Blood vessel imaging visualization method for laparoscope data acquisition
By combining pre-detection and real-time images, a reference and real-time vascular models are established for comparison, the problem of insufficient position correspondence during vascular puncture is solved, and the accuracy and intensity of vascular visualization are improved.
Patent Information
- Application Number
- CN202510241286.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-03
- Publication Date
- 2025-06-13
AI Technical Summary
The existing vascular visualization technology has the problem of insufficient position correspondence during complex vascular puncture, which affects the accuracy of vascular imaging.
By combining pre-detected images and real-time acquired images, a reference vascular model and a real-time vascular model are established, and a comparison is performed to obtain the real-time reference points corresponding to the selected location, and image enhancement acquisition is carried out to improve the position accuracy of vascular visualization.
It improves the positioning accuracy of the vascular visualization position and the visualization intensity of the image, and solves the problem of insufficient accuracy in the corresponding vascular position.
Smart Images
Figure CN120147582A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vascular image analysis, and particularly to a method for visualizing vascular imaging for laparoscopic data acquisition. Background Art
[0002] Vascular imaging mainly uses imaging techniques to show whether the vascular lumen is stenotic, occluded, whether there are plaques, and whether the blood vessels are compressed. The examinations of vascular imaging usually include vascular imaging under CT, also called CTA, which is to perform CT scanning after using a contrast agent to enhance for vascular imaging; magnetic resonance angiography, also called MRA, which shows blood vessels through the flow void effect of magnetic resonance. This is a non-invasive examination and does not require the use of a contrast agent; DSA: The effect is better. This examination mainly injects a contrast agent to make the blood vessels dynamically visualized. For example, optical microangiography, an optical microangiography method based on extracting frequency change signals from the original spectrum of k-space, is a method for imaging capillaries in in-vivo microcirculation. Compared with static tissues, there are many factors that can affect the OCT signal spectrum change, such as Doppler effects caused by frequency shift and particle movement leading to changes in backscattering. By effectively separating the static scattering signal and dynamic scattering signal in the tissue, the three-dimensional distribution of capillary dynamic blood perfusion can be obtained; near-infrared light imaging uses the fact that hemoglobin in blood vessels absorbs near-infrared light stronger than other tissues to achieve, and can clearly show the superficial subcutaneous veins and the depth of blood vessels in patients, effectively solving the problems of inaccurate vascular assessment and improper puncture point selection during intravenous injection.
[0003] In the existing technology, for example, during vascular puncture, the technology of near-infrared imaging is used to select the puncture point, and during the preliminary screening, vascular detection methods are used, such as CTA, MRA, and DSA. However, during vascular puncture, usually only the technology of near-infrared imaging is used. This method has the problem of insufficient precision in differentiation when visualizing complex blood vessels. Therefore, a method that can improve the precision of vascular visualization is needed to solve the above problems. Summary of the Invention
[0004] The present invention aims to solve at least one of the technical problems in the existing technology to some extent. By combining the pre-detected image and the real-time acquired image, and comparing with the image in the pre-detection, the comparison accuracy of the real-time acquired image can be improved, and the position precision of vascular visualization can be improved to solve the problem of inaccurate corresponding position of blood vessels in the existing vascular visualization technology.
[0005] To achieve the above object, a method for visualizing vascular imaging for laparoscopic data acquisition includes: obtaining vascular image scan data from a scan database, establishing a reference vascular model according to the vascular image scan data, and marking the selected position in the reference vascular model;
[0006] Obtain real-time image scanning data from laparoscopic data and establish a real-time blood vessel model based on the real-time image scanning data;
[0007] Compare the real-time blood vessel model with the reference blood vessel model to obtain the real-time reference points corresponding to the selected positions;
[0008] Perform enhanced image acquisition on the real-time reference points to obtain enhanced images of the real-time reference points.
[0009] Further, obtain blood vessel image scanning data from the scanning database, establish a reference blood vessel model based on the blood vessel image scanning data, and marking the selected positions in the reference blood vessel model further includes: when obtaining the blood vessel image scanning data, using the first image data acquisition method for acquisition;
[0010] Extract the blood vessel scanning images from the obtained blood vessel image scanning data and mark them as basic blood vessel images;
[0011] Establish a three-dimensional rectangular coordinate system, obtain the fixed reference points in the basic blood vessel image, and determine the three-dimensional coordinates of the reference blood vessel in the basic blood vessel image through the three-dimensional coordinates of the fixed reference points to obtain the reference blood vessel model;
[0012] Mark the selected positions in the reference blood vessel model, obtain the three-dimensional coordinates of the selected positions, and set them as the selected coordinates.
[0013] Further, the first image data acquisition method includes: setting the person to be collected in the first fixed position on the acquisition bed, and setting three groups of fixed reference points on the acquisition bed, which are respectively set as the first fixed reference point, the second fixed reference point, and the third fixed reference point;
[0014] Among them, the first fixed reference point is set above the acquisition bed near the abdominal cavity of the person to be collected, the second fixed reference point and the third fixed reference point are respectively set on both sides of the person to be collected, the acquisition bed includes a width direction and a length direction, the width direction and the length direction are perpendicular to each other, the second fixed reference point and the third fixed reference point are respectively set at both ends of the width direction, the first fixed reference point is set at the middle position of the width direction, the setting heights of the second fixed reference point and the third fixed reference point are the same, the setting height of the first fixed reference point is greater than the setting heights of the second fixed reference point and the third fixed reference point, connect the second fixed reference point and the third fixed reference point to obtain the fixed reference width line, and there is a first reference distance between the first fixed reference point and the fixed reference width line;
[0015] Obtain the blood vessel image scanning data, and the blood vessel image scanning data includes the images of the first fixed reference point, the second fixed reference point, and the third fixed reference point.
[0016] Further, obtaining vascular image scan data from a scan database and establishing a reference vascular model based on the vascular image scan data, marking the selected position in the reference vascular model further includes: taking the width direction as the X-axis of a three-dimensional rectangular coordinate system, taking the length direction as the Y-axis of the three-dimensional rectangular coordinate system, and taking the direction perpendicular to the plane where the X-axis and Y-axis are located as the Z-axis of the three-dimensional rectangular coordinate system;
[0017] Obtaining the three-dimensional coordinates of a first fixed reference point, a second fixed reference point, and a third fixed reference point;
[0018] Determining the three-dimensional coordinates of the reference blood vessel of the basic blood vessel image through the three-dimensional coordinates of the first fixed reference point, the second fixed reference point, and the third fixed reference point.
[0019] Further, obtaining real-time image scan data from laparoscopic data and establishing a real-time vascular model based on the real-time image scan data further includes: obtaining the vascular scan image in the real-time image scan data and marking it as a real-time vascular image;
[0020] Calibrating the real-time vascular image, and the calibration process includes: during the acquisition of laparoscopic data, determining the relative positions of the laparoscope with respect to the first fixed reference point, the second fixed reference point, and the third fixed reference point through the positioning device inside the laparoscope, determining the real-time position of the laparoscope in the three-dimensional rectangular coordinate system through the relative positions of the laparoscope with respect to the first fixed reference point, the second fixed reference point, and the third fixed reference point, and marking it as the real-time acquisition point;
[0021] Determining the three-dimensional coordinates of the real-time vascular image through the real-time acquisition point, and establishing a real-time vascular model according to the three-dimensional coordinates of the real-time vascular image.
[0022] Further, comparing the real-time vascular model with the reference vascular model to obtain the real-time reference point corresponding to the selected position further includes: comparing the coordinates of the real-time vascular model and the reference vascular model in the three-dimensional rectangular coordinate system;
[0023] When the degree of coincidence of the coordinate comparison result is greater than the first coincidence ratio, outputting a real-time vascular matching signal; when the degree of coincidence of the coordinate comparison result is less than or equal to the first coincidence ratio and greater than the second coincidence ratio, outputting a real-time vascular calibration signal; when the degree of coincidence of the coordinate comparison result is less than or equal to the second coincidence ratio, outputting a real-time vascular deviation signal;
[0024] When the real-time vascular internal matching signal is output, marking the real-time reference point corresponding to the selected position in the real-time vascular model; when the real-time vascular calibration signal and the real-time vascular deviation signal are output, outputting them to the medical staff terminal for calibration.
[0025] Further, marking the real-time reference point corresponding to the selected position in the real-time blood vessel model further includes: corresponding the real-time blood vessel model and the reference blood vessel model in a three-dimensional rectangular coordinate system;
[0026] Corresponding the selected position in the reference blood vessel model to the real-time blood vessel model to obtain the real-time reference point.
[0027] Further, performing image enhanced acquisition on the real-time reference point to obtain the enhanced image of the real-time reference point further includes: obtaining the infrared blood flow image at the real-time reference point, respectively setting the first number of extension points on both sides of the infrared blood flow image where the real-time reference point is located, determining the diameter of the real-time blood vessel model at the real-time reference point according to the infrared blood flow image, and setting it as the reference diameter;
[0028] Drawing a circle according to the reference diameter, setting it as the real-time reference circle, respectively setting the real-time reference circle at each extension point, and connecting each real-time reference circle to obtain the real-time reference path;
[0029] Taking the real-time reference path as the enhanced image of the real-time reference point.
[0030] Advantages of the present invention: By obtaining the blood vessel image scanning data from the scanning database and establishing the reference blood vessel model according to the blood vessel image scanning data, and marking the selected position in the reference blood vessel model, this design can build the basic comparison data for the acquisition of laparoscopic images, so as to facilitate the position comparison of the images obtained in real time, and help improve the positioning accuracy of the visualized position of the blood vessel;
[0031] By obtaining the real-time image scanning data from the laparoscopic data and establishing the real-time blood vessel model according to the real-time image scanning data, and comparing the real-time blood vessel model with the reference blood vessel model to obtain the real-time reference point corresponding to the selected position, this design can accurately find the blood vessel position through data comparison and improve the accuracy of the corresponding blood vessel;
[0032] By performing image enhanced acquisition on the real-time reference point to obtain the enhanced image of the real-time reference point, and performing image enhancement acquisition on the blood vessel position after determining the blood vessel position, the accuracy of the corresponding blood vessel position and the visualization intensity are further improved.
[0033] Other features and advantages of the present application will be described in the subsequent specification, and part of them will become obvious from the specification, or be understood by implementing the present application. The objectives and other advantages of the present application can be realized and obtained through the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings
[0034] Figure 1 It is the step flow chart of the method of the present invention;
[0035] Figure 2 Schematic diagram of the setting of three groups of fixed reference points of the present invention. Specific embodiments
[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
[0037] Please refer to Figure 1 As shown, a method for visualizing vascular imaging in laparoscopic data acquisition, by combining pre-detected images and real-time acquired images, comparing the real-time acquired images with the pre-detected images, can improve the comparison accuracy of the real-time acquired images, improve the position accuracy of vascular visualization, and can solve the problem of inaccurate vascular position correspondence in existing vascular visualization technologies;
[0038] Specifically, the method for visualizing vascular imaging in laparoscopic data acquisition includes the following steps: Step S10, obtaining vascular image scan data from a scan database, establishing a reference vascular model according to the vascular image scan data, and marking selected positions in the reference vascular model; the method of obtaining vascular image scan data through the scan database may include image data obtained by Doppler ultrasound technology or scan image data of angiography to build a reference vascular model; in Step S10, obtaining vascular image scan data from a scan database, establishing a reference vascular model according to the vascular image scan data, and marking selected positions in the reference vascular model further includes: Step S1011, when obtaining vascular image scan data, using the first image data acquisition method for acquisition; in Step S1011, the first image data acquisition method includes: Step S10111, setting the person to be examined on the acquisition bed according to the first fixed body position, and setting three groups of fixed reference points on the acquisition bed, which are respectively set as the first fixed reference point, the second fixed reference point, and the third fixed reference point; Please refer to Figure 2 As shown Figure 2 In, D1, D2, and D3 are respectively the first fixed reference point, the second fixed reference point, and the third fixed reference point, and H1 is the first reference distance;
[0039] Step S10112, in which the first fixed reference point is set above the acquisition bed near the abdominal cavity of the person to be examined, the second fixed reference point and the third fixed reference point are respectively set on both sides of the person to be examined. The acquisition bed includes a width direction and a length direction, and the width direction and the length direction are perpendicular to each other. The second fixed reference point and the third fixed reference point are respectively set at both ends of the width direction, and the first fixed reference point is set at the middle position of the width direction. The second fixed reference point and the third fixed reference point are set at the same height, and the setting height of the first fixed reference point is greater than the setting heights of the second fixed reference point and the third fixed reference point. Connect the second fixed reference point and the third fixed reference point to obtain a fixed reference width line, and there is a first reference distance between the first fixed reference point and the fixed reference width line; the first reference distance is set to be 30 to 50 cm, and the first reference distance is set according to the height of the human body when lying flat to ensure that the setting position of the first fixed reference point is above the abdominal cavity of the human body; in specific implementation, the first fixed reference point, the second fixed reference point and the third fixed reference point adopt high-density spheres, which can ensure that the positions of the first fixed reference point, the second fixed reference point and the third fixed reference point are easy to determine in the image when the image is acquired; at the same time, the settings of the first fixed reference point, the second fixed reference point and the third fixed reference point can fix the body position of the human body, so as to facilitate the position correspondence during the comparison of image data.
[0040] Step S10113, acquire vascular image scan data, where the vascular image scan data includes images of the first fixed reference point, the second fixed reference point and the third fixed reference point.
[0041] Step S1012, extract the vascular scan image from the acquired vascular image scan data and label it as the basic vascular image.
[0042] Step S1013, establish a three-dimensional rectangular coordinate system, acquire the fixed reference points in the basic vascular image, and determine the three-dimensional coordinates of the reference blood vessels in the basic vascular image through the three-dimensional coordinates of the fixed reference points to obtain a reference blood vessel model.
[0043] Step S1014, mark the selected position in the reference blood vessel model, acquire the three-dimensional coordinates of the selected position, and set them as the selected coordinates. In steps S1011 to S1014, by marking the selected coordinates of the selected position in the reference blood vessel model, basic comparison data can be built for the correspondence of the selected position in the real-time image.
[0044] In step S10, vascular image scan data is obtained from the scan database, and a reference vascular model is established based on the vascular image scan data. Marking the selected position in the reference vascular model further includes: Step S1021, taking the width direction as the X-axis of the three-dimensional rectangular coordinate system, taking the length direction as the Y-axis of the three-dimensional rectangular coordinate system, and taking the direction perpendicular to the plane where the X-axis and Y-axis are located as the Z-axis of the three-dimensional rectangular coordinate system;
[0045] Step S1022, obtaining the three-dimensional coordinates of the first fixed reference point, the second fixed reference point, and the third fixed reference point;
[0046] Step S1023, determining the three-dimensional coordinates of the reference blood vessel of the basic blood vessel image through the three-dimensional coordinates of the first fixed reference point, the second fixed reference point, and the third fixed reference point. When determining the coordinates, since the first fixed reference point, the second fixed reference point, and the third fixed reference point are fixed points, the three-dimensional coordinates of the reference blood vessel in the basic blood vessel image can be determined quickly and accurately through the comparison of the fixed points.
[0047] Step S20, obtaining real-time image scan data from the laparoscopic data, and establishing a real-time vascular model based on the real-time image scan data; during the operation, the visible light image of the blood vessel is obtained through the laparoscope. An infrared thermal scanning probe is integrated on the laparoscope, and a real-time vascular model is established through the data obtained in real time. By comparing the real-time vascular model with the reference vascular model, the relative position change range of the blood vessel is obtained, so as to facilitate the visualization processing of the change situation of the blood vessel and ensure the accuracy of the corresponding blood vessel position; in step S20, obtaining real-time image scan data from the laparoscopic data and establishing a real-time vascular model based on the real-time image scan data further includes: Step S201, obtaining the blood vessel scan image in the real-time image scan data and marking it as the real-time vascular image;
[0048] Step S202, calibrating the real-time vascular image. Step S202 further includes: Step S2021, during the acquisition of the laparoscopic data, determining the relative positions of the laparoscope and the first fixed reference point, the second fixed reference point, and the third fixed reference point through the positioning device in the laparoscope, and determining the real-time position of the laparoscope in the three-dimensional rectangular coordinate system through the relative positions of the laparoscope and the first fixed reference point, the second fixed reference point, and the third fixed reference point, and marking it as the real-time acquisition point;
[0049] Step S2022, determining the three-dimensional coordinates of the real-time vascular image through the real-time acquisition point, and establishing a real-time vascular model according to the three-dimensional coordinates of the real-time vascular image. Referring to the establishment process of the reference vascular model in step S10, the real-time obtained vascular model can be built quickly and accurately.
[0050] Step S30: Compare the real-time blood vessel model with the reference blood vessel model to obtain the real-time reference points corresponding to the selected positions. In step S30, comparing the real-time blood vessel model with the reference blood vessel model to obtain the real-time reference points corresponding to the selected positions further includes: Step S301: Compare the coordinates of the real-time blood vessel model and the reference blood vessel model in a three-dimensional rectangular coordinate system.
[0051] Step S302: When the degree of coincidence of the coordinate comparison result is greater than the first coincidence ratio, output a real-time blood vessel matching signal; when the degree of coincidence of the coordinate comparison result is less than or equal to the first coincidence ratio and greater than the second coincidence ratio, output a real-time blood vessel calibration signal; when the degree of coincidence of the coordinate comparison result is less than or equal to the second coincidence ratio, output a real-time blood vessel deviation signal. Specifically, in implementation, the first coincidence ratio is set to 80%, the second coincidence ratio is set to 50%, and during the comparison process of the degree of coincidence, it can be determined by the overlapping ratio of the volume regions of the real-time blood vessel model and the reference blood vessel model.
[0052] Step S303: When the real-time blood vessel internal matching signal is output, mark the real-time reference points corresponding to the selected positions in the real-time blood vessel model; when the real-time blood vessel calibration signal and the real-time blood vessel deviation signal are output, output them to the medical staff terminal for calibration. When the real-time blood vessel calibration signal and the real-time blood vessel deviation signal are output, it indicates that there is a deviation between the blood vessel data obtained in real time and the blood vessel data in the reference blood vessel model.
[0053] In step S303, marking the real-time reference points corresponding to the selected positions in the real-time blood vessel model further includes: Step S3031: Correlate the real-time blood vessel model and the reference blood vessel model in a three-dimensional rectangular coordinate system; Step S3032: Correlate the selected positions in the reference blood vessel model to the real-time blood vessel model to obtain the real-time reference points. Through comparison and coincidence, the selected positions can be correlated to the real-time blood vessel model.
[0054] Step S40: Perform image enhancement acquisition on the real-time reference points to obtain the enhanced images of the real-time reference points. In step S40, performing image enhancement acquisition on the real-time reference points to obtain the enhanced images of the real-time reference points further includes: Step S401: Obtain the infrared blood flow image at the real-time reference points. Set the first number of extended points on both sides of the infrared blood flow image at the real-time reference points. Determine the diameter of the real-time blood vessel model at the real-time reference points according to the infrared blood flow image, and set it as the reference diameter.
[0055] Step S402: Draw a circle according to the reference diameter, set it as the real-time reference circle. Set the real-time reference circle at each extended point, and connect each real-time reference circle to obtain the real-time reference path.
[0056] Step S403: Use the real-time reference path as the enhanced image of the real-time reference point. Specifically, in Steps S401 to S403, by further acquiring images of the real-time reference point, more data at the specified position can be obtained, improving the visualization accuracy and intensity of the blood vessel image.
[0057] Working principle: The present invention obtains blood vessel image scan data from a scan database, establishes a reference blood vessel model based on the blood vessel image scan data, and marks the selected position in the reference blood vessel model, which can build basic comparison data for the acquisition of laparoscopic images, thus facilitating the position comparison of the images obtained in real time. By obtaining real-time image scan data from laparoscopic data, establishing a real-time blood vessel model based on the real-time image scan data, and comparing the real-time blood vessel model with the reference blood vessel model, the real-time reference point corresponding to the selected position can be obtained, enabling the accurate positioning of the blood vessel through data comparison. By performing enhanced image acquisition on the real-time reference point, an enhanced image of the real-time reference point is obtained. After determining the blood vessel position, enhanced image acquisition is performed on the blood vessel position to further improve the accuracy corresponding to the blood vessel position and the visual intensity of the image.
[0058] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction device, and the instruction device implements the process Figure 1 a process or multiple processes and / or blocks Figure 1The functions specified in one or more boxes.
[0059] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, 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 displayed or discussed couplings or direct couplings or communication connections between each other can be through some communication interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.
Claims
1. A vascular imaging visualization method for laparoscopic data acquisition, characterized in that: include: Acquire blood vessel image scanning data from a scanning database, establish a reference blood vessel model according to the blood vessel image scanning data, and mark the selected position in the reference blood vessel model; Acquire real-time image scanning data from laparoscope data, and establish a real-time blood vessel model according to the real-time image scanning data; By comparing the real-time blood vessel model with the reference blood vessel model, a real-time reference point corresponding to the selected position is obtained; Perform image enhancement acquisition on the real-time reference points to obtain enhanced images of the real-time reference points.
2. The method for vascular imaging visualization of laparoscopic data acquisition according to claim 1, characterized in that: Acquiring blood vessel image scanning data from a scanning database, establishing a reference blood vessel model based on the blood vessel image scanning data, and marking the selected position in the reference blood vessel model further comprises: when acquiring the blood vessel image scanning data, acquiring it using a first image data acquisition method; Extracting a blood vessel scanning image from the acquired blood vessel image scanning data and marking it as a basic blood vessel image; Establishing a three-dimensional rectangular coordinate system, obtaining fixed reference points in the basic blood vessel image, determining the three-dimensional coordinates of the reference blood vessel in the basic blood vessel image through the three-dimensional coordinates of the fixed reference points, and obtaining a reference blood vessel model; The selected position is marked in the reference blood vessel model, and the three-dimensional coordinates of the selected position are obtained and set as the selected coordinates.
3. The method for vascular imaging visualization of laparoscopic data acquisition according to claim 2, characterized in that: The first image data acquisition method includes: placing the subject on the acquisition bed in a first fixed position, and setting three groups of fixed reference points on the acquisition bed, which are respectively set as a first fixed reference point, a second fixed reference point, and a third fixed reference point; Wherein, the first fixed reference point is set above the collection bed near the abdominal cavity of the person being collected, the second fixed reference point and the third fixed reference point are respectively set on both sides of the person being collected, the collection bed includes a width direction and a length direction, the width direction and the length direction are perpendicular, the second fixed reference point and the third fixed reference point are respectively set at both ends of the width direction, the first fixed reference point is set in the middle position of the width direction, the second fixed reference point and the third fixed reference point are set at the same height, the first fixed reference point is set at a height greater than the second fixed reference point and the third fixed reference point, the second fixed reference point and the third fixed reference point are connected to obtain a fixed reference width line, and the first fixed reference point is spaced from the fixed reference width line by a first reference distance; The blood vessel image scanning data is acquired, wherein the blood vessel image scanning data includes images of a first fixed reference point, a second fixed reference point, and a third fixed reference point.
4. The method for vascular imaging visualization of laparoscopic data acquisition according to claim 3, characterized in that: Obtaining blood vessel image scanning data from a scanning database, establishing a reference blood vessel model according to the blood vessel image scanning data, and marking the selected position in the reference blood vessel model further includes: taking the width direction as the X-axis of the three-dimensional rectangular coordinate system, taking the length direction as the Y-axis of the three-dimensional rectangular coordinate system, and taking the direction perpendicular to the plane where the X-axis and the Y-axis are located as the Z-axis of the three-dimensional rectangular coordinate system; Obtaining three-dimensional coordinates of a first fixed reference point, a second fixed reference point, and a third fixed reference point; The three-dimensional coordinates of the reference blood vessel of the basic blood vessel image are determined by the three-dimensional coordinates of the first fixed reference point, the second fixed reference point, and the third fixed reference point.
5. The method for vascular imaging visualization of laparoscopic data acquisition according to claim 4, characterized in that: Acquiring real-time image scanning data from the laparoscope data, and establishing a real-time blood vessel model according to the real-time image scanning data further comprises: acquiring a blood vessel scanning image in the real-time image scanning data, and marking it as a real-time blood vessel image; The real-time vascular image is calibrated, and the calibration process includes: during the laparoscopic data acquisition process, the relative position of the laparoscope and the first fixed reference point, the second fixed reference point and the third fixed reference point is determined by a positioning device in the laparoscope, and the real-time position of the laparoscope in a three-dimensional rectangular coordinate system is determined by the relative position of the laparoscope and the first fixed reference point, the second fixed reference point and the third fixed reference point, and marked as a real-time acquisition point; The three-dimensional coordinates of the real-time blood vessel image are determined by real-time acquisition points, and a real-time blood vessel model is established according to the three-dimensional coordinates of the real-time blood vessel image.
6. The method for vascular imaging visualization of laparoscopic data acquisition according to claim 5, characterized in that: By comparing the real-time blood vessel model with the reference blood vessel model, obtaining the real-time reference point corresponding to the selected position further includes: comparing the coordinates of the real-time blood vessel model with the reference blood vessel model in a three-dimensional rectangular coordinate system; When the fit of the coordinate comparison result is greater than the first fit ratio, a real-time blood vessel matching signal is output; when the fit of the coordinate comparison result is less than or equal to the first fit ratio and greater than the second fit ratio, a real-time blood vessel calibration signal is output; when the fit of the coordinate comparison result is less than or equal to the second fit ratio, a real-time blood vessel deviation signal is output; When the real-time intravascular matching signal is output, the real-time reference point corresponding to the selected position is marked in the real-time vascular model. When the real-time vascular calibration signal and the real-time vascular deviation signal are output, they are output to the medical staff terminal for calibration.
7. The method for vascular imaging visualization of laparoscopic data acquisition according to claim 6, characterized in that: Marking the real-time reference point corresponding to the selected position in the real-time blood vessel model also includes: making the real-time blood vessel model correspond to the reference blood vessel model in a three-dimensional rectangular coordinate system; The selected position in the reference blood vessel model is mapped to the real-time blood vessel model to obtain the real-time reference point.
8. The method for vascular imaging visualization of laparoscopic data acquisition according to claim 7, characterized in that: Performing image enhancement acquisition on the real-time reference point to obtain an enhanced image of the real-time reference point also includes: acquiring an infrared blood flow image at the real-time reference point, setting a first number of extension points on both sides of the infrared blood flow image at the real-time reference point, and determining the diameter of the real-time blood vessel model at the real-time reference point according to the infrared blood flow image, and setting the diameter as the reference diameter; Make a circle according to the reference diameter and set it as the real-time reference circle. Set a real-time reference circle at each extension point and connect each real-time reference circle to obtain a real-time reference path. Use the real-time reference path as an enhanced image of the real-time reference points.