Planned path analysis method and device, computer equipment and storage medium

Abstract

The invention relates to a planned path analysis method and device, computer equipment and a storage medium. The method comprises the following steps: determining an intersection area map according to a blood vessel mask map of a target part and a path mask map of a planned path, determining a first alternative pixel set and a candidate pixel set from pixels according to the distance between each pixel in the intersection area map and the planned path, and determining a second alternative pixel set and a candidate pixel set for each candidate pixel in the candidate pixel set, and carrying out pixel division on the candidate pixel to obtain a plurality of sub-pixels, determining whether the candidate pixel is a second alternative pixel according to the distance between at least one sub-pixel and the planned path, and further determining an interference path section in the planned path according to the first alternative pixel set and all the second alternative pixels. According to the method, the path analysis process based on the mask pattern is simple and convenient and is easy to realize by computer equipment, and the analysis efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a planning path analysis method, device, computer equipment and storage medium. Background Art

[0002] With the development of science and technology, robots are being used in more and more medical scenarios. Taking surgical robots for puncture surgery as an example, it is usually necessary to plan the puncture path in advance so that the surgical robot can perform the puncture surgery according to the planned path.

[0003] In related technologies, doctors need to check the planned path in combination with medical images of the part to be examined, so as to adjust the planned path when there is interference between the planned path and important tissues (such as blood vessels) or when there is a greater risk of interference.

[0004] However, the planning path checking process in the related art is time-consuming and inefficient. Summary of the invention

[0005] Based on this, it is necessary to provide a planning path analysis method, device, computer equipment and storage medium to address the above technical problems.

[0006] In a first aspect, the present application provides a planning path analysis method, comprising:

[0007] Determine an intersection region map according to a blood vessel mask map of a target site and a path mask map of a planned path;

[0008] Determine a first candidate pixel set and a candidate pixel set from each pixel according to the distance between each pixel in the intersection area map and the planned path;

[0009] For each candidate pixel in the candidate pixel set, pixel-dividing the candidate pixel to obtain a plurality of sub-pixels, and determining whether the candidate pixel is a second candidate pixel according to a distance between at least one sub-pixel and the planned path;

[0010] An interference path segment in the planned path is determined according to the first candidate pixel set and all the second candidate pixels.

[0011] In one embodiment, determining the first candidate pixel set and the candidate pixel set from each pixel according to the distance between each pixel and the planned path in the intersection region map includes:

[0012] Obtain pixels in the intersection area map whose distance from the planned path is less than or equal to a first distance threshold, and obtain a first candidate pixel set;

[0013] Pixels in the intersection region map whose distance from the planned path is greater than a first distance threshold are obtained to obtain a candidate pixel set.

[0014] In one embodiment, determining whether a candidate pixel is a second candidate pixel according to a distance between at least one sub-pixel and a planned path includes:

[0015] Comparing the distance between each sub-pixel and the planned path with a second distance threshold; wherein the second distance threshold is less than the first distance threshold;

[0016] When the distance between at least one sub-pixel and the planned path is less than or equal to the second distance threshold, the candidate pixel is determined to be the second candidate pixel.

[0017] In one embodiment, determining the interference path segment in the planned path according to the first candidate pixel set and all the second candidate pixels includes:

[0018] Merging the first candidate pixel set and all the second candidate pixels into a target candidate pixel set;

[0019] Dividing the target candidate pixel set into at least one pixel subset according to the distance between each pixel in the target candidate pixel set;

[0020] The interfering path segments on the planned path are determined based on each pixel subset.

[0021] In one of the embodiments, dividing the target candidate pixel set into at least one pixel subset according to the distance between each pixel in the target candidate pixel set includes:

[0022] Compare the distance between any two pixels in the target candidate pixel set with a preset distance threshold;

[0023] When the distance between any two pixels is less than a preset distance threshold, the any two pixels are divided into the same pixel subset.

[0024] In one embodiment, determining the interfering path segments on the planned path according to each pixel subset includes:

[0025] Obtain the projection points of the two pixels with the largest interval distance in each pixel subset on the planned path;

[0026] For each subset of pixels, the path between corresponding projection points on the planned path is determined as the interference operation segment.

[0027] In one embodiment, the method further comprises:

[0028] Obtaining the position of the planned path in the three-dimensional scan image of the target part;

[0029] forming a preset spatial range including the planned path at the location of the planned path;

[0030] Get the mask map of the preset spatial range as the path mask map for the planned path.

[0031] In a second aspect, the present application also provides a planning path analysis device, comprising:

[0032] An intersection determination module, used for determining an intersection area map according to a blood vessel mask map of a target part and a path mask map of a planned path;

[0033] A first pixel module, used to determine a first candidate pixel set and a candidate pixel set from each pixel according to the distance between each pixel and the planned path in the intersection area map;

[0034] A second pixel module is used for dividing each candidate pixel in the candidate pixel set into pixels to obtain a plurality of sub-pixels, and determining whether the candidate pixel is a second candidate pixel according to a distance between at least one sub-pixel and the planned path;

[0035] The interference determination module is used to determine the interference path segment in the planned path according to the first candidate pixel set and all the second candidate pixels.

[0036] In a third aspect, the present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above-mentioned planning path analysis methods when executing the computer program.

[0037] In a fourth aspect, the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above-mentioned planning path analysis methods are implemented.

[0038] In a fifth aspect, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned planning path analysis methods.

[0039] The above-mentioned planning path analysis method, device, computer equipment and storage medium determine the intersection area map according to the blood vessel mask map of the target part and the path mask map of the planning path, determine the first candidate pixel set and the candidate pixel set from each pixel according to the distance between each pixel in the intersection area map and the planning path, and for each candidate pixel in the candidate pixel set, divide the candidate pixel into pixels to obtain multiple sub-pixels, so as to determine whether the candidate pixel is a second candidate pixel according to the distance between at least one sub-pixel and the planning path, and then determine the interference path segment in the planning path according to the first candidate pixel set and all the second candidate pixels. In the above-mentioned method, the path analysis of the planning path is realized based on the blood vessel mask map of the target part and the path mask map of the planning path to obtain the interference path segment in the planning path. The path analysis process based on the mask map is simple and easy to be implemented by computer equipment. While improving the analysis efficiency, the obtained intersection area map can accurately reflect the interference between the target part and the planning path, thereby improving the accuracy of the path analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is an internal structure diagram of a computer device in one embodiment;

[0041] Figure 2 A schematic diagram of a process flow of a planning path analysis method in one embodiment;

[0042] Figure 3 is a schematic diagram of the structure of a pixel and a sub-pixel in one embodiment;

[0043] FIG4( a ) is a schematic diagram of path interference in one embodiment;

[0044] FIG4( b ) is a schematic diagram of path interference in another embodiment;

[0045] Figure 5 is a schematic diagram of a process of determining a candidate pixel set in one embodiment;

[0046] Figure 6 A schematic diagram of the relationship between a planning path and pixels in one embodiment;

[0047] Figure 7 A schematic diagram of a process of determining a second candidate pixel in an embodiment;

[0048] Figure 8 A schematic diagram of the relationship between a planning path and sub-pixels in one embodiment;

[0049] Fig. 9 A schematic diagram of a process for determining an interfering path segment on a planned path in one embodiment;

[0050] Fig.10A schematic diagram of a process of determining a pixel subset in one embodiment;

[0051] Fig.11 A schematic diagram of the relationship between interfering path segments on a planned path in an embodiment;

[0052] Fig.12 A schematic diagram of a process for determining an interfering path segment on a planned path in one embodiment;

[0053] Fig.13 A schematic diagram of a process of obtaining a path mask map in an embodiment;

[0054] Fig.14 It is a structural block diagram of a planning path analysis device in an embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] The planning path analysis method provided in the embodiment of the present application can be applied to Figure 1 In the computer device shown, the computer device can be a terminal. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. 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 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 path analysis method is implemented. The display screen of the computer device 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 covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0057] Those skilled in the art will understand that Figure 1 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.

[0058] In one embodiment, Figure 2 As shown, a planning path analysis method is provided, which is applied to Figure 1 The computer device in the example is used to illustrate, including the following steps:

[0059] S210 , determining an intersection region map according to the blood vessel mask map of the target site and the path mask map of the planned path.

[0060] The target blood vessel mask is a three-dimensional mask including the blood vessels in the target part, and the planned path mask is a three-dimensional mask including the planned path in the target part. The intersection area map is an intersection mask formed by the blood vessel mask and the path mask, which is used to indicate the intersection area between the blood vessel and the planned path.

[0061] Optionally, the computer device can obtain a three-dimensional scanning image of the target part, perform vascular segmentation on the three-dimensional scanning image, obtain a segmentation result that distinguishes the vascular area and the non-vascular area in the three-dimensional scanning image, and binarize the three-dimensional scanning image based on the segmentation result to obtain a vascular mask image of the target part, which is recorded as v-mask.

[0062] Optionally, the computer device may directly form a path mask map of the planned path based on the planned path, or may expand the planned path by a certain range to form a path mask map of the planned path. Exemplarily, the computer device may determine the planned path in a three-dimensional scan image of the target part according to the positional relationship of the planned path relative to the target part, and binarize the three-dimensional scan image based on the planned path in the three-dimensional scan image to obtain a path mask map of the planned path, which is recorded as p-mask.

[0063] Optionally, after obtaining the vascular mask map of the target area and the path mask map of the planned path, the computer device can spatially align the vascular mask map and the path mask map, obtain a set of pixels whose spatial positions overlap between the vascular mask map and the path mask map, and obtain an intersection area map formed by the pixel set, which is the interference area Zone between the v-mask and the p-mask.

[0064] S220 , determining a first candidate pixel set and a candidate pixel set from each pixel according to the distance between each pixel in the intersection area map and the planned path.

[0065] Optionally, the computer device may obtain the distance between each pixel in the intersection area map and the planned path, so as to divide the pixels in the intersection area map according to the distance to obtain the first candidate pixel set and the candidate pixel set in the intersection area map.

[0066] In practical applications, the pixels in the intersection area map are pixel blocks occupying a spatial volume, and the planned path is also a three-dimensional structure occupying a spatial volume. Based on this, the computer device can obtain the distance between the center point of each pixel in the intersection area map and the center line of the planned path, so as to determine the first candidate pixel set and the candidate pixel set from each pixel according to the distance.

[0067] S230 . For each candidate pixel in the candidate pixel set, divide the candidate pixel into pixels to obtain a plurality of sub-pixels, and determine whether the candidate pixel is a second candidate pixel according to a distance between at least one sub-pixel and the planned path.

[0068] Wherein, a sub-pixel is a finer-grained image unit obtained by dividing a pixel. A pixel can be divided into at least 2 sub-pixels. For example, Figure 3 As shown, a single pixel can be divided into 8 sub-pixels.

[0069] Optionally, after obtaining the candidate pixel set in the intersection region map, the computer device may divide each candidate pixel in the candidate pixel set into a plurality of sub-pixels, and obtain the distance between the sub-pixels obtained by dividing each candidate pixel and the planned path. For each candidate pixel, the computer device determines whether the candidate pixel is the second candidate pixel based on the distance corresponding to at least one sub-pixel in the plurality of sub-pixels obtained by dividing the candidate pixel.

[0070] S240: Determine an interference path segment in the planned path according to the first candidate pixel set and all the second candidate pixels.

[0071] The interference path segment is a segment on the planned path that interferes with the blood vessel in the target part or has a high risk of interference. All the second candidate pixels form a second candidate pixel set.

[0072] Optionally, when there is a second candidate pixel in the intersection area map, the computer device may project all pixels in the first candidate pixel set and the second candidate pixel set to the planned path, so as to form an interference path segment composed of projection points formed on the planned path. The computer device may display the planned path and the interference path segments in the planned path through a display unit. For example, the interference path segments in the planned path are highlighted. Exemplarily, FIG4(a) is a schematic diagram of path interference displayed under a path perspective, and FIG4(b) is a schematic diagram of path interference displayed under a normal / side perspective, and the black area is a blood vessel area that interferes with the planned path or has a greater risk of interference.

[0073] It should be noted that, when there is no second candidate pixel in the intersection region map, the computer device may determine the interference path segment in the planned path based on the first candidate pixel set. Exemplarily, the computer device may directly project the pixels in the first candidate pixel set onto the planned path, so that the interference path segment is formed by the projection points formed on the planned path.

[0074] In the embodiment of the present application, the computer device determines the intersection area map according to the blood vessel mask map of the target part and the path mask map of the planned path, determines the first candidate pixel set and the candidate pixel set from each pixel according to the distance between each pixel in the intersection area map and the planned path, and divides the candidate pixel into pixels for each candidate pixel in the candidate pixel set to obtain multiple sub-pixels, so as to determine whether the candidate pixel is a second candidate pixel according to the distance between at least one sub-pixel and the planned path, and then determines the interference path segment in the planned path according to the first candidate pixel set and all the second candidate pixels. In the above method, the path analysis of the planned path is realized based on the blood vessel mask map of the target part and the path mask map of the planned path to obtain the interference path segment in the planned path. The path analysis process based on the mask map is simple and easy to be implemented by the computer device. While improving the analysis efficiency, the obtained intersection area map can accurately reflect the interference between the target part and the planned path, thereby improving the accuracy of the path analysis.

[0075] The pixels in the intersection area map may be divided according to the magnitude relationship between the distance between the pixel and the planned path in the intersection area map and the first distance threshold. Based on this, in one embodiment, if Figure 5 As shown, the above S220, determining the first candidate pixel set and the candidate pixel set from each pixel according to the distance between each pixel in the intersection area map and the planned path, includes:

[0076] S510: Obtain pixels in the intersection region graph whose distance from the planned path is less than or equal to a first distance threshold, and obtain a first candidate pixel set.

[0077] Optionally, the computer device may obtain the distance between the center point of each pixel in the intersection area map and the center line of the planned path, compare the obtained distance with a first distance threshold, and determine the pixel whose distance is less than or equal to the first distance threshold to form a first candidate pixel set based on the pixel.

[0078] For example, Figure 6As shown, the intersection area map includes pixels A, B, C and D. The computer device obtains the distances L1 to L4 between the center point of each pixel and the center line of the planned path, respectively, and compares the obtained distances L1 to L4 with the first distance threshold D1, and obtains that L3 is equal to D1 and L4 is less than D1. The computer device forms a first candidate pixel set including pixel C and pixel D based on the pixel C that obtains L3 and the pixel D that obtains L4.

[0079] S520: Obtain pixels in the intersection region map whose distance from the planned path is greater than a first distance threshold to obtain a candidate pixel set.

[0080] Optionally, the computer device may further determine a pixel whose distance is greater than a first distance threshold, so as to form a candidate pixel set according to the pixel. Figure 6 As shown, L1 and L2 are greater than D1, and the computer device forms a candidate pixel set including pixel A and pixel B based on pixel A obtained from L1 and pixel B obtained from L2.

[0081] To improve the accuracy of pixel division, in one embodiment, as Figure 7 As shown, in the above S230, determining whether the candidate pixel is the second candidate pixel according to the distance between at least one sub-pixel and the planned path includes:

[0082] S710: Compare the distance between each sub-pixel and the planned path with a second distance threshold.

[0083] The second distance threshold is smaller than the first distance threshold.

[0084] Optionally, for each candidate pixel, the computer device may obtain the distance between the center point of at least one sub-pixel in the sub-pixels divided by the candidate pixel and the center line of the planned path, and compare the obtained distance with a second distance threshold to determine whether the candidate pixel is the second candidate pixel based on the comparison result.

[0085] For example, continuing the above example, Figure 8 As shown, taking the example of dividing a single pixel into 4 sub-pixels, the candidate pixel A is divided into sub-pixels A1 to A4, and the candidate pixel B is divided into sub-pixels B1 to B4. The computer device obtains the distance L between the center point of at least one sub-pixel in A1 to A4 and the center line of the planned path A , and respectively obtain the distance L between the center point of at least one sub-pixel in B1 to B4 and the center line of the planned path B , and L A1 ~L A4 and L B1 ~L B4The distances are compared with the second distance threshold D2 respectively to obtain comparison results.

[0086] S720: When the distance between at least one sub-pixel and the planned path is less than or equal to a second distance threshold, determine the candidate pixel as a second candidate pixel.

[0087] Optionally, when the comparison result is that the distance between the center point of the at least one sub-pixel and the center line of the planned path is less than or equal to the second distance threshold, the computer device determines that the candidate pixel obtained by dividing the sub-pixel is the second candidate pixel. Figure 8 As shown, the distance L between at least one sub-pixel such as B4 in the candidate pixel B and the second distance threshold D2 is obtained. B4 , after comparison, we get L B4 If the pixel value is smaller than D2, the computer device determines that the candidate pixel B is the second candidate pixel.

[0088] Optionally, when the comparison result is that the distance between the center point of at least one sub-pixel and the center line of the planned path is greater than the second distance threshold, for the same candidate pixel, the computer device may select a new sub-pixel and obtain the distance between the new sub-pixel and the planned path to determine whether the candidate pixel is the second candidate pixel according to the distance, until the candidate pixel is the second candidate pixel, or all sub-pixels in the candidate pixel are traversed. After the computer device traverses all sub-pixels of the same candidate pixel, if the distances between all sub-pixels and the planned path are greater than the second distance threshold, the computer device determines that the candidate pixel is not the second candidate pixel.

[0089] For example, continuing the above example, Figure 8 As shown, the distance L between at least one sub-pixel such as A1 in the candidate pixel A and the second distance threshold D2 is obtained. A1 , after comparison, we get L A1 If it is greater than D2, the computer device obtains the distance L between the sub-pixel A2 and the planned path. A2 , L A2 Still greater than D2, the computer device then obtains the distance L between the sub-pixel A3 and the planned path A3 , L A3 Still greater than D2, the computer device then obtains the distance L between the sub-pixel A4 and the planned path A4 , L A4 If it is still greater than D2, the computer device determines that candidate pixel A is not the second candidate pixel.

[0090] In the embodiment of the present application, the computer device obtains pixels in the intersection area map whose distance from the planned path is less than or equal to the first distance threshold, obtains a first candidate pixel set, and obtains pixels in the intersection area map whose distance from the planned path is greater than the first distance threshold, obtains a candidate pixel set. And for each candidate pixel, the distance between each sub-pixel and the planned path is compared with the second distance threshold, and when the distance between at least one sub-pixel and the planned path is less than or equal to the second distance threshold, the candidate pixel is determined to be a second candidate pixel. Wherein, the second distance threshold is less than the first distance threshold. The closer the distance between the pixel and the planned path, the greater the risk of interference in the actual operation process. In the above method, the pixels in the intersection area map are firstly roughly screened using a larger first distance threshold, and the obtained candidate pixels are divided into sub-pixels, and then the candidate pixels obtained by the rough screening are finely screened using a smaller second distance threshold, and the first candidate pixel set and the second candidate pixel set with a higher risk of interference are screened as much as possible, so as to improve the accuracy of the interference path segment on the planned path determined based on the first candidate pixel set and the second candidate pixel set.

[0091] The interference path segment on the planned path can be one segment or multiple segments. Based on this, in one embodiment, Fig. 9 As shown, the above S240, determining the interference path segment in the planned path according to the first candidate pixel set and all the second candidate pixels, includes:

[0092] S910: Combine the first candidate pixel set and all second candidate pixels into a target candidate pixel set.

[0093] Optionally, the computer device may combine and aggregate the first candidate pixel set and all the second candidate pixels to obtain a target candidate pixel set including all the pixels in the first candidate pixel set and all the second candidate pixels.

[0094] S920 . Divide the target candidate pixel set into at least one pixel subset according to the distance between each pixel in the target candidate pixel set.

[0095] The distance between pixels in the target candidate pixel set can be used to characterize whether the pixels are continuous, and continuous pixels can be divided into the same pixel subset.

[0096] Optionally, the computer device may also cluster the pixels in the target candidate pixel set using a clustering algorithm according to the distance between the pixels, so as to divide the target candidate pixel set into at least one pixel subset according to the clustering result. For example, the computer device may cluster the pixels in the target candidate pixel set using a k-means clustering algorithm.

[0097] S930: Determine interference path segments on the planned path according to each pixel subset.

[0098] Among them, a subset of pixels corresponds to an interference path segment.

[0099] Optionally, after obtaining the pixel subset, the computer device may project the pixels in the pixel subset onto the planned path, so that corresponding interference path segments are formed by projection points formed on the planned path of each pixel subset.

[0100] In an optional embodiment, if Fig.10 As shown, the above S920, dividing the target candidate pixel set into at least one pixel subset according to the distance between each pixel in the target candidate pixel set, includes:

[0101] S1010: Compare the distance between any two pixels in the target candidate pixel set with a preset distance threshold.

[0102] Optionally, the computer device obtains the distance between any two pixels in the target candidate pixel set, compares the distance between each pixel with a preset distance threshold, and divides the target candidate pixel set into at least one pixel subset according to the comparison result.

[0103] S1020: When the distance between any two pixels is less than a preset distance threshold, divide the any two pixels into the same pixel subset.

[0104] The distance between the pixels is less than a preset distance threshold, indicating that the two pixels are continuous.

[0105] Optionally, if the comparison result shows that the distance between the two arbitrary pixels is less than a preset distance threshold, the computer device divides the two pixels into the same pixel subset, and the computer device may traverse all pixels in the target candidate pixel set to divide the target candidate pixel set into at least one pixel subset. Fig.11 As shown, M and N are two pixel subsets obtained by division.

[0106] In an embodiment of the present application, the computer device merges the first candidate pixel set and all the second candidate pixels into a target candidate pixel set, so as to divide the target candidate pixel set into at least one pixel subset according to the distance between each pixel in the target candidate pixel set, and then determine the interference path segment on the planned path according to each pixel subset. In the above method, after merging the first candidate pixel set and all the second candidate pixels, the distance between each pixel in the target candidate pixel set obtained by merging can be used to characterize the continuity between pixels, and the target candidate pixels are divided into at least one pixel subset, which improves the accuracy of the division, and then improves the accuracy of the interference path segment obtained subsequently.

[0107] To simplify the projection process, in one embodiment, as Fig.12As shown, the above S930, determining the interference path segment on the planned path according to each pixel subset, includes:

[0108] S1210, obtaining the projection points of the two pixels with the largest interval distance in each pixel subset on the planned path.

[0109] Optionally, for each pixel subset, the computer device may obtain the distance between each pixel in the pixel subset to determine the two pixels with the largest interval distance, and project the two pixels with the largest interval distance to the planned path, and accordingly form a projection point corresponding to the pixel subset on the planned path. For example, continuing the above example, Fig.11 As shown, the two pixels with the largest interval in the pixel subset M form projection points m1 and m2 on the planned path S, and the two pixels with the largest interval in the pixel subset N form projection points n1 and n2 on the planned path S.

[0110] S1220. For each pixel subset, determine the path between corresponding projection points on the planned path as an interference operation segment.

[0111] Optionally, for each pixel subset, the computer device determines that the path between corresponding projection points on the planned path is an interference operation segment. Fig.11 As shown, the path between the projection points m1 and m2 on the planned path S is the interference operation segment corresponding to the pixel subset M, and the path between the projection points n1 and n2 on the planned path S is the interference path segment corresponding to the pixel subset n.

[0112] In the embodiment of the present application, the computer device obtains the projection points of the two pixels with the largest distance between them in each pixel subset on the planned path, and for each pixel subset, determines the path between the corresponding projection points on the planned path as the interference operation segment. In the above method, different interference path segments are determined based on different pixel subsets to accurately locate the interference path segments and improve the accuracy of the obtained interference path segments. The interference operation segments on the planned path are obtained based on the projection points of the two pixels with the largest distance on the planned path, which simplifies the projection process, eliminates the need to perform the projection of a large number of pixels, improves the processing efficiency of obtaining the interference operation segments, and thus improves the overall analysis efficiency.

[0113] The above method also includes a process of obtaining a path mask map of the planned path. Based on this, in one embodiment, Fig.13 As shown, the above method also includes:

[0114] S1310: Obtain the position of the planned path in the three-dimensional scanning image of the target part.

[0115] Optionally, the computer device may acquire a three-dimensional scan image of the target part, and determine the position of the planned path in the three-dimensional scan image according to the starting position and the key position of the pre-planned planned path in the target part.

[0116] S1320: Form a preset spatial range including the planned path at the location of the planned path.

[0117] Optionally, after obtaining the position of the planned path in the three-dimensional scanned image, the computer device may obtain preset spatial parameters to form a preset spatial range including the planned path at the position of the planned path according to the preset spatial parameters. For example, taking the planned path as a cylindrical path as an example, the preset spatial parameters include a preset radius R, and the computer device can generate a cylindrical space corresponding to the preset radius R at the position of the planned path in the three-dimensional scanned image with the planned path as the central axis as the above-mentioned preset spatial range.

[0118] The preset spatial parameters may be determined based on the actual radius of the planned path and / or voxel information of the three-dimensional scanned image.

[0119] S1330: Obtain a mask map of a preset spatial range as a path mask map for planning the path.

[0120] Optionally, after the preset spatial range including the planned path is formed in the three-dimensional scanning image, the three-dimensional scanning image is binarized based on the preset spatial range in the three-dimensional scanning image to obtain a mask map of the preset spatial range, which is used as the mask map of the planned path.

[0121] In the embodiment of the present application, the computer device obtains the position of the planned path in the three-dimensional scanning image of the target part, and then forms a preset spatial range including the planned path at the position of the planned path, thereby obtaining a mask map of the preset spatial range as the path mask map of the planned path. In the above method, the obtained path mask map is a path mask map formed after the planned path is expanded outward by a certain range. Based on the path mask map, an interference path segment indicating a high interference risk can be formed to provide support for subsequent adjustments, thereby improving the efficiency and accuracy of path adjustment.

[0122] 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.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a planning path analysis device for implementing the planning path analysis 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 planning path analysis device embodiments provided below can refer to the limitations of the planning path analysis method above, and will not be repeated here.

[0124] In one embodiment, Fig.14 As shown, a planning path analysis device is provided, including: an intersection determination module 1401, a first pixel module 1402, a second pixel module 1403 and an interference determination module 1404, wherein:

[0125] The intersection determination module 1401 is used to determine the intersection area map according to the blood vessel mask map of the target part and the path mask map of the planned path;

[0126] The first pixel module 1402 is used to determine a first candidate pixel set and a candidate pixel set from each pixel according to the distance between each pixel and the planned path in the intersection area map;

[0127] The second pixel module 1403 is used for dividing each candidate pixel in the candidate pixel set into pixels to obtain a plurality of sub-pixels, and determining whether the candidate pixel is a second candidate pixel according to a distance between at least one sub-pixel and the planned path;

[0128] The interference determination module 1404 is used to determine the interference path segment in the planned path according to the first candidate pixel set and all the second candidate pixels.

[0129] In one embodiment, the first pixel module 1402 includes:

[0130] A first candidate submodule is used to obtain pixels in the intersection area map whose distance from the planned path is less than or equal to a first distance threshold, and obtain a first candidate pixel set;

[0131] The candidate submodule is used to obtain pixels in the intersection area map whose distance from the planned path is greater than a first distance threshold to obtain a candidate pixel set.

[0132] In one embodiment, the second pixel module 1403 includes:

[0133] A comparison submodule, used for comparing the distance between each sub-pixel and the planned path with a second distance threshold; wherein the second distance threshold is less than the first distance threshold;

[0134] The second candidate submodule is used to determine the candidate pixel as the second candidate pixel when the distance between at least one sub-pixel and the planned path is less than or equal to a second distance threshold.

[0135] In one embodiment, the interference determination module 1404 includes:

[0136] A merging submodule, used for merging the first candidate pixel set and all the second candidate pixels into a target candidate pixel set;

[0137] A division submodule, used for dividing the target candidate pixel set into at least one pixel subset according to the distance between each pixel in the target candidate pixel set;

[0138] The interference submodule is used to determine the interference path segment on the planned path according to each pixel subset.

[0139] In one embodiment, the partitioning submodule includes:

[0140] A distance comparison unit, used for comparing the distance between any two pixels in the target candidate pixel set with a preset distance threshold;

[0141] The subset division unit is used to divide any two pixels into the same pixel subset when the distance between any two pixels is less than a preset distance threshold.

[0142] In one embodiment, the interference submodule includes:

[0143] An interval distance unit is used to obtain the projection points of two pixels with the largest interval distance in each pixel subset on the planned path;

[0144] The projection path unit is used to determine, for each pixel subset, a path between corresponding projection points on the planned path as an interference operation segment.

[0145] In one embodiment, the above device further comprises:

[0146] A position acquisition module is used to acquire the position of the planned path in the three-dimensional scanning image of the target part;

[0147] A space forming module, used to form a preset space range including the planned path at the location of the planned path;

[0148] The mask generation module is used to obtain a mask map of a preset spatial range as a path mask map for planning the path.

[0149] Each module in the above-mentioned planning path analysis device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0150] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0151] An intersection area map is determined according to a blood vessel mask map of a target part and a path mask map of a planned path; a first candidate pixel set and a candidate pixel set are determined from each pixel according to a distance between each pixel in the intersection area map and the planned path; for each candidate pixel in the candidate pixel set, the candidate pixel is pixel-divided to obtain a plurality of sub-pixels, and whether the candidate pixel is a second candidate pixel is determined according to a distance between at least one sub-pixel and the planned path; an interference path segment in the planned path is determined according to the first candidate pixel set and all the second candidate pixels.

[0152] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0153] Pixels in the intersection area map whose distance from the planned path is less than or equal to a first distance threshold are obtained to obtain a first candidate pixel set; pixels in the intersection area map whose distance from the planned path is greater than the first distance threshold are obtained to obtain a candidate pixel set.

[0154] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0155] The distance between each sub-pixel and the planned path is compared with a second distance threshold; wherein the second distance threshold is less than the first distance threshold; when the distance between at least one sub-pixel and the planned path is less than or equal to the second distance threshold, the candidate pixel is determined to be the second candidate pixel.

[0156] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0157] The first candidate pixel set and all the second candidate pixels are combined into a target candidate pixel set; the target candidate pixel set is divided into at least one pixel subset according to the distance between each pixel in the target candidate pixel set; and the interference path segment on the planned path is determined according to each pixel subset.

[0158] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0159] Compare the distance between any two pixels in the target candidate pixel set with a preset distance threshold;

[0160] When the distance between any two pixels is less than a preset distance threshold, the any two pixels are divided into the same pixel subset.

[0161] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0162] The projection points of the two pixels with the largest interval distance in each pixel subset on the planned path are obtained; for each pixel subset, the path between the corresponding projection points on the planned path is determined as the interference operation segment.

[0163] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0164] The position of the planned path in the three-dimensional scanning image of the target part is obtained; a preset spatial range including the planned path is formed at the position of the planned path; and a mask map of the preset spatial range is obtained as a path mask map of the planned path.

[0165] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0166] An intersection area map is determined according to a blood vessel mask map of a target part and a path mask map of a planned path; a first candidate pixel set and a candidate pixel set are determined from each pixel according to a distance between each pixel in the intersection area map and the planned path; for each candidate pixel in the candidate pixel set, the candidate pixel is pixel-divided to obtain a plurality of sub-pixels, and whether the candidate pixel is a second candidate pixel is determined according to a distance between at least one sub-pixel and the planned path; an interference path segment in the planned path is determined according to the first candidate pixel set and all the second candidate pixels.

[0167] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0168] Pixels in the intersection area map whose distance from the planned path is less than or equal to a first distance threshold are obtained to obtain a first candidate pixel set; pixels in the intersection area map whose distance from the planned path is greater than the first distance threshold are obtained to obtain a candidate pixel set.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0170] The distance between each sub-pixel and the planned path is compared with a second distance threshold; wherein the second distance threshold is less than the first distance threshold; when the distance between at least one sub-pixel and the planned path is less than or equal to the second distance threshold, the candidate pixel is determined to be the second candidate pixel.

[0171] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0172] The first candidate pixel set and all the second candidate pixels are combined into a target candidate pixel set; the target candidate pixel set is divided into at least one pixel subset according to the distance between each pixel in the target candidate pixel set; and the interference path segment on the planned path is determined according to each pixel subset.

[0173] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0174] Compare the distance between any two pixels in the target candidate pixel set with a preset distance threshold;

[0175] When the distance between any two pixels is less than a preset distance threshold, the any two pixels are divided into the same pixel subset.

[0176] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0177] The projection points of the two pixels with the largest interval distance in each pixel subset on the planned path are obtained; for each pixel subset, the path between the corresponding projection points on the planned path is determined as the interference operation segment.

[0178] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0179] The position of the planned path in the three-dimensional scanning image of the target part is obtained; a preset spatial range including the planned path is formed at the position of the planned path; and a mask map of the preset spatial range is obtained as a path mask map of the planned path.

[0180] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0181] An intersection area map is determined according to a blood vessel mask map of a target part and a path mask map of a planned path; a first candidate pixel set and a candidate pixel set are determined from each pixel according to a distance between each pixel in the intersection area map and the planned path; for each candidate pixel in the candidate pixel set, the candidate pixel is pixel-divided to obtain a plurality of sub-pixels, and whether the candidate pixel is a second candidate pixel is determined according to a distance between at least one sub-pixel and the planned path; an interference path segment in the planned path is determined according to the first candidate pixel set and all the second candidate pixels.

[0182] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0183] Pixels in the intersection area map whose distance from the planned path is less than or equal to a first distance threshold are obtained to obtain a first candidate pixel set; pixels in the intersection area map whose distance from the planned path is greater than the first distance threshold are obtained to obtain a candidate pixel set.

[0184] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0185] The distance between each sub-pixel and the planned path is compared with a second distance threshold; wherein the second distance threshold is less than the first distance threshold; when the distance between at least one sub-pixel and the planned path is less than or equal to the second distance threshold, the candidate pixel is determined to be the second candidate pixel.

[0186] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0187] The first candidate pixel set and all the second candidate pixels are combined into a target candidate pixel set; the target candidate pixel set is divided into at least one pixel subset according to the distance between each pixel in the target candidate pixel set; and the interference path segment on the planned path is determined according to each pixel subset.

[0188] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0189] Compare the distance between any two pixels in the target candidate pixel set with a preset distance threshold;

[0190] When the distance between any two pixels is less than a preset distance threshold, the any two pixels are divided into the same pixel subset.

[0191] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0192] The projection points of the two pixels with the largest interval distance in each pixel subset on the planned path are obtained; for each pixel subset, the path between the corresponding projection points on the planned path is determined as the interference operation segment.

[0193] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0194] The position of the planned path in the three-dimensional scanning image of the target part is obtained; a preset spatial range including the planned path is formed at the position of the planned path; and a mask map of the preset spatial range is obtained as a path mask map of the planned path.

[0195] 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.

[0196] 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.

[0197] 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 path analysis method, characterized in that: The method comprises: Determine an intersection region map according to a blood vessel mask map of a target site and a path mask map of a planned path; Determine a first candidate pixel set and a candidate pixel set from each pixel in the intersection area map according to the distance between each pixel and the planned path; For each candidate pixel in the candidate pixel set, pixel-dividing the candidate pixel to obtain a plurality of sub-pixels, and determining whether the candidate pixel is a second candidate pixel according to a distance between at least one of the sub-pixels and the planned path; An interference path segment in the planned path is determined according to the first candidate pixel set and all the second candidate pixels.

2. The method according to claim 1, characterized in that The determining of the first candidate pixel set and the candidate pixel set from each pixel according to the distance between each pixel in the intersection area map and the planned path comprises: Acquire pixels in the intersection area map whose distance from the planned path is less than or equal to a first distance threshold to obtain the first candidate pixel set; Pixels in the intersection area map whose distance from the planned path is greater than the first distance threshold are acquired to obtain the candidate pixel set.

3. The method according to claim 2, characterized in that The determining, according to the distance between at least one of the sub-pixels and the planned path, whether the candidate pixel is a second candidate pixel comprises: Compare the distance between each of the sub-pixels and the planned path with a second distance threshold; wherein the second distance threshold is less than the first distance threshold; In a case where the distance between at least one of the sub-pixels and the planned path is less than or equal to the second distance threshold, the candidate pixel is determined to be the second candidate pixel.

4. The method according to any one of claims 1 to 3, characterized in that The step of determining the interference path segment in the planned path according to the first candidate pixel set and all the second candidate pixels includes: Merging the first candidate pixel set and all the second candidate pixels into a target candidate pixel set; Dividing the target candidate pixel set into at least one pixel subset according to the distance between each pixel in the target candidate pixel set; An interfering path segment on the planned path is determined based on each of the pixel subsets.

5. The method according to claim 4, characterized in that The step of dividing the target candidate pixel set into at least one pixel subset according to the distance between each pixel in the target candidate pixel set comprises: Compare the distance between any two pixels in the target candidate pixel set with a preset distance threshold; When the distance between the any two pixels is less than the preset distance threshold, the any two pixels are divided into the same pixel subset.

6. The method according to claim 4, characterized in that The determining of the interference path segments on the planned path according to each of the pixel subsets comprises: Obtaining the projection points of two pixels with the largest interval in each pixel subset on the planned path; For each of the pixel subsets, a path between corresponding projection points on the planned path is determined as the interference operation segment.

7. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Acquire the position of the planned path in the three-dimensional scan image of the target part; forming a preset spatial range including the planned path at the position of the planned path; A mask map of the preset spatial range is obtained as a path mask map of the planned path.

8. A planning path analysis device, characterized in that: The device comprises: An intersection determination module, used for determining an intersection area map according to a blood vessel mask map of a target part and a path mask map of a planned path; A first pixel module, configured to determine a first candidate pixel set and a candidate pixel set from each pixel in the intersection region map according to a distance between each pixel and the planned path; A second pixel module is used for dividing each candidate pixel in the candidate pixel set into pixels to obtain a plurality of sub-pixels, and determining whether the candidate pixel is a second candidate pixel according to a distance between at least one of the sub-pixels and the planned path; An interference determination module is used to determine an interference path segment in the planned path according to the first candidate pixel set and all the second candidate pixels.

9. 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 7 are implemented.

10. 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 7 are implemented.

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