Operation planning system and method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an operation planning system and method, electronic equipment and a storage medium, two-dimensional image data and a three-dimensional model of a focus are acquired through an input module, and the three-dimensional model is constructed based on the two-dimensional image data; the display module displays the two-dimensional image data and the three-dimensional model; the processing module obtains an ablation needle drawn by a user in the two-dimensional image data, and determines an ablation area corresponding to each layer of two-dimensional image data and an ablation shape in the three-dimensional model when ablation is carried out based on the ablation needle; the display module displays the ablation shape in the three-dimensional model, a visual ablation range can be provided for a doctor, and therefore the doctor is assisted in making a decision of an ablation operation.

Description

Technical Field

[0001] This application belongs to the field of medical technology, and particularly relates to a surgical planning system, method, electronic device, and storage medium. Background Art

[0002] For the treatment of malignant tumors such as lung cancer and liver cancer, surgical resection is usually used. However, resection surgery is prone to problems such as damage to the patient's organs, surgical wound infection, weakened lung and liver functions, and a long healing period. Especially for elderly, weak, and patients with poor cardiopulmonary function, there are still relatively large risks in surgical resection. In recent years, many local treatment methods such as minimally invasive ablation of tumors have been applied clinically, such as radiofrequency ablation, cryoablation, microwave ablation, etc. Among them, radiofrequency ablation is widely used. Before performing radiofrequency ablation, it is necessary to determine the lesion target, percutaneous puncture path, and ablation area to assist the doctor in planning the radiofrequency ablation surgery. Therefore, how to help the doctor accurately determine the ablation area before radiofrequency ablation surgery is the main problem faced by the current ablation surgery. Summary of the Invention

[0003] To solve the above technical problems, the embodiments of this application provide a surgical planning system, method, electronic device, and storage medium, which can provide a relatively accurate and visual ablation range for the doctor, thereby helping the doctor perform surgical planning.

[0004] In a first aspect, the embodiments of this application provide a surgical planning system, including:

[0005] An input module, configured to obtain two-dimensional image data and a three-dimensional model of a lesion, where the three-dimensional model is constructed based on the two-dimensional image data;

[0006] A display module, configured to display the two-dimensional image data and the three-dimensional model;

[0007] A processing module, configured to obtain an ablation needle drawn by a user in the two-dimensional image data, and determine the ablation area corresponding to each layer of two-dimensional image data and the ablation shape in the three-dimensional model when performing ablation based on the ablation needle;

[0008] The display module is further configured to display the ablation shape in the three-dimensional model.

[0009] In some embodiments, the processing module is configured to determine the ablation area corresponding to each layer of two-dimensional image data and the ablation shape in the three-dimensional model when performing ablation based on the ablation needle, including:

[0010] Determine the contour line of the cross-section of the lesion corresponding to each layer of two-dimensional image data and the bounding rectangle surrounding the contour line;

[0011] Determine the center point of the bounding rectangle corresponding to the two-dimensional image data of each layer;

[0012] Connect the center point corresponding to the two-dimensional image data of each layer and the points on the corresponding contour line to obtain an initial ablation area;

[0013] Based on the initial ablation area multiplied by a preset proportionality coefficient, obtain the ablation area corresponding to the two-dimensional image data of each layer when ablating based on the ablation needle;

[0014] Determine the ablation shape in the three-dimensional model based on the ablation area corresponding to the two-dimensional image data of each layer.

[0015] In some embodiments, the processing module is further configured to:

[0016] Obtain the starting point and the ending point of the drawn line segment in the target two-dimensional image data, determine the starting point as the tip of the ablation needle, determine the ending point as the tail of the ablation needle, and generate the ablation needle based on the tip, the tail, and the line segment;

[0017] The display module is further configured to display the ablation needle.

[0018] In some embodiments, the processing module is further configured to calculate the ablation volume of the lesion based on the ablation area, and calculate the ablation coverage rate based on the ablation volume and the volume of the lesion;

[0019] The display module is further configured to display the ablation coverage rate.

[0020] In some embodiments, the processing module is further configured to determine the two-dimensional image data where the target positioning point is located when a trigger operation on the target positioning point in the three-dimensional model is obtained by the user; the display module is further configured to display the two-dimensional image data where the target positioning point is located.

[0021] In some embodiments, the processing module is further configured to determine the target positioning point in the three-dimensional model when a trigger operation on the target positioning point in the two-dimensional image data is obtained by the user, and determine the target positioning point in the three-dimensional model as the viewing point of the camera;

[0022] The display module is further configured to display the three-dimensional model based on the viewing point.

[0023] In some embodiments, the input module is configured to obtain the three-dimensional model and the two-dimensional image data of the lesion, including:

[0024] Obtain the two-dimensional image data of the target part, where the target part includes: the lesion;

[0025] Determine the segmentation data of each tissue in the target part based on the two-dimensional image data;

[0026] Perform three-dimensional reconstruction based on the segmentation data and the two-dimensional image data to obtain a three-dimensional model of the target part, where the three-dimensional model of the target part includes: a three-dimensional model of the lesion.

[0027] In a second aspect, an embodiment of the present application provides a method for determining ablation information, including:

[0028] Obtain two-dimensional image data and a three-dimensional model of the lesion, where the three-dimensional model is constructed based on the two-dimensional image data;

[0029] Display the two-dimensional image data and the three-dimensional model;

[0030] When it is detected that the user draws an ablation needle in the two-dimensional image data, determine the ablation area corresponding to each layer of the two-dimensional image data and the ablation shape in the three-dimensional model when ablating based on the ablation needle;

[0031] Display the ablation shape in the three-dimensional model.

[0032] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in any one of the above is implemented.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the method described in any one of the above is implemented.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a terminal device, causes an electronic device to execute the method described in any one of the above.

[0035] A surgical planning system provided by an embodiment of the present application includes an input module for obtaining two-dimensional image data and a three-dimensional model of a lesion, where the three-dimensional model is constructed based on the two-dimensional image data; a display module for displaying the two-dimensional image data and the three-dimensional model; a processing module for obtaining an ablation needle drawn by the user in the two-dimensional image data and determining the ablation area corresponding to each layer of the two-dimensional image data and the ablation shape in the three-dimensional model when ablating based on the ablation needle; the display module is further configured to display the ablation shape in the three-dimensional model, which can provide a relatively accurate and visual ablation range for the doctor, thereby helping the doctor perform surgical planning.

[0036] It can be understood that the beneficial effects of the second to fifth aspects described above can be referred to the relevant descriptions in the first aspect, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0038] Figure 1 FIG. [FIG. NUMBER] is a schematic structural diagram of a surgical planning system provided by an embodiment of the present application;

[0039] Figure 2 FIG. [FIG. NUMBER] is a schematic diagram of a visualization interface provided by an embodiment of the present application;

[0040] Figure 3 FIG. [FIG. NUMBER] is a schematic diagram of an implementation process of a surgical planning method provided by an embodiment of the present application;

[0041] Figure 4 FIG. [FIG. NUMBER] is a schematic diagram of an implementation process of a surgical planning method provided by an embodiment of the present application;

[0042] Figure 5 FIG. [FIG. NUMBER] is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0043] In the drawings, the same components are denoted by the same reference numerals, and the drawings are not drawn to actual scale. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] In the following description, specific details such as specific system structures and technologies are proposed for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can 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 avoid unnecessary details from interfering with the description of the present application.

[0045] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0046] It should also be understood that the term "and / or" as used in the specification and claims of this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0047] As used in the specification and claims of this application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrases "if determined" or "if detected" can be interpreted as meaning "once determined", "in response to determining", "once detected", or "in response to detecting" depending on the context.

[0048] In addition, in the description of the specification and claims of this application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0049] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way.

[0050] Based on the problems in the related art, an embodiment of this application provides a surgical planning system. Each module included in the system, as well as each unit included in each module, can be implemented by a processor in a computer device; of course, it can also be implemented by specific logic circuits; in the process of implementation, the processor can be a central processing unit (CPU, Central Processing Unit), a microprocessor (MPU, Microprocessor Unit), a digital signal processor (DSP, Digital Signal Processing), or a field programmable gate array (FPGA, Field Programmable Gate Array), etc.

[0051] Figure 1 It is a schematic structural diagram of a surgical planning system provided by an embodiment of this application, as Figure 1As shown in the figure, the surgical planning system includes: an input module, a display module, and a processing module; the processing module is communicatively connected to the input module and the display module. The input module is used to obtain the three-dimensional model and two-dimensional image data of the lesion, wherein the three-dimensional model is constructed based on the two-dimensional image data; the display module is used to display the two-dimensional image data and the three-dimensional model; the processing module is used to obtain the ablation needle drawn by the user in the two-dimensional image data, and determine the ablation region corresponding to each layer of two-dimensional image data and the ablation shape in the three-dimensional model when ablation is performed based on the ablation needle; the display module is further used to display the ablation shape in the three-dimensional model.

[0052] In some embodiments, the display module is further capable of displaying the selected two-dimensional image data and the ablation region corresponding to the selected two-dimensional image data.

[0053] In the embodiments of the present application, the lesion refers to the specific area where pathological changes or diseases exist, usually referring to the tumor, lesion or infected site visible in imaging. The three-dimensional model is a three-dimensional image constructed in a computer, which can show the spatial structure and shape of the lesion, and is usually composed of two-dimensional image data obtained from various angles. The two-dimensional image data is the slice images of each layer obtained from medical imaging technologies (such as computed tomography (CT) imaging technology, magnetic resonance imaging (MR) imaging technology). Usually, each layer represents specific anatomical structure or pathological state information, and the ablation needle is generated by simulation. The ablation region refers to the part of the tissue that needs to be ablated defined in a certain layer of two-dimensional image according to the position of the ablation needle and the treatment plan. The ablation shape is a three-dimensional form obtained by synthesizing the ablation regions in each layer of two-dimensional images, representing the region that affects the target tissue during the treatment process.

[0054] In the embodiments of the present application, the input module is an interface for obtaining data, and its main function is to receive and import the three-dimensional model of the lesion and the related two-dimensional image data. These data usually come from medical imaging devices (such as CT or MRI), providing a basis for medical decision-making. The display module is used to present the processed images and models to the doctor. It can visually display the three-dimensional model and the two-dimensional image data, and help the doctor better understand the treatment process by marking the ablation region. The processing module analyzes and processes the input digital image data, and is used to generate the specific shape and position of the ablation region, so as to support the subsequent treatment process.

[0055] In the embodiments of the present application, the user can perform an operation of drawing a line segment on the two-dimensional image data, thereby generating a simulated ablation needle.

[0056] In the embodiments of the present application, the two-dimensional image data can be a layer of two-dimensional image data near the center of the lesion. The user can operate on the two-dimensional image data to generate an ablation needle. After the ablation needle is generated, the processing module can identify the position of the ablation needle. The processing module can identify the position of the ablation needle by using image processing technology to automatically identify the position of the ablation needle.

[0057] After the processing module determines the ablation needle, it can define the parameters of the ablation area related to the ablation needle according to the treatment plan. The parameters of the ablation area can include: a preset radius or volume, and the ablation parameters can be set by the doctor according to the type and size of the lesion.

[0058] In the embodiments of the present application, it is possible to analyze the ablation areas of the ablation needle at different layers during ablation based on the position of the ablation needle, so as to achieve the expansion of the ablation area between adjacent image layers. Corresponding ablation areas are generated for the two-dimensional image data of each layer. Image processing methods such as threshold segmentation and region growing can be used to automatically identify the ablation area. For example, if the two-dimensional image data has 100 layers, an ablation needle can be drawn on the 50th layer, and the ablation areas of other layers can be determined according to the parameters of the ablation needle during ablation.

[0059] In some embodiments, the two-dimensional image data can be fused with the pre-recorded lesion shape information to ensure more accurate selection of the ablation area.

[0060] In the embodiments of the present application, the data of the ablation areas of all layers can be integrated, and the three-dimensional contour of the ablation area can be reconstructed from multiple two-dimensional slices by using volume rendering techniques (such as the Marching Cubes algorithm or Volumetric Rendering, etc.). The identified ablation areas of each layer can be mapped into the three-dimensional model, and the corresponding ablation shapes in the 3D model can be generated according to the ablation areas of each layer, so as to form a complete three-dimensional ablation area.

[0061] In the embodiments of the present application, the generated ablation shape can be visualized in the three-dimensional model through three-dimensional graphics rendering technology. Different colors and transparencies can be used to highlight the ablation area so that the doctor can clearly identify the treatment target. Interaction functions such as rotation, scaling, and translation can be provided on the display module, enabling the doctor to view the ablation shape and its relationship with the surrounding tissues from different angles.

[0062] In the embodiments of the present application, the doctor is allowed to select specific two-dimensional image data to view the tissue structure corresponding to the ablation shape in the three-dimensional model. A slider or other user interface elements can be used to select different two-dimensional image data. When displaying the two-dimensional image data, the ablation area can be superimposed on the image, and highlights, shadows, or contour lines can be used to identify the position of the ablation area to help the doctor identify.

[0063] In the embodiments of the present application, a doctor can adjust the displayed parameters as needed, such as adjusting the color, transparency, etc. of the ablation area.

[0064] A surgical planning system provided by an embodiment of the present application includes an input module, a display module, and a processing module; the input module is used to obtain two-dimensional image data and a three-dimensional model of a lesion, wherein the three-dimensional model is constructed based on the two-dimensional image data; the display module is used to display the two-dimensional image data and the three-dimensional model; the processing module is used to obtain an ablation needle drawn by a user in the two-dimensional image data, and determine an ablation area corresponding to each layer of two-dimensional image data when performing ablation based on the ablation needle and an ablation shape in the three-dimensional model; the display module is further used to display the ablation shape in the three-dimensional model, which can provide a relatively accurate and visual ablation range for the doctor, so as to assist the doctor in making decisions for ablation surgery.

[0065] In some embodiments, the processing module determines the ablation area corresponding to each layer of two-dimensional image data when performing ablation based on the ablation needle, including: determining the contour line of the cross-section of the lesion corresponding to each layer of two-dimensional image data and the bounding rectangle surrounding the contour line; determining the center point of the bounding rectangle corresponding to each layer of two-dimensional image data; connecting the center point corresponding to each layer of two-dimensional image data and the points on the corresponding contour line to obtain an initial ablation area; multiplying the initial ablation area by a preset proportionality coefficient to obtain the ablation area corresponding to each layer of two-dimensional image data when performing ablation based on the ablation needle, and determining the ablation shape in the three-dimensional model based on the ablation area corresponding to each layer of two-dimensional image data.

[0066] In the embodiments of the present application, each layer of two-dimensional image data can be preprocessed, and the preprocessing can include denoising, enhancing contrast, etc., so as to clearly display the lesion area. Edge detection algorithms (such as Canny edge detection) or segmentation algorithms (such as threshold segmentation or region growing) can be used to extract the contour line of the lesion.

[0067] In the embodiments of the present application, according to the extracted contour line, its minimum bounding rectangle can be calculated. For the center point of each bounding rectangle, it is connected to each point on the corresponding contour line. The connection result will form a polygon or a grid, and this structure represents the initial ablation area.

[0068] In the embodiments of the present application, the bounding rectangle can include: a square and a rectangle.

[0069] In the embodiments of the present application, the proportionality coefficient can be set, and a preset proportionality coefficient (such as 0.9 or 1.1) can be set according to specific treatment requirements, and each point of the initial ablation area is reduced or enlarged to the corresponding proportion to obtain the ablation area.

[0070] In the embodiments of the present application, the same operations can be performed on all two-dimensional image data, so as to generate ablation regions corresponding to each layer of two-dimensional image data.

[0071] In the embodiments of the present application, storage data of a corresponding first preset data structure can be generated based on the ablation regions corresponding to each layer of two-dimensional images, so that display can be performed based on the storage data. The first preset data structure includes: image data, mask data, grid data, grid assembly relationship data, and tissue data. Among them, the image data includes the original pixel information of each tissue, the mask data is used to represent the types of each tissue and the image layers where each tissue is located, the grid data includes data for converting the tissue of a specified layer in the mask data into a three-dimensional grid form, the grid assembly relationship data is used to represent the positional relationship between each grid data, and the attribute information is used to represent the display state attributes of each tissue.

[0072] In the embodiments of the present application, after the ablation regions are generated, the mask data in the first preset data structure corresponding to the two-dimensional image data of each layer can be regenerated. When displaying, the new mask data can be converted into grid data for display, so as to display the ablation regions.

[0073] In the embodiments of the present application, multiple modes for determining ablation regions can be set, and different modes correspond to different ways of determining ablation regions. Exemplarily, the modes can include: a first mode and a second mode. The determination method corresponding to the first mode is: determining the contour line of the cross-section of the lesion corresponding to each layer of two-dimensional image data and the bounding rectangle surrounding the contour line; determining the center point of the bounding rectangle corresponding to each layer of two-dimensional image data; connecting the center point corresponding to each layer of two-dimensional image data and the points on the corresponding contour line to obtain an initial ablation region; multiplying the initial ablation region by a preset proportionality coefficient to obtain the ablation region corresponding to each layer of two-dimensional image data when ablating based on an ablation needle. The determination method for the ablation region corresponding to the second mode is: determining an ablation center based on the position of the tip of the ablation needle in the two-dimensional image data; determining the ablation region corresponding to each layer of two-dimensional image data when ablating based on the ablation center and ablation region parameters.

[0074] In the embodiments of the present application, selection buttons can be set, and the user can select the corresponding mode through the selection buttons. If the user selects the first mode, then determine the contour line of the cross-section of the lesion corresponding to each layer of two-dimensional image data and the bounding rectangle surrounding the contour line; determine the center point of the bounding rectangle corresponding to each layer of two-dimensional image data; connect the center point corresponding to each layer of two-dimensional image data and the points on the corresponding contour line to obtain an initial ablation region; multiply the initial ablation region by a preset proportionality coefficient to obtain the ablation region corresponding to each layer of two-dimensional image data when ablating based on an ablation needle.

[0075] In general, the shape of the lesion area is irregular. Therefore, a regular elliptical ablation area may not be able to cover the lesion area well. Clinically, ablation of a lesion is generally performed by multi-point ablation. This method may cause damage to a lot of normal tissues. Therefore, a surgical planning system provided by an embodiment of the present application can reduce the influence range on normal tissues by extending ablation according to the contour range of the lesion in the ablation area.

[0076] In some embodiments, the processing module determines the ablation area corresponding to each layer of two-dimensional image data when performing ablation based on the ablation needle, including: determining the ablation center based on the position of the needle tip of the ablation needle in the two-dimensional image data; determining the ablation area corresponding to each layer of two-dimensional image data when performing ablation based on the ablation needle based on the ablation center and ablation area parameters.

[0077] In an embodiment of the present application, if the user selects the second mode, the processing module determines the ablation area corresponding to each layer of two-dimensional image data when performing ablation based on the ablation needle, including: determining the ablation center based on the position of the needle tip of the ablation needle in the two-dimensional image data; determining the ablation area corresponding to each layer of two-dimensional image data when performing ablation based on the ablation needle based on the ablation center and ablation area parameters.

[0078] In an embodiment of the present application, the ablation area parameters may include: the shape of the ablation area, relevant parameters of the ablation area. The shape may include: ellipse, sphere, etc. The relevant parameters of the ablation area may include one or more of: radius, ellipticity.

[0079] Exemplarily, taking the shape as an ellipse as an example, the major axis and ellipticity parameters can be set to control the ablation area.

[0080] In an embodiment of the present application, based on the ablation center, the contour of the ablation area can be calculated using the set parameters. For each layer of two-dimensional image data, the corresponding ablation area is calculated according to the actual position of the ablation needle and the set ablation parameters.

[0081] The surgical planning system provided by an embodiment of the present application can calculate the corresponding ablation areas for different layers of two-dimensional image data by determining the ablation center and using the ablation area parameters, thereby providing precise guidance for the implementation of ablation treatment.

[0082] In some embodiments, the processing module is further configured to:

[0083] Obtain the starting point and the ending point of the line segment drawn in the target two-dimensional image data, determine the starting point as the needle tip of the ablation needle, determine the ending point as the needle tail of the ablation needle, and generate an ablation needle based on the needle tip, the needle tail, and the line segment;

[0084] In the embodiments of the present application, the user can draw a line on the two-dimensional image data output by the display module, so that the processing module can obtain the starting point and the ending point of the drawn line segment in the target two-dimensional image data. The shapes of various parts of the ablation needle can be set, such as being set as a cylinder and a cone, and corresponding geometric bodies can be generated based on the coordinates of the needle tip and the needle tail, thereby obtaining the ablation needle.

[0085] In the embodiments of the present application, the display module is further configured to display the ablation needle. When displaying the ablation needle, the ablation needle can be displayed on the two-dimensional image and in the three-dimensional space. Figure 2 It is a schematic diagram of a visualization interface provided by the embodiments of the present application, as Figure 2 shown, in the visualization interface, the ablation needle 100, the ablation shape 300, and the ablation area 200 can be displayed.

[0086] In the embodiments of the present application, the color of the ablation needle can be set, so that when displaying, it is displayed in the set color.

[0087] In some embodiments, the processing module is further configured to calculate the ablation volume of the lesion based on the ablation area, and calculate the ablation coverage rate based on the ablation volume and the volume of the lesion; the display module is further configured to display the ablation coverage rate.

[0088] In the embodiments of the present application, relevant data can be stored through mask data, so that the ablation volume of the lesion can be determined by counting the number of discrete points in the lesion mask data. Exemplarily, the number of discrete points of the lesion mask is assumed to be n, and the volume of a single voxel in the actual space is calculated according to the voxel interval in the x, y, and z directions (obtained from the dicom tag), and is assumed to be v. Then, the volume of the lesion is:

[0089] V(lesion) = n * V;

[0090] At the same time, calculate the intersection of the ellipsoidal grid of the ablation area and the lesion grid. The depth-first algorithm can be used to traverse each triangular patch of the two grids, calculate whether the triangular patches intersect, and if they intersect, store the vertices. Assuming that the number of all intersecting vertices is m, then the ablation volume of the lesion is:

[0091] V(ablation volume) = m * V;

[0092] Therefore, the ablation coverage rate of the lesion is: r = V(ablation volume) / V(lesion).

[0093] In some embodiments, multiple ablations are usually required during ablation. For multiple ablations, it is necessary to pay attention to the parameter of the coverage degree of the ablation area on the lesion, which is used to assist in identifying whether the ablation area can well cover all lesion areas. For the scenario of multi-point ablation, the coverage rate is calculated as follows: Input one or more ablation areas and mark them as ablation areas. Calculate the number of repeated pixel points between the ablation area and the lesion, and divide the calculated number by the number of pixel points of the lesion, which is the ablation coverage rate. Let V(Rn) be the ablation volume of the nth ablation area and Vt be the volume of the lesion. The ablation coverage rate is:

[0094] P = ((V(R1) U V(R2)…V(Rn)) ∩ Vt) / Vt.

[0095] In the embodiments of the present application, after calculating the ablation coverage rate, it can be visually displayed through the display module.

[0096] The surgical planning system provided by the embodiments of the present application quantifies the ablation coverage rate and performs visual display, enabling doctors to more clearly evaluate whether the treatment has achieved the expected goal and making doctors' decisions more scientific.

[0097] In some embodiments, the processing module is further configured to determine the two-dimensional image data where the target positioning point is located when obtaining a trigger operation of the user on the target positioning point in the three-dimensional model; the display module is further configured to display the two-dimensional image data where the target positioning point is located.

[0098] In the embodiments of the present application, the linkage mode between the three-dimensional model and the two-dimensional image can be triggered by setting a button. In the processing linkage mode, when obtaining a trigger operation of the user on the target positioning point in the three-dimensional model, determine the two-dimensional image data where the target positioning point is located; the display module is further configured to display the two-dimensional image data where the target positioning point is located. When obtaining a trigger operation of the user on the target positioning point in the two-dimensional image data, determine the target positioning point in the three-dimensional model, and determine the target positioning point in the three-dimensional model as the viewing point of the camera; the display module is further configured to display the three-dimensional model based on the viewing point.

[0099] In the embodiments of the present application, the user can click on the three-dimensional model displayed on the display screen and calculate the intersection point with the lesion through ray casting. When performing ray casting calculation, the two-dimensional coordinates clicked on the screen can be converted into world coordinates, and a ray is formed along a direction perpendicular to the screen for the converted coordinates, and the intersection point of the ray and the lesion grid is calculated in the world space to determine the target positioning point. After determining the target positioning point, the corresponding two-dimensional image data is jumped to the image layer where the target positioning point is located. In this way, when viewing the lesion on the three-dimensional model, the anatomical structure of the lesion can be seen corresponding to the two-dimensional image data.

[0100] In some embodiments, the processing module is further configured to, when a triggering operation on the target positioning point in the two-dimensional image data is obtained, determine the target positioning point in the three-dimensional model, and determine the target positioning point in the three-dimensional model as the viewing point of the camera; the display module is further configured to display the three-dimensional model based on the viewing point.

[0101] In the embodiments of the present application, the user can click on the lesion area in the two-dimensional image data. Through the current image layer number and the screen coordinates, it can be converted into three-dimensional world coordinates, so as to determine the target positioning point in the three-dimensional model, determine the target positioning point in the three-dimensional model as the viewing point of the camera, and adjust the position of the virtual camera of the three-dimensional model, so that the three-dimensional lesion can be viewed.

[0102] In the embodiments of the present application, the viewing point of the camera determines from which angle to observe the three-dimensional model. Different positions of the viewing point result in different parts and shapes of the three-dimensional model seen.

[0103] In the embodiments of the present application, an intuitive connection between the two-dimensional image and the three-dimensional model is established. The user can first obtain the overall layout or position information from the two-dimensional image, and then quickly switch to the corresponding position of the three-dimensional model through the triggering operation for detailed observation. Taking medical images as an example, a doctor can first view the lesion site on an X-ray film (two-dimensional image), and then position the camera viewing point to the lesion position in the three-dimensional human body model, which can better understand the spatial form of the lesion and its relationship with the surrounding tissues.

[0104] The surgical planning system provided in the embodiments of the present application can realize the linkage between the two-dimensional image data and the three-dimensional model, enabling the user to quickly switch between the two-dimensional and three-dimensional images, avoiding manual search and adjustment, and greatly saving time. The doctor can focus more on the analysis of the lesion without having to perform manual positioning and adjustment frequently, improving the overall work efficiency. When observing the three-dimensional lesion, the doctor can immediately see its anatomical structure in the two-dimensional image. This visual combination helps the doctor's understanding and analysis. The doctor can observe the lesion from different angles in time during the operation, enhancing the grasp of the anatomical structure around the lesion and improving the accuracy of diagnosis.

[0105] In some embodiments, the input module is configured to obtain the three-dimensional model and two-dimensional image data of the lesion, including: obtaining the two-dimensional image data of the target part, where the target part includes: the lesion; determining the segmentation data of each tissue in the target part based on the two-dimensional image data; performing three-dimensional reconstruction based on the segmentation data and the two-dimensional image data to obtain the three-dimensional model of the target part, where the three-dimensional model of the target part includes: the three-dimensional model of the lesion.

[0106] In the embodiments of the present application, the target part can be any one of the chest, head, abdomen, etc. The two-dimensional image data can be scan data. The target part can be scanned by a CT device to obtain the scan data.

[0107] In the embodiments of the present application, the two-dimensional image data can be input into a deep learning algorithm model to segment each tissue in the target part. The segmented tissues all support contour editing, tissue growth, and VOI drawing.

[0108] In the embodiments of the present application, three-dimensional reconstruction uses the transverse CT scan data to reconstruct MPR images in the coronal and sagittal planes through an interpolation algorithm. At the same time, a mesh model of the target part is constructed based on the position information of the segmented tissues in the original volume data and three-dimensionally displayed.

[0109] In the embodiments of the present application, the calibrated two-dimensional image data can be trained by a deep learning algorithm, and then the tissues such as the lungs, liver and gallbladder, blood vessels (arteries, veins, bronchi, etc.), and lesions can be automatically segmented according to the trained model. After three-dimensional reconstruction, multiple tissues in the lungs or abdomen can be more intuitively and stereoscopically visualized for the user. At the same time, the detailed information of each tissue can also be displayed in the transverse, coronal, and sagittal directions. Taking the abdomen as an example, a complete abdominal cavity system can be provided through three-dimensional reconstruction to assist doctors in diagnosis.

[0110] In some embodiments, the processing module is further configured to store the segmentation data of each tissue based on a first preset data structure, and the first preset data structure includes: image data, mask data, mesh data, mesh assembly relationship data, and tissue data. Among them, the image data includes the original pixel information of each tissue, the mask data is used to represent the type of each tissue and the image layer where each tissue is located, the mesh data includes data for converting the tissue in the specified layer in the mask data into a three-dimensional mesh form, the mesh assembly relationship data is used to represent the positional relationship between each mesh data, and the attribute information is used to represent the display state attribute of each tissue.

[0111] In the embodiments of the present application, the Image data contains the most primitive pixel information and can be drawn into an MPR image to display the anatomical structure of the image of the target part.

[0112] In the embodiments of the present application, the mask data is an expression of the segmented tissues. By using different labels to identify different types of tissues inside the volume data, according to which labels of tissues are included in each layer of MPR images in the mash data, different labels can be marked with different colors and transparencies on this layer of images, so that multiple tissues can be displayed on a two-dimensional image. In the embodiments of the present application, since different tissues may overlap on the same layer of images. For example, the same voxel may be marked as lung tissue while also representing pulmonary artery vascular tissue, and may even be a lung nodule tissue at the same time. In order to display the overlap of multiple tissues on the same layer of images, here a mask hierarchical management method is adopted. The tissues are mainly stratified according to categories and extraction methods. Exemplarily, taking the lung part as an example, based on tissue types and extraction methods, it can be divided into 7 layers. The 0th layer is the Base layer, which contains unidentified tissues and the bedplate, and the tissues in this layer hardly change. The 1st layer contains the left lung and the right lung. The second layer contains pulmonary arteries, veins and bronchi. The third layer contains manually added tissues, including the esophagus, heart, aorta, superior vena cava, and bones. The fourth layer contains lesions. The fifth layer contains lymph node tissues, and the lymph node tissues can be added multiple times and are appended to the same identifier after addition. The sixth layer contains custom tissues, where users can define the name themselves and arbitrarily identify them as tissues not included, and there can be multiple, managed separately.

[0113] In the embodiments of the present application, the mesh data converts the tissues with specified labels in the mask data into a three-dimensional mesh form, which is convenient for more intuitively displaying multiple tissues of the target site from a three-dimensional perspective. Each type of tissue is an independent mesh grid model, and their positional relationships are assembled together through the mesh assembly relationship data of the grid. In the embodiments of the present application, the mesh assembly relationship data of the grid contains not only the grid data of the tissues, but also the transformation matrix of this model relative to the world coordinate system, which is convenient for managing the display of multiple tissues in a unified coordinate system.

[0114] In the embodiments of the present application, the display state data may include: color, transparency, visibility, etc. The attribute information mainly records the display state attributes of the current tissue, and the attribute information can be used to achieve the display on the image by setting the attributes of the mask and the mesh assembly relationship data of the grid.

[0115] In some embodiments, the mask data includes: tissue type labels, and the processing module is further configured to count the number of tissue type labels, obtain the tissue type labels and the corresponding numbers, and store them in a second preset data structure, where the second preset data structure includes: image data, tissue type labels and the corresponding numbers, grid data, grid assembly relationship data, and tissue data.

[0116] In the embodiments of the present application, since there is too much tissue in the mash data, resulting in excessive memory occupation, therefore, in the embodiments of the present application, by storing in the second preset data structure, compression management of the mask can be achieved to reduce the memory occupied by the mask.

[0117] In the embodiments of the present application, through the above two data storages, when display is required, the image data and the segmented mask data can be passed to OpenGL for image rendering. Two-dimensional image data is generated by taking values in three directions from the pixel points of the image data. At the same time, the positions of the labels of each tissue on each two-dimensional image data are calculated. By setting different colors, different tissues can be distinguished on the two-dimensional image, and the lesion can be highlighted by setting a brighter color. At the same time, for the three-dimensional image, the mask data of each tissue is triangulated. The principle is mainly to construct a volume mask data, where a single tissue has a non-zero label and the others are all 0. The points with non-zero labels are discretized in three-dimensional space, and then the Marching Cube algorithm is used to generate a mesh, thereby generating a three-dimensional model.

[0118] It should be noted that for the information interaction, execution process, etc. between the above-mentioned devices / units, since they are based on the same concept as the method embodiments of the present application, for their specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, and details will not be elaborated here.

[0119] In addition, the surgical planning system can be a software unit, a hardware unit, or a unit combining software and hardware. It can also be integrated into an electronic device as an independent pendant, or exist as an independent terminal device.

[0120] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application.

[0121] Based on the technical problems of related technologies, the embodiments of the present application provide a surgical planning method that can be applied to electronic devices such as mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPCs), netbooks, and personal digital assistants (PDAs). The embodiments of the present application do not impose any restrictions on the specific types of electronic devices.

[0122] Based on the foregoing embodiments, the embodiments of the present application further provide a surgical planning method. Figure 3 As shown in the schematic implementation flowchart of a surgical planning method provided by the embodiments of the present application, Figure 3 as shown, it includes:

[0123] Step S101: Obtain two-dimensional image data and a three-dimensional model of the lesion, where the three-dimensional model is constructed based on the two-dimensional image data;

[0124] Step S102: Display the two-dimensional image data and the three-dimensional model;

[0125] Step S103: When it is obtained that the user draws an ablation needle in the two-dimensional image data, determine the ablation area corresponding to each layer of two-dimensional image data when ablating based on the ablation needle and the ablation shape in the three-dimensional model.

[0126] Step S104: Display the ablation shape in the three-dimensional model.

[0127] The method provided by the embodiments of the present application can provide a visual ablation range for doctors by obtaining two-dimensional image data and a three-dimensional model of the lesion, where the three-dimensional model is constructed based on the two-dimensional image data; displaying the two-dimensional image data and the three-dimensional model; when it is obtained that the user draws an ablation needle in the two-dimensional image data, determining the ablation area corresponding to each layer of two-dimensional image data when ablating based on the ablation needle and the ablation shape in the three-dimensional model; and displaying the ablation shape in the three-dimensional model.

[0128] In some embodiments, determining the ablation area corresponding to each layer of two-dimensional image data when ablating based on the ablation needle and the ablation shape in the three-dimensional model includes:

[0129] Determine the contour line of the cross-section of the lesion corresponding to each layer of two-dimensional image data and the bounding rectangle surrounding the contour line;

[0130] Determine the center points of the bounding rectangles corresponding to the two-dimensional image data of each layer;

[0131] Connect the center points corresponding to the two-dimensional image data of each layer and the points on the corresponding contour lines to obtain the initial ablation regions;

[0132] Based on multiplying the initial ablation regions by a preset scale factor, obtain the ablation regions corresponding to the two-dimensional image data of each layer when performing ablation based on the ablation needle;

[0133] Determine the ablation shapes in the three-dimensional model based on the ablation regions corresponding to the two-dimensional image data of each layer.

[0134] In some embodiments, determining the ablation regions corresponding to the two-dimensional image data of each layer when performing ablation based on the ablation needle includes:

[0135] Determine the ablation center based on the position of the tip of the ablation needle in the two-dimensional image data;

[0136] Determine the ablation regions corresponding to the two-dimensional image data of each layer when performing ablation based on the ablation needle based on the ablation center and ablation region parameters.

[0137] In some embodiments, the method further includes:

[0138] Obtain the starting point and the ending point of the line segment drawn in the target two-dimensional image data, determine the starting point as the tip of the ablation needle, determine the ending point as the tail of the ablation needle, and generate the ablation needle based on the tip, the tail, and the line segment;

[0139] The display module is further configured to display the ablation needle.

[0140] In some embodiments, the method further includes:

[0141] Calculate the ablation volume of the lesion based on the ablation region, and calculate the ablation coverage rate based on the ablation volume and the volume of the lesion;

[0142] The display module is further configured to display the ablation coverage rate.

[0143] In some embodiments, the method further includes:

[0144] In the case of obtaining a trigger operation by the user for a target positioning point in the three-dimensional model, determine the two-dimensional image data where the target positioning point is located; the display module is further configured to display the two-dimensional image data where the target positioning point is located.

[0145] In some embodiments, the method further includes:

[0146] In the case of obtaining a triggering operation of the user for a target positioning point in two-dimensional image data, determine the target positioning point in the three-dimensional model, and determine the target positioning point in the three-dimensional model as the viewing point of the camera;

[0147] The display module is further configured to display the three-dimensional model based on the viewing point.

[0148] In some embodiments, obtaining the three-dimensional model and two-dimensional image data of the lesion includes:

[0149] Obtain the two-dimensional image data of the target part, where the target part includes: the lesion;

[0150] Determine the segmentation data of each tissue in the target part based on the two-dimensional image data;

[0151] Perform three-dimensional reconstruction based on the segmentation data and the two-dimensional image data to obtain the three-dimensional model of the target part, where the three-dimensional model of the target part includes: the three-dimensional model of the lesion.

[0152] In some embodiments, the method further includes:

[0153] Store the segmentation data of each tissue based on a first preset data structure, where the first preset data structure includes: image data, mask data, mesh data, mesh assembly relationship data, and tissue data, where the image data includes the original pixel information of each tissue, the mask data is used to represent the type of each tissue and the image layer where each tissue is located, the mesh data includes data for converting the tissue in the specified layer of the mask data into a three-dimensional mesh form, the mesh assembly relationship data is used to represent the positional relationship between each mesh data, and the attribute information is used to represent the display state attribute of each tissue.

[0154] In some embodiments, the mask data includes: tissue type labels, and the method further includes:

[0155] Count the number of tissue type labels to obtain the tissue type labels and the corresponding numbers, and store them in a second preset data structure, where the second preset data structure includes: image data, tissue type labels and the corresponding numbers, mesh data, mesh assembly relationship data, and tissue data.

[0156] Based on the foregoing embodiments, the embodiments of the present application further provide a surgical planning method, Figure 4 It is a schematic implementation flowchart of a surgical planning method provided by the embodiments of the present application, as Figure 4 shown, including: obtaining a CT image data sample, and performing deep learning based on the CT image data sample to obtain a tissue segmentation algorithm model.

[0157] After obtaining the CT image patient data, a segmentation algorithm model can be called to segment each tissue, and each tissue can include: liver and gallbladder, lungs, blood vessels, lesions, etc.

[0158] In the embodiments of the present application, two-dimensional image data can be reconstructed from the CT patient data, so that two-dimensional browsing can be performed.

[0159] In the embodiments of the present application, a three-dimensional model can be generated based on the mesh data of each tissue, so that three-dimensional browsing can be performed.

[0160] An ablation needle can be drawn on the two-dimensional image data and the three-dimensional model, and the lesion can be highlighted. The ablation area and ablation parameters can be calculated based on the ablation vibration.

[0161] The method provided by the embodiments of the present application can assist doctors in identifying the spatial location of tumors in advance by performing tissue segmentation, two-dimensional and three-dimensional reconstruction display, and lesion tissue positioning linkage on patient image data; ablation needle primitives can be drawn, the ablation needle puncturing the lesion can be visually simulated, the ablation area can be displayed, and the ablation coverage rate can be calculated to realize a more intuitive display of the radiofrequency ablation process.

[0162] For the specific working process in the above method, reference can be made to the corresponding process in the foregoing system embodiments, which will not be elaborated here.

[0163] Figure 5 It is a schematic structural diagram of an electronic device provided by the embodiments of the present application, as Figure 5 shown. The electronic device 3 in this embodiment may include: at least one processor 30 ( Figure 5 only one processor 30 is shown in the figure), a memory 31, and a computer program 32 stored in the memory 31 and executable on at least one processor 30. When the processor 30 executes the computer program 32, the steps in any of the foregoing method embodiments are implemented, or when the processor 30 executes the computer program 32, the functions of each module / unit in the foregoing system embodiments are implemented.

[0164] Exemplarily, the computer program 32 can be divided into one or more modules / units. One or more modules / units are stored in the memory 31 and executed by the processor 30 to complete the present application. One or more modules / units can be a series of computer program 32 instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 32 in the electronic device 3.

[0165] The embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program 32, and when the computer program 32 is executed by the processor 30, the steps in any of the foregoing method embodiments can be implemented.

[0166] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, it enables the electronic device to execute the steps implemented in the above-mentioned method embodiments.

[0167] If the integrated 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 such an understanding, to implement all or part of the processes in the above-mentioned method embodiments of the present application, it can be completed by instructing relevant hardware through a computer program 32. The computer program 32 can be stored in a computer-readable storage medium. When the computer program 32 is executed by a processor 30, it can implement the steps of the above-mentioned method embodiments. Among them, the computer program 32 includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate forms, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the terminal, recording medium, 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. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0168] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0169] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0170] In the embodiments provided in the present application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For 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 coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0171] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0172] The above-described embodiments 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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 surgical planning system, characterized in that, Comprising: An input module for acquiring two-dimensional image data and a three-dimensional model of a lesion, wherein the three-dimensional model is constructed based on the two-dimensional image data; A display module for displaying the two-dimensional image data and the three-dimensional model; A processing module for acquiring an ablation needle drawn by a user in the two-dimensional image data and determining an ablation region corresponding to each layer of the two-dimensional image data and an ablation shape in the three-dimensional model when performing ablation based on the ablation needle; The display module is further configured to display the ablation shape in the three-dimensional model.

2. The system according to claim 1, wherein The processing module is configured to determine an ablation region corresponding to each layer of the two-dimensional image data and an ablation shape in the three-dimensional model when performing ablation based on the ablation needle, including: Determining a contour line of a cross-section of the lesion corresponding to each layer of the two-dimensional image data and a bounding rectangle surrounding the contour line; Determining a center point of the bounding rectangle corresponding to each layer of the two-dimensional image data; Connecting the center point corresponding to each layer of the two-dimensional image data and a point on the corresponding contour line to obtain an initial ablation region; Multiplying the initial ablation region by a preset scale factor to obtain an ablation region corresponding to each layer of the two-dimensional image data when performing ablation based on the ablation needle; Determining an ablation shape in the three-dimensional model based on the ablation region corresponding to each layer of the two-dimensional image data.

3. The system according to claim 1, wherein The processing module is further configured to: Acquire a starting point and an ending point of a drawn line segment in the target two-dimensional image data, determine the starting point as the tip of the ablation needle, determine the ending point as the tail of the ablation needle, and generate the ablation needle based on the tip, the tail, and the line segment; The display module is further configured to display the ablation needle.

4. The system according to any one of claims 1 to 3, characterized in that, The processing module is further configured to calculate an ablation volume of the lesion based on the ablation region, and calculate an ablation coverage rate based on the ablation volume and the volume of the lesion; The display module is further configured to display the ablation coverage rate.

5. The system according to any one of claims 1 to 3, characterized in that, The processing module is further configured to determine the two-dimensional image data where the target positioning point is located when a trigger operation on the target positioning point in the three-dimensional model is acquired by the user; the display module is further configured to display the two-dimensional image data where the target positioning point is located.

6. The system according to any one of claims 1 to 3, characterized in that The processing module is further configured to determine a target positioning point in the three-dimensional model when a trigger operation on the target positioning point in the two-dimensional image data is acquired by the user, and determine the target positioning point in the three-dimensional model as the viewing point of the camera; The display module is further configured to display the three-dimensional model based on the viewing point.

7. The system according to claim 1, wherein The input module is configured to acquire a three-dimensional model and two-dimensional image data of a lesion, including: Acquiring two-dimensional image data of the target part, wherein the target part includes: a lesion; Determining segmentation data of each tissue in the target part based on the two-dimensional image data; Performing three-dimensional reconstruction based on the segmentation data and the two-dimensional image data to obtain a three-dimensional model of the target part, wherein the three-dimensional model of the target part includes: a three-dimensional model of the lesion.

8. A surgical planning method, characterized in that, The method includes: Acquiring two-dimensional image data and a three-dimensional model of a lesion, wherein the three-dimensional model is constructed based on the two-dimensional image data; Displaying the two-dimensional image data and the three-dimensional model; In the case of obtaining the ablation needle drawn by the user in the two-dimensional image data, determine the ablation region corresponding to each layer of two-dimensional image data when performing ablation based on the ablation needle and the ablation shape in the three-dimensional model; Display the ablation shape in the three-dimensional model.

9. 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 described in claim 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the method described in claim 8 is implemented.

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