Clinical analysis system and method for thyroid surgery patients based on 3D images

Abstract

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, the steps of which include: obtaining a three-dimensional digital model of the patient's head and neck; evaluating the difficulty of laparoscopic operation of different surgical approaches by analyzing the location of thyroid lesions; evaluating the spatial changes of laparoscopic operation of different surgical approaches by analyzing the spatial relationship between the path and adjacent structures; and conducting risk assessment of different surgical approaches and determining the best candidate surgical approach based on the difficulty of laparoscopic operation and the spatial changes of laparoscopic operation. The present application 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.

Description

Technical Field

[0001] This 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 Technology

[0002] As an endocrine organ of the human body, the thyroid gland is actually composed of follicles surrounded by a large number of thyroid follicular cells. Under the microscope, the follicular cavity is filled with homogeneous eosinophilic colloid. The local hardness and structure of the thyroid tissue change abnormally, resulting in one or more abnormal tissue structure masses, and the lesions that show differences from the normal thyroid substance in imaging are 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. However, 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 front of the neck, concealed incisions, and ideal cosmetic effects compared to 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, this 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 purpose, this application adopts the following technical solutions:

[0008] In a first aspect, the present application provides a clinical analysis method for thyroid surgery patients based on 3D images, comprising the following steps:

[0009] Obtain a 3D digital model of the patient's head and neck;

[0010] Evaluate the difficulty of laparoscopic operation through different surgical approaches by analyzing the location of thyroid lesions;

[0011] Evaluate the spatial changes of laparoscopic operation through different surgical approaches by analyzing the spatial relationship between the path and adjacent structures;

[0012] According to the difficulty of laparoscopic operation and the changes in laparoscopic operation space, the risk of different surgical approaches is evaluated and the best candidate surgical approach is determined.

[0013] Optionally, the specific steps of evaluating the difficulty of laparoscopic operation of different surgical approaches include:

[0014] Obtain a 3D digital model of the patient's head and neck and determine the path of different surgical approaches based on the 3D digital model. The path is determined by path points, among which the Waypoints The coordinates of are , ;

[0015] Calculate the tangent vector of each path point through the coordinates of adjacent path points;

[0016] For any path point , through the waypoint 's adjacent waypoints and The tangent vector of and Calculate Waypoints The curvature of :

[0017] ;

[0018] Among them, is a waypoint The tangent vector of , is a waypoint The tangent vector of , is a waypoint 's coordinates, , is a waypoint 's coordinates, , is a waypoint​​​ The curvature of;

[0019] Calculate the endoscopic operation difficulty index through the curvature of each path point :

[0020] ;

[0021] Wherein, is the path point The curvature of, is the average curvature of all passing paths, is the number of path points, is the endoscopic operation difficulty index, and the endoscopic operation difficulty index is used to evaluate the endoscopic operation difficulty of different surgical approaches.

[0022] Optionally, the specific steps for determining the passing paths of different surgical approaches based on the three-dimensional digital model include:

[0023] Obtain the three-dimensional digital model of the patient's head and neck and mark the key organizational structures in the three-dimensional digital model. The key organizational structures include thyroid lesions, arteries, veins, trachea, and recurrent laryngeal nerves;

[0024] Divide the three-dimensional digital model into voxel grids and use the center points of the voxel grids as path points;

[0025] Taking the surgical approach point as the starting point of the path and the center point of the thyroid lesion as the end point of the path, generate a sequence of path points through the heuristic search algorithm to obtain the passing path of the surgical approach.

[0026] Optionally, the specific steps for calculating the tangent vector of each path point include:

[0027] For any path point , obtain the adjacent path points of the path point and coordinates and , wherein, , ;

[0028] Through the adjacent path points and coordinates and Calculate the tangent vector of the path point :

[0029] ;

[0030] Wherein, , and are respectively the th path point coordinate values on the x-axis, y-axis, and z-axis, , and are respectively the th path point coordinate values on the x-axis, y-axis, and z-axis.

[0031] Optionally, the specific steps for evaluating the change in the endoscopic operation space of different surgical approaches by analyzing the spatial relationship between the traveling path and adjacent structures include:

[0032] Obtain the traveling path of the surgical approach and any path point corresponding endoscopic operation space ;

[0033] Calculate the endoscopic operation space index through the endoscopic operation spaces corresponding to adjacent path points in the traveling path :

[0034] ;

[0035] Wherein, is the endoscopic operation space corresponding to the path point , is the endoscopic operation space corresponding to the path point , is the natural constant, is the total endoscopic operation space in the three-dimensional digital model, is the number of path points, is the weight coefficient of the change in the endoscopic operation space, is the weight coefficient of the proportion of the endoscopic operation space, is the endoscopic operation space index, and the endoscopic operation space index is used to quantitatively analyze the change in the endoscopic operation space of different surgical approaches.

[0036] Optionally, the specific steps for risk assessment of different surgical approaches and determining the best candidate surgical approach include:

[0037] Obtain the endoscopic operation difficulty index and the endoscopic operation space index ;

[0038] Calculate the surgical approach risk index through the endoscopic operation difficulty index and the endoscopic operation space index : :

[0039] ;

[0040] Among them, 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;

[0041] The surgical approach with the smallest surgical approach risk index is selected as the best candidate surgical approach.

[0042] It should be noted 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 obtained as follows: collect 3D digital models of the head and neck of 100 patients undergoing thyroid surgery, distinguish whether the surgical approach risk meets the safety requirements and calculate the surgical approach risk index based on the 3D digital model, import the calculated surgical approach risk index and the distinction result into the fitting software at the same time, and output 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.

[0043] In a second aspect, the present application provides a 3D image-based clinical analysis system for thyroid surgery patients, including:

[0044] Data acquisition module, used to obtain the three-dimensional digital model of the patient's head and neck;

[0045] The first analysis module is used to evaluate the difficulty of laparoscopic operation of different surgical approaches by analyzing the location of thyroid lesions;

[0046] 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;

[0047] Risk assessment module, used to conduct 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;

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Compared with the prior art, this application has the following advantages and beneficial effects:

[0052] This application first uses a three-dimensional digital model to analyze the changes in the curvature of the path between the location of the thyroid lesion and different surgical approaches to quantify the difficulty of laparoscopic operation, and then quantifies the changes in the laparoscopic operation space caused by different surgical approaches by analyzing the spatial relationship between the path and the adjacent structures. Finally, based on the difficulty of laparoscopic operation and the changes in laparoscopic operation space, the application conducts a risk assessment of different surgical approaches and determines the best candidate surgical approach, thereby improving the accuracy and reliability of surgical approach risk assessment and ensuring the safety and thoroughness of the operation. Brief Description of the Figures

[0053] 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:

[0054] Figure 1 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;

[0055] Figure 2 is a schematic 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;

[0056] Figure 3 is a schematic diagram of the structure of a 3D image-based clinical analysis system for thyroid surgery patients provided in an embodiment of the present application;

[0057] Figure 4 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Specific implementation method

[0058] 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.

[0059] Reference Figure 1 As shown, Figure 1 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:

[0060] S110: Obtain a 3D digital model of the patient's head and neck;

[0061] Use spiral CT of the neck to perform three-phase scanning (plain scan, arterial phase, venous phase), with a layer thickness of 0.64mm. Import the three-phase thin-layer images into 3D medical image processing software in DICOM (Digital Imaging and Communications in Medicine) format, and perform multi-planar reformation (MPR), multi-curved planar reformation (CPR) and volume rendering (VR) to obtain a three-dimensional digital model of the patient's head and neck;

[0062] S120: Evaluate the difficulty of laparoscopic operation through different surgical approaches by analyzing the location of thyroid lesions;

[0063] 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-breast approach, axillary approach, axillary-breast 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:

[0064] Obtain a 3D digital model of the patient's head and neck and determine the path of different surgical approaches based on the 3D digital model. The path is determined by path points, among which the Waypoints The coordinates of are , ;

[0065] Calculate the tangent vector of each path point through the coordinates of adjacent path points;

[0066] For any path point , through the waypoint 's adjacent waypoints and The tangent vector of and Calculate Waypoints The curvature of : ​​​​

[0067] ;

[0068] Among them, is the tangent vector of the path point . is the tangent vector of the path point . is the coordinate of the path point . , is the coordinate of the path point . , is the distance between adjacent path points and . is the curvature of the path point , used to describe the degree of bending at the path point ;

[0069] Calculate the endoscopic operation difficulty index through the curvature of each path point :

[0070] ;

[0071] Among them, is the curvature of the path point , is the sum of the curvatures of all path points. Since the calculation of the curvature depends on the adjacent path points before and after, therefore, the curvature of the first path point and the last path point cannot be directly calculated. , is the average curvature of all passing paths, is the number of path points, is the endoscopic operation difficulty index, and the endoscopic operation difficulty index is used to evaluate the endoscopic operation difficulty of different surgical approaches;

[0072] Determining the passing paths of different surgical approaches is the premise for surgical approach risk assessment. Clearly defining the passing paths of surgical approaches can more comprehensively understand the distribution and potential risks of adjacent tissue structures, such as the specific locations of arteries, veins, trachea, nerves, and important organs, and provide key basic data for subsequent surgical approach risk assessment. Referring to Figure 2 shown, Figure 2 is the flow chart of obtaining the passing path in the clinical analysis method of thyroid surgery patients based on 3D images provided by the embodiment of the present application. The specific steps for determining the passing paths of different surgical approaches based on the three-dimensional digital model include:

[0073] Obtain a three-dimensional digital model of the patient's head and neck and mark the key organizational structures in the three-dimensional digital model. The key organizational structures include thyroid lesions, arteries, veins, trachea, and recurrent laryngeal nerves;

[0074] Divide the three-dimensional digital model into voxel grids and use the center points of the voxel grids as path points;

[0075] Taking the surgical approach point as the starting point of the path and the center point of the thyroid lesion as the ending point of the path, generate a sequence of path points through a heuristic search algorithm to obtain the travel path of the surgical approach. Among them, the heuristic search algorithm includes the Dijkstra algorithm and the A* (A-star algorithm);

[0076] The tangent vector of the path point can accurately reflect the direction change trend of the travel path at this path point. Further calculate the path point curvature through the tangent vector of the path point, and then quantify the radian change of the path point, which helps to judge the smoothness and feasibility of the travel 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:

[0077] For any path point , obtain the adjacent path points and and coordinates and , where the coordinates and are in a unified spatial coordinate system, , ;

[0078] Through the coordinates of the adjacent path points and coordinates and calculate the tangent vector of the path point : :

[0079] ;

[0080] Among them, , and are the x-axis, y-axis, and z-axis coordinate values of the th path point respectively, , and are the x-axis, y-axis, and z-axis coordinate values of the th path point respectively.

[0081] S130: Evaluate the spatial changes of laparoscopic operation through different surgical approaches by analyzing the spatial relationship between the path and adjacent structures;

[0082] 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:

[0083] Get the surgical approach path and any waypoints Corresponding laparoscope operation space ;

[0084] Calculate the laparoscope operation space index by using the laparoscope operation space corresponding to the adjacent path points in the path :

[0085] ;

[0086] Among them, is a waypoint The corresponding laparoscope operation space, is a waypoint 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 weight coefficient of the laparoscope operation space variation, is the weight coefficient of the laparoscope operation space, is the laparoscopic operation space index, which is used to quantitatively analyze the changes in laparoscopic operation space for different surgical approaches.

[0087] 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;

[0088] ​Risk assessment of different surgical approaches and determination of 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 risk assessment of different surgical approaches and determination of the best candidate surgical approach include:

[0089] Obtaining the laparoscopic difficulty index of the surgical approach and laparoscope operation space index ;

[0090] Laparoscopic operation difficulty index and laparoscope operation space index Calculate the surgical approach risk index :

[0091] ;

[0092] Among them, 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, which is used to assess the risk of the surgical approach;

[0093] The surgical approach with the smallest surgical approach risk index is selected as the best candidate surgical approach.

[0094] Reference Figure 3 As shown, Figure 3 is a schematic diagram of the structure of a 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:

[0095] Data acquisition module 210, used to obtain a three-dimensional digital model of the patient's head and neck;

[0096] 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;

[0097] 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 adjacent structures;

[0098] Risk assessment module 240, 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;

[0099] ​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.

[0100] 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:

[0101] Obtain a 3D digital model of the patient's head and neck and determine the path of different surgical approaches based on the 3D digital model. The path is determined by path points, among which the Waypoints The coordinates of are , ;

[0102] Calculate the tangent vector of each path point through the coordinates of adjacent path points;

[0103] For any path point , through the waypoint 's adjacent waypoints and The tangent vector of and Calculate Waypoints The curvature of :

[0104] ;

[0105] Among them, is a waypoint The tangent vector of , is a waypoint The tangent vector of , is a waypoint 's coordinates, , is a waypoint 's coordinates, , is a waypoint The curvature of ;

[0106] Calculate the difficulty index of laparoscope operation by the curvature of each path point :

[0107] ;

[0108] Among them, is a waypoint 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;

[0109] The specific steps for determining the path of different surgical approaches based on the three-dimensional digital model include:

[0110] 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;

[0111] Divide the 3D digital model into voxel grids and use the center points of the voxel grids as path points;

[0112] 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 through a heuristic search algorithm to obtain the surgical approach path;

[0113] The specific steps for calculating the tangent vector of each path point include:

[0114] For any path point , Get the waypoints 's adjacent waypoints and Coordinates of and , among which, , ;

[0115] Passing through adjacent waypoints and 's coordinates and Calculate Waypoints The tangent vector of :

[0116] ;

[0117] Among them, 、 and Respectively Waypoints The coordinate values ​​on the x-axis, y-axis and z-axis, 、 and Respectively Waypoints Coordinate values ​​on the x-axis, y-axis, and z-axis.

[0118] ​​​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:

[0119] Get the surgical approach path and any waypoints Corresponding laparoscope operation space ;

[0120] Calculate the laparoscope operation space index by using the laparoscope operation space corresponding to the adjacent path points in the path :

[0121] ;

[0122] Among them, is a waypoint The corresponding laparoscope operation space, is a waypoint 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 weight coefficient of the laparoscope operation space variation, is the weight coefficient of the laparoscope operation space, is the laparoscopic operation space index, which is used to quantitatively analyze the changes in laparoscopic operation space for different surgical approaches.

[0123] 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:

[0124] Obtaining the laparoscopic difficulty index of the surgical approach and laparoscope operation space index ;

[0125] Laparoscopic operation difficulty index and laparoscope operation space index Calculate the surgical approach risk index :

[0126] ;

[0127] Among them, is the weight coefficient of the difficulty of laparoscope operation, ​is the weight coefficient of the endoscopic operation space, is the surgical approach risk index;

[0128] The surgical approach with the minimum surgical approach risk index is taken as the best candidate surgical approach.

[0129] For the parameters and the steps of each unit module in the above-mentioned 3D image-based clinical analysis system for thyroid surgery patients of the present application to implement corresponding functions, reference can be made to the parameters and steps in the embodiments of the 3D image-based clinical analysis method for thyroid surgery patients in the foregoing text, which will not be elaborated herein.

[0130] Referring to 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; a processor 310 for executing the computer program 322 to implement the 3D image-based clinical analysis method for thyroid surgery patients in any of the above embodiments.

[0131] It should be noted that this Figure 4 is a structural diagram of the electronic device 300 shown according to an exemplary embodiment, Figure 4 and the content therein cannot be regarded as any limitation to the scope of use of the present invention.

[0132] Specifically, the electronic device 300 may specifically 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. Among them, the memory 320 is used to store the computer program 322, and the computer program 322 is loaded and executed by the processor 310 to implement the relevant steps in the 3D image-based clinical analysis method for thyroid surgery patients disclosed in any of the foregoing embodiments. In addition, the electronic device 300 in the embodiment of the present invention may specifically be an electronic computer.

[0133] In the embodiment of the present invention, the power supply 330 is used to provide 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 external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of the present invention, and no specific limitation is imposed thereon herein; the input / output interface 350 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application needs, and no specific limitation is made herein.

[0134] In addition, as a carrier for resource storage, the memory 320 may be a read-only memory, a random access memory, a disk, or an optical disc, etc., and the resources stored thereon may include an operating system 321, a computer program 322, etc., and the storage method may be temporary storage or permanent storage.

[0135] Among them, the operating system 321 is used to manage and control each hardware device and computer program on the electronic device 300, and it can be Windows Server, NetWare, Unix, Linux, etc. In addition to the computer program 322 that can be used to complete the clinical analysis method of thyroid surgery patients based on 3D images executed by the electronic device 300 disclosed in any of the foregoing embodiments, the computer program 322 may further include a computer program 322 that can be used to complete other specific tasks.

[0136] An embodiment of the present invention further provides a computer-readable storage medium for storing the computer program 322. When the computer program 322 is executed by the processor 310, it implements the clinical analysis method of thyroid surgery patients based on 3D images in any of the above embodiments.

[0137] For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0138] The term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series 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 device.

[0139] The above description is only the preferred embodiments of the present application and the description of the applied technical principles. Those skilled in the art should understand that the scope of the application involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the foregoing application concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having 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; 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.

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 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.

6. 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 5, 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.

7. 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 1-5 by calling the computer program stored in the memory.

8. 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 5.

Images