Thyroid surgery patient clinical analysis system and method based on 3D image

Abstract

The invention relates to the technical field of medical treatment, in particular to a thyroid surgery patient clinical analysis system and method based on a 3D image, and the method comprises the steps: obtaining a three-dimensional digital model of the head and neck of a patient; the endoscope operation difficulty of different surgical admission paths is evaluated by analyzing the position of a thyroid focus; the endoscope operation space change conditions of different operation admission paths are evaluated by analyzing the space relation between the passing path and the adjacent structure; according to the endoscope operation difficulty and the endoscope operation space change condition, risk assessment is carried out on different operation approaches, and the optimal candidate operation approach is determined. According to the method, the accuracy and the reliability of risk assessment of the surgical approach are improved by quantitatively analyzing the radian change of the passing path of the surgical approach and the change of the endoscope operation space.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a clinical analysis system and method for thyroid surgery patients based on 3D images. Background Art

[0002] The thyroid gland is an endocrine organ of the human body. In essence, it is composed of follicles surrounded by a large number of thyroid follicular cells. Microscopically, the follicular cavity is filled with homogeneous eosinophilic colloid. Abnormal changes in local hardness and structure in the thyroid tissue result in the appearance of one or more lumps with abnormal tissue structure, and lesions that appear different from the normal thyroid parenchyma in imaging are called thyroid nodules.

[0003] Thyroid nodules include hyperplasia, cysts, thyroiditis, thyroid adenoma and thyroid cancer. Both benign and malignant thyroid nodules tend to be treated surgically. Before surgical treatment, clinicians need to evaluate the adjacent relationship between the thyroid lesions and surrounding structures such as the trachea, esophagus, and neck arteries and veins in order to develop a surgical plan.

[0004] Traditional preoperative evaluation usually uses two-dimensional imaging technologies such as neck CT scans and ultrasound examinations, which require clinical physicians to make empirical judgments and have certain subjectivity and limitations. Three-dimensional visualization technology can convert two-dimensional images into three-dimensional models, reconstruct the thyroid gland and lesions and surrounding adjacent structures in three dimensions, and scale, rotate, perspective and delete the acquired 3D images, so that the surgeon can clearly, three-dimensionally and accurately understand the location of the lesion and its relationship with adjacent structures.

[0005] With the rapid development of thyroid laparoscopic technology, surgical approaches such as the transthoracic breast approach, axillary approach, and oral vestibule approach have no surgical scars on the anterior neck, concealed incisions, and ideal cosmetic effects compared with traditional anterior cervical open surgery. However, the existing clinical analysis method for thyroid surgery patients based on 3D images ignores the impact of changes in the curvature of the path caused by different surgical approaches and changes in the laparoscopic operation space on the surgical approach risk assessment when conducting surgical approach risk assessment, resulting in insufficient accuracy and reliability of surgical approach risk assessment, especially when the curvature of the path is large. The increased difficulty in operating surgical instruments and limited field of view will seriously reduce the safety and accuracy of the operation. At the same time, changes in the size and spatial stability of the laparoscopic operation space caused by different surgical approaches also affect the operator's operating freedom. Summary of the invention

[0006] In order to overcome the defects and shortcomings of the existing technology, the present application provides a clinical analysis system and method for thyroid surgery patients based on 3D images, which improves the accuracy and reliability of surgical approach risk assessment by quantitatively analyzing the changes in the curvature of the surgical approach and the changes in the laparoscopic operation space.

[0007] In order to achieve the above objectives, this application adopts the following technical solutions: In a first aspect, the present application provides a clinical analysis method for thyroid surgery patients based on 3D images, comprising the following steps: Obtain a 3D digital model of the patient's head and neck; The difficulty of laparoscopic operation of different surgical approaches was evaluated by analyzing the location of thyroid lesions; The spatial changes of laparoscopic operation in different surgical approaches were evaluated by analyzing the spatial relationship between the path and adjacent structures. According to the difficulty of laparoscopic operation and the changes in laparoscopic operation space, the risks of different surgical approaches are evaluated and the best candidate surgical approach is determined.

[0008] Optionally, the specific steps of evaluating the difficulty of laparoscopic operation of different surgical approaches include: Obtain a 3D digital model of the patient's head and neck and determine the paths of different surgical approaches based on the 3D digital model. path points, among which Waypoints The coordinates of , ; Calculate the tangent vector of each path point through the coordinates of adjacent path points; For any path point , through the waypoint Adjacent path points and The tangent vector and Calculate waypoints Curvature : ; in, For waypoints The tangent vector of For waypoints The tangent vector of For waypoints The coordinates of , For waypoints The coordinates of , For waypoints The curvature of Calculate the difficulty index of laparoscope operation by the curvature of each path point : ; in, For waypoints The curvature of is the mean curvature of all paths, is the number of path points, The laparoscopic operation difficulty index is used to evaluate the difficulty of laparoscopic operation of different surgical approaches.

[0009] Optionally, the specific steps of determining the paths of different surgical approaches based on the three-dimensional digital model include: Obtain a 3D digital model of the patient's head and neck and mark key tissue structures in the 3D digital model, including thyroid lesions, arteries, veins, trachea, and recurrent laryngeal nerve; Divide the three-dimensional digital model into voxel grids and use the center points of the voxel grids as path points; The surgical approach point was taken as the starting point of the path and the center point of the thyroid lesion was taken as the end point of the path. A path point sequence was generated through a heuristic search algorithm to obtain the surgical approach path.

[0010] Optionally, the specific step of calculating the tangent vector of each path point includes: For any path point , get the waypoints Adjacent path points and Coordinates and ,in, , ; Passing through adjacent waypoints and Coordinates and Calculate waypoints The tangent vector : ; in, , and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis, and z-axis, , and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis, and z-axis.

[0011] Optionally, the specific steps of evaluating the spatial changes of laparoscopic operations of different surgical approaches by analyzing the spatial relationship between the path and adjacent structures include: Obtain the surgical approach path and any path point Corresponding laparoscope operation space ; The laparoscope operation space index is calculated by using the laparoscope operation space corresponding to the adjacent path points in the path. : ; in, For waypoints The corresponding laparoscope operation space, For waypoints The corresponding laparoscope operation space, is a natural constant, is the total laparoscope operation space in the three-dimensional digital model, is the number of path points, is the spatial variation weight coefficient of the laparoscope operation, is the weight coefficient of the laparoscope operation space, It is the laparoscopic operation space index, which is used to quantitatively analyze the changes in the laparoscopic operation space of different surgical approaches.

[0012] Optionally, the specific steps of performing risk assessment on different surgical approaches and determining the best candidate surgical approach include: Obtaining the laparoscopic operation difficulty index of the surgical approach and laparoscopic operation space index ; Laparoscopic operation difficulty index and laparoscopic operation space index Calculation of surgical approach risk index : ; in, is the weight coefficient of the difficulty of laparoscope operation, is the weight coefficient of the laparoscope operation space, is the surgical approach risk index; The surgical approach with the smallest surgical approach risk index was selected as the best candidate surgical approach.

[0013] It should be noted here that the values ​​of the laparoscopic operation space change weight coefficient, laparoscopic operation space proportion weight coefficient, laparoscopic operation difficulty weight coefficient and laparoscopic operation space weight coefficient are determined as follows: three-dimensional digital models of the head and neck of 100 patients undergoing thyroid surgery are collected, and the surgical approach risk index is calculated based on the three-dimensional digital model to distinguish whether the surgical approach risk meets the safety requirements. The calculated surgical approach risk index and the distinction result are simultaneously imported into the fitting software, and the optimal laparoscopic operation space change weight coefficient, laparoscopic operation space proportion weight coefficient, laparoscopic operation difficulty weight coefficient and laparoscopic operation space weight coefficient that meet the distinction accuracy of the distinction result are output.

[0014] In a second aspect, the present application provides a 3D image-based clinical analysis system for thyroid surgery patients, comprising: A data acquisition module, used to obtain a three-dimensional digital model of the patient's head and neck; The first analysis module is used to evaluate the difficulty of laparoscopic operation of different surgical approaches by analyzing the location of thyroid lesions; The second analysis module is used to evaluate the spatial changes of laparoscopic operations of different surgical approaches by analyzing the spatial relationship between the path and adjacent structures; A risk assessment module is used to conduct risk assessment on different surgical approaches and determine the best candidate surgical approach based on the difficulty of laparoscopic operation and the changes in laparoscopic operation space; The control module is used to control the operation of the data acquisition module, the first analysis module, the second analysis module and the risk assessment module.

[0015] In a third aspect, the present application provides an electronic device comprising: a processor and a memory, wherein the memory stores a computer program that can be called by the processor, and the processor executes a clinical analysis method for thyroid surgery patients based on 3D images by calling the computer program stored in the memory.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute a clinical analysis method for thyroid surgery patients based on 3D images.

[0017] Compared with the prior art, this application has the following advantages and beneficial effects: This application first analyzes the changes in the curvature of the path between the location of the thyroid lesion and different surgical approaches through a three-dimensional digital model to quantify the difficulty of laparoscopic operation, then quantifies the changes in the laparoscopic operation space caused by different surgical approaches by analyzing the spatial relationship between the path and adjacent structures, and finally conducts a risk assessment of different surgical approaches based on the difficulty of laparoscopic operation and the changes in the laparoscopic operation space, and determines the best candidate surgical approach, thereby improving the accuracy and reliability of the risk assessment of the surgical approach, and thereby ensuring the safety and thoroughness of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 It is a schematic diagram of the overall process of the clinical analysis method for thyroid surgery patients based on 3D images provided in an embodiment of the present application; Figure 2 It is a schematic diagram of a process of obtaining the passage path in the clinical analysis method of thyroid surgery patients based on 3D images provided in an embodiment of the present application; Figure 3 is a schematic structural diagram of a 3D image-based clinical analysis system for thyroid surgery patients provided in an embodiment of the present application; Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solution of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0020] Reference Figure 1 As shown, Figure 1 This is a schematic diagram of the overall process of the clinical analysis method for thyroid surgery patients based on 3D images provided in an embodiment of the present application, which specifically includes the following steps: S110: Obtain a three-dimensional digital model of the patient's head and neck; A three-phase scan (plain scan, arterial phase, and venous phase) was performed using spiral CT of the neck with a layer thickness of 0.64 mm. The three-phase thin-layer images were imported into 3D medical image processing software in DICOM (Digital Imaging and Communications in Medicine) format, and multi-planar reformation (MPR), curved planar reformation (CPR), and volume rendering (VR) were performed to obtain a three-dimensional digital model of the patient's head and neck. S120: Evaluate the difficulty of laparoscopic operation with different surgical approaches by analyzing the location of thyroid lesions; Laparoscopic thyroid surgery is divided into anterior cervical approach, external cervical approach and natural cavity approach (transoral approach) according to different approaches. The external cervical approach includes thoraco-mammary approach, axillary approach, axillary-mammary approach, oral vestibule approach, occipital approach and submental approach. The changes in the curvature of the path caused by different surgical approaches will directly affect the difficulty and safety of the surgical operation. Smaller curvature changes usually indicate that the path is more linear, which can reduce the complexity of surgical instrument operation and reduce the potential risk of damage to adjacent tissues and organs. Larger curvature changes indicate that the surgical path is more curved, making it more difficult for instruments to reach the lesion area, increasing the possibility of accidental injury to important anatomical structures, and thus increasing the risk of intraoperative injury. The specific steps to evaluate the difficulty of laparoscopic operation of different surgical approaches include: Obtain a 3D digital model of the patient's head and neck and determine the paths of different surgical approaches based on the 3D digital model. path points, among which Waypoints The coordinates of , ; Calculate the tangent vector of each path point through the coordinates of adjacent path points; For any path point , through the waypoint Adjacent path points and The tangent vector and Calculate waypoints Curvature : ; in, For waypoints The tangent vector of For waypoints The tangent vector of For waypoints The coordinates of , For waypoints The coordinates of , Adjacent path points and The distance between For waypoints The curvature of Used to describe waypoints The degree of curvature at Calculate the difficulty index of laparoscope operation by the curvature of each path point : ; in, For waypoints The curvature of is the sum of the curvatures of all path points. The calculation of needs to rely on the adjacent path points before and after, so the curvature of the first and last path points cannot be directly calculated. , is the mean curvature of all paths, is the number of path points, The laparoscopic operation difficulty index is used to evaluate the difficulty of laparoscopic operation in different surgical approaches. Determining the routes of different surgical approaches is the prerequisite for surgical approach risk assessment. Clarifying the routes of surgical approaches can provide a more comprehensive understanding of the distribution and potential risks of adjacent tissue structures, such as the specific locations of arteries and veins, trachea, nerves and important organs, and provide key basic data for subsequent surgical approach risk assessment. Figure 2 As shown, Figure 2 This is a flow chart of obtaining the path in the clinical analysis method for thyroid surgery patients based on 3D images provided in an embodiment of the present application. The specific steps of determining the path of different surgical approaches based on the three-dimensional digital model include: Obtain a 3D digital model of the patient's head and neck and mark key tissue structures in the 3D digital model, including thyroid lesions, arteries, veins, trachea, and recurrent laryngeal nerve; Divide the three-dimensional digital model into voxel grids and use the center points of the voxel grids as path points; The surgical approach point is taken as the path starting point, the center point of the thyroid lesion is taken as the path end point, and a path point sequence is generated by a heuristic search algorithm to obtain the surgical approach path. The heuristic search algorithm includes the Dijkstra algorithm and the A* (A-star algorithm); The tangent vector of a path point can accurately reflect the directional change trend of the path at that path point. The curvature of the path point is further calculated through the tangent vector of the path point, and then the arc change of the path point is quantified, which helps to judge the smoothness and feasibility of the path and provides an important basis for path planning optimization and risk avoidance. The specific steps for calculating the tangent vector of each path point include: For any path point , get the waypoints Adjacent path points and Coordinates and , where the coordinates and In a unified spatial coordinate system, , ; Passing through adjacent waypoints and Coordinates and Calculate waypoints The tangent vector : ; in, , and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis, and z-axis, , and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis, and z-axis.

[0021] S130: Evaluate the spatial changes of laparoscopic operation through different surgical approaches by analyzing the spatial relationship between the path and adjacent structures; By analyzing the spatial relationship between the path and adjacent structures, the changes in the laparoscopic operation space caused by different surgical approaches can be quantified, revealing the differences in accessibility and operability of key anatomical areas. Spatial relationship assessment helps identify potential high-risk paths, optimize surgical approach design, reduce the risk of intraoperative structural damage, and provide data support for preoperative planning. The specific steps for evaluating the changes in the laparoscopic operation space of different surgical approaches by analyzing the spatial relationship between the path and adjacent structures include: Obtain the surgical approach path and any path point Corresponding laparoscope operation space ; The laparoscope operation space index is calculated by using the laparoscope operation space corresponding to the adjacent path points in the path. : ; in, For waypoints The corresponding laparoscope operation space, For waypoints The corresponding laparoscope operation space, is a natural constant, is the spatial volume change rate of adjacent path points, is the total laparoscope operation space in the three-dimensional digital model, is the number of path points, is the sum of the laparoscope operation spaces corresponding to all path points in the path, that is, the laparoscope operation space corresponding to the path, is the spatial variation weight coefficient of the laparoscope operation, is the weight coefficient of the laparoscope operation space, It is the laparoscopic operation space index, which is used to quantitatively analyze the changes in the laparoscopic operation space of different surgical approaches.

[0022] S140: Conduct risk assessment on different surgical approaches and determine the best candidate surgical approach based on the difficulty of laparoscopic operation and the changes in laparoscopic operation space; Conducting risk assessment on different surgical approaches and determining the best candidate surgical approach can minimize the risk of damage to important anatomical structures during surgery and improve surgical safety. At the same time, risk assessment can optimize the surgeon's operating space and field of view, improve surgical efficiency and reduce the incidence of postoperative complications. The specific steps for conducting risk assessment on different surgical approaches and determining the best candidate surgical approach include: Obtaining the laparoscopic operation difficulty index of the surgical approach and laparoscopic operation space index ; Laparoscopic operation difficulty index and laparoscopic operation space index Calculation of surgical approach risk index : ; in, is the weight coefficient of the difficulty of laparoscope operation, is the weight coefficient of the laparoscope operation space, , The surgical approach risk index is used to assess the risk of the surgical approach. The surgical approach with the smallest surgical approach risk index was selected as the best candidate surgical approach.

[0023] Reference Figure 3 As shown, Figure 3 3D image-based clinical analysis system for thyroid surgery patients provided in an embodiment of the present application. This embodiment provides a 3D image-based clinical analysis system for thyroid surgery patients, including: A data acquisition module 210 is used to acquire a three-dimensional digital model of the patient's head and neck; A first analysis module 220 is used to evaluate the difficulty of laparoscopic operation of different surgical approaches by analyzing the location of thyroid lesions; A second analysis module 230 is used to evaluate the spatial changes of laparoscopic operations of different surgical approaches by analyzing the spatial relationship between the path and adjacent structures; A risk assessment module 240, for performing risk assessment on different surgical approaches and determining the best candidate surgical approach according to the difficulty of laparoscopic operation and the change of laparoscopic operation space; The control module 250 is used to control the operation of the data acquisition module, the first analysis module, the second analysis module and the risk assessment module.

[0024] In the embodiment of the present application, the first analysis module 220 is used to evaluate the difficulty of laparoscopic operation of different surgical approaches by analyzing the location of thyroid lesions. The specific steps of evaluating the difficulty of laparoscopic operation of different surgical approaches include: Obtain a 3D digital model of the patient's head and neck and determine the paths of different surgical approaches based on the 3D digital model. path points, among which Waypoints The coordinates of , ; Calculate the tangent vector of each path point through the coordinates of adjacent path points; For any path point , through the waypoint Adjacent path points and The tangent vector and Calculate waypoints Curvature : ; in, For waypoints The tangent vector of For waypoints The tangent vector of For waypoints The coordinates of , For waypoints The coordinates of , For waypoints The curvature of Calculate the difficulty index of laparoscope operation by the curvature of each path point : ; in, For waypoints The curvature of is the mean curvature of all paths, is the number of path points, The laparoscopic operation difficulty index is used to evaluate the difficulty of laparoscopic operation in different surgical approaches. The specific steps for determining the path of different surgical approaches based on the three-dimensional digital model include: Obtain a 3D digital model of the patient's head and neck and mark key tissue structures in the 3D digital model, including thyroid lesions, arteries, veins, trachea, and recurrent laryngeal nerve; Divide the three-dimensional digital model into voxel grids and use the center points of the voxel grids as path points; The surgical approach point is taken as the path starting point, the center point of the thyroid lesion is taken as the path ending point, and a path point sequence is generated through a heuristic search algorithm to obtain the surgical approach path. The specific steps to calculate the tangent vector of each path point include: For any path point , get the waypoints Adjacent path points and Coordinates and ,in, , ; Passing through adjacent waypoints and Coordinates and Calculate waypoints The tangent vector : ; in, , and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis, and z-axis, , and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis, and z-axis.

[0025] In the embodiment of the present application, the second analysis module 230 is used to evaluate the spatial changes of laparoscopic operations of different surgical approaches by analyzing the spatial relationship between the path and the adjacent structure. The specific steps of evaluating the spatial changes of laparoscopic operations of different surgical approaches by analyzing the spatial relationship between the path and the adjacent structure include: Obtain the surgical approach path and any path point Corresponding laparoscope operation space ; The laparoscope operation space index is calculated by using the laparoscope operation space corresponding to the adjacent path points in the path. : ; in, For waypoints The corresponding laparoscope operation space, For waypoints The corresponding laparoscope operation space, is a natural constant, is the total laparoscope operation space in the three-dimensional digital model, is the number of path points, is the spatial variation weight coefficient of the laparoscope operation, is the weight coefficient of the laparoscope operation space, It is the laparoscopic operation space index, which is used to quantitatively analyze the changes in the laparoscopic operation space of different surgical approaches.

[0026] In the embodiment of the present application, the risk assessment module 240 is used to perform risk assessment on different surgical approaches and determine the best candidate surgical approach according to the difficulty of laparoscopic operation and the change of laparoscopic operation space. The specific steps of performing risk assessment on different surgical approaches and determining the best candidate surgical approach include: Obtaining the laparoscopic operation difficulty index of the surgical approach and laparoscopic operation space index ; Laparoscopic operation difficulty index and laparoscopic operation space index Calculation of surgical approach risk index : ; in, is the weight coefficient of the difficulty of laparoscope operation, is the weight coefficient of the laparoscope operation space, is the surgical approach risk index; The surgical approach with the smallest surgical approach risk index was selected as the best candidate surgical approach.

[0027] The above-mentioned parameters and steps for each unit module to implement corresponding functions in the clinical analysis system for thyroid surgery patients based on 3D images of the present application can be referred to the parameters and steps in the embodiment of the clinical analysis method for thyroid surgery patients based on 3D images above, and will not be repeated here.

[0028] Reference Figure 4 As shown, an embodiment of the present invention further provides an electronic device 300, including a memory 320 for storing a computer program 322; and a processor 310 for executing the computer program 322 to implement a clinical analysis method for thyroid surgery patients based on 3D images as in any of the above embodiments.

[0029] It should be noted that Figure 4 is a structural diagram of an electronic device 300 according to an exemplary embodiment. Figure 4 The contents herein shall not be construed as any limitation on the scope of use of the present invention.

[0030] Specifically, the electronic device 300 may include: at least one processor 310, at least one memory 320, a power supply 330, a communication interface 340, an input / output interface 350, and a communication bus 360. The memory 320 is used to store a computer program 322, which is loaded and executed by the processor 310 to implement the relevant steps in the clinical analysis method for thyroid surgery patients based on 3D images disclosed in any of the above embodiments. In addition, the electronic device 300 in the embodiment of the present invention may be specifically an electronic computer.

[0031] In an embodiment of the present invention, a power supply 330 is used to provide a working voltage for each hardware device on the electronic device 300; the communication interface 340 can create a data transmission channel between the electronic device 300 and an external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present invention, and is not specifically limited here; the input and output interface 350 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0032] In addition, the memory 320, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 321, a computer program 322, etc., and the storage method can be temporary storage or permanent storage.

[0033] The operating system 321 is used to manage and control the hardware devices and computer programs on the electronic device 300, and may be Windows Server, NetWare, Unix, Linux, etc. In addition to the computer program 322 that can be used to complete the 3D image-based clinical analysis method for thyroid surgery patients performed by the electronic device 300 disclosed in any of the aforementioned embodiments, the computer program 322 may further include a computer program 322 that can be used to complete other specific tasks.

[0034] An embodiment of the present invention further provides a computer-readable storage medium for storing a computer program 322 , wherein the computer program 322 , when executed by the processor 310 , implements a clinical analysis method for thyroid surgery patients based on 3D images as in any of the above embodiments.

[0035] For example, the computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0036] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0037] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A clinical analysis method for thyroid surgery patients based on 3D images, characterized in that: The steps include: Obtain a 3D digital model of the patient's head and neck; The difficulty of laparoscopic operation of different surgical approaches was evaluated by analyzing the location of thyroid lesions; The spatial changes of laparoscopic operation in different surgical approaches were evaluated by analyzing the spatial relationship between the path and adjacent structures. According to the difficulty of laparoscopic operation and the changes in laparoscopic operation space, the risks of different surgical approaches are evaluated and the best candidate surgical approach is determined.

2. The clinical analysis method for thyroid surgery patients based on 3D images according to claim 1, characterized in that: The specific steps of evaluating the difficulty of laparoscopic operation of different surgical approaches include: Obtain a 3D digital model of the patient's head and neck and determine the paths of different surgical approaches based on the 3D digital model. path points, among which Waypoints The coordinates of , ; Calculate the tangent vector of each path point through the coordinates of adjacent path points; For any path point , through the waypoint Adjacent path points and The tangent vector and Calculate waypoints Curvature : ； in, For waypoints The tangent vector of For waypoints The tangent vector of For waypoints The coordinates of , For waypoints The coordinates of , For waypoints The curvature of Calculate the difficulty index of laparoscope operation by the curvature of each path point : ； in, For waypoints The curvature of is the mean curvature of all paths, is the number of path points, The laparoscopic operation difficulty index is used to evaluate the difficulty of laparoscopic operation of different surgical approaches.

3. The clinical analysis method for thyroid surgery patients based on 3D images according to claim 2, characterized in that: The specific steps of determining the paths of different surgical approaches based on the three-dimensional digital model include: Obtain a 3D digital model of the patient's head and neck and mark key tissue structures in the 3D digital model, including thyroid lesions, arteries, veins, trachea, and recurrent laryngeal nerve; Divide the three-dimensional digital model into voxel grids and use the center points of the voxel grids as path points; The surgical approach point was taken as the starting point of the path and the center point of the thyroid lesion was taken as the end point of the path. A path point sequence was generated through a heuristic search algorithm to obtain the surgical approach path.

4. The 3D image-based clinical analysis method for thyroid surgery patients according to claim 2, characterized in that: The specific steps of calculating the tangent vector of each path point include: For any path point , get the waypoints Adjacent path points and Coordinates and ,in, , ; Passing through adjacent waypoints and Coordinates and Calculate waypoints The tangent vector : ； in, , and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis, and z-axis, , and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis, and z-axis.

5. The 3D image-based clinical analysis method for thyroid surgery patients according to claim 1, characterized in that: The specific steps of evaluating the spatial changes of laparoscopic operations of different surgical approaches by analyzing the spatial relationship between the path and the adjacent structures include: Obtain the surgical approach path And any path point Corresponding laparoscope operation space ; The laparoscope operation space index is calculated by using the laparoscope operation space corresponding to the adjacent path points in the path. : ； in, For waypoints The corresponding laparoscope operation space, For waypoints The corresponding laparoscope operation space, is a natural constant, is the total laparoscope operation space in the three-dimensional digital model, is the number of path points, is the spatial variation weight coefficient of the laparoscope operation, is the weight coefficient of the laparoscope operation space, It is the laparoscopic operation space index, which is used to quantitatively analyze the changes in the laparoscopic operation space of different surgical approaches.

6. The 3D image-based clinical analysis method for thyroid surgery patients according to claim 1, characterized in that: The specific steps of conducting risk assessment on different surgical approaches and determining the best candidate surgical approach include: Obtaining the laparoscopic operation difficulty index of the surgical approach and laparoscopic operation space index ; Laparoscopic operation difficulty index and laparoscopic operation space index Calculation of surgical approach risk index : ； in, is the weight coefficient of the difficulty of laparoscope operation, is the weight coefficient of the laparoscope operation space, is the surgical approach risk index; The surgical approach with the smallest surgical approach risk index was selected as the best candidate surgical approach.

7. A 3D image-based clinical analysis system for thyroid surgery patients, applied to a 3D image-based clinical analysis method for thyroid surgery patients as claimed in any one of claims 1 to 6, characterized in that: The system comprises: A data acquisition module, used to obtain a three-dimensional digital model of the patient's head and neck; The first analysis module is used to evaluate the difficulty of laparoscopic operation of different surgical approaches by analyzing the location of thyroid lesions; The second analysis module is used to evaluate the spatial changes of laparoscopic operations of different surgical approaches by analyzing the spatial relationship between the path and adjacent structures; A risk assessment module is used to conduct risk assessment on different surgical approaches and determine the best candidate surgical approach based on the difficulty of laparoscopic operation and the changes in laparoscopic operation space; The control module is used to control the operation of the data acquisition module, the first analysis module, the second analysis module and the risk assessment module.

8. An electronic device, comprising: A processor and a memory, wherein the memory stores a computer program that can be called by the processor; characterized in that the processor executes the 3D image-based clinical analysis method for thyroid surgery patients as described in any one of claims 1-6 by calling the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are executed on a computer, the computer is caused to execute the clinical analysis method for thyroid surgery patients based on 3D images as described in any one of claims 1 to 6.

Images