Method, apparatus, device, and storage medium for assisting needle path planning

Abstract

The application relates to the technical field of puncture needle path planning, and provides a method, device and equipment for assisting needle path planning and a storage medium, which can improve the assisting effect of needle path planning. In the application, a needle path obtained by performing puncture path planning on a puncture object is acquired; a cut point is determined, and a multi-directional cut layer image passing through the cut point is displayed to assist the needle path planning; the multi-directional cut layer image comprises cut layer images in multiple directions, and each cut layer image in a direction comprises a cut surface image of the puncture object on a cut layer in the direction, a projection of the needle path on the cut layer in the direction and a position indication mark of the cut point on the cut layer in the direction.

Description

Technical Field

[0001] This application relates to the field of puncture needle path planning technology, and in particular to a method, apparatus, computer equipment, puncture path planning system, storage medium and computer program product for assisting needle path planning. Background Technology

[0002] Before performing a puncture, the path of the puncture needle can be planned, also known as needle tract planning. The puncture can then be performed according to the needle tract. The needle tract can be planned by setting the insertion point and target point of the puncture needle to obtain the needle tract. Then, it is determined whether the needle tract is suitable, such as whether it exceeds the prohibited areas such as blood vessels. If it is not suitable, the needle tract is adjusted.

[0003] Currently, doctors primarily rely on their clinical experience to observe the 3D model of the puncture site and the 3D model of the needle tract to determine if the needle tract is suitable and make adjustments accordingly. However, this method requires doctors to drag the 3D model to observe from multiple perspectives, which is inconvenient and does not effectively assist doctors in needle tract planning. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, puncture path planning system, storage medium, and computer program product to address the above-mentioned technical problems.

[0005] This application provides a method for assisting needle path planning, the method comprising:

[0006] Obtain the needle path obtained by planning the puncture path on the puncture object;

[0007] The cutting point is determined, and multi-directional slice images passing through the cutting point are displayed to assist in needle path planning; the multi-directional slice images include slice images in multiple directions, and each slice image includes: a cross-sectional view of the puncture object on the slice in the direction, a projection of the needle path on the slice in the direction, and a position indicator mark of the cutting point on the slice in the direction.

[0008] In one embodiment, displaying the multi-directional slice image through the incision point includes: displaying a cross-sectional slice image, a sagittal slice image, and a coronal slice image through the incision point when the display mode is a first mode.

[0009] In one embodiment, displaying the multi-directional sliced ​​images passing through the cutting point includes: in the case of the display mode being the second mode, displaying a first sliced ​​image, a second sliced ​​image, and a third sliced ​​image that pass through the cutting point and are perpendicular to each other; the first sliced ​​image is perpendicular to the needle path.

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

[0011] In one embodiment, the method further includes: adjusting slice images in other directions in response to an adjustment instruction from the position indicator marker, for slice images in any direction.

[0012] In one embodiment, the method further includes: determining whether the needle path interferes with the restricted portion of the puncture object based on the needle path and the restricted portion of the puncture object, and generating alarm information if the needle path interferes with the restricted portion.

[0013] In one embodiment, the needle path 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 needle path to be determined based on the first endpoint and the adjusted second endpoint; determining whether the needle path to be determined interferes with the restricted portion of the puncture object based on the restricted portion of the needle path to be determined, and generating a warning message if the needle path to be determined interferes with the restricted portion.

[0014] This application provides an apparatus for assisting needle path planning, the apparatus comprising:

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

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

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

[0018] This application provides a puncture path planning system, the system including: a display screen and a computer device as described in the above embodiments.

[0019] This application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor using the methods described above.

[0020] This application provides a computer program product having a computer program stored thereon, the computer program being executed by a processor using the above-described method.

[0021] The aforementioned methods, devices, computer equipment, puncture path planning systems, storage media, and computer program products for assisting needle path planning, after obtaining the needle path through puncture object, display multi-directional slice images of the cutting point. Each slice image includes: a cross-sectional view of the puncture object on the slice in that direction, a projection of the needle path on the slice in that direction, and a position indicator mark of the cutting point on the slice in that direction. Thus, doctors can directly observe whether the needle path is appropriate from slice images in multiple directions without dragging a three-dimensional model to observe from multiple perspectives, resulting in a better needle path planning assistance effect. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating a method for assisting needle path planning in one embodiment;

[0023] Figure 2 This is a schematic diagram of multi-directional layer cutting in one embodiment;

[0024] Figure 3 This is a schematic diagram of a multi-directional layered 3D model of the brain in one embodiment;

[0025] Figure 4 This is a flowchart illustrating the method for assisting needle path planning in another embodiment;

[0026] Figure 5 This is a schematic diagram showing the markings of the needle path target point and the entry point in one embodiment;

[0027] Figure 6 This is a schematic diagram of the flipping process in the cross-sectional direction in one embodiment;

[0028] Figure 7 This is a schematic diagram of the needle path planning interface in one embodiment;

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

[0030] Figure 9 This is a structural block diagram of a device for assisting needle path planning in one embodiment;

[0031] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

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

[0034] Reference Figure 1 The method for assisted needle path planning provided in this application can be executed by a computer device and includes the following steps:

[0035] Step S101: Obtain the needle path obtained by planning the puncture path for the puncture object.

[0036] The puncture target is the object that will be punctured by the puncture needle, such as the brain or liver. Before the puncture, the path of the puncture needle needs to be planned, and this path can be called the needle tract.

[0037] Puncture path planning can be performed based on MPR (Multi-Planar Reconstruction) technology. Specifically, after scanning the puncture object to obtain its image data, a 3D model of the puncture object can be constructed. The 3D model is then sliced ​​along multiple directions to display cross-sectional views of the puncture object in different directions. These multiple directions can include, but are not limited to, coronal, transverse, and sagittal directions.

[0038] When obtaining a cut layer in a certain direction, a surface parallel to that direction can be used as the cut layer in that direction; cut layers in various directions can be obtained in this way, thus obtaining cut layers in multiple directions.

[0039] Multiple-directional cuts can also be obtained in the following ways: In this introduction, multiple directions including the xOy plane, xOz plane, and yOz plane are used as an example, referring to... Figure 2 In step (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 tangent layer in the xOz plane direction, such as... Figure 2 As shown in (b); the surface parallel to the yOz plane direction and passing through the tangent point is taken as the tangent layer in the yOz plane direction, as shown in (b). Figure 2 As shown in (c); the surface parallel to the xOy plane direction and passing through the tangent point is taken as the tangent layer in the xOy plane direction, as shown in (c). Figure 2 As shown in (d) in the text.

[0040] Taking the brain as the puncture target as an example, slices can be obtained in the coronal plane direction to cut the three-dimensional model of the brain and display the cross-sectional image of the brain in the coronal plane. Slices can also be obtained in the sagittal plane direction to cut the three-dimensional model of the brain and display the cross-sectional image of the brain in the sagittal plane. Slices can also be obtained in the axial plane direction to cut the three-dimensional model of the brain and display the cross-sectional image of the brain in the axial plane.

[0041] After obtaining cross-sectional images of the punctured object in multiple directions, each cross-sectional image can be displayed in a screen area associated with that direction, such as... Figure 3 As shown, a cross-sectional view of the punctured object in the transverse direction is displayed in a screen area associated with the transverse direction, that is... Figure 3 The second screen area shown displays a cross-sectional view of the punctured object in the coronal plane, within the screen area associated with the coronal plane direction. Figure 3 The third screen area shown displays a cross-sectional view of the punctured object in the sagittal plane, within a screen area associated with the sagittal plane direction. Figure 3 The fourth screen area shown. Additionally, a 3D model of the puncture object can be displayed, for example... Figure 3 The first screen area displays a 3D model of the puncture object. It also allows flipping through layers of a cross-sectional view in a specific direction to display the corresponding cross-sectional view.

[0042] When a cross-sectional view of a specific layer in a certain direction is displayed, the doctor can use the mouse to define a needle path endpoint on that cross-section. Similarly, the doctor can define another needle path endpoint in the same way. Based on the defined needle path endpoints, a 3D model of the needle path is formed in the 3D space of the puncture object. One of the needle path endpoints can be called the target point, and the other needle path endpoint can be called the insertion point. In the scenario of planning the puncture path in the brain, the insertion point can be called the cranial entry point.

[0043] Step S102: Determine the cutting point and display multi-directional slice images through the cutting point to assist in needle path planning.

[0044] Each direction is associated with at least one slice image in that direction, thus, a multi-directional slice image includes slice images in multiple directions. Each slice image in a 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 incision point on the slice in that direction.

[0045] Combination Figure 2The introduction states that if multiple directions include the xOy plane direction, after determining the tangent point, the cutting layer in the xOy plane direction passing through the tangent point (hereinafter referred to as the xOy target cutting layer) can be determined. This allows the display of the cutting layer image on the xOy target cutting layer. The cutting layer image on the xOy target cutting layer includes a cross-sectional view of the puncture object on the xOy target cutting layer, the projection of the needle track on the xOy target cutting layer, and the position indicator mark of the tangent point on the xOy target cutting layer.

[0046] The projection of the needle track onto the xOy target slice layer can be obtained as follows: Obtain the direction perpendicular to the xOy target slice layer, i.e., the z-axis direction, and project the needle track along the z-axis direction to obtain the projection of the needle track onto the xOy target slice layer. It can be understood that when the needle track is parallel to the z-axis direction, the projection of the needle track onto the xOy target slice layer is a point shape; when the needle track is not parallel to the z-axis, the projection of the needle track onto the xOy target slice layer is a line shape. Since the xOy target slice layer is a slice layer through a tangent point, the position of that tangent point on the xOy target slice layer can be directly obtained. Therefore, an indicator mark can be displayed at that position; this 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 path planning, after the needle path is obtained by planning the puncture path of the puncture object, multi-directional slice images of the cutting point are displayed. Each slice image includes: a cross-sectional view of the puncture object on the slice in that direction, the projection of the needle path on the slice in that direction, and a position indicator mark of the cutting point on the slice in that direction. Thus, the doctor can directly observe whether the needle path is appropriate from the slice images of multiple directions without dragging the three-dimensional model to observe from multiple perspectives. The needle path planning assistance effect is good.

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

[0049] The cross-sectional layer passing through the tangent point is called the target cross-sectional layer. Therefore, the cross-sectional layer image passing through the tangent point includes: the cross-sectional view of the puncture object on the target cross-sectional layer, the projection of the needle path on the target cross-sectional layer, and the position indicator mark of the tangent point on the target cross-sectional layer.

[0050] The sagittal section passing through the tangent point is called the sagittal target section. Therefore, the sagittal section image passing through the tangent point includes: the cross-sectional view of the puncture object on the sagittal target section, the projection of the needle track on the sagittal target section, and the position indicator mark of the tangent point on the sagittal target section.

[0051] The coronal section passing through the tangent point is called the coronal target section. Therefore, the coronal section image passing through the tangent point includes: the cross-sectional view of the puncture object on the coronal target section, the projection of the needle tract on the coronal target section, and the position indicator mark of the tangent point on the coronal target section.

[0052] In one embodiment, displaying the multi-directional slice image through the cutting 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 that are perpendicular to each other through the cutting point; the first slice image is perpendicular to the needle path.

[0053] In the second mode, one of the multiple directions is perpendicular to the needle path, while the other directions can be perpendicular to that direction. This second mode can be called the needle path perspective mode, and correspondingly, the first mode can be called the normal perspective mode. The direction perpendicular to the needle path can be called the first direction, and the other two directions perpendicular to the first direction can be called the second direction and the third direction, respectively. Furthermore, the second direction and the third direction can be perpendicular to each other.

[0054] The slice image in the first direction passing through the tangent point is called the first slice image; the slice image in the second direction passing through the tangent point is called the second slice image; and the slice image in the third direction passing through the tangent point is called the third slice image. When the first direction, the second direction, and the third direction are all perpendicular to each other, the first slice image, the second slice image, and the third slice image can be considered to be perpendicular to each other.

[0055] The slice along the first direction passing through the tangent point is called the first-direction target slice. Therefore, the first slice image includes: a cross-sectional view of the puncture object on the first-direction target slice, the projection of the needle tract onto 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 tract, the projection of the needle tract onto the first-direction target slice is the shape of a point.

[0056] The slice in the second direction passing through the tangent point is called the second direction target slice. Thus, the second slice image includes: a cross-sectional view 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 indicator mark of the tangent point on the second direction target slice.

[0057] The third-direction slice passing through the tangent point is called the third-direction target slice. Thus, the third slice image includes: a cross-sectional view 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 indicator mark of the tangent point on the third-direction target slice.

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

[0059] The area of ​​the screen used to display the slice image in the first direction can be called the needle tract view area. When the cursor is in the needle tract view area, the cross-sectional image of the puncture object on the slice perpendicular to the first direction changes as the mouse wheel is scrolled. The position of the needle tract projection displayed in this needle tract view area remains unchanged, and the safety zone line can also remain unchanged. Therefore, when the needle tract view area displays a cross-sectional image of the puncture object perpendicular to the first direction, if the forbidden part of the puncture object falls within the safety zone line of the cross-section of the cross-section, it can be determined that the needle tract is relatively close to the forbidden part on the corresponding slice of the cross-section. Based on this, the doctor can understand the situation around the needle tract and further adjust the needle tract to keep it away from the forbidden part. The forbidden part can be set according to actual needs; in some scenarios, it can be set as a blood vessel.

[0060] Furthermore, the prohibited and non-prohibited parts of the puncture object can be rendered with different colors. For example, the prohibited part can be rendered in red and the non-prohibited part in gray. Thus, the red area on the cross-section of the puncture object belongs to the prohibited part and the gray area belongs to the non-prohibited part. When red appears within the safety zone line, it can be determined that the prohibited part falls within the safety zone line in the cross-section of the cross-section.

[0061] In one embodiment, the method provided in this application further includes: adjusting slice images in other directions in response to an adjustment instruction from a position indicator mark for slice images in any direction.

[0062] The display interface can be divided into multiple screen areas to display sliced ​​images in different directions. In each screen area, a position indicator mark of the cutting 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 cutting point in other directions has changed.

[0063] For example, 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 of the xOy screen area changes, the position of the tangent point on the x-axis and / or y-axis changes. If the position of the tangent point on the x-axis changes, the tangent layer in the xOz plane changes, and the cross-sectional view of the puncture object displayed in the xOz screen area also changes. If the position of the tangent point on the y-axis changes, the tangent layer in the yOz plane changes, and the cross-sectional view of the puncture object displayed in the yOz screen area also changes.

[0065] The position indicator of the xOy screen area changes based on adjustment commands issued by the user. These commands can be issued via voice, keyboard, mouse, or by tapping the touchscreen. Taking mouse input as an example: when the cursor clicks or drags within the xOy screen area, it indicates a user command. The position indicator of the xOy screen area is then adjusted, with the clicked or dragged location becoming the new position.

[0066] The shape of the location indicator markers can be customized according to actual needs. In some scenarios, the display interface is divided into multiple screen areas to display slice images in different planar directions; in each screen area, two lines defining the direction of that plane are displayed, and these two lines can form a crosshair shape. For example, in the screen area associated with the coronal plane direction, two lines defining the coronal plane direction are displayed, and these two lines form a crosshair shape. Furthermore... Figure 2 For example, in the xOy screen area, the xOy plane direction is determined by the x-axis and y-axis. Therefore, lines parallel to the x-axis and lines parallel to the y-axis can be displayed, and these two lines can form a cross shape.

[0067] In this scenario, the center of the crosshairs can be used as a position indicator. When the position of a line of the crosshairs is changed within a certain screen area, the position of the crosshair center changes, and the position of the tangent point also changes. For example, the crosshairs in the xOy screen area correspond to the x-axis and 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 tangent layer in the yOz plane changes, and the cross-sectional view of the punctured object displayed in the yOz screen area also changes.

[0068] You can also move the center of the crosshair in a certain area of ​​the screen by clicking on that area with the mouse, and then use the clicked location as the new center of the crosshair.

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

[0070] The display interface can be divided into multiple screen areas to display sliced ​​images in different directions. In each screen area, a position indicator mark of the cutting 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 cutting point has changed.

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

[0072] The vertical position adjustment command for the tangent point can be determined based on the user's adjustment instruction. This instruction can be issued via voice, keyboard, mouse, or by clicking on the touchscreen. Taking mouse input as an example: when the cursor is located in the xOy area of ​​the screen, scrolling the mouse wheel confirms that the user has issued a position adjustment command.

[0073] When the display interface also includes a 3D model area, after determining the cut point, the cutting layers in each direction through that cut point can be determined. These cutting layers are then used to cut the 3D model of the pierced object within the 3D model area, hiding the cut-out parts and retaining and displaying the uncut parts. When the cut point is moved by scrolling the mouse wheel or clicking the mouse, the retained uncut parts in the 3D model of the pierced object also change with the change in the cut point's position, and the content displayed in the 3D model area also changes with the change in the cut point's position.

[0074] In one embodiment, the method for assisted needle path planning provided in this application may further include, for example: Figure 4 The steps shown are as follows:

[0075] Step S401: Obtain the needle path obtained by planning the puncture path for the puncture object.

[0076] Step S402: Based on the overlap between the needle path and the forbidden part of the puncture object, determine when the needle path interferes with the forbidden part, and obtain the interference needle path segment.

[0077] Certain parts of the puncture site are areas where the needle is not intended to pass through; these parts can be called forbidden puncture sites, such as blood vessels within the puncture site. Based on this, after obtaining the needle path, this step determines whether the needle path overlaps with the forbidden puncture site. If they overlap, it can be determined that the needle path interferes with the forbidden puncture site, and the interfering needle path segment is obtained based on the portion of the needle path that overlaps with the forbidden puncture site.

[0078] Furthermore, after determining that the needle path overlaps with the non-penetrating portion, i.e., that there is interference between the needle path and the non-penetrating portion, an alarm message can be generated. The alarm message may include the information that the needle path and the non-penetrating portion are interfering. The alarm message can be issued by voice, interface display, etc., and this application embodiment does not impose too many limitations on this. In some embodiments, the alarm message can be displayed on the interface in the form of a bubble chart.

[0079] Step S403: Determine the tangent point; the tangent point includes points on the interference needle path segment;

[0080] Step S404: Display multi-directional slice images of the cutting point to assist in needle path planning; each slice image includes: a cross-sectional view of the puncture object on the slice in that direction, an interference projection segment of the interference needle path segment on the slice in that direction, and a position indicator mark of the cutting point on the slice in that direction.

[0081] Each direction is associated with at least one slice image in that direction. Thus, a multi-directional slice image includes slice images in each direction, and the number of slice images can be multiple.

[0082] Each sectional image through the tangent point includes: a cross-sectional view of the punctured object in that direction, an interference projection segment of the interference needle path segment in that direction, and a position indicator mark of the tangent point in that direction.

[0083] Combination Figure 2 The introduction explains that if multiple directions include the xOy plane direction, after determining the tangent point, the tangent layer in the xOy plane direction passing through the tangent point (hereinafter referred to as the xOy target tangent layer) can be determined. This allows the display of a tangent layer image on the xOy target tangent layer. The tangent layer image includes a cross-sectional view of the puncture object on the xOy target tangent layer, an interference projection segment of the interference needle path segment on the xOy target tangent layer, and a position indicator mark of the tangent point on the xOy target tangent layer. Specifically, the interference projection segment of the interference needle path segment on the xOy target tangent layer can be obtained as follows: obtain the direction perpendicular to the xOy target tangent layer, i.e., the z-axis direction, and project the interference needle path segment along the z-axis direction to obtain the interference projection segment. It can be understood that when the needle path is parallel to the z-axis direction, the interference needle path segment is also parallel to the z-axis, and the interference projection segment is a point shape; when the interference needle path segment is not parallel to the z-axis, the interference projection segment is a line shape. Since the xOy target slice is a slice with a cut point, the position of the cut point in the xOy target slice can be directly obtained, and an indicator mark can be displayed at that position. This indicator mark can be called a position indicator mark.

[0084] Following the above method, images on the tangent layer in the xOz plane direction passing through the tangent point, as well as images on the tangent layer in the yOz plane direction passing through the tangent point, can also be obtained.

[0085] After determining the interference needle path segment, the tangent point can include a point on the interference needle path segment. The resulting multi-directional slice images through the tangent point can then assist in needle path planning. For example, when the tangent point is a point on the interference needle path segment, a multi-directional slice image through that tangent point can be obtained. For instance, in the slice image along the xOy plane through that tangent point, since the tangent point is a point on the interference needle path segment, the position indicator of the tangent point in that slice along the xOy plane is located in the interference projection segment. Thus, the physician can determine that the forbidden portion interferes with the interference needle path segment in that slice along the xOy plane.

[0086] Furthermore, the tangent point may include a first tangent point and a second tangent point, which are the two endpoints of the interference probe segment, respectively. At this time, displaying the multi-directional slice image through the tangent point specifically includes the following steps: displaying the multi-directional slice image through the first tangent point and displaying the multi-directional slice image through the second tangent point; for one of the multiple directions, the position indicator marks of the first tangent point and the second tangent point on the slice in that direction are respectively located at both ends of the interference projection segment.

[0087] When the multi-direction does not include the direction perpendicular to the needle path, for any direction in the multi-direction, the position indicator marks of the first tangent point and the second tangent point on the tangent layer in that direction are located at the two ends of the interference projection segment, respectively.

[0088] For example, taking the xOy plane direction, xOz plane direction, and yOz plane direction as directions that are not perpendicular to the needle path, the position indicators of the first tangent point and the second tangent point in the xOy plane direction are respectively located at both ends of the interference projection segment of the interference needle path segment in the xOy plane direction; the position indicators of the first tangent point and the second tangent point in the xOz plane direction are respectively located at both ends of the interference projection segment of the interference needle path segment in the xOz plane direction; the position indicators of the first tangent point and the second tangent point in the xOy plane direction are respectively located at both ends of the interference projection segment of the interference needle path segment in the xOy plane direction.

[0089] When multiple directions include a direction perpendicular to the needle path, the projection of the interference needle path segment onto the cut layer in that direction is a point, and the position indicators of the first and second tangent points on the cut layer in that direction are located at that point.

[0090] When the incision point includes the two endpoints of the interfering needle path segment, the doctor can determine the starting and ending incision layers where the forbidden part interferes with the needle path from various directions, and adjust the needle path accordingly. The specific adjustment method can be to adjust a certain endpoint of the needle path, which can be the insertion point or the target point.

[0091] During the adjustment of the needle tract, an early warning message of interference risk can also be issued to enable the doctor to identify a needle tract that will not interfere with the prohibited puncture portion. Specifically, the needle tract includes two endpoints, referred to as the first endpoint and the second endpoint, respectively. The method provided in this application further includes: for a slice image in any direction, in response to an adjustment instruction for the second endpoint, determining the needle tract to be determined based on the first endpoint and the adjusted second endpoint; determining whether the needle tract to be determined interferes with the prohibited puncture portion of the puncture object based on the prohibited puncture portion of the needle tract to be determined, and generating an early warning message if interference occurs between the needle tract to be determined and the prohibited puncture 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 path is adjusted by adjusting the second endpoint, a position can be determined on a slice image in a certain direction according to actual needs. Based on this position, the adjusted second endpoint is obtained. Thus, the undetermined needle path can be obtained based on the first endpoint and the adjusted second endpoint. When it is determined that there is interference between the undetermined needle path and the forbidden part based on the overlap between the undetermined needle path and the forbidden part, an interference risk warning message is issued.

[0093] The warning message in the above embodiments can be for the adjustment process of the generated needle path, or for the interference warning of the needle path to be generated. The method provided in this application embodiment further includes: after obtaining the endpoint of the determined needle path, obtaining the endpoint of the needle path to be determined based on the real-time position of the locator on the slice image in any direction; forming the needle path to be determined according to the endpoint of the determined needle path and the endpoint of the needle path to be determined; and issuing a warning message of interference risk when it is determined that the needle path to be determined interferes with the forbidden part based on the overlap between the needle path to be determined and the forbidden part.

[0094] A pinpoint device is used to determine the needle path endpoint, such as the target point or insertion point. This endpoint can be a mouse, finger, or similar object. After obtaining the determined needle path endpoint, the undetermined needle path endpoint can be determined based on the real-time position of the pinpoint device on a slice image in any direction. The undetermined needle path formed by the determined and undetermined endpoints is then acquired. The overlap between the undetermined needle path and the restricted area is detected. When the undetermined needle path overlaps with the restricted area, interference is identified, and an interference risk warning message is issued to remind the physician not to designate the undetermined needle path endpoint as the needle path endpoint to avoid interference.

[0095] Furthermore, the method provided in this application also includes: based on the overlap between the needle path and the restricted portion, when it is determined that the needle path and the restricted portion do not interfere, displaying a slice image perpendicular to the needle path direction; the slice image perpendicular to the needle path direction includes: a cross-sectional view of the puncture object on the slice perpendicular to the needle path direction, a projection of the needle path on the slice perpendicular to the needle path direction, and a safety zone line centered on the projection.

[0096] When the needle path does not coincide with the restricted area, it can be determined that there is no interference between the needle path and the restricted area. However, the needle path may be very close to the restricted area, which also poses a risk. Therefore, to facilitate doctors in detecting whether the needle path is too close to the restricted area, doctors can use the needle path perspective mode for examination.

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

[0098] In one embodiment, the slice image in each of the multiple directions further includes: a non-interference projection segment of the needle track on the slice in that direction; thus, the projection formed by the interference projection segment and the non-interference projection segment is the needle track projection. At this point, the two endpoints of the needle track can be marked on the needle track projection, such as... Figure 5 As shown, "T" represents the target point, and "E" represents the entry point into the skull. During the laparotomy, the projection of the needle path can be maintained, such as from... Figure 6 In the process from (a) to (b) and then to (c), the cross-sectional view of the puncture object in the transverse direction changes, while the projection of the needle tract can remain unchanged.

[0099] The interference projection segment and the non-interference projection segment are displayed in a way that creates a visual difference, allowing doctors to more intuitively distinguish between the corresponding interference and non-interference needle path segments on the needle path projection. It should be noted that, due to current regulations prohibiting the inclusion of color in the attached diagrams, therefore... Figure 5 and Figure 6 The interference projection segment and the non-interference projection segment are not distinguished by different colors. However, in practical applications, different colors can be used to display the interference projection segment and the non-interference projection segment. For example, red can be used to display the interference projection segment and yellow can be used to display the non-interference projection segment.

[0100] For example, in display methods where visual effects differ, an interference projection segment is displayed with a first fill color and a non-interference projection segment is displayed with a second fill color, where the first fill color and the second fill color are different; another example is that an interference projection segment is displayed with a first fill pattern and a non-interference projection segment is displayed with a second fill pattern, where the first fill pattern and the second fill pattern are different.

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

[0102] In one embodiment, the method provided by this application further includes: after the 3D model of the puncture object is cut, displaying the internal structure of the 3D model of the puncture object while simultaneously displaying the 3D model of the needle track; the portion of the 3D model of the needle track corresponding to the interference needle track segment and the portion corresponding to the non-interference needle track segment are displayed in a manner that differs in visual effect.

[0103] This embodiment can be either a needle path view mode or a normal view mode. In the needle path view mode, multi-directional slices can include: slices perpendicular to the needle path direction, and slices in two directions parallel to and perpendicular to the needle path; wherein, the cross-sectional view of the puncture object in the direction perpendicular to the needle path, such as... Figure 7 As shown in the upper right image. In normal viewing mode, multi-directional slices can include: coronal slices, transverse slices, and sagittal slices.

[0104] In addition to scrolling the mouse wheel and clicking the mouse to change the tangent position, a slider can be provided on the interface. Users can drag the slider to change the tangent position, thereby changing the content displayed in the 3D model's view area and the content displayed in the view areas associated with each direction for displaying layer images. Specific details of the changes can be found in the above description regarding changes in the tangent position. (Refer to...) Figure 7 , Figure 7 This is a diagram of a needle path planning interface according to one embodiment. The interface has four screen areas: 701 (first screen area) for displaying a 3D model of the puncture object and a 3D model of the needle path; 702 (second screen area); 703 (third screen area); and 704 (fourth screen area). Screens 702 to 704 can display cross-sectional images from different directions. Screen 705 is a view selection area. Users can click different icons on 705 to trigger the processing device to enter different modes. For example, clicking the left icon enters the first mode (which can also be called the normal view mode), and clicking the right icon enters the second mode (which can also be called the needle path view mode). Screen 706 is a slider dragging area containing a slider.

[0105] In one embodiment, determining whether the needle path and the restricted portion of the puncture object interfere with each other in step S402 includes: determining whether the needle path and the restricted portion overlap; if so, determining that the needle path and the restricted portion interfere with each other.

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

[0107] After scanning the puncture object, a three-dimensional model of the puncture object can be constructed based on the obtained image data. This three-dimensional model includes a three-dimensional model of the restricted puncture area. Based on the restricted puncture area, the needle track, and the relative positions between the restricted puncture area and the needle track, a three-dimensional model of the restricted puncture area 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 models of the restricted puncture area and the needle track. If so, it can be determined that there are overlapping voxels between the three-dimensional models of the restricted puncture area and the needle track, thus confirming that the needle track and the restricted puncture area overlap.

[0108] Taking the brain as the puncture target and blood vessels as the contraindicated area as an example: (Refer to...) Figure 8 After scanning the brain to obtain image data, a 3D model of the brain can be obtained. Blood vessels are then segmented within this 3D model to obtain a 3D model of the blood vessels. The coordinates of all voxels in this 3D model are recorded as the blood vessel voxel coordinate set V. The doctor can then determine the puncture path, or needle track, thus obtaining a 3D model of the needle track. The coordinates of all voxels in this model are recorded as the path voxel coordinate set P. Next, it can be determined whether V and P have overlapping coordinate values. If so, it indicates interference between the needle track and the blood vessel, and an alarm is issued. After readjusting the needle track, the doctor recalculates the path voxel coordinate set P and continues to check for overlapping coordinate values ​​between V and P until the puncture path planning is complete.

[0109] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0110] In one embodiment, such as Figure 9 As shown, an apparatus for assisting needle path planning is provided, comprising:

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

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

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

[0114] In one embodiment, the display processing module 902 is further configured to display a first cut layer image, a second cut layer image, and a third cut layer image that pass through the cut point and are perpendicular to each other when the display mode is the second mode; the first cut layer image is perpendicular to the needle path.

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

[0116] In one embodiment, the apparatus further includes a layer-flipping module for adjusting slice images in other directions in response to an adjustment instruction from the position indicator mark, for slice images in any direction.

[0117] In one embodiment, the device further includes an alarm module, configured to determine whether the needle path interferes with the restricted portion of the puncture object based on the needle path and the restricted portion of the puncture object, and generate alarm information if the needle path interferes with the restricted portion.

[0118] In one embodiment, the needle path includes a first endpoint and a second endpoint, and the device further includes an early warning module for determining a pending needle path based on the first endpoint and the adjusted second endpoint, in response to an adjustment command for the second endpoint, based on a slice image in any direction; determining whether the pending needle path interferes with the restricted portion of the puncture object, and generating an early warning message if the pending needle path interferes with the restricted portion.

[0119] Specific limitations regarding the device for assisting needle path planning can be found in the limitations of the method for assisting needle path planning described above, and will not be repeated here. Each module in the aforementioned device for assisting needle path planning can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0120] In one embodiment, a computer device is provided, the internal structure of which can be shown as follows: Figure 10 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores auxiliary needle planning data. The network interface communicates with external terminals via a network connection. The computer device also includes input / output interfaces, which are connection circuits between the processor and external devices for exchanging information; they are connected to the processor via a bus and are referred to as I / O interfaces. When the computer program is executed by the processor, it implements an auxiliary needle planning method.

[0121] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0122] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the various method embodiments described above.

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

[0124] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the various method embodiments described above.

[0125] In one embodiment, a computer program product is provided having a computer program stored thereon, the computer program being executed by a processor of the steps described in the various method embodiments above.

[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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0127] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0128] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] The above embodiments are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for assisting in needle path planning, characterized in that, The method includes: Obtain the needle path obtained by planning the puncture path on the puncture object; The cutting point is determined, and multi-directional slice images passing through the cutting point are displayed to assist in needle path planning; the multi-directional slice images include slice images in multiple directions, and each slice image includes: a cross-sectional view of the puncture object on the slice in the direction, a projection of the needle path on the slice in the direction, and a position indicator mark of the cutting point on the slice in the direction; The method further includes: Based on the needle path, the restricted portion of the puncture object, and the relative positions of the needle path and the restricted portion, a three-dimensional model of the restricted portion and the needle path in the same coordinate system is reconstructed. Based on whether there are overlapping voxels between the three-dimensional model of the restricted area and the three-dimensional model of the needle path, it is determined whether the needle path overlaps with the restricted area. When the needle path overlaps with the forbidden portion, an interference needle path segment is obtained and an alarm message is generated; wherein, the forbidden portion and the non-forbidden portion of the puncture object are displayed through different visual effects; The tangent points include a first tangent point and a second tangent point, which are respectively the two endpoints of the interference needle track segment; the display of multi-directional slice images through the tangent points specifically includes: The image shows a multi-directional sliced ​​layer image that has passed through the first cut point, and the image shows a multi-directional sliced ​​layer image that has passed through the second cut point.

2. The method according to claim 1, characterized in that, The multi-directional sliced ​​image that displays the cut point includes: When the display mode is in the first mode, cross-sectional slice images, sagittal slice images, and coronal slice images passing through the cut point are displayed.

3. The method according to claim 1, characterized in that, The multi-directional sliced ​​image that displays the cut point includes: When the display mode is the second mode, a first cut layer image, a second cut layer image, and a third cut layer image that pass through the cut point and are perpendicular to each other are displayed; the first cut layer image is perpendicular to the needle path.

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

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

6. The method according to claim 1, characterized in that, The needle path includes a first end point and a second end point, and the method further includes: For a slice image in any direction, in response to an adjustment command for the second endpoint, a needle path to be determined is determined based on the first endpoint and the adjusted second endpoint; Based on the undetermined needle path and the prohibited puncture portion of the puncture object, it is determined whether the undetermined needle path interferes with the prohibited puncture portion, and if the undetermined needle path interferes with the prohibited puncture portion, an early warning message is generated.

7. A device for assisting in needle path planning, characterized in that, The device includes: The needle path acquisition module is used to acquire the needle path obtained by planning the puncture path of the puncture object; The display processing module is used to determine the cutting point and display multi-directional slice images through the cutting point to assist needle path planning; the multi-directional slice images include slice images in multiple directions, and each slice image includes: a cross-sectional view of the puncture object on the slice in the direction, a projection of the needle path on the slice in the direction, and a position indicator mark of the cutting point on the slice in the direction. The device further includes an alarm module, used to reconstruct a three-dimensional model of the restricted portion and the needle track in the same coordinate system based on the needle track, the restricted portion of the puncture object, and the relative position of the needle track and the restricted portion; determine whether the needle track and the restricted portion overlap based on whether there are overlapping voxels in the three-dimensional model of the restricted portion and the three-dimensional model of the needle track; if the needle track and the restricted portion overlap, obtain the interference needle track segment of the needle track and generate alarm information; wherein, the restricted portion and the non-restricted portion of the puncture object are displayed through different visual effects; The tangent points include a first tangent point and a second tangent point, which are respectively the two endpoints of the interference needle track segment; the display of multi-directional slice images through the tangent points specifically includes: The image shows a multi-directional sliced ​​layer image that has passed through the first cut point, and the image shows a multi-directional sliced ​​layer image that has passed through the second cut point.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 6.

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

Images