Medical image data generation method and device, electronic equipment and medical system

Abstract

The invention provides a medical image data generation method and device, electronic equipment and a medical system. The medical image data generation method comprises the steps of obtaining first image data, wherein the first image data is obtained by image data of a target object collected by first image equipment; determining a first reference object of a preset area of the target object according to the first image data; determining rotation data according to a position relationship between the first reference object and a second reference object of a supporting surface of a second image device, wherein the second image device is an image device matched with the interventional robot; determining offset data according to a distance between a first preset position of the preset area and a second preset position of the supporting surface; according to the first image data, the rotation data and the offset data, the second image data of the target object under the second image equipment is determined, and therefore under the condition that the first image data is obtained, the feasibility of preoperative planning under the image equipment matched with the interventional robot can be judged.

Description

Technical Field

[0001] The present application belongs to the field of image processing, and in particular to methods, devices, electronic equipment and medical systems for generating medical image data. Background Art

[0002] Image data such as computed tomography (CT) and magnetic resonance (MR) are important bases for medical diagnosis and are also required for interventional robots to perform surgery or surgery planning. For example, it is necessary to determine in advance based on image data whether the interventional robot can move within a fixed aperture during surgery.

[0003] Normally, surgery planning can be done based on specific imaging data from the CT scan of the interventional robot to determine the feasibility of the surgery plan. However, in some scenarios, it may not be convenient to obtain specific imaging data of the human body from the CT scan of the interventional robot, and the only way to do this is to use imaging data of the human body collected by third-party imaging equipment. However, if preoperative planning is done based on third-party imaging data, it is impossible to determine the feasibility of preoperative planning under the CT scan of the interventional robot. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a method, device, electronic device and medical system for generating medical imaging data, which can determine the feasibility of performing surgery on an imaging device supporting an interventional robot based on the imaging data of a target object under a third-party imaging device.

[0005] A first aspect of an embodiment of the present application provides a method for generating image data, comprising:

[0006] Acquire first image data, where the first image data is obtained from image data of a target object captured by a first imaging device;

[0007] Determine a first reference object in a preset area of ​​the target object according to the first image data;

[0008] Determining the rotation data of the preset area according to the positional relationship between the first reference object and a second reference object of a second imaging device, wherein the second imaging device is an imaging device matched with an interventional robot, and the second reference object is a symmetry plane or a symmetry axis of a support surface of the second imaging device;

[0009] determining offset data according to a distance between a first preset position of the preset area and a second preset position of the support surface;

[0010] Second image data of the target object under the second imaging device is determined according to the first image data, the rotation data, and the offset data.

[0011] In one embodiment, determining a first reference object of a preset area of ​​the target object according to the first image data includes:

[0012] Determine the image of the preset area according to the first image data;

[0013] Determine the similarity between an image of the preset area rotated around each candidate object and the image of the preset area, wherein the candidate object is obtained according to a preset algorithm;

[0014] The candidate object corresponding to the maximum similarity value is used as the first reference object.

[0015] In one embodiment, determining a first reference object in a preset area of ​​the target object according to the first image data includes:

[0016] Determine image data of a preset part of the preset area according to the first image data, where the preset part includes any one or more of an outer wall of the preset area, bones within the preset area, and organs within the preset area that meet preset morphologies;

[0017] A first reference object of the preset area is determined according to the image data of the preset part.

[0018] In one embodiment, determining the offset data according to the distance between the first preset position of the preset area and the second preset position of the support surface includes:

[0019] After rotating the preset area according to the rotation data, moving the preset area, when the distance between the first preset position and the second preset position is less than a first preset distance, taking the moving distance of the preset area as a first offset;

[0020] The preset area is moved on the second reference object, and a second offset of the preset area is determined when the closest distance between the preset area and the support surface is less than a second preset distance;

[0021] The offset data is determined according to the first offset and the second offset.

[0022] In one embodiment, the moving the preset area includes:

[0023] The preset area is moved according to the positional relationship between the point cloud data of the preset area and the point cloud data of the support surface.

[0024] In one embodiment, the acquiring of the first image data includes:

[0025] Acquire original image data obtained by scanning the target object by the first imaging device;

[0026] determining body position conversion data according to a first body position when the first imaging device scans the target object and a second body position corresponding to the second imaging device;

[0027] The first image data is determined according to the original image data and the body position conversion data.

[0028] In one embodiment, determining the first image data according to the original image data and the body position conversion data includes:

[0029] scaling the image corresponding to the original image data according to the device parameters of the first imaging device when scanning the target object and the device parameters of the second imaging device to obtain scaled image data;

[0030] The first image data is determined according to the scaled image data and the body position conversion data.

[0031] A second aspect of an embodiment of the present application provides a device for generating medical image data, including:

[0032] An acquisition module, used to acquire first image data, where the first image data is obtained from image data of a target object acquired by a first imaging device;

[0033] A symmetry plane determination module, configured to determine a first reference object in a preset area of ​​the target object according to the first image data;

[0034] a rotation data determination module, configured to determine the rotation data of the preset area according to a positional relationship between the first reference object and a second reference object of a second imaging device, wherein the second imaging device is an imaging device matched with an interventional robot, and the second reference object is a symmetry plane or a symmetry axis of a support surface of the second imaging device;

[0035] an offset data determining module, configured to determine offset data according to a distance between a first preset position of the preset area and a second preset position of the support surface;

[0036] A conversion module is used to determine second image data of the target object under the second imaging device according to the first image data, the rotation data and the offset data.

[0037] A third aspect of an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for generating medical imaging data as described in the first aspect above is implemented.

[0038] A fourth aspect of an embodiment of the present application provides a medical system, including a robot, a path planning device, and the electronic device as described in the third aspect above, wherein the path planning device is used to plan the path of the robot according to the second image data.

[0039] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for generating medical imaging data as described in the first aspect above is implemented.

[0040] A sixth aspect of an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the method for generating medical imaging data described in any one of the first aspects above.

[0041] Compared with the prior art, the embodiments of the present application have the following beneficial effects: by acquiring first image data of the target object under the first imaging device, determining the first reference object of the preset area of ​​the target object according to the first image data, and then determining the rotation data of the preset area according to the positional relationship between the first reference object and the second reference object of the supporting surface of the second imaging device, and then determining the offset data according to the distance between the first preset position of the preset area and the second preset position of the bed board, and finally determining the second image data of the target object under the second imaging device according to the first image data, the rotation data and the offset data. Since the second imaging device is equipped with the interventional robot, preoperative planning can be performed based on the second image data to determine the feasibility of the preoperative planning. That is, when only the first image data is acquired, the feasibility of the preoperative planning under the second imaging device equipped with the interventional robot can also be judged. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0043] Figure 1 It is a schematic diagram of the implementation process of the method for generating image data provided by an embodiment of the present application;

[0044] Figure 2 is a schematic diagram of a human body region provided in an embodiment of the present application;

[0045] Figure 3is a schematic diagram of determining a first symmetry plane provided by an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of the abdominal wall of the abdominal cavity provided in one embodiment of the present application;

[0047] Figure 5 is a schematic diagram of a second symmetry plane provided in an embodiment of the present application;

[0048] Figure 6 is a schematic diagram of a human body region in a straightened state provided by an embodiment of the present application;

[0049] Figure 7 is a schematic diagram of moving a human body region according to a first preset position and a second preset position provided by an embodiment of the present application;

[0050] Figure 8 It is a schematic diagram of moving a human body area in a vertical direction of a bed board provided by an embodiment of the present application;

[0051] Fig. 9 is a schematic diagram of second image data provided by an embodiment of the present application;

[0052] Fig.10 is a schematic diagram of a medical system provided by an embodiment of the present application;

[0053] Fig.11 is a schematic diagram of a device for generating image data provided in an embodiment of the present application;

[0054] Fig.12 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0056] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0057] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0058] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0059] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0060] In the prior art, before surgical planning, there is a problem that the image data of the target object collected by the imaging device supporting the interventional robot cannot be obtained, and only the third-party image data collected by the third-party imaging device can be obtained. Since the bed height, aperture size, body position when collecting data and other factors of the third-party imaging device and the imaging device supporting the interventional robot are inconsistent, if preoperative planning is performed based on the third-party imaging data, it is impossible to determine the feasibility of preoperative planning under the imaging device supporting the interventional robot.

[0061] To this end, the present application provides a method for generating image data, by acquiring first image data of a target object under a first imaging device, determining a first reference object of a preset area of ​​the target object according to the first image data, and then determining rotation data of the preset area according to the angle between the first reference object and a second reference object of a support surface of a second imaging device, and then determining offset data according to the distance between a first preset position of the preset area and a second preset position of the support surface, and finally determining second image data of the target object under a second imaging device according to the first image data, the rotation data, and the offset data, so that the second image data under an imaging device supporting an interventional robot can be obtained, which is convenient for subsequent preoperative planning based on the second image data and determining the feasibility of the preoperative planning. Therefore, in the case of only acquiring the first image data, the feasibility of the preoperative planning under the second imaging device supporting the interventional robot can also be judged.

[0062] The following is an exemplary description of the method for generating image data provided by the present application. The method for generating image data provided by the present application can be executed by an electronic device. The electronic device can be a computing device that communicates with the first imaging device and the second imaging device.

[0063] As an example, an embodiment of the present application provides the following scenario, which includes an electronic device and a first imaging device, wherein the electronic device is used to execute the method for generating image data provided in an embodiment of the present application, and the first imaging device is used to provide the first image data to the electronic device. As an example, there is a communication connection between the electronic device and the first imaging device. Thereby facilitating the electronic device and the first imaging device to transmit data, such as the first image data, via the communication connection. Of course, the first image data may also be input into the electronic device by the user or downloaded by the electronic device from other third-party devices (such as a cloud server), and the embodiment of the present application does not limit this.

[0064] Please see attached Figure 1 , a method for generating image data provided by an embodiment of the present application includes:

[0065] S101: The electronic device acquires first image data. For example, the first image data is acquired from image data of a target object captured by a first imaging device.

[0066] The target object may be a human body, an animal, etc. The first imaging device is a third-party imaging device and is not compatible with the interventional robot. The first imaging device may be CT, MR, or positron emission tomography (PET)-CT, and the first imaging data may be point cloud data of the target object or an image of the target object, and the point cloud data and the image may be converted to each other.

[0067] In one embodiment, the first image data acquired by the electronic device may be original image data obtained by the first imaging device scanning the target object, or may be image data obtained by the first imaging device processing the original image data.

[0068] In the embodiment of the present application, the electronic device may obtain the first image data from the first imaging device, and may also obtain the first image data captured by the first imaging device from other devices.

[0069] In another embodiment, the electronic device obtains original image data from the first imaging device, and performs data conversion, scaling and other processing on the original image data to obtain first image data.

[0070] S102: The electronic device determines a first reference object in a preset area of ​​the target object according to the first image data.

[0071] The first image data may be image data of a three-dimensional image or image data of a two-dimensional image. The preset area is an area selected from the target object, the preset area may be a shape of an approximately symmetrical structure, and the image of the preset area may be a three-dimensional image or a two-dimensional image. If the image of the preset area is a three-dimensional image, the first reference object is approximately the symmetry plane of the preset area. If the image of the preset area is a two-dimensional image, the first reference object is approximately the symmetry axis of the preset area. For example, if the target object is a human body, the preset area may be an area such as the chest, abdomen or head of the human body.

[0072] S103: The electronic device determines the rotation data of the preset area according to the positional relationship between the first reference object and the second reference object of the second imaging device, where the second imaging device is an imaging device matched with the interventional robot, and the second reference object is a symmetry plane or a symmetry axis of a support surface of the second imaging device.

[0073] The support surface may be a plane such as a bed board for placing the object to be collected. If the image of the preset area is a three-dimensional image, the second reference object is the symmetry plane of the support surface. If the image of the preset area is a two-dimensional image, the second reference object is the symmetry axis of the support surface. When the first reference object and the second reference object meet the set positional relationship, the target object is in a straightened state on the support surface.

[0074] S104: The electronic device determines offset data according to the distance between the first preset position of the preset area and the second preset position of the support surface.

[0075] Among them, the first preset position and the second preset position can be the center point, vertex or specified corresponding point of the preset area and the supporting surface respectively. By offsetting the preset area according to the first preset position and the second preset position, the preset area can be located at a specified position on the supporting surface, for example, the preset area is located in the central area of ​​the supporting surface.

[0076] S105: The electronic device determines second image data of the target object under the second imaging device according to the first image data, the rotation data and the offset data.

[0077] The rotation data indicates the angle that the preset area needs to rotate when it is in a straightened state on the support surface, and the offset data indicates the distance that the preset area needs to move when it is located at a specified position on the support surface. The rotation angle and moving distance of the preset area are consistent with the rotation angle and moving distance of the target object. Therefore, the electronic device transforms the first image data according to the rotation data and the offset data to obtain the second image data.

[0078] Exemplarily, both the rotation data and the offset data can be represented by matrices, and the rotation data and the offset data are multiplied to obtain a transformation matrix. The first image data is transformed according to the transformation matrix to obtain second image data of the target object under the second imaging device.

[0079] In the above embodiment, by acquiring the first image data of the target object under the first imaging device, determining the first reference object of the preset area of ​​the target object according to the first image data, and then determining the rotation data of the preset area according to the angle between the first reference object and the second reference object of the support surface of the second imaging device, and then determining the offset data according to the distance between the first preset position of the preset area and the second preset position of the support surface, and finally determining the second image data of the target object under the second imaging device according to the first image data, the rotation data and the offset data, the second image data of the imaging device supporting the interventional robot can be obtained, so as to facilitate the subsequent preoperative planning based on the second image data and determine the feasibility of the preoperative planning. Therefore, when only the first image data is acquired, the feasibility of the preoperative planning under the second imaging device supporting the interventional robot can also be judged.

[0080] In one embodiment, after acquiring the original image data obtained by the first imaging device scanning the target object, the electronic device determines the position conversion data according to the first position when the first imaging device scans the target object and the second position corresponding to the second imaging device, and determines the first image data according to the original image data and the position conversion data. The first position and the second position may refer to the placement of the target object on the support surface of the imaging device. The second position is determined according to the position required for the target object to undergo surgery, which may be set by the user or obtained by the electronic device according to the device information of the second imaging device and the matching of the surgical requirements.

[0081] Exemplarily, when the imaging device scans the human body, the body position of the human body can generally be any one of the following positions: Head First-Supine (HFS), Feet First-Supine (FFS), Head First-Prone (HFP), Feet First-Prone (FFP), Head First-Decubitus Left (HFDL), Feet First-Decubitus Left (FFDL), Head First-Decubitus Right (HFDR), Feet First-Decubitus Right (HFDR).

[0082] When the first imaging device scans the human body, the human body may be in any position, while the human body position when the second imaging device scans the human body must be the position required when the interventional robot performs surgery. If the position when the first imaging device scans the human body is the same as the position when the second imaging device scans the human body, the original image data collected by the first imaging device can be used as the first image data for subsequent processing. If the first position when the first imaging device scans the human body is different from the second position when the second imaging device scans the human body, it is necessary to perform a position conversion on the original image data to obtain the first image data in the second position. The second position when the second imaging device scans the human body is the human body position required when the interventional robot performs surgery. For example, if the first position when the first imaging device scans the human body is the HFS position, and the position required when the interventional robot performs surgery is the HFDL position, it is necessary to perform a position conversion on the image data collected by the first imaging device.

[0083] In one embodiment, after the electronic device acquires the original image data, the electronic device determines the posture conversion data based on the first posture when the first imaging device scans the human body and the second posture corresponding to the second imaging device. Thereafter, the electronic device determines the first image data based on the original image data and the posture conversion data.

[0084] For example, different positions of the human body can be represented by different matrices.

[0085] The matrix corresponding to the HFS position is expressed as

[0086] The matrix corresponding to the FFS position is expressed as

[0087] The matrix corresponding to the HFP position is expressed as

[0088] The matrix corresponding to the FFP position is expressed as

[0089] The matrix corresponding to the HFDL body position is expressed as

[0090] The matrix corresponding to the FFDL position is expressed as

[0091] The matrix corresponding to the HFDR position is expressed as

[0092] The matrix corresponding to the HFDR position is expressed as

[0093] The electronic device can determine conversion data according to the matrix corresponding to the first body position and the second body position. The conversion data can be represented by a matrix, and the first image data after the body position conversion can be determined according to the conversion data.

[0094] In one embodiment, after obtaining the original image data of the target object, the electronic device first determines a first conversion matrix between the first body position and the third body position, and determines the image data in the third body position according to the first conversion matrix. Thereafter, the electronic device determines a second conversion matrix between the third body position and the second body position, and determines the image data in the second body position, i.e., the first image data, according to the second conversion matrix, thereby reducing the computational complexity.

[0095] Exemplarily, the third body position is the HFS body position. For any point P (x, y, z) on the original image data of the human body, the conversion matrix M1 between the first body position and the HFS body position is determined, and P1=M1*P is obtained, where P1 represents the point corresponding to P in the image data of the HFS body position, thereby converting the original image data of the first body position into the image data of the HFS body position. Afterwards, the conversion matrix M2 between the HFS body position and the second body position is determined, and P2=M2*P1 is obtained, where P2 represents the point corresponding to P1 in the first image data of the second body position, thereby converting the image data of the HFS body position into the first image data.

[0096] For example, if the first position is the FFS position and the second position is the HFP position, then,

[0097]

[0098] According to the original image data and the two conversion matrices, the first image data of the second body position can be obtained.

[0099] In the above embodiment, the original image data is converted through the body position conversion data to obtain the first image data matching the second imaging device, so that the body position of the target object when the first imaging device is scanning is not limited during surgical planning, thereby expanding the scope of application of interventional robots for surgical planning.

[0100] In one embodiment, when the first position of the first image data is consistent with the second position corresponding to the second imaging device, the first image data is converted according to the rotation data and the offset data to obtain the second image data of the target object under the second imaging device, thereby achieving the alignment operation of the first image data with the support surface of the second imaging device. When the first position of the first image data is inconsistent with the second position corresponding to the second imaging device, the first image data is converted according to the position conversion matrix, the rotation data and the offset data to obtain the second image data of the target object under the second imaging device.

[0101] In one embodiment, after the electronic device obtains the original image data, it scales the image corresponding to the original image data according to the device parameters of the first imaging device when scanning the target object and the device parameters of the second imaging device to obtain the scaled image, and then determines the scaled image data according to the scaled image, and the size of the scaled image is consistent with the device parameters of the second imaging device when scanning the target object, and the device parameters may refer to parameters such as the zoom factor and the resolution. After the electronic device obtains the scaled image data, it performs a body position conversion on the scaled image data according to the scaled image data and the body position conversion data to obtain the first image data, thereby obtaining the first image data matching the second imaging device, and improving the accuracy of subsequent calculations.

[0102] In one embodiment, a method for determining a first reference object of a target object is as follows: determining an image of a preset area based on first image data, determining an image of the preset area after the image is rotated around each candidate object, and determining a similarity between the image of the preset area and the image of the preset area, wherein the candidate object is obtained according to a preset algorithm; and taking the candidate object corresponding to the maximum similarity value as the first reference object.

[0103] Specifically, if the image of the preset area is a three-dimensional image, the first reference object is the first reference plane, the image of the preset area is rotated around each candidate symmetry plane in turn, the similarity between all rotated images and the image of the preset area is traversed and calculated, and the candidate symmetry plane corresponding to the maximum similarity value is taken as the first reference plane, and the first reference plane is close to the symmetry plane of the preset area.

[0104] If the image of the preset area is a two-dimensional image, the first reference object is the first reference line, the image of the preset area is rotated around each candidate symmetry axis in turn, the similarity between all rotated images and the image of the preset area is traversed and calculated, and the candidate symmetry axis corresponding to the maximum similarity is used as the first reference line, and the first reference plane is close to the symmetry axis of the preset area.

[0105] Exemplarily, the preset area is the head, chest or abdomen of the human body, and the head, chest or abdomen of the human body may also be referred to as a human body area. Figure 2 This is a schematic diagram of the human abdomen. The human body region is generally approximately a symmetrical structure. Therefore, a first reference plane close to the symmetry plane of the human body region can be determined, and a first reference line close to the symmetry axis of a cross section of the human body region can be determined.

[0106] The following takes the target object as a human body and the preset area as a human body area as an example to explain the first reference object for determining the target object, wherein the image of the preset area is a three-dimensional image and the first reference object is a first reference plane.

[0107] After acquiring the first image data, the electronic device uses a deep learning algorithm to identify the human body region, thereby determining an image of the human body region. Alternatively, the first image data is a human body image, and the electronic device uses an image segmentation algorithm to determine a human body region mask, and segments the image of the human body region from the human body image according to the human body region mask. Exemplarily, the electronic device can segment the image of the human body region from the first image data using any one of a threshold-based segmentation algorithm, an edge detection-based segmentation algorithm, a clustering-based segmentation algorithm, a region-based segmentation algorithm, and the like.

[0108] In one embodiment, if Figure 3 As shown, after the electronic device obtains the image of the human body region, it determines the candidate symmetry plane 31 according to the preset algorithm, and then determines the similarity between the image of the human body region after the image of the human body region is rotated around the candidate symmetry plane and the image of the human body region, and determines the first reference plane close to the symmetry plane from the candidate symmetry planes according to the similarity. The preset algorithm can be a target optimization algorithm, such as a gradient descent algorithm, a genetic algorithm, etc.

[0109] Specifically, the electronic device first randomly generates a candidate symmetry plane, or determines a candidate symmetry plane passing through the center point of the human body region according to the length or shape of the human body region. Afterwards, the electronic device calculates the similarity between the image of the human body region after rotating 180° around the candidate symmetry plane and the image of the human body region. Afterwards, the electronic device determines the next candidate symmetry plane based on the similarity and the target optimization algorithm, so that the similarity corresponding to the next candidate symmetry plane is greater, or the electronic device generates the next candidate symmetry plane according to a preset angle interval, and calculates the similarity between the image of the human body region after rotating 180° around the next candidate symmetry plane and the image of the human body region. And so on, until the maximum similarity is obtained, the candidate symmetry plane corresponding to the maximum similarity is the first reference plane. Since the human body region is approximately a bilaterally symmetrical structure, the image of the human body region rotated 180° around the symmetry plane has similarity in structure with the image of the human body region. Therefore, the candidate symmetry plane corresponding to the maximum similarity is the first reference plane, and the first reference plane is close to the bilaterally symmetrical plane of the human body.

[0110] Exemplarily, the process of determining the first reference plane is regarded as an optimization problem of an objective function, and the objective function is u(f)=min(fD(f)), where f represents the image of the human body region, D(f) represents the image of the human body region after being rotated around the candidate symmetry plane, and u(f) represents the rotation vector of the candidate symmetry plane corresponding to the minimum difference (maximum similarity) between the image of the human body region and the image of the human body region after being rotated around the candidate symmetry plane, which is the rotation vector of the first reference plane. The rotation vector of the first reference plane is the rotation vector of the first reference plane in the set coordinate system.

[0111] In another embodiment, the electronic device may also use the plane where the midline of the human body region is located as the first reference plane. For example, the electronic device may also determine the midlines of multiple cross sections of the human body region according to the length or shape of the human body region, and the plane composed of multiple centers is the first reference plane.

[0112] In one embodiment, the target object is a human body, and the preset area is a human body area. The electronic device can first determine image data of a preset part of the preset area according to the first image data, and determine a first reference plane of the preset area according to the image data of the preset part.

[0113] Specifically, the preset part of the preset area can be the outer wall of the preset area, the bones in the preset area, and the organs in the preset area that meet the preset shape. Among them, the outer wall of the preset area is the peripheral area of ​​the preset area. For example, the preset area is the head, chest or abdomen of the human body, and the corresponding outer walls are the outer wall of the head, the outer wall of the chest and the outer wall of the abdomen. The organ that meets the preset shape can be an organ with an approximately symmetrical structure, for example, an organ without lesions is an organ with an approximately symmetrical structure. The electronic device can determine a first reference plane of the preset part of the preset area, and use the first reference plane of the preset part as the first reference plane of the preset area.

[0114] For example, Figure 4 As shown, the outer wall of the abdomen (i.e., the abdominal wall) 41 is the peripheral area of ​​the abdomen. The electronic device determines the candidate symmetry plane according to the length or shape of the abdominal wall, and then determines the similarity between the image of the abdominal wall rotated around the candidate symmetry plane and the abdominal wall, and then determines the first reference plane from the candidate symmetry planes. Alternatively, the electronic device determines the candidate symmetry plane according to the length or shape of the chest wall, and then determines the similarity between the image of the chest wall rotated around the candidate symmetry plane and the chest wall, and then determines the first reference plane from the candidate symmetry planes. When an organ in the human body is diseased, the overall shape of the human body region will change. By determining the first symmetry plane through the outer wall of the human body region, the bones in the human body region, and the organs without disease in the human body region, interference from internal or external images of the human body region can be avoided, thereby improving the accuracy of the calculation results.

[0115] In one embodiment, the electronic device rotates a preset area, and when it is determined that the first reference object in the preset area is parallel, overlapped, or nearly overlapped with the second reference object on the support surface, the rotation is stopped, and rotation data is determined according to the rotation angle of the preset area.

[0116] Specifically, when the first reference object is parallel, overlapped or nearly overlapped with the second reference object, the rotation angle of the preset area is the angle between the first reference object and the second reference object. The rotation angle can be determined according to the position of the first reference object and the position of the second reference object. For example, the preset area is a human body area, and the image of the preset area is a three-dimensional image. Figure 5As shown, the support surface is the bed board of the second imaging device, the second reference object 52 of the bed board 51 is a plane perpendicular to the bed board, that is, the second reference plane, and the first reference object is the first reference plane. A coordinate system is established with the center of the preset area as the origin, the left and right direction of the human body as the x-axis, and the front and back direction of the human body as the y-axis. The projection of the first reference plane on the xoy plane can be determined according to the position of the first reference plane, and the projection of the second reference plane on the xoy plane can be determined according to the position of the second reference plane. The angle between the projection of the first reference plane and the projection of the second reference plane is the angle between the first reference plane and the second reference plane, that is, the rotation angle α.

[0117] like Figure 6 As shown, the human body area is rotated by α around the head and feet direction of the human body. If the first reference plane is deflected to the left relative to the second reference plane, the human body is rotated counterclockwise. If the first reference plane is deflected to the right relative to the second reference plane, the human body is rotated clockwise, so that the first reference plane coincides with the second reference plane. At this time, the human body area is in a straightened state on the bed board. The electronic device can obtain the rotation data of the human body area when it is rotated by α around the head and feet direction of the human body according to the Rodriguez rotation formula. The Rodriguez rotation formula is used to calculate the formula of a new vector obtained when a rotation axis of a vector in three-dimensional space is rotated by a specified angle. Exemplarily, the rotation data can be represented by a matrix, that is, a rotation matrix. The calculation formula of the rotation matrix R is R=I+(sinα)K+(1-cosα)K 2 , K represents the rotation vector of the first symmetry plane, and I represents the unit matrix.

[0118] In one embodiment, the method for determining the offset data is: after rotating the preset area according to the rotation data, moving the preset area, when the distance between the first preset position and the second preset position is less than the first preset distance, using the moving distance of the preset area as the first offset; moving the preset area on the second reference object, and determining the second offset of the preset area when the closest distance between the preset area and the supporting surface is less than the second preset distance; determining the offset data according to the first offset and the second offset.

[0119] After the preset area is rotated according to the rotation data, the target object is in a straightened state on the support surface. When the target object is in a straightened state on the support surface, the preset area is offset to move the target object to a specified position on the support surface.

[0120] In one embodiment, the electronic device moves the preset area according to the positional relationship between the point cloud data of the preset area and the point cloud data of the supporting surface.

[0121] Specifically, after rotating the preset area according to the rotation data, the electronic device determines the first projection data of the preset area on the preset plane according to the point cloud data of the preset area, and determines the second projection data of the supporting surface on the preset plane according to the point cloud data of the supporting surface. Afterwards, the electronic device calculates the center point of the first projection data, takes the center point of the first projection data as the first preset position, calculates the center point of the second projection data, and takes the center point of the second projection data as the second preset position. Among them, the preset plane is perpendicular to the plane where the supporting surface is located. For example, the target object is a human body, the supporting surface is a bed board, and the preset plane is perpendicular to the plane where the human body area is located. It can be the xoy plane of the preset coordinate system, and the x-axis of the preset coordinate system is the left-right direction of the human body, the y-axis is the front-back direction of the human body, and the z-axis is the head-foot direction of the human body.

[0122] like Figure 7 As shown, after determining the first preset position and the second preset position, the preset area is moved in the preset plane. When the distance between the first preset position and the second preset position is less than the first preset distance, the electronic device uses the moving distance of the preset area in the coordinate system as the first offset. Wherein, when the distance between the first preset position and the second preset position is less than the first preset distance, the first preset position and the second preset position are nearly overlapped. If the image of the preset area is a three-dimensional image, the first offset is the offset of the point cloud data of the preset area in the xoy plane, that is, the first offset includes at least one of the offset of the point cloud data of the preset area in the x direction and the offset in the y direction. If the image of the preset area is a two-dimensional image, the first offset is the offset of the point cloud data of the preset area in the x direction.

[0123] Afterwards, the preset area is moved in the vertical direction (i.e., y direction) of the support surface. When the electronic device determines that the closest distance between the preset area and the support surface is less than the second preset distance, the movement is stopped. At this time, the center position of the preset area is aligned with the center position of the support surface, and the preset area is separated from the support surface by a certain distance. The moving distance of the preset area is used as the second offset. The first offset and the second offset are offset data, and the offset data can be represented by a matrix.

[0124] In one embodiment, when the first preset position coincides with the second preset position, the human body region is moved in a vertical direction of the support surface according to a preset step length, for example, the preset step length may be 1 mm. Figure 8As shown, when the closest distance between the preset area and the support surface is less than the second preset distance, the moving distance of the preset area is used as the second offset. The closest distance between the preset area and the support surface can be the two points closest to each other in the point cloud data of the preset area and the point cloud data of the support surface. When the distance between the two closest points is greater than or equal to the preset step length and less than 2 times the preset step length, the closest distance between the preset area and the support surface is less than the second preset distance, and the preset area is located at the preset position of the support surface.

[0125] For example, Fig. 9 As shown, after rotating the human body region according to the rotation data, the human body region is moved according to the first offset and the second offset, so that the human body region is located in the center area of ​​the bed board, and the human body is exactly separated from the bed board.

[0126] In one embodiment, the method for generating medical image data provided in the embodiment of the present application is applied to a medical system. Fig.10 As shown, the medical system includes an electrical device 100 for executing the above-mentioned method for generating medical image data, and also includes a path planning device 200 and a robot 300. The electronic device 100 is used to adopt the above-mentioned method for generating medical image data, obtain the second image data according to the first image data, and send the second image data to the path planning device 200. The path planning device 200 plans the path of the robot 300 when performing surgery according to the area to be operated on. Afterwards, the electronic device 100 can obtain the planned surgical path from the path planning device 200, and then perform 3D space modeling based on the second image data, the point cloud data of the bed board, and the position of external obstacles, and determine whether the planned surgical path is feasible based on the robot model and the environment model. When the electronic device 100 determines that the surgical path is feasible, it instructs the robot 300 to perform surgery according to the planned surgical path.

[0127] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0128] Corresponding to the method for generating image data described in the above embodiment, Fig.10 A structural block diagram of a device for generating medical image data provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0129] like Fig.11 As shown, the device for generating medical image data includes:

[0130] An acquisition module 111 is used to acquire first image data, where the first image data is obtained from image data of a target object acquired by a first imaging device;

[0131] A symmetry plane determining module 112, configured to determine a first reference object of a preset area of ​​the target object according to the first image data;

[0132] A rotation data determination module 113, configured to determine the rotation data of the preset area according to a positional relationship between the first reference object and a second reference object of a second imaging device, wherein the second imaging device is an imaging device matched with an interventional robot, and the second reference object is a symmetry plane or a symmetry axis of a support surface of the second imaging device;

[0133] An offset data determination module 114, configured to determine offset data according to a distance between a first preset position of the preset area and a second preset position of the support surface;

[0134] The conversion module 115 is used to determine the second image data of the target object under the second imaging device according to the first image data, the rotation data and the offset data.

[0135] In one embodiment, the symmetry plane determination module 112 is specifically used to:

[0136] Determine the image of the preset area according to the first image data;

[0137] Determine the similarity between an image of the preset area rotated around each candidate object and the image of the preset area, wherein the candidate object is obtained according to a preset algorithm;

[0138] The candidate object corresponding to the maximum similarity value is used as the first reference object.

[0139] In one embodiment, the symmetry plane determination module 112 is specifically used to:

[0140] Determine image data of a preset part of the preset area according to the first image data, where the preset part includes any one or more of an outer wall of the preset area, bones within the preset area, and organs within the preset area that meet preset morphologies;

[0141] A first reference object of the preset area is determined according to the image data of the preset part.

[0142] In one embodiment, the offset data determination module 114 is specifically configured to:

[0143] After rotating the preset area according to the rotation data, moving the preset area, when the distance between the first preset position and the second preset position is less than a first preset distance, taking the moving distance of the preset area as a first offset;

[0144] The preset area is moved on the second reference object, and a second offset of the preset area is determined when the closest distance between the preset area and the support surface is less than a second preset distance;

[0145] The offset data is determined according to the first offset and the second offset.

[0146] In one embodiment, the offset data determination module 114 is specifically configured to:

[0147] The preset area is moved according to the positional relationship between the point cloud data of the preset area and the point cloud data of the support surface.

[0148] In one embodiment, the acquisition module 111 is specifically used for:

[0149] Acquire original image data obtained by scanning the target object by the first imaging device;

[0150] determining body position conversion data according to a first body position when the first imaging device scans the target object and a second body position corresponding to the second imaging device;

[0151] The first image data is determined according to the original image data and the body position conversion data.

[0152] In one embodiment, the acquisition module 111 is specifically used for:

[0153] scaling the image corresponding to the original image data according to the device parameters of the first imaging device when scanning the target object and the device parameters of the second imaging device to obtain scaled image data;

[0154] The first image data is determined according to the scaled image data and the body position conversion data.

[0155] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0156] Fig.12 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may be a computing device such as a desktop computer, a notebook, or a PDA.

[0157] like Fig.12As shown, the electronic device of this embodiment includes: a processor 121, a memory 122, and a computer program 123 stored in the memory 122 and executable on the processor 121. When the processor 121 executes the computer program 123, the steps in the above-mentioned method for generating image data are implemented, for example Figure 1 Alternatively, when the processor 121 executes the computer program 123, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Fig.11 The functions of the acquisition module 111 to the conversion module 115 are shown.

[0158] Exemplarily, the computer program 123 may be divided into one or more modules / units, which are stored in the memory 122 and executed by the processor 121 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 123 in the electronic device.

[0159] Those skilled in the art will understand that Fig.12 These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0160] The processor 121 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0161] The memory 122 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory 122 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 122 may also include both an internal storage unit of the electronic device and an external storage device. The memory 122 is used to store the computer program and other programs and data required by the electronic device. The memory 122 may also be used to temporarily store data that has been output or is to be output.

[0162] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0163] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0164] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0167] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0168] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for generating medical image data, characterized in that: include: Acquire first image data, where the first image data is obtained from image data of a target object captured by a first imaging device; Determine a first reference object in a preset area of ​​the target object according to the first image data; Determining the rotation data of the preset area according to the positional relationship between the first reference object and a second reference object of a second imaging device, wherein the second imaging device is an imaging device matched with an interventional robot, and the second reference object is a symmetry plane or a symmetry axis of a support surface of the second imaging device; determining offset data according to a distance between a first preset position of the preset area and a second preset position of the support surface; Second image data of the target object under the second imaging device is determined according to the first image data, the rotation data, and the offset data.

2. The method according to claim 1, characterized in that Determining a first reference object in a preset area of ​​the target object according to the first image data includes: Determine the image of the preset area according to the first image data; Determine the similarity between an image of the preset area rotated around each candidate object and the image of the preset area, wherein the candidate object is obtained according to a preset algorithm; The candidate object corresponding to the maximum similarity value is used as the first reference object.

3. The method according to claim 1, characterized in that The determining, according to the first image data, a first reference object in a preset area of ​​the target object comprises: Determine image data of a preset part of the preset area according to the first image data, wherein the preset part includes any one or more of an outer wall of the preset area, a bone within the preset area, and an organ within the preset area that meets a preset morphology; A first reference object of the preset area is determined according to the image data of the preset part.

4. The method according to claim 1, characterized in that: The determining of the offset data according to the distance between the first preset position of the preset area and the second preset position of the support surface comprises: After rotating the preset area according to the rotation data, moving the preset area, and when the distance between the first preset position and the second preset position is less than a first preset distance, taking the moving distance of the preset area as a first offset; The preset area is moved on the second reference object, and a second offset of the preset area is determined when the closest distance between the preset area and the support surface is less than a second preset distance; The offset data is determined according to the first offset and the second offset.

5. The method according to claim 4, characterized in that The moving the preset area includes: The preset area is moved according to the positional relationship between the point cloud data of the preset area and the point cloud data of the support surface.

6. The method according to any one of claims 1 to 5, characterized in that: The acquiring of the first image data comprises: Acquire original image data obtained by scanning the target object by the first imaging device; Determining body position conversion data according to a first body position when the first imaging device scans the target object and a second body position corresponding to the second imaging device; The first image data is determined according to the original image data and the body position conversion data.

7. The method according to claim 6, characterized in that The determining the first image data according to the original image data and the body position conversion data includes: scaling the image corresponding to the original image data according to the device parameters of the first imaging device when scanning the target object and the device parameters of the second imaging device to obtain scaled image data; The first image data is determined according to the scaled image data and the body position conversion data.

8. A device for generating medical image data, characterized in that: include: An acquisition module, used to acquire first image data, where the first image data is obtained from image data of a target object acquired by a first imaging device; A symmetry plane determination module, configured to determine a first reference object in a preset area of ​​the target object according to the first image data; a rotation data determination module, configured to determine the rotation data of the preset area according to a positional relationship between the first reference object and a second reference object of a second imaging device, wherein the second imaging device is an imaging device matched with an interventional robot, and the second reference object is a symmetry plane or a symmetry axis of a support surface of the second imaging device; an offset data determination module, configured to determine offset data according to a distance between a first preset position of the preset area and a second preset position of the support surface; A conversion module is used to determine second image data of the target object under the second imaging device according to the first image data, the rotation data and the offset data.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A medical system, characterized in that: It comprises a robot, a path planning device and the electronic device as claimed in claim 9, wherein the path planning device is used to plan the path of the robot according to the second image data.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images