Auxiliary needle passage planning method, device and equipment and storage medium

Abstract

The invention relates to the technical field of puncture needle path planning, provides an auxiliary needle passage planning method, device and equipment and a storage medium, and can improve the auxiliary effect of needle passage planning. The method comprises the following steps: acquiring a needle passage obtained by performing puncture path planning on a puncture object; determining a tangency point, and displaying a multi-direction tangent layer image passing through the tangency point to assist in needle passage planning; the multi-direction cutting layer image comprises cutting layer images in multiple directions, and the cutting layer image in each direction comprises a section drawing of a puncture object on a cutting layer in the direction, a projection of a needle passage on the cutting layer in the direction and a position indication mark of a tangency point on the cutting layer in the direction.

Description

Technical Field

[0001] The present application relates to the technical field of puncture needle path planning, and in particular to a method, device, computer equipment, puncture path planning system, storage medium and computer program product for assisting needle tract planning. Background Art

[0002] Before puncture, the path of the puncture needle can be planned, that is, needle track planning, and then puncture can be performed according to the needle track. The needle track planning method is, for example, to set the insertion point and target point of the puncture needle to obtain the needle track, and then determine whether the needle track is suitable, for example, whether it exceeds the prohibited part such as the blood vessel. If it is not suitable, the needle track is adjusted.

[0003] Currently, doctors rely on their own clinical experience to observe the 3D model of the puncture object and the 3D model of the needle track to determine whether the needle track is appropriate and adjust the needle track. However, this method requires doctors to drag the 3D model to observe from multiple perspectives, which is inconvenient to operate and has a poor effect in assisting doctors in needle track planning. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment, puncture path planning system, storage medium and computer program product for assisting needle track planning in order to solve the above technical problems.

[0005] The present application provides a method for assisting needle tract planning, the method comprising:

[0006] Acquire a needle track obtained by planning a puncture path for the puncture object;

[0007] Determine the intersection point and display the multi-directional slice image through the intersection point to assist in needle track planning; the multi-directional slice image includes slice images in multiple directions, and the slice image in each direction includes: a cross-sectional view of the puncture object on the slice in the direction, a projection of the needle track on the slice in the direction, and a position indicator mark of the intersection point on the slice in the direction.

[0008] In one embodiment, the multi-directional slice images displayed through the cut point include: when the display mode is the first mode, a transverse slice image, a sagittal slice image and a coronal slice image displayed through the cut point.

[0009] In one embodiment, the multi-directional slice images displayed through the cutting point include: when the display mode is the second mode, a first slice image, a second slice image and a third slice image displayed through the cutting point and perpendicular to each other; the first slice image is perpendicular to the needle track.

[0010] In one embodiment, the first slice image further includes: a safety area line centered on the projection.

[0011] In one embodiment, the method further comprises: for the slice image in any direction, in response to the adjustment instruction of the position indication mark, adjusting the slice image in other directions.

[0012] In one embodiment, the method further includes: determining whether the needle track interferes with the forbidden portion of the puncture object according to the needle track and the forbidden portion, and generating alarm information if the needle track interferes with the forbidden portion.

[0013] In one embodiment, the needle track includes a first endpoint and a second endpoint, and the method further includes: for a slice image in any direction, in response to an adjustment instruction for the second endpoint, determining a pending needle track according to the first endpoint and the adjusted second endpoint; determining whether the pending needle track interferes with a forbidden portion of the puncture object according to the pending needle track and the forbidden portion, and generating a warning message when the pending needle track interferes with the forbidden portion.

[0014] The present application provides a device for assisting needle tract planning, the device comprising:

[0015] A needle track acquisition module is used to acquire the needle track obtained by planning the puncture path of the puncture object;

[0016] A display processing module is used to determine the cutting point and display multi-directional slice images passing through the cutting point to assist in needle track planning; the multi-directional slice images include slice images in multiple directions, and the slice images in each direction include: a cross-sectional view of the puncture object on the slice in the direction, a projection of the needle track on the slice in the direction, and a position indication mark of the cutting point on the slice in the direction.

[0017] The present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the above method.

[0018] The present application provides a puncture path planning system, which includes: a display screen and a computer device as described in the above embodiment.

[0019] The present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to execute the above method.

[0020] The present application provides a computer program product, on which a computer program is stored, and the computer program is executed by a processor to perform the above method.

[0021] The above-mentioned method, device, computer equipment, puncture path planning system, storage medium and computer program product for assisting needle track planning, after the puncture path planning is performed on the puncture object to obtain the needle track, displays multi-directional slice images passing through the intersection point, and the slice images in each direction include: a cross-sectional view of the puncture object on the slice in that direction, a projection of the needle track on the slice in that direction, and a position indicator mark of the intersection point on the slice in that direction, thereby the doctor can directly observe whether the needle track is suitable from the slice images in multiple directions without dragging the three-dimensional model to observe from multiple perspectives, and the needle track planning assistance effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a flow chart of a method for assisting needle tract planning in one embodiment;

[0023] Figure 2 A schematic diagram of multi-directional slices in one embodiment;

[0024] Figure 3 A schematic diagram of multi-directional slices of a three-dimensional brain model in one embodiment;

[0025] Figure 4 A schematic flow chart of a method for assisting needle tract planning in another embodiment;

[0026] Figure 5 A schematic diagram of marking the needle tract target point and the cranial entry point in one embodiment;

[0027] Figure 6 is a schematic diagram of a layer turning process in a cross-sectional direction in one embodiment;

[0028] Figure 7 A schematic diagram of a needle path planning interface in an embodiment;

[0029] Figure 8 A schematic diagram of a process for determining whether a blood vessel and a needle track interfere with each other in one embodiment;

[0030] Fig. 9 is a structural block diagram of a device for assisting needle tract planning in one embodiment;

[0031] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0032] 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.

[0033] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0034] Reference Figure 1 The method for assisting needle tract planning provided in the present application can be executed by a computer device, comprising the following steps:

[0035] Step S101, obtaining a needle track obtained by performing puncture path planning on a puncture object.

[0036] The puncture object is the object to be punctured by the puncture needle, such as the brain, liver, etc. Before puncture, the path of the puncture needle needs to be planned, and the path of the puncture needle can be called the needle track.

[0037] The puncture path planning can be performed based on the MPR (MultiPlanar Reconstruction) technology. Specifically, after scanning the puncture object to obtain the image data of the puncture object, a three-dimensional model of the puncture object can be constructed, and the three-dimensional model of the puncture object can be cut along the slices in multiple directions to display the cross-sectional images of the puncture object in the slices in different directions. The multiple directions can include but are not limited to the coronal plane direction, the cross-sectional direction, the sagittal plane direction, etc.

[0038] When obtaining a slice in a certain direction, specifically, a surface parallel to the direction may be used as the slice in the direction; in this way, slices in various directions may be obtained, thereby obtaining slices in multiple directions.

[0039] The following method can be used to obtain slices in multiple directions: In this introduction, multiple directions including the xOy plane direction, the xOz plane direction and the yOz plane direction are taken as an example. Figure 2 In (a), all points in the three-dimensional space where the three-dimensional model of the puncture object is located can be determined; then, the surface parallel to the xOz plane direction and passing through the tangent point is taken as the slice in the xOz plane direction, such as Figure 2 As shown in (b) in the figure, the surface parallel to the yOz plane and passing through the tangent point is taken as the section in the yOz plane direction, as shown in Figure 2 As shown in (c) in the figure, the surface parallel to the xOy plane and passing through the tangent point is taken as the section in the xOy plane direction, as shown in Figure 2 As shown in (d) above.

[0040] Taking the brain as an example of the puncture object, a section in the coronal plane direction can be obtained, the three-dimensional model of the brain can be cut, and the section view of the brain on the section in the coronal plane direction can be displayed. A section in the sagittal plane direction can also be obtained, the three-dimensional model of the brain can be cut, and the section view of the brain on the section in the sagittal plane direction can be displayed. A section in the transverse plane direction can also be obtained, the three-dimensional model of the brain can be cut, and the section view of the brain on the section in the transverse plane direction can be displayed.

[0041] After obtaining the cross-sectional images of the puncture object in multiple directions, each cross-sectional image can be displayed in a screen area associated with the direction, such as Figure 3 As shown, the cross-sectional image of the puncture object on the cross-sectional direction is displayed in the image area associated with the cross-sectional direction, that is, Figure 3 The second screen area shown; the cross-sectional view of the puncture object in the coronal plane direction is displayed in the screen area associated with the coronal plane direction, that is, Figure 3 The third screen area shown; the cross-sectional image of the puncture object on the sagittal plane direction is displayed in the screen area associated with the sagittal plane direction, that is, Figure 3 In addition, a three-dimensional model of the puncture object can also be displayed, for example Figure 3 , the three-dimensional model of the puncture object is displayed in the first screen area. The cross-sectional view in a certain direction can also be flipped to display the cross-sectional view of the corresponding cross-sectional view.

[0042] When a section image on a certain slice in a certain direction is displayed, the doctor can use the mouse to determine a needle path endpoint on the section image; similarly, the doctor can determine another needle path endpoint in the same way; based on the two determined needle path endpoints, a three-dimensional model of the needle path is formed in the three-dimensional space where the three-dimensional model of the puncture object is located. One of the needle path endpoints can be called a target point, and the other needle path endpoint can be called an entry point. In the scenario of brain puncture path planning, the entry point can be called a cranial entry point.

[0043] Step S102, determining the cut point and displaying multi-directional slice images passing through the cut point to assist in needle tract planning.

[0044] Each direction is associated with at least one slice image in that direction, so the multi-directional slice image includes slice images in multiple directions. The slice image in each direction includes: a cross-sectional view of the puncture object on the slice in that direction, a projection of the needle track on the slice in that direction, and a position indicator mark of the cut point on the slice in that direction.

[0045] Combination Figure 2Introduction: If the multiple directions include the xOy plane direction, then after the intersection point is determined, the slice in the xOy plane direction passing through the intersection point (hereinafter referred to as the xOy target slice) can be determined, thereby displaying the slice image on the xOy target slice, and the slice image on the xOy target slice includes the slice image of the puncture object on the xOy target slice, the projection of the needle track on the xOy target slice and the position indication mark of the intersection point on the xOy target slice.

[0046] The projection of the needle track on the xOy target slice can be obtained in the following manner: obtain the direction perpendicular to the xOy target slice, that is, the z-axis direction, project the needle track along the z-axis direction, and obtain the projection of the needle track on the xOy target slice; it can be understood that when the needle track is parallel to the z-axis direction, the projection of the needle track on the xOy target slice is in the shape of a point; when the needle track is not parallel to the z-axis, the projection of the needle track on the xOy target slice is in the shape of a line. Since the xOy target slice is a slice through the cut point, the position of the cut point on the xOy target slice can be directly obtained, so that an indicator mark can be displayed at the position, and the indicator mark can be called a position indicator mark. The shape of the position indicator mark can be set according to actual needs.

[0047] In the above-mentioned method for assisting needle track planning, after the puncture path is planned for the puncture object to obtain the needle track, multi-directional slice images of the intersection point are displayed, and the slice images in each direction include: a cross-sectional view of the puncture object on the slice in that direction, a projection of the needle track on the slice in that direction, and a position indicator mark of the intersection point on the slice in that direction. Thus, the doctor can directly observe whether the needle track is suitable from the slice images in multiple directions without dragging the three-dimensional model to observe from multiple perspectives, and the needle track planning assistance effect is better.

[0048] In one embodiment, displaying the multi-directional slice images passing through the cut point in step S102 includes: when the display mode is the first mode, displaying the cross-sectional slice image, the sagittal slice image and the coronal slice image passing through the cut point.

[0049] The cross-sectional slice passing through the cutting point is called the cross-sectional target slice, and the cross-sectional slice image passing through the cutting point includes: a slice image of the puncture object on the cross-sectional target slice, a projection of the needle track on the cross-sectional target slice, and a position indication mark of the cutting point on the cross-sectional target slice.

[0050] The slice in the sagittal direction passing through the cut point is called the sagittal target slice, and the sagittal slice image passing through the cut point includes: a slice image of the puncture object on the sagittal target slice, a projection of the needle track on the sagittal target slice, and a position indicator mark of the cut point on the sagittal target slice.

[0051] The coronal slice passing through the cut point is called the coronal target slice, and the coronal slice image passing through the cut point includes: a slice image of the puncture object on the coronal target slice, a projection of the needle track on the coronal target slice, and a position indicator mark of the cut point on the coronal target slice.

[0052] In one embodiment, the display of multi-directional slice images passing through the cut point in step S102 includes: when the display mode is the second mode, displaying a first slice image, a second slice image and a third slice image passing through the cut point and perpendicular to each other; the first slice image is perpendicular to the needle track.

[0053] In the second mode, one of the multiple directions is perpendicular to the needle track, and the other directions may be perpendicular to the direction. The second mode may be called the needle track viewing angle mode, and accordingly, the first mode may be called the normal viewing angle mode. The direction perpendicular to the needle track may be called the first direction, and the other two directions perpendicular to the first direction may be called the second direction and the third direction, respectively. Further, the second direction and the third direction may be perpendicular to each other.

[0054] The slice image in the first direction passing through the intersection point is called the first slice image; the slice image in the second direction passing through the intersection point is called the second slice image; and the slice image in the third direction passing through the intersection point is called the third slice image. When the first direction, the second direction, and the third direction are mutually perpendicular, the first slice image, the second slice image, and the third slice image can be considered mutually perpendicular.

[0055] The slice in the first direction passing through the tangent point is called the first direction target slice, and thus the first slice image includes: a slice image of the puncture object on the first direction target slice, a projection of the needle track on the first direction target slice, and a position indicator mark of the tangent point on the first direction target slice. Since the first direction is perpendicular to the needle track, the projection of the needle track on the first direction target slice is in the shape of a point.

[0056] The slice in the second direction passing through the intersection point is called the second direction target slice. Thus, the second slice image includes: a slice image of the puncture object on the second direction target slice, a projection of the needle track on the second direction target slice, and a position indication mark of the intersection point on the second direction target slice.

[0057] The slice in the third direction passing through the intersection point is called the third direction target slice. Therefore, the third slice image includes: a slice image of the puncture object on the third direction target slice, a projection of the needle track on the third direction target slice, and a position indication mark of the intersection point on the third direction target slice.

[0058] Furthermore, the first slice image also includes: a safety area line centered on the projection.

[0059] The screen area used to display the slice image in the first direction can be called the needle track perspective screen area. When the cursor is located in the needle track perspective screen area, as the mouse wheel rolls, the cross-sectional view of the puncture object on the slice perpendicular to the first direction changes accordingly. The position of the projection of the needle track displayed in the needle track perspective screen area remains unchanged, and the safety area line can also remain unchanged. Therefore, when the needle track perspective screen area displays a certain cross-sectional view of the puncture object perpendicular to the first direction, if the prohibited part of the puncture object falls within the safety area line in the cross-sectional part of the cross-sectional view, it can be determined that the needle track is closer to the prohibited part on the slice corresponding to the cross-sectional view. Based on this, the doctor obtains the situation around the needle track and further adjusts the needle track to keep the needle track away from the prohibited part. The prohibited part can be set according to actual needs, and can be set as a blood vessel in some scenarios.

[0060] Furthermore, the forbidden part of the puncture object and the non-forbidden part of the puncture object can be rendered in different colors, for example, the forbidden part is rendered in red and the non-forbidden part is rendered in gray. Thus, the red area on the cross-sectional view of the puncture object belongs to the forbidden part, and the gray area belongs to the non-forbidden part. When red appears within the safe area line, it can be determined that the forbidden part in the cross-sectional view falls within the safe area line.

[0061] In one embodiment, the method provided by the present application further includes: for the slice image in any direction, in response to the adjustment instruction of the position indication mark, adjusting the slice image in other directions.

[0062] The display interface can be divided into multiple screen areas for displaying slice images in different directions. In each screen area, a position indicator mark of the cut point on the slice in that direction can be displayed; if the position indicator mark in any screen area changes, it can be determined that the position of the cut point in other directions has changed.

[0063] Exemplarily, the screen area used to display the slice image in the xOy plane direction is called the xOy screen area, the screen area used to display the slice image in the xOz plane direction is called the xOz screen area, and the screen area used to display the slice image in the yOz plane direction is called the yOz screen area.

[0064] When the position indicator mark of the xOy screen area changes, the position of the intersection point on the x-axis and / or y-axis changes. If the position of the intersection point on the x-axis changes, the slice in the xOz plane direction changes, and the cross-sectional view of the puncture object displayed in the xOz screen area also changes; if the position of the intersection point on the y-axis changes, the slice in the yOz plane direction changes, and the cross-sectional view of the puncture object displayed in the yOz screen area also changes.

[0065] The position indicator mark of the xOy screen area changes, which may be determined according to an adjustment instruction issued by the user, and the adjustment instruction may be issued by voice, by keyboard, by mouse, or by clicking a finger on a touch screen, etc. Take the mouse as an example: when the cursor is clicked or dragged in the xOy screen area, it can be determined that the user has issued an adjustment instruction, and the position indicator mark of the xOy screen area is adjusted at this time, and specifically the position corresponding to the click or drag can be used as the adjusted position.

[0066] The shape of the position indicator mark can be set according to actual needs. In some scenarios, the display interface is divided into multiple screen areas for displaying slice images in different plane directions; in each screen area, two lines that determine the plane direction will be displayed, and these two lines can form the shape of a crosshair. For example, in the screen area associated with the coronal plane direction, two lines that determine the coronal plane direction will be displayed, and these two lines form the shape of a crosshair. Figure 2 Taking (d) as an example, in the xOy screen area, the xOy plane direction is determined according to the x-axis and the y-axis, so a line parallel to the x-axis and a line parallel to the y-axis can be displayed, and these two lines can form a crosshair shape.

[0067] In this scenario, the center of the crosshairs can be used as a position indicator. In a certain screen area, when the position of a certain line of the crosshairs is changed, the position of the center of the crosshairs changes, and the corresponding position of the tangent point changes. For example, the crosshairs in the xOy screen area correspond to the x-axis and the y-axis. When the position of the line corresponding to the x-axis changes, the position of the tangent point on the y-axis changes. At this time, the slice in the yOz plane direction changes, and the cross-sectional view of the puncture object displayed in the yOz screen area also changes.

[0068] The position of the crosshair center of a certain screen area can be moved by clicking the screen area with a mouse, and the position corresponding to the click is used as the position of the crosshair center after the movement.

[0069] In one embodiment, the method provided by the present application further includes: for the slice image in any direction, in response to the position adjustment instruction of the cut point in the vertical direction, adjusting the slice image in that direction.

[0070] The display interface can be divided into multiple screen areas for displaying slice images in different directions. In each screen area, a position indicator mark of the cut point on the slice in that direction can be displayed; if the position indicator mark of any screen area changes, it can be determined that the position of the cut point has changed.

[0071] For example, the vertical direction of the xOy plane direction is the z-axis direction. When the position of the tangent point on the z-axis changes, the slice in the xOy plane direction passing through the tangent point changes. At this time, the sectional view of the puncture object displayed in the xOy screen area also changes. In addition, during this process, the sectional views of the puncture object displayed in other screen areas may remain unchanged.

[0072] The vertical position adjustment instruction of the tangent point can be determined according to the adjustment instruction issued by the user, and the adjustment instruction can be issued by voice, by keyboard, by mouse, or by clicking on the touch screen with a finger, etc. Take the mouse as an example: when the cursor is located in the xOy screen area, if the user rolls the mouse wheel, it can be determined that the user has issued a position adjustment instruction.

[0073] When the display interface also includes a 3D model screen area, after the cut point is determined, the cut layers in each direction through the cut point can be determined, and the cut layers are used to cut the 3D model of the puncture object in the 3D model screen area, hide the cut-out part, and retain and display the uncut part. When the cut point position is moved by rolling the mouse wheel or clicking the mouse, the retained uncut part in the puncture object 3D model also changes with the change of the cut point position, and the display content in the 3D model screen area also changes with the change of the cut point position.

[0074] In one embodiment, the method for assisting needle tract planning provided by the present application may also include: Figure 4 The steps shown are:

[0075] Step S401, obtaining a needle track obtained by planning a puncture path for a puncture object.

[0076] Step S402, based on the overlap between the needle track and the forbidden-to-pierce portion of the puncture object, when it is determined that the needle track and the forbidden-to-pierce portion interfere with each other, an interfering needle track segment of the needle track is obtained.

[0077] Some parts of the puncture object are not wanted to be penetrated by the puncture needle, and such parts can be called forbidden penetration parts, and forbidden penetration parts are, for example, blood vessels in the puncture object. Based on this, after obtaining the needle track, this step determines whether the needle track and the forbidden penetration part overlap. If they overlap, it can be determined that the needle track and the forbidden penetration part interfere, and the interfering needle track segment is obtained according to the part of the needle track that overlaps with the forbidden penetration part.

[0078] Further, after determining that the needle path overlaps with the prohibited part, that is, the needle path interferes with the prohibited part, an alarm message may be generated, and the content carried by the alarm message may include the interference between the needle path and the prohibited part. The alarm message may be sent in the form of voice, interface display, etc., and the embodiments of the present application do not make too many restrictions on this. In some embodiments, the alarm message may be displayed on the interface in the form of a bubble chart.

[0079] Step S403, determining the tangent point; the tangent point includes a point on the interference needle track segment;

[0080] Step S404, display multi-directional slice images of the intersection point to assist in needle track planning; the slice images in each direction include: a slice view of the puncture object on the slice in that direction, an interference projection segment of the interference needle track segment on the slice in that direction, and a position indicator mark of the intersection point on the slice in that direction.

[0081] Each direction is associated with at least one slice image in that direction, so the multi-directional slice images include slice images in each direction, and the number may be multiple.

[0082] Each direction slice image of the cutting point includes: a slice image of the puncture object on the slice in that direction, an interference projection segment of the interference needle track segment on the slice in that direction, and a position indication mark of the cutting point on the slice in that direction.

[0083] Combination Figure 2 Introduction: If the multiple directions include the xOy plane direction, after the tangent point is determined, the slice in the xOy plane direction passing through the tangent point (hereinafter referred to as the xOy target slice) can be determined, thereby displaying the slice image on the xOy target slice, which includes the sectional view of the puncture object on the xOy target slice, the interference projection segment of the interference needle track segment on the xOy target slice, and the position indicator mark of the tangent point on the xOy target slice. Among them, the interference projection segment of the interference needle track segment on the xOy target slice can be obtained in the following manner: obtain the direction perpendicular to the xOy target slice, that is, the z-axis direction, project the interference needle track segment along the z-axis direction, and obtain the interference projection segment; it can be understood that when the needle track is parallel to the z-axis direction, the interference needle track segment is also parallel to the z-axis, and the interference projection segment is in the shape of a point; when the interference needle track segment is not parallel to the z-axis, the interference projection segment is in the shape of a line. Since the xOy target slice is a slice that passes through the cut point, the position of the cut point in the xOy target slice can be directly acquired, and an indicator mark is displayed at the position, and the indicator mark can be called a position indicator mark.

[0084] According to the above method, an image on a slice in the xOz plane direction passing through the intersection point and an image on a slice in the yOz plane direction passing through the intersection point can also be obtained.

[0085] After the interference needle track segment is determined, the cut point may include a point on the interference needle track segment, and the multi-directional slice image through the cut point displayed can assist in needle track planning. Exemplarily, when the cut point is a point on the interference needle track segment, a multi-directional slice image through the cut point can be obtained, such as in the image of the slice in the xOy plane direction through the cut point, since the cut point is a point on the interference needle track segment, the position indicator mark of the cut point on the slice in the xOy plane direction is located in the interference projection segment, so that the doctor can determine that the forbidden penetration part interferes with the interference needle track segment on the slice in the xOy plane direction.

[0086] Furthermore, the intersection point may include a first intersection point and a second intersection point, and the first intersection point and the second intersection point are respectively two end points of the interference needle track segment; at this time, displaying the multi-directional slice image passing through the intersection point specifically includes the following steps: displaying the multi-directional slice image passing through the first intersection point, and displaying the multi-directional slice image passing through the second intersection point; for one of the multiple directions, the position indication marks of the first intersection point and the second intersection point on the slice in that direction are respectively located at the two ends of the interference projection segment.

[0087] When the multiple directions do not include the direction perpendicular to the needle track, for any direction in the multiple directions, the position indication marks of the first tangent point and the second tangent point on the slice in that direction are respectively located at two ends of the interference projection segment.

[0088] Exemplarily, taking the example that the xOy plane direction, the xOz plane direction and the yOz plane direction are all directions non-perpendicular to the needle track, the position indicator marks of the first tangent point and the second tangent point in the xOy plane direction are respectively located at the two ends of the interference projection segment of the slice of the interference needle track segment in the xOy plane direction; the position indicator marks of the first tangent point and the second tangent point in the xOz plane direction are respectively located at the two ends of the interference projection segment of the slice of the interference needle track segment in the xOz plane direction; the position indicator marks of the first tangent point and the second tangent point in the xOy plane direction are respectively located at the two ends of the interference projection segment of the slice of the interference needle track segment in the xOy plane direction.

[0089] When the multiple directions include a direction perpendicular to the needle track, the projection of the interference needle track segment on the slice in this direction is a point, and the position indication marks of the first and second tangent points on the slice in this direction are located at the point.

[0090] When the cutting point includes the two end points of the interfering needle path segment, the doctor can determine the starting and ending cutting layers where the forbidden part interferes with the needle path from all directions, and adjust the needle path accordingly. The specific adjustment method can be to adjust one of the end points of the needle path, which can be the insertion point or the target point.

[0091] During the needle track adjustment process, an interference risk warning message may also be issued to enable the doctor to determine the needle track that does not interfere with the forbidden penetration portion. Specifically, the two endpoints included in the needle track are respectively referred to as the first endpoint and the second endpoint. The method provided in the present application also includes: for the slice image in any direction, in response to the adjustment instruction for the second endpoint, determining the pending needle track according to the first endpoint and the adjusted second endpoint; determining whether the pending needle track interferes with the forbidden penetration portion according to the pending needle track and the forbidden penetration portion of the puncture object, and generating a warning message when the pending needle track interferes with the forbidden penetration portion.

[0092] When the second endpoint is the target point, the first endpoint is the insertion point; when the second endpoint is the insertion point, the second endpoint is the target point. In this embodiment, if the needle track is adjusted by adjusting the second endpoint, a position can be determined on the slice image in a certain direction according to actual needs, and the adjusted second endpoint can be obtained based on the position; thus, the pending needle track can be obtained based on the first endpoint and the adjusted second endpoint; when it is determined that there is interference between the pending needle track and the forbidden penetration part according to the overlap between the pending needle track and the forbidden penetration part, an early warning message of interference risk is issued.

[0093] The warning message of the above-mentioned embodiment can be an adjustment process for the generated needle track, or an interference warning for the needle track to be generated. The method provided in the embodiment of the present application also includes: after obtaining the endpoint of the determined needle track, obtaining the endpoint of the needle track to be determined based on the real-time position of the fixed-point device on the slice image in any direction; forming the needle track to be determined based on the endpoint of the determined needle track and the endpoint of the needle track to be determined; when it is determined that there is interference between the needle track to be determined and the forbidden penetration part based on the overlap between the needle track to be determined and the forbidden penetration part, a warning message of interference risk is issued.

[0094] The pointing device is used to determine the needle track endpoints such as the target point and the insertion point, and can be a mouse, a finger, etc. After obtaining the determined needle track endpoint, the pending needle track endpoint can be determined based on the real-time position of the pointing device on the slice image in any direction. The pending needle track formed by the determined needle track endpoint and the pending needle track endpoint is obtained, and the overlap between the pending needle track and the prohibited part is detected. When the pending needle track overlaps with the prohibited part, it can be determined that there is interference between the pending needle track and the prohibited part, and an early warning message of interference risk is issued to remind the doctor that it is not appropriate to determine the pending needle track endpoint as the needle track endpoint to avoid interference.

[0095] Furthermore, the method provided in the present application also includes: based on the overlap of the needle track and the forbidden penetration part, when it is determined that the needle track and the forbidden penetration part do not interfere with each other, displaying a section image perpendicular to the needle track direction; the section image perpendicular to the needle track direction includes: a section image of the puncture object on the section perpendicular to the needle track direction, a projection of the needle track on the section perpendicular to the needle track direction, and a safety area line centered on the projection.

[0096] When the needle track does not overlap with the forbidden area, it can be determined that the needle track and the forbidden area do not interfere with each other. However, the needle track may be very close to the forbidden area, which also brings risks. Therefore, in order to facilitate doctors to detect whether the needle track is too close to the forbidden area, doctors can use the needle track viewing mode for inspection.

[0097] In the needle track viewing mode, a slice image perpendicular to the needle track direction can be displayed, which includes: a cross-sectional view of the puncture object on the slice perpendicular to the needle track direction, a projection of the needle track on the slice perpendicular to the needle track direction, and a safety zone line centered on the projection. At this time, the projection of the needle track on the slice perpendicular to the needle track direction is in the shape of a point.

[0098] In one embodiment, the slice image in each direction of the multiple directions further includes: a non-interference needle track segment of the needle track and a non-interference projection segment on the slice in that direction, whereby the projection formed by the interference projection segment and the non-interference projection segment is the needle track projection. At this time, the two end points of the needle track can be marked on the needle track projection, such as Figure 5 As shown in the figure, "T" is the target point and "E" is the entry point. During the layer turning process, the needle tract projection can be displayed. Figure 6 In the process from (a) to (b) and then to (c), the cross-sectional view of the puncture object changes, but the needle track projection can remain unchanged.

[0099] The interference projection segment and the non-interference projection segment are displayed in a way that the visual effect is different, so that the doctor can more intuitively distinguish the part corresponding to the interference needle track segment and the part corresponding to the non-interference needle track segment on the needle track projection. It should be noted that due to the current regulations that the drawings cannot be colored, Figure 5 and Figure 6 The interference projection segments and the non-interference projection segments are not displayed in different colors. However, in practical applications, the interference projection segments and the non-interference projection segments can be displayed in different colors, for example, the interference projection segments are displayed in red and the non-interference projection segments are displayed in yellow.

[0100] In a display method with different visual effects, for example, the interference projection segment is filled with a first fill color for display, and the non-interference projection segment is filled with a second fill color for display, and the first fill color and the second fill color are different; in another example, the interference projection segment is filled with a first fill pattern for display, and the non-interference projection segment is filled with a second fill pattern for display, and the first fill pattern and the second fill pattern are different.

[0101] Furthermore, the first filling color may gradually become lighter from the middle to the two ends of the interference projection segment, and the first filling pattern may gradually become sparser from the middle to the two ends of the interference projection segment.

[0102] In one embodiment, the method provided in the present application also includes: after the three-dimensional model of the puncture object is cut, the three-dimensional model of the needle track is displayed while displaying the internal structure of the three-dimensional model of the puncture object; the part of the three-dimensional model of the needle track corresponding to the interference needle track segment and the part corresponding to the non-interference needle track segment are displayed in a way that there is a difference in visual effects.

[0103] This embodiment can be a needle tract viewing mode or a normal viewing mode. In the needle tract viewing mode, the multi-directional slices may include: slices perpendicular to the needle tract direction, slices in two directions parallel to the needle tract and perpendicular to each other; wherein, the slices of the puncture object perpendicular to the needle tract direction, such as Figure 7 As shown in the upper right picture. In the normal viewing mode, multi-directional slices can include: slices in the coronal plane, slices in the transverse plane, and slices in the sagittal plane.

[0104] In addition to the above methods of rolling the mouse wheel and clicking the mouse to change the position of the tangent point, a slider can also be provided on the interface. The user can drag the slider to change the position of the tangent point, thereby changing the content displayed in the 3D model screen area and the content displayed in the screen area associated with each direction for displaying the slice image. The specific content of the change can be seen in the above introduction to the change of the tangent point position. Figure 7 , Figure 7 This is a needle tract planning interface diagram of an embodiment. 701 of the interface is the first screen area, which can be used to display the puncture object three-dimensional model and the needle tract three-dimensional model. 702 is the second screen area, 703 is the third screen area, and 704 is the fourth screen area. 702 to 704 can be used to display cross-sectional images in different directions. 705 of the interface is the viewing angle selection area. The user can click on different icons of 705 to trigger the processing device to enter different modes. For example, click on the left icon to enter the first mode (the first mode can also be called the normal viewing angle mode), and click on the right icon to enter the second mode (the second mode can also be called the needle tract viewing angle mode). 706 of the interface is the slider dragging area, which contains a slider.

[0105] In one embodiment, determining in step S402 that the needle track and the forbidden portion of the puncture object are interfering with each other based on the overlap between the needle track and the forbidden portion includes: determining whether the needle track and the forbidden portion are overlapped; if so, determining that the needle track and the forbidden portion are interfering with each other.

[0106] In one embodiment, determining whether the needle track and the forbidden portion overlap may specifically include: reconstructing a three-dimensional model of the forbidden portion and the needle track in the same coordinate system based on the relative positions of the forbidden portion, the needle track, and the forbidden portion and the needle track; and determining whether the needle track and the forbidden portion overlap based on whether there are overlapping voxels in the three-dimensional model of the forbidden portion and the three-dimensional model of the needle track.

[0107] After scanning the puncture object, a three-dimensional model of the puncture object can be constructed based on the image data obtained by the scan, and the three-dimensional model of the puncture object includes a three-dimensional model of the forbidden part. Based on the forbidden part, the needle track, and the relative position between the forbidden part and the needle track, a three-dimensional model of the forbidden part and the needle track in the same coordinate system is reconstructed. Then, it can be determined whether there are voxels belonging to the three-dimensional model of the forbidden part and the three-dimensional model of the needle track. If there are, it can be determined that there are overlapping voxels in the three-dimensional model of the forbidden part and the three-dimensional model of the needle track, thereby determining that the needle track and the forbidden part overlap.

[0108] Take the brain as the puncture target and the blood vessels as the prohibited part for puncture as an example: Figure 8 After scanning the brain to obtain image data, a three-dimensional model of the brain can be obtained, and the blood vessels of the three-dimensional model of the brain can be segmented to obtain a three-dimensional model of the blood vessels. The coordinate values ​​of all voxels in the three-dimensional model of the blood vessels are recorded as the blood vessel voxel coordinate set V. The doctor can formulate a puncture path, that is, the needle track, thereby obtaining a three-dimensional model of the needle track, and record the coordinate values ​​of all voxels in the three-dimensional model of the needle track as the path voxel coordinate set P. Then, it can be determined whether V and P have overlapping coordinate values. If so, it can be determined that the needle track and the blood vessels interfere with each other, and an alarm is issued. After the doctor readjusts the needle track, the path voxel coordinate set P is recalculated, and the determination of whether V and P have overlapping coordinate values ​​continues until the puncture path planning is completed.

[0109] 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.

[0110] In one embodiment, Fig. 9 As shown, a device for assisting needle tract planning is provided, comprising:

[0111] The needle track acquisition module 901 is used to acquire the needle track obtained by planning the puncture path of the puncture object;

[0112] The display processing module 902 is used to determine the intersection point and display the multi-directional slice images passing through the intersection point to assist in needle track planning; the multi-directional slice images include slice images in multiple directions, and the slice images in each direction include: a cross-sectional view of the puncture object on the slice in the direction, a projection of the needle track on the slice in the direction, and a position indication mark of the intersection point on the slice in the direction.

[0113] In one embodiment, the display processing module 902 is further configured to display the cross-sectional slice image, the sagittal slice image and the coronal slice image passing through the cutting point when the display mode is the first mode.

[0114] In one embodiment, the display processing module 902 is further used to display a first slice image, a second slice image and a third slice image passing through the intersection point and perpendicular to each other when the display mode is the second mode; the first slice image is perpendicular to the needle track.

[0115] In one embodiment, the first slice image further includes: a safety area line centered on the projection.

[0116] In one embodiment, the device further comprises a layer flipping processing module, which is used for adjusting the layer images in other directions in response to the adjustment instruction of the position indication mark with respect to the layer images in any direction.

[0117] In one embodiment, the device further includes an alarm module for determining whether the needle track interferes with the forbidden part of the puncture object based on the needle track and the forbidden part, and generating an alarm message when the needle track interferes with the forbidden part.

[0118] In one embodiment, the needle track includes a first endpoint and a second endpoint, and the device also includes an early warning module for determining a pending needle track according to the first endpoint and the adjusted second endpoint in response to an adjustment instruction for the second endpoint for slice images in any direction; determining whether the pending needle track interferes with a forbidden portion of the puncture object according to the pending needle track and the forbidden portion, and generating early warning information when the pending needle track interferes with the forbidden portion.

[0119] The specific definition of the device for assisting needle tract planning can be found in the definition of the method for assisting needle tract planning above, which will not be repeated here. Each module in the above-mentioned device for assisting needle tract planning can be implemented in whole or in part by software, hardware, and a combination thereof. 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 of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0120] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Fig.10 As shown. The computer device includes a processor, a memory and a network interface connected via 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, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store auxiliary needle tract planning data. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer device also includes an input and output interface, which is a connection circuit for exchanging information between the processor and an external device. They are connected to the processor via a bus, referred to as an I / O interface. When the computer program is executed by the processor, a method for auxiliary needle tract planning is implemented.

[0121] Those skilled in the art will understand that Fig.10 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.

[0122] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned various method embodiments when executing the computer program.

[0123] In one embodiment, a puncture path planning system is provided, and the puncture path planning system includes: a display screen and a computer device as described in the above embodiment.

[0124] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0125] In one embodiment, a computer program product is provided, on which a computer program is stored, and the computer program is used by a processor to execute the steps in the above-mentioned various method embodiments.

[0126] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0127] Those of ordinary skill 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 above-mentioned 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 memory, storage, database 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 may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. 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).

[0128] 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.

[0129] The above 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 invention patent. 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 patent of the present application shall be subject to the attached claims.

Claims

1. A method for assisting needle tract planning, characterized in that: The method comprises: Acquire a needle track obtained by planning a puncture path for the puncture object; Determine the intersection point and display the multi-directional slice image through the intersection point to assist in needle track planning; the multi-directional slice image includes slice images in multiple directions, and the slice image in each direction includes: a cross-sectional view of the puncture object on the slice in the direction, a projection of the needle track on the slice in the direction, and a position indicator mark of the intersection point on the slice in the direction.

2. The method according to claim 1, characterized in that The multi-directional slice image displayed through the cut point includes: When the display mode is the first mode, a transverse slice image, a sagittal slice image, and a coronal slice image passing through the intersection point are displayed.

3. The method according to claim 1, characterized in that The multi-directional slice image displayed through the cut point includes: When the display mode is the second mode, a first slice image, a second slice image and a third slice image passing through the intersection point and perpendicular to each other are displayed; the first slice image is perpendicular to the needle track.

4. The method according to claim 3, characterized in that The first slice image further includes a safety area line centered on the projection.

5. The method according to claim 1, characterized in that The method further comprises: For the slice image in any direction, in response to the adjustment instruction of the position indication mark, the slice images in other directions are adjusted.

6. The method according to claim 1, characterized in that The method further comprises: According to the needle track and the forbidden portion of the puncture object, it is determined whether the needle track interferes with the forbidden portion, and when the needle track interferes with the forbidden portion, an alarm message is generated.

7. The method according to claim 1, characterized in that The needle track includes a first end point and a second end point, and the method further includes: For the slice image in any direction, in response to an adjustment instruction for the second endpoint, a pending needle track is determined according to the first endpoint and the adjusted second endpoint; According to the pending needle track and the forbidden penetration portion of the puncture object, it is determined whether the pending needle track interferes with the forbidden penetration portion, and when the pending needle track interferes with the forbidden penetration portion, warning information is generated.

8. A device for assisting needle tract planning, characterized in that: The device comprises: A needle track acquisition module is used to acquire the needle track obtained by planning the puncture path of the puncture object; A display processing module is used to determine the cutting point and display multi-directional slice images passing through the cutting point to assist in needle track planning; the multi-directional slice images include slice images in multiple directions, and the slice images in each direction include: a cross-sectional view of the puncture object on the slice in the direction, a projection of the needle track on the slice in the direction, and a position indication mark of the cutting point on the slice in the direction.

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 method according to any one of claims 1 to 7 is 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 method according to any one of claims 1 to 7 is implemented.

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