Preoperative CT image guided intraoperative transesophageal echocardiography angle acquisition method and device

Abstract

The application relates to the technical field of ultrasonic detection, and particularly relates to a preoperative CT image guided intraoperative transesophageal ultrasonic image angle acquisition method and device. The method comprises the following steps: acquiring a heart and esophagus cutting model based on a CT image; the heart and esophagus cutting model comprises a heart model and an esophagus model; determining a long axis section of the heart based on the heart model; determining an esophagus center line based on the esophagus model; selecting a point closest to the long axis section in the esophagus center line as an ultrasonic irradiation position; correcting the long axis section of the heart based on the ultrasonic irradiation position, so that the ultrasonic irradiation position is located on the corrected long axis section; and determining an ultrasonic probe angle based on the corrected long axis section and a tangent plane of the esophagus center line at the ultrasonic irradiation position. In this way, the surgeon can obtain the intraoperative ultrasonic irradiation angle when planning preoperatively, so that the operation is more accurate and standardized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasonic detection, and particularly relates to a preoperative CT image guided intraoperative transesophageal echocardiogram angle acquisition method and device. BACKGROUND

[0002] Transesophageal echocardiography (TEE) is an imaging method that uses ultrasound technology to obtain images of the heart structure and function through the esophagus. Compared with conventional transthoracic echocardiography, TEE provides clearer and more accurate images of the heart, especially when comparing the posterior structures of the heart. This technology has important clinical value for diagnosing and evaluating and guiding treatment of various structural heart diseases, such as hypertrophic cardiomyopathy (HCM), mitral / tricuspid valve insufficiency, etc.

[0003] However, the current main method of transesophageal echocardiography is mainly through intraoperative physician angle adjustment to find the target position. Since different doctors have different habits, the angles of irradiation will also be different, and the process of finding the angle is more dependent on the experience of the doctor. Transcatheter structural heart disease treatment such as transcatheter edge to edge repair (TEER) requires precise intraoperative transesophageal echocardiography for intraoperative guidance, but esophageal ultrasound requires a high level of ultrasound operator, and it is crucial to be able to give accurate and clear images at the right position. The difference between different operators is large. At the same time, it is difficult to compare the intraoperative ultrasound image with the preoperative CT image, making it difficult to compare the preoperative surgical plan with the intraoperative ultrasound image. SUMMARY

[0004] Therefore, embodiments of the present application aim to provide a preoperative CT image guided intraoperative transesophageal echocardiogram angle acquisition method and device.

[0005] The present application provides a preoperative CT image guided intraoperative transesophageal echocardiogram angle acquisition method, comprising:

[0006] obtaining a heart and esophagus cutting model based on a CT image; the heart and esophagus cutting model comprises a heart model and an esophagus model;

[0007] determining a long axis section of the heart based on the heart model;

[0008] determining an esophagus centerline based on the esophagus model;

[0009] selecting a point in the esophagus centerline closest to the long axis section as an ultrasound irradiation position;

[0010] correct the long axis section of the heart based on the ultrasound irradiation position, so that the ultrasound irradiation position is located on the corrected long axis section;

[0011] determine the ultrasound probe angle based on the corrected long axis section and a tangent plane of the esophagus center line at the ultrasound irradiation position.

[0012] In some embodiments, the acquiring the heart and esophagus cutting model based on the CT image comprises:

[0013] acquiring a CT image;

[0014] segmenting the CT image based on a preset deep learning network to obtain a heart and esophagus segmentation model.

[0015] In some embodiments, the selecting a point in the esophagus center line closest to the long axis section as the ultrasound irradiation position comprises:

[0016] calculating the distance between each point of the esophagus center line and the long axis section;

[0017] selecting the point with the shortest distance as the ultrasound irradiation position.

[0018] In some embodiments, the determining the long axis section of the heart based on the heart model comprises:

[0019] determining a left ventricular model and a center line of the aorta based on the heart model;

[0020] obtaining the long axis section by least square distance fitting based on the left ventricular model and the center line of the aorta.

[0021] In some embodiments, the correcting the long axis section of the heart based on the ultrasound irradiation position, so that the ultrasound irradiation position is located on the corrected long axis section, comprises:

[0022] determining a set of planes passing through the ultrasound irradiation position;

[0023] determining the corrected long axis section in the set of planes based on the left ventricular model and the center line of the aorta in combination with the least square fitting method.

[0024] In some embodiments, the determining the ultrasound probe angle based on the corrected long axis section and a tangent plane of the esophagus center line at the ultrasound irradiation position comprises:

[0025] determining the tangent plane of the esophagus center line at the ultrasound irradiation position;

[0026] the included angle between the tangent plane and the corrected long axis section is the ultrasound probe angle.

[0027] The application provides a preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition device, comprising:

[0028] An acquisition module is configured to acquire a heart and esophagus cutting model based on a CT image; the heart and esophagus cutting model comprises a heart model and an esophagus model;

[0029] A determination module is configured to determine a long axis section of a heart based on the heart model, and determine an esophagus center line based on the esophagus model;

[0030] A selection module is configured to select a point in the esophagus center line closest to the long axis section as an ultrasound irradiation position;

[0031] A correction module is configured to correct the long axis section of the heart based on the ultrasound irradiation position, so that the ultrasound irradiation position is located in the corrected long axis section;

[0032] An angle module is configured to determine an ultrasound probe angle based on a tangent plane of the esophagus center line at the corrected long axis section and the ultrasound irradiation position.

[0033] The application provides an electronic device, comprising:

[0034] A processor and a memory for storing a program executable by the processor;

[0035] The processor is configured to realize the preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition method by running the program in the memory.

[0036] The application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program causes a processor to execute the preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition method when the computer program is run by the processor.

[0037] The preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition method provided by the application first acquires a heart and esophagus cutting model based on a CT image; the heart and esophagus cutting model comprises a heart model and an esophagus model; a long axis section of the heart is determined based on the heart model; an esophagus center line is determined based on the esophagus model; a point in the esophagus center line closest to the long axis section is selected as an ultrasound irradiation position; the long axis section of the heart is corrected based on the ultrasound irradiation position, so that the ultrasound irradiation position is located on the corrected long axis section; and an ultrasound probe angle is determined based on the corrected long axis section and a tangent plane of the esophagus center line at the ultrasound irradiation position. By selecting the point closest to the long axis section as the ultrasound irradiation position, the preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition method provided by the application can ensure that the ultrasound is irradiated to the target position in the shortest path, improve the definition and accuracy of the ultrasound image, determine the accurate probe angle, provide clearer and more accurate heart structure information, further enable the doctor to obtain the intraoperative ultrasound irradiation angle when planning preoperatively, enable different doctors to obtain basically consistent results when operating, and predict and suggest the position and angle of the ultrasound probe for obtaining the ideal image in the operation, so that the ultrasound guided transcatheter operation is more accurate and standardized. BRIEF DESCRIPTION OF DRAWINGS

[0038] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the figures. The accompanying drawings provide further understanding of the present application and form a part of the specification, illustrate embodiments of the present application and together with the description serve to explain the present application. The accompanying drawings are not intended to limit the present application, but to provide a further understanding of the present application. In the drawings, the same reference numerals refer to the same components or steps throughout the figures.

[0039] Figure 1 FIG. 1 is a flowchart of a preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition method provided by an embodiment of the present application.

[0040] Figure 2 FIG. 2 is a partial flowchart provided by an embodiment of the present application.

[0041] Figure 3 FIG. 3 is a schematic diagram of a heart and esophagus cutting model provided by an embodiment of the present application.

[0042] Figure 4 FIG. 4 is a structural schematic diagram of a preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition device provided by an embodiment of the present application.

[0043] Figure 5 FIG. 5 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0044] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of the present application.

[0045] Figure 1 is a flowchart of a method for guiding an intraoperative transesophageal ultrasound image angle acquisition by a preoperative CT image according to an embodiment of the present application. With reference to Figure 1 Figure 2 and Figure 3 The method provided by the present application includes the following contents.

[0046] In step S110, a heart and esophagus cutting model based on a CT image is acquired; the heart and esophagus cutting model includes a heart model and an esophagus model.

[0047] Wherein, CT image: Computed Tomography image, used to acquire detailed anatomical structure of the heart and esophagus of a patient. Heart cutting model: a three-dimensional model of the heart extracted from the CT image by image processing technology. Esophagus cutting model: a three-dimensional model of the esophagus extracted from the CT image by image processing technology.

[0048] In step S120, a long axis section of the heart is determined based on the heart model.

[0049] Specifically, the long axis section: an important view angle of the heart structure, usually refers to the section through the long axis of the heart, used as the key section for intraoperative ultrasound irradiation.

[0050] In step S130, an esophagus center line is determined based on the esophagus model.

[0051] Specifically, the esophagus center line is the center path of the esophagus, used to determine the irradiation position of the ultrasound probe.

[0052] In step S140, a point in the esophagus center line closest to the long axis section is selected as the ultrasound irradiation position.

[0053] The esophagus is located behind the heart, adjacent to the posterior wall of the heart. In transesophageal ultrasound examination, the ultrasound probe enters through the esophagus and images from the back of the heart. Therefore, selecting the point closest to the long axis section as the ultrasound irradiation position can ensure that the ultrasound waves reach the long axis section of the heart with the shortest path, reduce the attenuation and scattering of the ultrasound waves in the propagation process, and improve the clarity and accuracy of the image.

[0054] Step S150, based on the ultrasonic irradiation position, correct the long axis section of the heart, so that the ultrasonic irradiation position is located in the corrected long axis section;

[0055] Specifically, by correcting the long axis section to pass through the ultrasonic irradiation position, the irradiation angle of the ultrasound can be optimized, ensuring that the acquisition of the ultrasound image is consistent with the preoperative planning, and improving the accuracy of the operation. The corrected long axis section can provide clearer and more accurate information of the heart structure, which helps doctors better evaluate the function and structure of the heart and improve the effectiveness of the operation. The corrected long axis section provides accurate reference for the positioning of the ultrasonic probe, reduces the image deviation caused by operation errors, and improves the reliability of the operation.

[0056] Step S160, based on the corrected long axis section and the tangent plane of the esophagus center line at the ultrasonic irradiation position, determine the angle of the ultrasonic probe.

[0057] In this way, the technical scheme provided by the present application can ensure that the ultrasonic wave is irradiated to the target position with the shortest path by selecting the point closest to the long axis section as the ultrasonic irradiation position, thereby improving the clarity and accuracy of the ultrasound image. Determining the accurate probe angle provides clearer and more accurate information of the heart structure, which helps doctors better evaluate the function and structure of the heart and improve the effectiveness of the operation.

[0058] In some embodiments, the method for obtaining the heart and esophagus cutting model based on the CT image comprises:

[0059] Obtaining a CT image; based on a pre-set deep learning network, segmenting the CT image to obtain a heart and esophagus segmentation model.

[0060] Specifically, the CT image is obtained: this is the starting point of the entire technical process. The CT image can provide detailed anatomical structure information of the heart and esophagus and other parts, and is the basic data source for subsequent analysis and processing. In actual application scenarios, the CT scan data of the patient can be directly retrieved from the image system of the hospital, and these data contain rich human tissue density information, which makes it possible to accurately segment the heart and esophagus.

[0061] By using the powerful image recognition and processing capability of deep learning, the acquired CT image is analyzed using a pre-trained deep learning network (such as the nnUnet neural network). Through learning a large number of labeled CT image data, the network can automatically identify the boundaries of the heart and esophagus in the image, thereby segmenting the heart and esophagus from the entire CT image to generate a heart and esophagus segmentation model. Compared with traditional manual segmentation or segmentation based on simple algorithms, this segmentation method has higher accuracy and efficiency, and can quickly and accurately extract the model of the target organ, providing a reliable data basis for subsequent key steps such as determining the long-axis section of the heart and the centerline of the esophagus.

[0062] In the scheme provided in the present application, the CT image is segmented by a deep learning network, and here the nnUnet neural network is used to segment the CT image. The segmentation process mainly includes the following steps: first, the CT image is resampled so that the sampled image and the nnUnet we have trained are the same size, and then input into the neural network for segmentation, and the heart and esophagus segmentation model can be directly segmented. After the model is segmented, the left ventricle and aortic blood flow lumen model can be obtained. According to the model combined with the centerline algorithm, the blood flow lumen model and the centerline of the aorta can be extracted. The obtained centerline is three-dimensional, and the plane where the centerline is located can be fitted by least square distance to obtain the long-axis section of the heart.

[0063] In some embodiments, the selecting the point on the esophagus centerline closest to the long-axis section as the ultrasound irradiation position comprises:

[0064] Calculating the distance between each point on the esophagus centerline and the long-axis section; selecting the point with the shortest distance as the ultrasound irradiation position.

[0065] Specifically, after obtaining the long-axis section of the heart and the esophageal center line, the spatial relationship between the two needs to be quantitatively analyzed. By calculating the distance from each point on the esophageal center line to the long-axis section, the spatial distance information between each position of the esophagus and the ideal heart ultrasound irradiation key section (long-axis section) can be accurately known. This step is realized with the help of specific mathematical algorithms, such as spatial geometric distance calculation formulas. By traversing all points of the esophageal center line, their distances to the long-axis section are calculated one by one, thereby forming a series of distance data. The point corresponding to the shortest distance is selected from the calculated distance data, and it is determined as the ultrasound irradiation position. The point with the shortest distance is selected as the ultrasound irradiation position because this point is closest to the long-axis section of the heart in the esophagus. From this point, ultrasound irradiation can maximize the proximity to the ideal ultrasound irradiation angle and position under the premise of meeting the esophageal position restriction, which helps to obtain clearer and more accurate heart ultrasound images, providing more accurate guidance for subsequent transcatheter structural heart disease treatment, etc. This selection method is based on the idea of optimization, which finds the best ultrasound irradiation position through quantitative analysis, thereby improving the accuracy of ultrasound positioning and the success rate of the operation.

[0066] In actual application, after the long-axis section is calculated, the irradiation angle is obtained by analyzing and processing the esophageal model, and the specific process is as follows. For the esophageal model, the center line of the esophagus can also be extracted by the center line algorithm, and then the distances of each point on the center line to the section are calculated, and the minimum one is taken as the intraoperative ultrasound irradiation position, denoted as point . Due to the restriction of the esophageal position, the long-axis section of the intraoperative ultrasound irradiation may differ from the ideal long-axis section, so it needs to be corrected to determine the angle of ultrasound irradiation.

[0067] In some embodiments, determining the long-axis section of the heart based on the heart model comprises:

[0068] Based on the heart model, a left ventricular model and a center line of the aorta are determined;

[0069] Based on the left ventricular model and the center line of the aorta, the long-axis section is obtained by least square distance fitting.

[0070] Specifically, first, the center line of the left ventricular model and the aorta is determined.

[0071] Left ventricular model: the three-dimensional structure of the left ventricle is extracted from the heart model. The left ventricle is the main pumping chamber of the heart, and its structure is crucial for determining the long-axis section of the heart.

[0072] Center line of the aorta: the center line of the aorta is extracted from the heart model. The aorta is the main output blood vessel of the heart, and its direction and position have important reference value for determining the long-axis section of the heart.

[0073] The long axis section is obtained by least squares distance fitting. The least squares distance fitting: using the least squares method to fit the center line of the left ventricular model and the aorta, a best fitting plane is calculated, which is the long axis section of the heart. The least squares method minimizes the sum of the squared distances of all points to the fitting plane, ensuring that the fitting plane is as close as possible to all reference points.

[0074] The extraction of the left ventricular model and the aortic center line includes: extracting the boundary and internal structure of the left ventricle from the three-dimensional data of the heart model, generating a three-dimensional model of the left ventricle. The left ventricular model includes the inner wall, myocardium and cardiac cavity of the left ventricle. The center line of the aorta, i.e. the main axis of the aorta, is extracted from the three-dimensional model of the aorta through the center line extraction algorithm (such as the skeleton-based method). The point cloud data of the left ventricular model and the aortic center line is input into the least squares method algorithm, and a best fitting plane is calculated. The plane minimizes the sum of the squared distances of all points to the plane, ensuring that the fitting plane is as close as possible to all reference points. The plane obtained by fitting is the long axis section of the heart, which passes through the main structure of the left ventricle and the aorta, providing a clear perspective to observe the structure and function of the heart.

[0075] In some embodiments, the long axis section of the heart is corrected based on the ultrasound irradiation position, so that the ultrasound irradiation position is located on the corrected long axis section, which includes:

[0076] A set of planes passing through the ultrasound irradiation position is determined; based on the left ventricular model and the aortic center line, a least squares fitting method is used to determine the corrected long axis section in the set of planes.

[0077] Specifically, first, a set of planes passing through the ultrasound irradiation position is determined. The purpose of this step is to find all possible planes that pass through the previously determined ultrasound irradiation position. Specifically, these planes can be represented mathematically. Assuming that the ultrasound irradiation position is a point P, all planes passing through point P can be represented as: Then, a most suitable plane needs to be selected from these planes as the corrected long axis section. The key to this step is to use the left ventricular model and the aortic center line, combined with the least squares fitting method.

[0078] The three-dimensional structure of the left ventricle and the centerline of the aorta are extracted from the heart model. These data provide the main structural information of the heart. For each plane in the plane set, the distances from the points on the left ventricle model and the aorta centerline to the plane are calculated. These distances will be used for least squares fitting. Using least squares fitting, a plane is found such that the sum of the squares of the distances from the points on the left ventricle model and the aorta centerline to the plane is minimized. This plane is the corrected long axis section. Through least squares fitting, an optimal plane can be obtained, which not only passes through the ultrasound irradiation position, but also is closest to the left ventricle model and the aorta centerline. This plane is the corrected long axis section.

[0079] In practical applications, for the ultrasound irradiation position calculated in the foregoing , any plane passing through the point can be represented as According to the least squares fitting of the centerline of the left ventricle and the aorta blood flow cavity model, a corrected plane can be obtained, which is used as the long axis section of the heart for intraoperative ultrasound irradiation, denoted as plane According to the ultrasound irradiation point and angle obtained in the above manner, the optimal position and angle of the intraoperative ultrasound probe can be guided in the following manner.

[0080] In some embodiments, the determination of the ultrasound probe angle based on the corrected long axis section and the tangent plane of the esophageal centerline at the ultrasound irradiation position comprises:

[0081] The tangent plane of the esophageal centerline at the ultrasound irradiation position is determined; the included angle between the tangent plane and the corrected long axis section is the ultrasound probe angle. That is, according to the ultrasound irradiation position point and the esophageal centerline, the tangent plane of the point on the esophageal centerline can be calculated, the tangent plane and the normal vector of the corrected long axis section The included angle between the tangent plane and the normal vector of the corrected long axis section is the angle that needs to be adjusted by the intraoperative ultrasound probe.

[0082] Specifically, after the long axis section is corrected and the ultrasonic irradiation position is determined, the tangent plane of the esophageal center line at the ultrasonic irradiation position needs to be further determined. The esophageal center line is a key line describing the spatial trend of the esophagus, and determining the tangent plane of the esophageal center line at the ultrasonic irradiation position can provide an important reference plane for subsequent calculation of the ultrasonic probe angle. By analyzing the local geometric characteristics of the esophageal center line at the point and using relevant mathematical and geometric algorithms, the tangent plane can be accurately determined. The tangent plane reflects the local direction characteristics of the esophagus at the ultrasonic irradiation position and is an indispensable basic element for calculating the ultrasonic probe angle. Comparing the tangent plane of the esophageal center line at the ultrasonic irradiation position with the corrected long axis section, the included angle between the two planes is the angle at which the ultrasonic probe needs to be adjusted during the operation. The reason for taking the included angle as the ultrasonic probe angle is that it takes into account the ideal imaging direction of the long axis section of the heart (the corrected long axis section) and the actual spatial trend of the esophagus at the ultrasonic irradiation position (the tangent plane of the esophageal center line at the ultrasonic irradiation position). By adjusting the ultrasonic probe to the angle, the ultrasonic beam can be irradiated along the ideal long axis direction of the heart as much as possible, while adapting to the limitations of the esophagus position, thereby obtaining clearer and more accurate ultrasonic images of the heart, providing more accurate intraoperative ultrasonic guidance for transcatheter structural heart disease treatment, and improving the success rate and treatment effect of the operation.

[0083] In summary, the scheme provided by the present application enables doctors to obtain the intraoperative ultrasonic irradiation angle during preoperative planning, so that different doctors can obtain basically consistent results during operation. At the same time, the position and angle of the ultrasonic probe for obtaining ideal images during operation are predicted and suggested, so that the transcatheter operation guided by ultrasonic is more accurate and standardized.

[0084] The device embodiment of the present application can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0085] Figure 4 Fig. 1 shows a block diagram of a preoperative CT image guiding intraoperative transesophageal ultrasonic image angle acquisition device provided by an embodiment of the present application. As shown in the figure, Figure 4 The device comprises:

[0086] The acquisition module 41 is configured to acquire a heart and esophagus cutting model based on a CT image; the heart and esophagus cutting model comprises a heart model and an esophagus model;

[0087] The determination module 42 is configured to determine a long axis section of the heart based on the heart model, and determine an esophageal center line based on the esophagus model;

[0088] The selection module 43 is configured to select a point in the esophageal center line closest to the long axis section as an ultrasonic irradiation position;

[0089] correcting the long axis section of the heart based on the ultrasound irradiation position, so that the ultrasound irradiation position is located on the corrected long axis section;

[0090] determining the ultrasound probe angle based on the corrected long axis section and a tangent plane of the esophagus center line at the ultrasound irradiation position.

[0091] In some embodiments, the acquiring the heart and esophagus cutting model based on the CT image comprises:

[0092] acquiring the CT image;

[0093] segmenting the CT image based on a preset deep learning network to obtain a heart and esophagus segmentation model.

[0094] In some embodiments, the selecting the point in the esophagus center line closest to the long axis section as the ultrasound irradiation position comprises:

[0095] calculating the distance between each point of the esophagus center line and the long axis section;

[0096] selecting the point with the shortest distance as the ultrasound irradiation position.

[0097] In some embodiments, the determining the long axis section of the heart based on the heart model comprises:

[0098] determining a left ventricle model and a center line of the aorta based on the heart model;

[0099] obtaining the long axis section by least square distance fitting based on the left ventricle model and the center line of the aorta.

[0100] In some embodiments, the correcting the long axis section of the heart based on the ultrasound irradiation position, so that the ultrasound irradiation position is located on the corrected long axis section, comprises:

[0101] determining a set of planes passing through the ultrasound irradiation position;

[0102] determining the corrected long axis section in the set of planes based on the left ventricle model and the center line of the aorta in combination with the least square fitting method.

[0103] In some embodiments, the determining the ultrasound probe angle based on the corrected long axis section and a tangent plane of the esophagus center line at the ultrasound irradiation position comprises:

[0104] determining the tangent plane of the esophagus center line at the ultrasound irradiation position;

[0105] The angle between the tangent plane and the corrected long axis tangent plane is the ultrasonic probe angle.

[0106] Below, for reference Figure 5 This describes an electronic device according to embodiments of the present application. Figure 5 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0107] like Figure 5 As shown, the electronic device 500 includes one or more processors 510 and memory 520.

[0108] The processor 510 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the electronic device 500 to perform desired functions.

[0109] The memory 520 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 510 may execute the program instructions to implement the preoperative CT image-guided intraoperative transesophageal ultrasound image angle acquisition method of the various embodiments of this application described above, and / or other desired functions. Various contents, such as category correspondences, may also be stored in the computer-readable storage medium.

[0110] In one example, the electronic device 500 may also include an input device 530 and an output device 540, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0111] In addition, the input device 530 may also include, for example, a keyboard, mouse, interface, etc. The output device 540 can output various information to the outside, including analysis results, etc. The output device 540 may include, for example, a display, speaker, printer, and communication network and its connected remote output devices, etc.

[0112] Of course, for the sake of simplicity, Figure 5 Only some of the components of the electronic device relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device may include any other suitable components depending on the specific application.

[0113] In addition to the methods and devices described above, embodiments of the present application can also be a computer program product that includes computer program instructions that, when run by a processor, cause the processor to perform the steps of the preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition method according to various embodiments of the present application described in the above “METHOD” section of the specification.

[0114] The computer program instructions can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, and the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote cloud device or server.

[0115] In addition, embodiments of the present application can also be a computer readable storage medium having stored thereon computer program instructions that, when run by a processor, cause the processor to perform the steps of the preoperative CT image guided intraoperative transesophageal ultrasound image angle acquisition method according to various embodiments of the present application described in the above “METHOD” section of the specification.

[0116] The computer readable storage medium can be any combination of one or more of a readable medium that is readable by a processing ass. The readable medium can be a readable signal medium or a readable storage medium. A readable storage medium can include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0117] The above description is given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those of ordinary skill in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A preoperative CT image guided intraoperative transesophageal echocardiography angle acquisition method, characterized in that, The method comprises: obtaining a heart and esophagus cutting model based on a CT image; the heart and esophagus cutting model comprises a heart model and an esophagus model; determining a long axis section of the heart based on the heart model; determining an esophagus center line based on the esophagus model; selecting a point on the esophagus center line closest to the long axis section as an ultrasound irradiation position; correcting the long axis section of the heart based on the ultrasound irradiation position, so that the ultrasound irradiation position is located on the corrected long axis section; determining an ultrasound probe angle based on the corrected long axis section and a tangent plane of the esophagus center line at the ultrasound irradiation position; the determination of the ultrasound probe angle based on the corrected long axis section and the tangent plane of the esophagus center line at the ultrasound irradiation position comprises: determining the tangent plane of the esophagus center line at the ultrasound irradiation position; the included angle between the tangent plane and the corrected long axis section is the ultrasound probe angle.

2. The pre-operative CT image guided intra-operative transesophageal echocardiography image angle acquisition method of claim 1, wherein, The method comprises: obtaining a CT image; segmenting the CT image based on a preset deep learning network to obtain a heart and esophagus segmentation model.

3. The pre-operative CT image guided intra-operative transesophageal echocardiogram angle of acquisition method of claim 1, wherein, The method comprises: calculating the distance between each point on the esophagus center line and the long axis section; selecting the point with the shortest distance as the ultrasound irradiation position.

4. The pre-operative CT image guided intra-operative transesophageal echocardiogram angle of acquisition method of claim 1, wherein, The method comprises: determining a left ventricular model and a center line of the aorta based on the heart model; fitting the long axis section by the least square distance based on the left ventricular model and the center line of the aorta.

5. The pre-operative CT image guided intra-operative transesophageal echocardiogram angle acquisition method of claim 4, wherein, The method comprises: determining a set of planes passing through the ultrasound irradiation position; determining the corrected long axis section in the set of planes based on the left ventricular model and the center line of the aorta by the least square fitting method.

6. A pre-operative CT image guided intra-operative transesophageal echocardiography angle acquisition device, comprising: The method comprises: an obtaining module, configured to obtain a heart and esophagus cutting model based on a CT image; the heart and esophagus cutting model comprises a heart model and an esophagus model; a determining module, configured to determine a long axis section of the heart based on the heart model, and determine an esophagus center line based on the esophagus model; a selecting module, configured to select a point on the esophagus center line closest to the long axis section as an ultrasound irradiation position; a correcting module, configured to correct the long axis section of the heart based on the ultrasound irradiation position, so that the ultrasound irradiation position is located on the corrected long axis section; an angle module, configured to determine an ultrasound probe angle based on the corrected long axis section and a tangent plane of the esophagus center line at the ultrasound irradiation position; the determination of the ultrasound probe angle based on the corrected long axis section and the tangent plane of the esophagus center line at the ultrasound irradiation position comprises: determining the tangent plane of the esophagus center line at the ultrasound irradiation position; the included angle between the tangent plane and the corrected long axis section is the ultrasound probe angle.

7. An electronic device, comprising: The method comprises: a processor, and a memory for storing programs executable by the processor; The processor is configured to implement the preoperative CT image guided intraoperative transesophageal echocardiography image angle acquisition method of any one of claims 1 to 5 by running a program in the memory.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, which, when executed by the processor, causes the processor to perform the preoperative CT image guided intraoperative transesophageal echocardiography image angle acquisition method of any one of claims 1 to 5.

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