. Then, based on the planning and positioning data, the starting and ending reference lines corresponding to the second medical image are obtained. Next, the relative position between the screen pointer and the starting or ending reference lines is detected in real time to confirm whether the screen pointer has entered the target area. Afterward, if it is confirmed that the screen pointer has entered the target area, a planning and positioning reference line is generated based on the pointer's movement trajectory within the target area. Then, based on the intersection points between the planning and positioning reference lines, the starting reference line, and the ending reference line, the planning and positioning data corresponding to the second medical image is obtained. Finally, based on the planning and positioning data of the first and second medical images, the physical spatial planning position of the element to be planned is obtained. This application, by adjusting the placement path of the fixation device in real time based on the physical spatial relationship between medical image data from different shooting angles during the planning process, not only improves the accuracy of the planning results for the placement path of the fixation device but also effectively enhances the operational efficiency of planning the placement path of the fixation device.

[0075] In one embodiment, the planning positioning data further includes the planned trajectory, which is determined based on the connecting line between the starting point and the ending point. For example, regarding the specific method for adjusting the planned trajectory, the planning positioning data also includes the planned trajectory. Figure 4 As shown, the above method also includes:

[0076] Step S410: When adjusting the translation of 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.

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

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

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

[0080] In this step, the specific way to confirm that the planned trajectory has been selected by the screen pointer can be by detecting 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 selected the planned trajectory; the movement direction of the screen pointer refers to the movement direction of the screen pointer obtained after confirming that the planned trajectory has been selected by the screen pointer. This movement direction can be used to calculate the position of the planned trajectory after translation adjustment.

[0081] In practical applications, the specific form of the screen pointer can be the mouse pointer; when it is confirmed that the planned trajectory has been selected by the screen pointer, the specific way to obtain the movement direction of the screen pointer can be to obtain the movement 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: According to the direction of movement, the planned trajectory is translated and adjusted to obtain the translated and adjusted planned trajectory.

[0083] In this step, the movement direction refers to the direction in which the screen pointer moves; the translated and adjusted planned trajectory refers to the planned trajectory obtained by translating and adjusting it according to the direction in which the screen pointer moves.

[0084] Specifically, during the translation and adjustment of the planned trajectory, a dashed extension line can be displayed in real time at the end of the planned trajectory (this dashed extension line can be like...). Figure 5 The form shown is the extension of the dashed line at the end of the line connecting points C and D in the exit position image.

[0085] In practical applications, the screen pointer can be represented by a mouse pointer. The method for adjusting the planned trajectory based on the movement direction to obtain the adjusted trajectory can be as follows: After confirming the planned trajectory is selected by the screen pointer, the movement direction of the mouse pointer is obtained in real-time. Based on the intersection points between the planned trajectory moving with the mouse pointer and the starting and ending reference lines, the adjusted starting and ending positions are calculated in real-time. The adjusted planned trajectory is then generated based on the connecting line between the adjusted starting and ending positions. The method for determining when the operation of translating the planned trajectory based on the mouse pointer has ended can be as follows: when the left button of the external mouse device is no longer selected (i.e., the user has released the left button), the mouse pointer cursor icon is changed from a translation icon to an arrow. The specific representation of the planned trajectory before translation adjustment can be as follows: Figure 5The form shown by the line connecting points C and D in the mid-exit position image; the specific representation of the planned trajectory after translation adjustment, which can be as follows: Figure 5 The line connecting points C0 and D0 in the mid-exit position image is shown in the form shown.

[0086] In this embodiment, by obtaining the movement direction of the screen pointer after confirming that the planned trajectory has been selected by the screen pointer, and then translating and adjusting the planned trajectory according to the movement direction to obtain the translated and adjusted planned trajectory, the operational difficulty of planning the placement path of the fixed device is reduced, thereby effectively improving the operational efficiency of planning the placement path of the fixed device.

[0087] Regarding the specific method for rotating and adjusting the planned trajectory, in one embodiment, such as... Figure 6 As shown, the above method also includes:

[0088] Step S610: When adjusting the rotation of 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.

[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 ending position refers to the ending position in the planned positioning data; and the monitoring of the relative position between the screen pointer and the starting or ending position refers to determining whether the screen pointer has made contact with the starting or ending position by detecting the relative position between the screen pointer and the starting or ending position in real time.

[0090] Specifically, based on monitoring the relative position between the screen pointer and the start or end position, the starting or end position is determined as the rotation reference point, and the starting or end reference line is determined as the rotation reference line. Alternatively, if the screen pointer has already contacted the start position by real-time detection of the relative position between the screen pointer and the start or end position, then the end position can be determined as the rotation reference point, and the start reference line corresponding to the start position can be determined as the rotation reference line.

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

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

[0093] Step S620: Generate a trajectory rotation reference line based on the current position of the rotation reference point and 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 start or 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 can be a line connecting the rotation reference point and the current position of the screen pointer (or a straight line calculated based on the aforementioned rotation reference point and the aforementioned current position of the screen pointer).

[0096] Step S630: Based on the intersection point between the trajectory rotation reference line and the rotation baseline, the planned trajectory after rotation adjustment is obtained.

[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 or ending position; the trajectory rotation reference line refers to the trajectory rotation reference line generated based on the current position of the rotation reference point and the screen pointer; and the rotation-adjusted planned trajectory refers to the rotation-adjusted planned trajectory obtained based on the intersection point between the trajectory rotation reference line and the rotation reference line.

[0098] Specifically, during the rotation adjustment of the planned trajectory, a dashed extension line can be displayed in real time at the end of the planned trajectory (this dashed extension line can be, for example,...). Figure 7 or Figure 8The form shown is the extension of the dashed line at the end of the line connecting points C and D in the exit position image.

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

[0100] Furthermore, based on the collision detection principle, if it has been confirmed that the mouse pointer has made contact with the endpoint, the specific implementation of steps S610 to S630 above can be as follows: Figure 7 As shown in the figure; if, based on the collision detection principle, it has been confirmed that the mouse pointer has made contact with the starting position, the specific implementation of steps S610 to S630 above can be as follows: Figure 8 As shown in the figure.

[0101] In this embodiment, a trajectory rotation reference line is generated based on the current position of the rotation reference point and the screen pointer, and the planned trajectory after rotation adjustment is obtained based on the intersection point between the trajectory rotation reference line and the rotation reference line. This effectively improves the operational efficiency of planning the placement path of the fixed device.

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

[0103] Step S910: Based on the preset fault tolerance value, obtain the fault 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 practical applications, the specific form of the screen pointer can be the mouse pointer; the specific way to obtain the fault tolerance range corresponding to the screen pointer based on the preset fault tolerance value can be to take the mouse pointer as the center and the preset fault tolerance value as the radius to obtain the circular fault area corresponding to the mouse pointer.

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

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

[0108] In practical applications, the specific form of the screen pointer can be the mouse pointer. When the starting reference line or the ending reference line is within the tolerance range, the specific way to confirm that the screen pointer has entered the target area can be to confirm that the mouse pointer has made 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 made contact with the ending reference line (i.e., the mouse pointer is located in the image area near the ending reference line) when the ending reference line is within the tolerance range.

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

[0110] In this embodiment of the application, by obtaining the fault tolerance range corresponding to the screen pointer based on a preset fault tolerance value, and confirming that the screen pointer has entered the target area when the starting reference line or the ending reference line is within the fault tolerance range, the operation efficiency for planning the placement path of the fixed device is effectively improved.

[0111] In one embodiment, the specific method for generating the planned positioning reference line based on the pointer's movement trajectory is as follows: Figure 10As shown, step S140 specifically includes:

[0112] Step S1010: If it is confirmed that the screen pointer is in the selected state, 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 it enters the target area.

[0113] In this step, the target area refers to the image area located near the starting reference line or the ending reference line corresponding to the second medical image. Within this image area, the planning and positioning reference line corresponding to the second medical image can be drawn by moving the screen pointer. The pointer movement trajectory refers to the pointer movement trajectory obtained by connecting the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after it enters the target area, provided that the screen pointer is confirmed to be in the selected state.

[0114] In practical applications, the specific form of the screen pointer can be the mouse pointer; the specific way to confirm that the screen pointer is selected can be to confirm that the left button of the external mouse device has been pressed; the specific form of the line connecting the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after it enters 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 it enters the target area.

[0115] Step S1020: Generate a planning positioning reference line based on the pointer's movement trajectory.

[0116] In this step, the pointer movement trajectory refers to the pointer movement trajectory obtained by connecting the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after it enters the target area, provided that the screen pointer is confirmed to be in the selected state; the planning and positioning reference line refers to the planning and positioning reference line generated by connecting the pointer movement trajectory obtained by connecting the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after it enters the target area.

[0117] In this embodiment, the pointer movement trajectory is obtained by connecting the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after it enters the target area. Based on the pointer movement trajectory, a planning positioning reference line is generated, which effectively reduces the operational difficulty of planning the placement path of the fixed device.

[0118] In one embodiment, the specific method for verifying the physical spatial planning location of the element to be planned is as follows: Figure 11 As shown, the above method also includes:

[0119] Step S1110: Based on the planning and positioning data corresponding to the first medical image, obtain the first starting point reference line and the first ending point reference line corresponding to the third medical image; the imaging angle corresponding to the aforementioned third medical image is different from the imaging angles corresponding to the aforementioned first medical image and the aforementioned second medical image.

[0120] 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 based on the starting point position in the planning and positioning data corresponding to the first medical image; the first ending point reference line, i.e. the first ending point reference line corresponding to the third medical image, refers to the first ending point reference line corresponding to the third medical image obtained based on the ending point position in the planning and positioning data corresponding to the first medical image.

[0121] In practical applications, assuming that the first medical image is an inlet X-ray image used to plan the insertion path of surgical screws in the patient's pelvic region, and the second medical image is an outlet X-ray image used to plan the insertion path of surgical screws in the patient's pelvic region, then the third medical image obtained by taking a picture of the patient's pelvic region at a different shooting angle than the first and second medical images can be a lateral X-ray image used to plan the insertion path of surgical screws in the patient's pelvic region.

[0122] Step S1120: Based on the planning and positioning data corresponding to the second medical image, obtain the second starting point reference line and the second ending point reference line corresponding to the third medical image.

[0123] In this step, 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 based on the starting point position in the planning and positioning data corresponding to the second medical image; the second ending point reference line, i.e. the second ending point reference line corresponding to the third medical image, refers to the second ending point reference line corresponding to the third medical image obtained based on the ending point position in the planning and positioning data corresponding to the second medical image.

[0124] Step S1130: Based on the intersection of the first starting point reference line and the second starting point reference line, and the intersection of the first ending point reference line and the second ending point reference line, the planning and positioning data corresponding to the third medical image is obtained.

[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 based on the starting point position in the planning and positioning data corresponding to the first medical image; the first ending point reference line, i.e., the first ending point reference line corresponding to the third medical image, refers to the first ending point reference line corresponding to the third medical image obtained based on the ending 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 based on the starting point position in the planning and positioning data corresponding to the second medical image; the second ending point reference line, i.e., the second ending point reference line corresponding to the third medical image, refers to the second ending point reference line corresponding to the third medical image obtained based on the ending 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 points between the first and second starting point reference lines and the intersection points between the first and second ending point reference lines.

[0126] Step S1140: Verify the physical spatial planning location of the element to be planned based on the planning and positioning data in the third medical image.

[0127] In this step, the planning and positioning data in the third medical image, i.e. 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 of the first starting point reference line and the second starting point reference line, and the intersection of the first ending point reference line and the second ending point reference line; the physical spatial planning position of the element to be planned refers to the physical spatial 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.

[0128] Specifically, the method for verifying the physical spatial planning location of the element to be planned can be as follows: the user can observe the planning and positioning data in the third medical image displayed on the screen to further determine whether the physical spatial planning location of the element to be planned is accurate. Alternatively, the user can observe the planning and positioning data in the first or second medical image displayed on the screen to further determine whether the physical spatial planning location of the element to be planned is accurate (i.e., verifying the physical spatial planning location of the element to be planned based on the planning and positioning data in the first medical image; or, verifying the physical spatial planning location of the element to be planned based on the planning and positioning data in the second medical image). If it is determined that the physical spatial planning location of the element to be planned is not accurate enough, the planning and positioning data in the medical images used to obtain the physical spatial planning location (i.e., the planning and positioning data corresponding to the first medical image, and / or the planning and positioning data corresponding to the second medical image, and / or the planning and positioning data corresponding to the third medical image) can be adjusted in real time to update the physical spatial planning location of the element to be planned, thereby obtaining the updated physical spatial planning location of the element to be planned.

[0129] In practical applications, the specific form of the element to be planned can be a fixation device that needs to be inserted into the target area of ​​the patient during trauma orthopedic surgery; the specific form of the fixation device can be a surgical screw. Based on this, the physical spatial planning position of the element to be planned can be the physical spatial planning position of the surgical screw. The specific method for verifying the physical spatial planning position of the element to be planned based on the planning and positioning data in the third medical image can be to verify the physical spatial planning position of the surgical screw based on the planning and positioning data in the third medical image. The specific implementation process of the above steps S1110 to S1140 can be specifically represented as follows: Figure 12 As shown in the figure.

[0130] In this embodiment, the planning and positioning data corresponding to the third medical image is obtained based on the intersection of the first starting point reference line and the second starting point reference line, as well as the intersection of the first ending point reference line and the second ending point reference line. The physical space planning position of the element to be planned is verified based on the planning and positioning data in the third medical image. This method can not only improve the accuracy of the planning results for the placement path of the fixed device, but also effectively improve the operational efficiency of planning the placement path of the fixed device.

[0131] In one embodiment, in conjunction with the above embodiments, the specific implementation process of the medical image-based planning method provided in this application in practical applications will be described in general:

[0132] First, X-ray images of the patient's pelvic region are taken while keeping the pelvic position unchanged. By adjusting the position of the C-arm and the robotic arm, three X-ray images of the pelvic region are taken from the inlet, outlet, and lateral views of the surgical screw (which can be a medical screw) insertion point.

[0133] Next, the surgical staple is drawn in the inlet image. Specifically, a surgical staple is drawn in the inlet image, with the staple entry point being point A and the staple exit point being point B. During the drawing process, an extended auxiliary line in the form of a dashed line is displayed in real time. When the surgical staple is drawn in the inlet image, the extended auxiliary line in the form of a dashed line disappears, and the staple entry point A in the inlet image is marked with a small triangle.

[0134] Next, based on the positional relationship between the entrance and exit images, a physical algorithm is used to obtain two reference lines on the exit image. Line A1 corresponds to the entry point A, and line B1 corresponds to the exit point B. Similarly, based on the positional relationship between the entrance and side images, a physical algorithm is used to obtain two reference lines on the side image. Line A2 corresponds to the entry point A, and line B2 corresponds to the exit point B.

[0135] Next, by adjusting the positions of points A and B in the entrance image, lines A1 and B1 in the exit image, and lines A2 and B2 in the lateral image, are recalculated. During the adjustment process, the end of the connecting line between points A and B is displayed as a dashed extension auxiliary line in real time. After the adjustment is complete, the dashed extension auxiliary line disappears.

[0136] Next, the surgical staples are drawn in the exit position image, and the screen position of the mouse pointer is detected in real time. Based on the collision detection principle, it is determined whether the mouse pointer is close to line A1 or line B1. If so, drawing begins, and during the drawing process, an extended auxiliary line in the form of a dashed line is displayed in real time. Based on the initial position of the mouse pointer at the start of drawing and the real-time position of the mouse movement, a straight line is calculated, and the two intersection points of this line with lines A1 and B1 are determined in real time. These are the staple entry point C and staple exit point D in the exit position image. After the surgical staples are drawn, the extended auxiliary line in the form of a dashed line disappears. The specific operation process of the aforementioned steps can be as follows: Figure 13 As shown in the figure.

[0137] Subsequently, in the exit position image, the position of the surgical staples is adjusted. During translation adjustment, the intersection of the line determined based on points C and D with lines A1 and B1 is calculated in real time, resulting in the translated points C and D. During rotation adjustment, if point C remains stationary and point D is rotated, the intersection of the line determined based on point C and the real-time mouse position with line B1 is calculated in real time, resulting in the rotated point D; if point D remains stationary and point C is rotated, the intersection of the line determined based on point D and the real-time mouse position with line A1 is calculated in real time, resulting in the rotated point C. The specific operation flow of the aforementioned steps can be as follows: Figure 14 As shown in the figure.

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

[0139] In one embodiment, during surgery using an orthopedic surgical robot, the specific planning of the insertion path of marker points or fixation devices (e.g., medical screws) can be performed in the medical image (e.g., X-ray image) of the target surgical object through the interactive operation method described in the above-mentioned "Specific Implementation Process of the Medical Image-Based Planning Method Provided by this Application in Practical Application".

[0140] For example, during surgery using an orthopedic surgical robot, when planning the specific location of marker points, the relative positional relationship between the mouse and the positioning reference line in the X-ray image of the target surgical object can be detected in real time based on the collision detection principle described above. This allows the user to be prompted to plan the specific location of marker points within the current image area by converting the mouse cursor image into an editable icon (e.g., a paintbrush icon) when the mouse is detected to be positioned on a reference positioning line near the current mouse position. Furthermore, during surgery using an orthopedic surgical robot, when planning the insertion path of medical screws, the steps described in the above embodiments of this application can be directly applied to plan the three-dimensional physical spatial position of the medical screw in two X-ray images taken from different angles. Further, when it is necessary to plan the position of the same marker point on the positioning reference line in two X-ray images taken from different angles, the steps described in the above embodiments of this application can also be directly applied.

[0141] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0142] Based on the same inventive concept, this application also provides a medical image-based planning apparatus for implementing the above-mentioned medical image-based planning method. The solution provided by this apparatus is similar to the implementation described in the above-described method; therefore, the specific limitations in one or more embodiments of the medical image-based planning apparatus provided below can be found in the limitations of the medical image-based planning method described above, and will not be repeated here.

[0143] In one embodiment, such as Figure 15 As shown, a planning device based on medical images is provided, the device comprising:

[0144] The positioning data acquisition module 1510 is used to acquire the planned positioning data corresponding to the first medical image; the planned positioning data includes the starting position and the ending position.

[0145] The start and end reference line acquisition module 1520 is used to obtain the start reference line and end reference line corresponding to the second medical image based on the planning and positioning data; the first medical image and the second medical image are images obtained by taking pictures of the target area 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, and to confirm whether the screen pointer has entered the target area.

[0147] The positioning reference line generation module 1540 is used to generate a planned positioning reference line based on the pointer movement trajectory of the screen pointer in the target area if it is confirmed that the screen pointer has entered the target area.

[0148] The positioning data output module 1550 is used to obtain the planning positioning data corresponding to the second medical image based on the intersection point between the planning positioning reference line, the starting point reference line, and the ending point reference line.

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

[0150] In one embodiment, the planning and positioning data further includes a planning trajectory; the planning trajectory is determined based on the connecting line between the starting position and the ending position; the device further includes: a planning trajectory translation adjustment module, used to, when translating the planning trajectory, confirm whether the planning trajectory has been selected by the screen pointer based on monitoring the relative position between the screen pointer and the planning trajectory; if it is confirmed that the planning trajectory has been selected by the screen pointer, obtain the movement direction of the screen pointer; and, according to the movement direction, translate the planning trajectory to obtain the translated planning trajectory.

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

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

[0153] In one embodiment, the positioning reference line generation module 1540 is specifically used to, if it is confirmed that the screen pointer is in the selected state, 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 it enters the target area; and generate the planned positioning reference line according to the pointer movement trajectory.

[0154] In one embodiment, the above-mentioned device further includes: a physical space planning position verification module, configured to obtain a first starting point reference line and a first ending point reference line corresponding to a third medical image based on the planning and positioning data corresponding to the first medical image; the imaging angle corresponding to the third medical image is different from the imaging angles corresponding to the first medical image and the second medical image; obtain a second starting point reference line and a second ending point reference line corresponding to the third medical image based on the planning and positioning data corresponding to the second medical image; obtain the planning and 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 ending point reference line and the first ending point reference line; and verify the physical space planning position of the element to be planned based on the planning and positioning data in the third medical image.

[0155] The modules in the aforementioned medical image-based planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0156] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 16 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a planning method based on medical images. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0157] Those skilled in the art will understand that Figure 16 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0158] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0159] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

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

[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, data stored, data displayed, 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 related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0162] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0163] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for planning the insertion path of a fixation device based on medical imaging, characterized in that, The method includes: Acquire the planning and positioning data corresponding to the first medical image; the planning and positioning data includes the starting and ending positions of the fixation device to be placed in the target area. Based on the starting point position in the planning and positioning data, the starting point reference line corresponding to the second medical image is obtained, and based on the ending point position in the planning and positioning data, the ending point reference line corresponding to the second medical image is obtained; the first medical image and the second medical image are images obtained by taking pictures of the target area from different angles; 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; If it is confirmed that the screen pointer has entered the target area, a planning positioning reference line is generated based on the pointer movement trajectory of the screen pointer in the target area; Based on the intersection of the planning and positioning reference line, the starting point reference line, and the ending point reference line, the planning and positioning data corresponding to the second medical image is obtained; the planning and positioning data corresponding to the second medical image includes the starting point and ending point of the fixation device being placed in the target area; Based on the planning and positioning data of the first and second medical images, the physical spatial planning location of the fixed device is obtained.

2. The method according to claim 1, characterized in that, The planning and positioning data also includes a planning trajectory; the planning trajectory is determined based on the connecting line between the starting point and the ending point. The method further includes: When performing translation adjustments on the planned trajectory, the system monitors the relative position between the screen pointer and the planned trajectory to 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, then obtain the movement direction of the screen pointer; Based on the direction of movement, the planned trajectory is translated and adjusted to obtain the translated and adjusted planned trajectory.

3. The method according to claim 2, characterized in that, The method further includes: When adjusting the rotation of 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. Generate a trajectory rotation reference line based on the current position of the rotation reference point and the screen pointer; Based on the intersection point between the trajectory rotation reference line and the rotation baseline, the 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, and the confirmation of whether the screen pointer has entered the target area, includes: Based on the preset fault tolerance value, the fault tolerance range corresponding to the screen pointer is obtained; If the starting reference line or the ending reference line is within the 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 step of generating a planning positioning reference line based on the pointer movement trajectory of the screen pointer in the target area includes: If it is confirmed that the screen pointer is in the selected state, the pointer movement trajectory is obtained based on the line connecting the initial position of the screen pointer when it enters the target area and the final position of the screen pointer after it enters the target area; The planned positioning reference line is generated based on the pointer's movement trajectory.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Based on the starting point position in the planning and positioning data corresponding to the first medical image, a first starting point reference line corresponding to the third medical image is obtained, and based on the ending point position in the planning and positioning data corresponding to the first medical image, a first ending point reference line corresponding to the third medical image is obtained; the imaging angle corresponding to the third medical image is different from the imaging angles corresponding to the first medical image and the second medical image. Based on the planning and positioning data corresponding to the second medical image, the second starting point reference line and the second ending point reference line corresponding to the third medical image are obtained; Based on the intersection of the first starting point reference line and the second starting point reference line, and the intersection of the first ending point reference line and the second ending point reference line, the planning and positioning data corresponding to the third medical image is obtained. The physical spatial planning position of the fixation device is verified based on the planning and positioning data in the third medical image.

7. A device for planning the insertion path of a fixation device based on medical imaging, characterized in that, The device comprises: The positioning data acquisition module is used to acquire the planning positioning data corresponding to the first medical image; the planning positioning data includes the starting position and the ending position of the fixation device to be placed in the target area; The start-end reference line acquisition module is used to obtain the start-end reference line corresponding to the second medical image based on the start-end position in the planning and positioning data, and to obtain the end-end reference line corresponding to the second medical image based on the end-end position in the planning and positioning data; the first medical image and the second medical image are images obtained by taking pictures of the target area from different angles; The relative position detection module is used to detect the relative position between the screen pointer and the starting reference line or the ending reference line in real time, and to confirm whether the screen pointer has entered the target area. The positioning reference line generation module is used to generate a planned positioning reference line based on the pointer movement trajectory of the screen pointer in the target area if it is confirmed that the screen pointer has entered the target area. The positioning data output module is used to obtain the planning positioning data corresponding to the second medical image based on the intersection of the planning positioning reference line, the starting point reference line, and the ending point reference line; the planning positioning data corresponding to the second medical image includes the starting point position and the ending point position of the fixation device placed in the target area; The physical space planning and positioning module is used to obtain the physical space planning position of the fixed device based on 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, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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

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

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