Simulation-based breathing displacement prediction method and device, surgical robot and electronic equipment

Abstract

The invention discloses a simulation-based breathing displacement prediction method and device, a surgical robot and electronic equipment. The method comprises the steps that a first three-dimensional model of a first object is obtained, the first three-dimensional model comprises a first tissue model, and the first tissue model is a model of a first tissue in the first object; based on the stress characteristic of the first tissue, a first relation of the first tissue model is determined, and the first relation is the relation between the force borne by the first tissue model and the deformation of the first tissue model. Acquiring a first simulation force, wherein the first simulation force is used for simulating the breathing force of the first tissue; a first respiratory displacement of the first tissue is determined based on the first three-dimensional model, the first relationship, and the first simulated force, the first respiratory displacement being a displacement generated by respiration of the first subject. Based on the method provided by the embodiment of the invention, the first breathing displacement of the first tissue can be determined by simulating the movement of the first tissue in the breathing process of the first object, so that the accuracy of the first breathing displacement can be improved.

Description

Technical Field

[0001] This application relates to the field of medical imaging technology, and in particular to a simulation-based method and device for predicting respiratory displacement, a surgical robot, and electronic equipment. Background Technology

[0002] After acquiring medical images of a subject using medical imaging equipment, the positional information of the tissues within the subject's body can be obtained based on these images. However, because the subject's respiration causes tissue movement, this tissue positional information can change. Therefore, obtaining the respiratory displacement of tissues within the subject's body is of great significance.

[0003] Current technologies employ the following method to obtain the respiratory displacement of tissues within a subject: First, a sequence of three-dimensional computed tomography (CT) images of the tissues within the subject is acquired. Then, based on the position of the tissue in each image of the sequence and the acquisition time of the images, the variation of the respiratory displacement of the tissues within the subject over time is obtained, and the respiratory displacement of the tissues within the subject is determined based on this variation.

[0004] However, the accuracy of respiratory displacement obtained based on this technology is low. Summary of the Invention

[0005] This application provides a simulation-based method and device for predicting respiratory displacement, a surgical robot, and an electronic device to improve the accuracy of respiratory displacement in the first tissue.

[0006] Firstly, a simulation-based method for predicting respiratory displacement is provided, the method comprising: Obtain a first three-dimensional model of a first object, the first three-dimensional model including a first organization model, the first organization model being a model of the first organization in the first object; Based on the stress characteristics of the first tissue, a first relationship is determined for the first tissue model, which is the relationship between the force on the first tissue model and the deformation of the first tissue model. A first simulated force is obtained, which is used to simulate the respiratory force on the first tissue, and the first respiratory force is the force generated by the breathing of the first object; Based on the first three-dimensional model, the first relationship, and the first simulated force, the first respiratory displacement of the first tissue is determined, wherein the first respiratory displacement is the displacement generated by the respiration of the first object.

[0007] In any embodiment of this application, the first tissue is tissue in the lung of the first object, and the first three-dimensional model further includes a second tissue model, which is a model of the diaphragm of the first object; The acquisition of the first simulated force includes: Obtain the first respiratory displacement pattern of the diaphragm, the first respiratory displacement pattern is the pattern of respiratory displacement of the diaphragm, the respiratory displacement of the diaphragm is the displacement in a first direction, the respiratory displacement of the diaphragm is the displacement generated by the breathing of the first object, and the first direction is the direction from the lungs of the first object to the diaphragm; Based on the first respiratory displacement pattern, the first simulated force is obtained.

[0008] In any embodiment of this application, the first three-dimensional model further includes a thoracic cavity model, which is a model of the thoracic cavity of the first object; The process of obtaining the first simulated force based on the first respiratory displacement pattern includes: Based on the first respiratory displacement pattern, the movement of the second tissue model is controlled to adjust the air pressure inside the thoracic cavity model; The first simulated force is obtained based on the air pressure inside the thoracic cavity model.

[0009] In conjunction with any embodiment of this application, before obtaining the first simulated force based on the air pressure within the thoracic cavity model, the method further includes: Obtain the second respiratory displacement pattern of the chest cavity, which is the pattern of lateral respiratory displacement. The lateral respiratory displacement is the component of the respiratory displacement of the chest cavity in the second direction. The respiratory displacement of the chest cavity is the displacement generated by the breathing of the first object. The second direction is perpendicular to the first direction. The process of obtaining the first simulated force based on the air pressure within the thoracic cavity model includes: The first simulated force is obtained based on the second respiratory displacement law and the air pressure inside the thoracic cavity model.

[0010] In any embodiment of this application, the first three-dimensional model further includes a boundary model, which is a model of a boundary region in the lung, and the boundary region is in contact with the thoracic cavity; The first simulated force is obtained based on the second respiratory displacement law and the air pressure within the thoracic cavity model, including: Based on the second breathing displacement law, the motion law of the boundary model is obtained; The first simulated force is obtained based on the motion law of the boundary model and the air pressure inside the thoracic cavity model.

[0011] In conjunction with any embodiment of this application, before obtaining the first simulated force based on the motion law of the boundary model and the air pressure within the thoracic cavity model, the method further includes: A second simulated force is obtained, which is used to simulate the pressure exerted by air bubbles on the lungs. The first simulated force is obtained based on the motion law of the boundary model and the air pressure within the thoracic cavity model, including: The first simulated force is obtained based on the motion law of the boundary model, the air pressure in the thoracic cavity model, and the second simulated force.

[0012] In any embodiment of this application, the first tissue is lung parenchyma in the lung, the lung parenchyma including lesions, and the method further includes: Based on the first respiratory displacement, a third respiratory displacement pattern of the first tissue is determined, and the fourth respiratory displacement pattern is the pattern of the respiratory displacement of the lung parenchyma; Obtain a first phase, which is the phase in the breathing pattern of the first object corresponding to the target time, the target time being the time of planning the first path, and the first path being the path from the skin area of ​​the first object to the lesion; Based on the third respiratory displacement pattern, the second respiratory displacement corresponding to the first phase is determined; Based on the third respiratory displacement pattern, the third respiratory displacement corresponding to the movement phase is determined. The movement phase is the phase in the respiratory pattern of the first object that corresponds to the movement time, and the movement time is the time when the object moves from the skin area toward the lesion. Based on the difference between the second respiratory displacement and the third respiratory displacement, the first path is adjusted to obtain the second path.

[0013] In any embodiment of this application, determining the first respiratory displacement of the first tissue based on the first three-dimensional model, the first relationship, and the first simulated force includes: Based on the first three-dimensional model and the first relationship, a second three-dimensional model is obtained; The first respiratory displacement is determined based on the second three-dimensional model and the first simulated force.

[0014] In any embodiment of this application, the first tissue is the lung parenchyma of the lung of the first object, and the first three-dimensional model further includes a duct model, which is a model of the tracheal tissue in the lung; Before obtaining the second three-dimensional model based on the first three-dimensional model and the first relationship, the method further includes: Obtain the second relationship, which is the relationship between the force on the pipe model and the deformation of the pipe model; Based on the first 3D model, the first relationship, and the second relationship, the second 3D model is obtained.

[0015] In any embodiment of this application, obtaining the second three-dimensional model based on the first three-dimensional model, the first relationship, and the second relationship includes: Based on the first 3D model, the first relationship, and the second relationship, a third 3D model is obtained; Based on the third three-dimensional model, the fourth respiratory displacement of the first tissue is obtained; Based on the fourth respiratory displacement, the pattern of the fourth respiratory displacement of the first tissue is determined, wherein the pattern of the fourth respiratory displacement is the pattern of the respiratory displacement of the lung parenchyma; The fifth respiratory displacement pattern is obtained, which is the pattern of respiratory displacement of the lung parenchyma. The fifth respiratory displacement pattern is obtained based on measured data, which is obtained by measuring the respiratory displacement of the first tissue during the breathing process of the first object. Determine the difference between the fourth respiratory displacement pattern and the fifth respiratory displacement pattern; If the difference is less than the difference threshold, the third 3D model is determined to be the second 3D model; If the difference is greater than or equal to the difference threshold, the parameters of the third 3D model are adjusted based on the difference until the difference is less than the difference threshold, thus obtaining the second 3D model.

[0016] In any embodiment of this application, determining the difference between the fourth respiratory displacement pattern and the fifth respiratory displacement pattern includes: Based on the aforementioned fourth respiratory displacement pattern, the fifth respiratory displacement corresponding to the second phase is determined; Based on the fifth respiratory displacement pattern, the sixth respiratory displacement corresponding to the second phase is determined; The absolute value of the difference between the fifth respiratory displacement and the sixth respiratory displacement is determined to obtain the difference, and the difference is positively correlated with the absolute value.

[0017] Secondly, a simulation-based respiratory displacement prediction device is provided, the simulation-based respiratory displacement prediction device comprising: An acquisition unit is used to acquire a first three-dimensional model of a first object, wherein the first three-dimensional model includes a first organization model, and the first organization model is a model of the first organization in the first object; The processing unit is configured to determine a first relationship of the first tissue model based on the stress characteristics of the first tissue, wherein the first relationship is the relationship between the force on the first tissue model and the deformation of the first tissue model. The acquisition unit is further configured to acquire a first simulated force, the first simulated force being used to simulate the respiratory force on the first tissue, the respiratory force being the force generated by the breathing of the first object; The processing unit is further configured to determine a first respiratory displacement of the first tissue based on the first three-dimensional model, the first relationship, and the first simulated force, wherein the first respiratory displacement is a displacement generated by the respiration of the first object.

[0018] In any embodiment of this application, the first tissue is tissue in the lung of the first object, and the first three-dimensional model further includes a second tissue model, which is a model of the diaphragm of the first object; The acquisition of the first simulated force includes: Obtain the first respiratory displacement pattern of the diaphragm, the first respiratory displacement pattern is the pattern of respiratory displacement of the diaphragm, the respiratory displacement of the diaphragm is the displacement in a first direction, the respiratory displacement of the diaphragm is the displacement generated by the breathing of the first object, and the first direction is the direction from the lungs of the first object to the diaphragm; Based on the first respiratory displacement pattern, the first simulated force is obtained.

[0019] In any embodiment of this application, the first three-dimensional model further includes a thoracic cavity model, which is a model of the thoracic cavity of the first object; The processing unit is further configured to: Based on the first respiratory displacement pattern, the movement of the second tissue model is controlled to adjust the air pressure inside the thoracic cavity model; The first simulated force is obtained based on the air pressure inside the thoracic cavity model.

[0020] In conjunction with any embodiment of this application, the acquisition unit is further configured to acquire the second respiratory displacement pattern of the thoracic cavity, the second respiratory displacement pattern being the pattern of lateral respiratory displacement, the lateral respiratory displacement being the component of the respiratory displacement of the thoracic cavity in a second direction, the respiratory displacement of the thoracic cavity being the displacement generated by the breathing of the first object, and the second direction being perpendicular to the first direction; The processing unit is also used to obtain the first simulated force based on the second respiratory displacement law and the air pressure inside the thoracic cavity model.

[0021] In any embodiment of this application, the first three-dimensional model further includes a boundary model, which is a model of a boundary region in the lung, and the boundary region is in contact with the thoracic cavity; The processing unit is further configured to: Based on the second breathing displacement law, the motion law of the boundary model is obtained; The first simulated force is obtained based on the motion law of the boundary model and the air pressure inside the thoracic cavity model.

[0022] In any embodiment of this application, the acquisition unit is further configured to acquire a second simulated force, the second simulated force being used to simulate the pressure exerted by air bubbles in the lungs on the lungs; The processing unit is further configured to obtain the first simulated force based on the motion law of the boundary model, the air pressure inside the thoracic cavity model, and the second simulated force.

[0023] In any embodiment of this application, the first tissue is the lung parenchyma in the lung, the lung parenchyma includes lesions, and the processing unit is further configured to determine a third respiratory displacement pattern of the first tissue based on the first respiratory displacement, wherein the fourth respiratory displacement pattern is the pattern of the respiratory displacement of the lung parenchyma. The acquisition unit is further configured to acquire a first phase, wherein the first phase is the phase in the breathing pattern of the first object that corresponds to the target time, the target time is the time when the first path is planned, and the first path is the path from the skin area of ​​the first object to the lesion; The processing unit is further configured to determine a second respiratory displacement corresponding to the first phase based on the third respiratory displacement pattern; The processing unit is further configured to determine the third respiratory displacement corresponding to the movement phase based on the third respiratory displacement pattern, wherein the movement phase is the phase in the respiratory pattern of the first object that corresponds to the movement time, and the movement time is the time when the object moves from the skin area toward the lesion. The processing unit is further configured to adjust the first path based on the difference between the second respiratory displacement and the third respiratory displacement to obtain a second path.

[0024] In conjunction with any embodiment of this application, the processing unit is further configured to: Based on the first three-dimensional model and the first relationship, a second three-dimensional model is obtained; The first respiratory displacement is determined based on the second three-dimensional model and the first simulated force.

[0025] In any embodiment of this application, the first tissue is the lung parenchyma of the lung of the first object, and the first three-dimensional model further includes a duct model, which is a model of the tracheal tissue in the lung; The acquisition unit is further configured to acquire a second relationship, which is the relationship between the force on the pipe model and the deformation of the pipe model. The processing unit is further configured to obtain the second three-dimensional model based on the first three-dimensional model, the first relationship, and the second relationship.

[0026] In conjunction with any embodiment of this application, the processing unit is further configured to: Based on the first 3D model, the first relationship, and the second relationship, a third 3D model is obtained; Based on the third three-dimensional model, the fourth respiratory displacement of the first tissue is obtained; Based on the fourth respiratory displacement, the pattern of the fourth respiratory displacement of the first tissue is determined, wherein the pattern of the fourth respiratory displacement is the pattern of the respiratory displacement of the lung parenchyma; The acquisition unit is further configured to acquire a fifth respiratory displacement pattern, which is the pattern of respiratory displacement of the lung parenchyma. The fifth respiratory displacement pattern is obtained based on measured data, which is obtained by measuring the respiratory displacement of the first tissue during the breathing process of the first object. The processing unit is also used to determine the difference between the fourth respiratory displacement pattern and the fifth respiratory displacement pattern; The processing unit is further configured to determine the third three-dimensional model as the second three-dimensional model if the difference is less than the difference threshold. The processing unit is further configured to, when the difference is greater than or equal to the difference threshold, adjust the parameters of the third three-dimensional model based on the difference until the difference is less than the difference threshold, thereby obtaining the second three-dimensional model.

[0027] In conjunction with any embodiment of this application, the processing unit is further configured to: Based on the aforementioned fourth respiratory displacement pattern, the fifth respiratory displacement corresponding to the second phase is determined; Based on the fifth respiratory displacement pattern, the sixth respiratory displacement corresponding to the second phase is determined; The absolute value of the difference between the fifth respiratory displacement and the sixth respiratory displacement is determined to obtain the difference, and the difference is positively correlated with the absolute value.

[0028] Thirdly, a surgical robot is provided, including a simulation-based respiratory displacement prediction device as described in the second aspect. In this third aspect, the surgical robot can execute a simulation-based respiratory displacement prediction method using the simulation-based respiratory displacement prediction device, thereby improving the accuracy of respiratory displacement in a first tissue.

[0029] Fourthly, an electronic device is provided, comprising: a processor and a memory, the memory for storing computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method as described in the first aspect above and any possible implementation thereof.

[0030] Fifthly, another electronic device is provided, comprising: a processor, a transmitting device, an input device, an output device, and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method as described in the first aspect above and any possible implementation thereof.

[0031] In a sixth aspect, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program including program instructions that, when executed by a processor, cause the processor to perform a method as described in the first aspect above and any possible implementation thereof.

[0032] In a seventh aspect, a computer program product is provided, the computer program product comprising a computer program or instructions, wherein, when the computer program or instructions are executed on a computer, the computer performs the method described in the first aspect and any possible implementation thereof.

[0033] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0034] In this embodiment, the first three-dimensional model of the first object includes a first tissue model, which is a model of the first tissue within the first object. The prediction device determines a first relationship of the first tissue model based on the force characteristics of the first tissue, wherein the first relationship is the relationship between the force acting on the first tissue model and the deformation of the first tissue model. A first simulated force is obtained, wherein the first simulated force is used to simulate the respiratory force on the first tissue, which is the force generated by the breathing of the first object. Then, based on the first three-dimensional model, the first relationship, and the first simulated force, the respiratory force acting on the first tissue model can be simulated based on the first simulated force, and the movement of the first tissue during the breathing process of the first object can be simulated based on the first relationship and the first simulated force, thereby determining the first respiratory displacement of the first tissue. This improves the accuracy of the first respiratory displacement. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments of this application will be described below.

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0037] Figure 1 A flowchart illustrating a simulation-based respiratory displacement prediction method provided in this application embodiment; Figure 2a A schematic diagram illustrating a segmentation result provided in an embodiment of this application; Figure 2b A schematic diagram of a cross-section provided for an embodiment of this application; Figure 2c A schematic diagram of a coronal plane provided for an embodiment of this application; Figure 2d A schematic diagram of a sagittal plane provided for an embodiment of this application; Figure 3 A schematic diagram of a first three-dimensional model provided in an embodiment of this application; Figure 4 A schematic diagram illustrating the load boundary conditions and displacement boundary conditions of a first three-dimensional model provided in an embodiment of this application; Figure 5 A schematic diagram of a simulation-based respiratory displacement prediction device provided in this application embodiment; Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0039] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0040] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. It should be understood that in this application, "at least one" means one or more, "more" means two or more, and "at least two" means two or three or more.

[0041] Before introducing the technical solutions of the embodiments of this application, some technical terms in the embodiments of this application will be introduced first.

[0042] Respiratory displacement refers to the displacement caused by the breathing of the first object. For example, the respiratory displacement of the first object's lungs refers to the displacement of the first object's lungs caused by the first object's breathing. The respiratory displacement of the first object's diaphragm refers to the displacement of the first object's diaphragm caused by the first object's breathing.

[0043] The execution subject of this application embodiment is a simulation-based respiratory displacement prediction device (hereinafter referred to as the prediction device), wherein the prediction device can be any electronic device capable of executing the technical solutions disclosed in the method embodiments of this application. Optionally, the prediction device can be one of the following: a computer, a server.

[0044] It should be understood that the method embodiments of this application can also be implemented by a processor executing computer program code. The embodiments of this application are described below with reference to the accompanying drawings. Please refer to... Figure 1 , Figure 1 This is a flowchart illustrating a simulation-based respiratory displacement prediction method provided in an embodiment of this application.

[0045] 101. Obtain the first three-dimensional model of the first object, wherein the first three-dimensional model includes a first organization model, and the first organization model is a model of the first organization in the first object.

[0046] In this embodiment, the first object may be a person. The first three-dimensional model is a three-dimensional model of the first object. Optionally, the first three-dimensional model is a three-dimensional model constructed based on the size, shape, and relative positional relationship between multiple tissues within the first object. For example, the first three-dimensional model is a three-dimensional model constructed based on the lungs, diaphragm, and thoracic cavity of the first object.

[0047] The first three-dimensional model includes a first tissue model, wherein the first tissue model is a model of the first tissue in the first object, that is, a three-dimensional model constructed based on the size and shape of the first tissue. The first tissue can be any tissue within the first object. Optionally, the first tissue is tissue in the lungs.

[0048] In some schemes, the prediction device acquires a 3D CT image of a first object. The tissue in the 3D CT image is segmented to obtain a segmentation result, exemplarily based on a 3D U-net or a shift-window-based U-net transformer (Swin UNETR). Based on the segmentation result, the tissue is reconstructed in 3D to obtain a first 3D model. For example, Figure 2a This is a schematic diagram of a segmentation result provided in an embodiment of this application. Figure 2b This is a schematic diagram of a cross-section provided in an embodiment of this application. Specifically, Figure 2b for Figure 2a The diagram shows a cross-section of the segmentation result. Figure 2c This is a schematic diagram of a coronal plane provided in an embodiment of this application. Specifically, Figure 2c for Figure 2a A schematic diagram of the coronal plane of the segmentation result is shown. Figure 2d This is a schematic diagram of a sagittal plane provided in an embodiment of this application. Specifically, Figure 2d for Figure 2a A schematic diagram of the sagittal plane of the segmentation result is shown.

[0049] Optionally, the prediction device performs 3D reconstruction of the tissue based on solid mesh generation and segmentation results to obtain a first 3D model. For example, the prediction device uses one of the following software programs: HyperMesh or GMSH, to perform 3D reconstruction of the tissue based on solid mesh generation and segmentation results to obtain the first 3D model. Figure 3 This is a schematic diagram of a first three-dimensional model provided in an embodiment of this application.

[0050] Optionally, the mesh in the first 3D model can be tetrahedral or hexahedral.

[0051] Optionally, because the first tissue is more important than the others, the mesh density of the first tissue model is greater than that of the meshes of the other models in the first 3D model. This allows the first tissue model to have higher accuracy than the other models. For example, the mesh of the first tissue model is tetrahedral, where the side length of the tetrahedron is 0.5 mm to 1 mm.

[0052] Optionally, the first 3D model includes a model of the lung parenchyma in the lung of the first object. Because the farther the tissue is from the lung parenchyma, the less affected it is by respiration, the farther a region in the first 3D model is from the lung parenchyma model, the lower the mesh density of that region. This reduces the amount of data processing required for processing regions farther from the lung parenchyma during subsequent processing of the first 3D model. For example, the mesh of regions farther from the lung parenchyma is tetrahedral, where the side length of the tetrahedron is 2 mm to 5 mm.

[0053] Optionally, after performing three-dimensional reconstruction of the tissue based on the segmentation results to obtain the first three-dimensional model, the prediction device evaluates the quality of the first three-dimensional model according to the following principles: whether there is an intersection between the models of different tissues, and whether the size of the model is within a preset range.

[0054] 102. Based on the force characteristics of the first organization, determine the first relationship of the first organization model, wherein the first relationship is the relationship between the force on the first organization model and the deformation of the first organization model.

[0055] In this embodiment, the stress characteristics of the first tissue include the deformation of the first tissue when subjected to an external force. Optionally, the external force on the first tissue includes the force generated by the breathing of the first object. Because the stress characteristics of the first tissue include the deformation of the first tissue when subjected to an external force, the prediction device can determine the first relationship by executing step 102. The deformation of the first tissue model can be determined based on the first relationship and the external force on the first tissue model. Optionally, the prediction device determines the first stress relationship of the first tissue based on its stress characteristics, wherein the first stress relationship is the relationship between the external force on the first tissue and the deformation of the first tissue. Then, the first relationship is determined based on the first stress relationship.

[0056] In some schemes, the first tissue is the lung parenchyma in the lung of the first object. Because lung parenchyma possesses hyperelastic, compressible, and porous properties, the first relationship can be determined based on the Ogden model or the Mooney-Rivlin model. For example, the prediction device, based on the Mooney-Rivlin model, can determine the strain energy density function of the lung parenchyma as the first relationship, where the strain energy density function of the lung parenchyma is: …Formula (1) in, Represents the strain energy density function. For the first Green-Lagrange strain invariant, For the second Green-Lagrange strain invariant. The rate of change in lung parenchyma volume is optional. , (F) is the deformation gradient tensor of the lung parenchyma. and These are all parameters related to the shear properties of lung parenchyma, and are optional. and All are constants. This indicates the compressibility of the lung parenchyma.

[0057] 103. Obtain a first simulated force, wherein the first simulated force is used to simulate the respiratory force on the first tissue, and the respiratory force is the force generated by the breathing of the first object.

[0058] In this embodiment, respiratory force is an external force acting on the first tissue, and the respiratory force is the force generated by the breathing of the first object. For example, the first tissue is tissue in the lungs, and the respiratory force includes the pressure of the thoracic cavity on the tissue in the lungs and the pressure of the alveoli on the tissue in the lungs.

[0059] The first simulated force is used to simulate the respiratory force on a first tissue. In one possible implementation, the first tissue is tissue in the lungs of a first object, and the first three-dimensional model also includes a second tissue model, which is a model of the diaphragm of the first object. The prediction device obtains the first simulated force by performing the following steps: obtaining a first respiratory displacement law of the diaphragm, wherein the first respiratory displacement law is the law of respiratory displacement of the diaphragm, the respiratory displacement of the diaphragm is the displacement in a first direction, the respiratory displacement of the diaphragm is the displacement generated by the breathing of the first object, and the first direction is the direction from the lungs of the first object to the diaphragm. Based on the first respiratory displacement law, the first simulated force is obtained.

[0060] In this implementation, since the diaphragm contracts or relaxes during the breathing of the first subject, and the contraction or relaxation of the diaphragm causes changes in the air pressure in the thoracic cavity, which in turn causes changes in the pressure of the thoracic cavity on the tissues in the lungs, and the contraction or relaxation of the diaphragm can be represented by the displacement of the diaphragm caused by the breathing of the first subject, the prediction device can obtain the first simulated force based on the first respiratory displacement law.

[0061] The aforementioned first respiratory displacement pattern refers to the pattern of diaphragmatic respiratory displacement, that is, the first respiratory displacement pattern indicates the displacement of the diaphragm during the breathing process of the first subject. Optionally, the period of the first respiratory displacement pattern matches the respiratory cycle of the first subject. For example, if the respiratory cycle of the first subject is 4 seconds, then the period of the first respiratory displacement pattern is also 4 seconds.

[0062] The aforementioned first direction refers to the direction from the lungs of the first subject to the diaphragm, that is, the first direction is parallel to the direction from the head to the feet of the first subject. During the first subject's respiration, the diaphragm moves in the first direction, generating a force on the thoracic cavity, which in turn causes the air in the thoracic cavity to exert a force on the lung tissues. Both the force on the thoracic cavity and the force on the lung tissues are forces in the first direction. For ease of explanation, the force exerted by the air in the thoracic cavity on the lung tissues due to the movement of the diaphragm will be referred to as diaphragmatic force, which is a force in the first direction. Therefore, the first respiratory displacement law is the law of diaphragmatic displacement in the first direction, and thus, based on the first respiratory displacement law, diaphragmatic force can be simulated more accurately.

[0063] In some schemes, the prediction device acquires a three-dimensional CT image sequence, which includes multiple three-dimensional CT images of a first object. These images are obtained by continuously acquiring data from the first object; for example, the CT scanner continuously scans the first object while maintaining a constant relative position to it, thus generating the three-dimensional CT image sequence. The prediction device then determines the position of the diaphragm in each image of the three-dimensional CT image sequence, obtaining a diaphragm position sequence. Finally, based on the diaphragm position sequence and the acquisition times of the three-dimensional CT images in the sequence, a first respiratory displacement pattern is derived.

[0064] Optionally, since the first tissue model is a model of the first tissue, the simulated force is used to simulate the respiratory force experienced by the first tissue model.

[0065] 104. Based on the first three-dimensional model, the first relationship, and the first simulated force, determine the first respiratory displacement of the first tissue, wherein the first respiratory displacement is the displacement generated by the respiration of the first object.

[0066] Because the deformation of the first tissue model can be determined based on the first relationship and the external force acting on it, the respiratory displacement of the first tissue model can be determined based on the first relationship and the respiratory force acting on it. Furthermore, the respiratory displacement of the first tissue (i.e., the aforementioned first respiratory displacement) can be determined based on the respiratory displacement of the first tissue model. Also, because the first simulated force is used to simulate the respiratory force acting on the first tissue, it can be used to simulate the respiratory force acting on the first tissue model. Moreover, the first three-dimensional model includes the size, shape, and relative positional relationships of multiple tissues within the first object. Therefore, based on the first three-dimensional model, the first relationship, and the first simulated force, the prediction device can simulate the movement of the first tissue during the breathing process of the first object, and thus determine the first respiratory displacement of the first tissue.

[0067] Optionally, the prediction device obtains a second three-dimensional model based on the first three-dimensional model and the first relationship. The third tissue model in the second three-dimensional model is a model of the first tissue, and the third tissue model is obtained based on the first tissue model in the first three-dimensional model. The relationship between the force acting on the third tissue model and the deformation of the third tissue model is the first relationship. Based on the second three-dimensional model and the first simulated force, the first respiratory displacement is determined. That is, the first simulated force is used as the driving force for the second three-dimensional model, causing the second three-dimensional model to simulate the breathing of the first object. This allows the determination of the displacement of the third tissue model, and subsequently, the first respiratory displacement of the first tissue can be determined based on the displacement of the third tissue model.

[0068] Optionally, the second three-dimensional model obtained based on the first three-dimensional model and the first relationship is a finite element model.

[0069] exist Figure 1 In the simulation-based respiratory displacement prediction method shown, the first three-dimensional model of the first object includes a first tissue model, which is a model of the first tissue within the first object. The prediction device determines a first relationship of the first tissue model based on the force characteristics of the first tissue, where the first relationship is the relationship between the force acting on the first tissue model and the deformation of the first tissue. A first simulated force is obtained, whereby the first simulated force is used to simulate the respiratory force on the first tissue, which is the force generated by the breathing of the first object. Then, based on the first three-dimensional model, the first relationship, and the first simulated force, the respiratory force acting on the first tissue model can be simulated based on the first simulated force, and the movement of the first tissue during the breathing process of the first object can be simulated based on the first relationship and the first simulated force, thereby determining the first respiratory displacement of the first tissue. This improves the accuracy of the first respiratory displacement.

[0070] As an optional implementation, the first three-dimensional model further includes a thoracic cavity model, wherein the thoracic cavity model is a model of the thoracic cavity of the first object. Based on a first respiratory displacement law, a first simulated force is obtained, including: controlling the movement of a second tissue model based on the first respiratory displacement law to adjust the air pressure within the thoracic cavity model. The first simulated force is obtained based on the air pressure within the thoracic cavity model.

[0071] As mentioned earlier, during the first subject's respiration, the contraction or relaxation of the diaphragm causes changes in the air pressure within the thoracic cavity, which in turn causes changes in the pressure exerted by the thoracic cavity on the lung tissues, thus causing the air within the thoracic cavity to exert pressure on the lung tissues. For ease of explanation, the force exerted by the air within the thoracic cavity on the lung tissues will be referred to as thoracic force. It should be understood that the factors causing the expansion or contraction of the thoracic cavity include the movement of the diaphragm and the movement of the thoracic cavity itself; therefore, thoracic force includes diaphragmatic force. Moreover, because the movement of the thoracic cavity includes movement in the first direction and movement in the second direction, thoracic force includes components in the first direction and components in the second direction. The second direction is perpendicular to the first direction, that is, the second direction is the direction from the left side of the first subject to the right side of the first subject, or the direction from the right side of the first subject to the left side of the first subject. For ease of explanation, the component of the thoracic force in the second direction will be referred to as lateral thoracic force.

[0072] Therefore, based on the first respiratory displacement law, the prediction device controls the movement of the second tissue model to adjust the air pressure within the thoracic cavity model. Specifically, when the prediction device controls the movement of the second tissue model based on the first respiratory displacement law, the movement of the second tissue model causes the thoracic cavity model to expand or contract, thereby adjusting the air pressure within the thoracic cavity model. This allows for the simulation of thoracic cavity movement based on the first respiratory displacement law, and the air pressure within the thoracic cavity model can be used to simulate diaphragmatic force. Furthermore, based on the air pressure within the thoracic cavity model, a first simulated force can be obtained, improving the accuracy of the first simulated force.

[0073] As an optional implementation, before obtaining the first simulated force based on the air pressure within the chest cavity model, the prediction device also acquires a second respiratory displacement law of the chest cavity. This second respiratory displacement law is a law of lateral respiratory displacement, where the lateral respiratory displacement is the component of the chest cavity's respiratory displacement in the second direction, and the chest cavity's respiratory displacement is the displacement generated by the breathing of the first object. Obtaining the first simulated force based on the air pressure within the chest cavity model includes: obtaining the first simulated force based on the second respiratory displacement law and the air pressure within the chest cavity model.

[0074] The aforementioned second respiratory displacement law is a law of lateral respiratory displacement, where lateral respiratory displacement is the component of the thoracic cavity's respiratory displacement in the second direction. That is, the second respiratory displacement law indicates the displacement of the thoracic cavity in the second direction during the breathing process of the first subject. Because the displacement of the thoracic cavity in the second direction generates lateral force within the thoracic cavity, the second respiratory displacement law can be used to simulate lateral force within the thoracic cavity.

[0075] Furthermore, since the air pressure inside the thoracic cavity model can be used to simulate diaphragmatic force, the prediction device obtains the first simulated force based on the second respiratory displacement law and the air pressure inside the thoracic cavity. This first simulated force can simulate both diaphragmatic force in the first direction and lateral force in the thoracic cavity, thereby improving the accuracy of the first simulated force.

[0076] Optionally, if the first simulated force is obtained based on the second respiratory displacement law and the air pressure within the thoracic cavity model, then when simulating the movement of the first tissue during the breathing process of the first object based on the first simulated force and the first three-dimensional model, the displacement of the first tissue in the second direction is determined based on the second respiratory displacement law, and the displacement of the first tissue in the first direction is determined based on the air pressure within the thoracic cavity. That is, the first and second respiratory displacement laws serve as the displacement boundary conditions controlling the first three-dimensional model's simulation of the breathing motion of the first object. In this case, the first simulated force includes the displacement boundary conditions of the first three-dimensional model's simulation of the breathing motion of the first object.

[0077] Optionally, the prediction device acquires a sequence of three-dimensional CT images. The position of the thoracic cavity in each image of the three-dimensional CT image sequence is determined to obtain a thoracic cavity position sequence. Then, based on the thoracic cavity position sequence and the acquisition time of the three-dimensional CT images in the three-dimensional CT image sequence, the second respiratory displacement law is obtained.

[0078] As an optional implementation, the first three-dimensional model further includes a boundary model, wherein the boundary model is a model of the boundary region in the lung, and the boundary region is in contact with the thoracic cavity. Based on the second respiratory displacement law and the air pressure within the thoracic cavity model, a first simulated force is obtained, including: obtaining the motion law of the boundary model based on the second respiratory displacement law; and obtaining the first simulated force based on the motion law of the boundary model and the air pressure within the thoracic cavity model.

[0079] Because the boundary region is in contact with the thoracic cavity, the movement of the thoracic cavity will cause the boundary region to move, which in turn will cause the first tissue to move. Therefore, the prediction device can first obtain the motion law of the boundary model based on the second respiratory displacement law, thereby simulating the motion of the boundary model. Then, based on the motion law of the boundary model and the air pressure inside the thoracic cavity model, the first simulated force can be obtained, which can improve the accuracy of the first simulated force.

[0080] Optionally, since the boundary model is part of the first tissue model, the relationship between the force on the boundary model and the deformation of the boundary model is the first relationship. Furthermore, since the second respiratory displacement law can be used to simulate lateral forces in the thoracic cavity, the prediction device can obtain the motion law of the boundary model based on the second respiratory displacement law and the first relationship.

[0081] As an optional implementation, before obtaining the first simulated force based on the motion laws of the boundary model and the air pressure within the thoracic cavity model, the method further includes: obtaining a second simulated force, wherein the second simulated force is used to simulate the pressure of air bubbles in the lungs on the lungs. Obtaining the first simulated force based on the motion laws of the boundary model and the air pressure within the thoracic cavity model includes: obtaining the first simulated force based on the motion laws of the boundary model, the air pressure within the thoracic cavity model, and the second simulated force.

[0082] Because during the breathing process of the first subject, the tissue in the lungs is subjected to the pressure of the air bubbles in the lungs, in this embodiment, after obtaining the second simulated force, the prediction device obtains the first simulated force based on the motion law of the boundary model, the air pressure in the thoracic cavity model, and the second simulated force, which can improve the accuracy of the first simulated force.

[0083] Optionally, if a first simulated force is obtained based on the motion law of the boundary model, the air pressure within the thoracic cavity model, and the second simulated force, then when simulating the motion of the first tissue during the breathing process of the first object based on the first simulated force and the first three-dimensional model, the displacement of the first tissue in the second direction is determined based on the second respiratory displacement law, the displacement of the first tissue in the first direction is determined based on the air pressure within the thoracic cavity, and the pressure of the air bubbles in the lungs on the first tissue is determined based on the second simulated force. That is, the first and second respiratory displacement laws are the displacement boundary conditions controlling the first three-dimensional model's simulation of the breathing motion of the first object, and the second simulated force is the load boundary condition controlling the first three-dimensional model's simulation of the breathing motion of the first object. In this case, the first simulated force includes both the displacement boundary conditions and the load boundary conditions for the first three-dimensional model's simulation of the breathing motion of the first object. For example... Figure 4 This is a schematic diagram illustrating the load boundary conditions and displacement boundary conditions of a first three-dimensional model provided in an embodiment of this application. Figure 4 In the first three-dimensional model, the lung of the first object is included, and the arrows on the surface of the lung are used to indicate the load boundary conditions and displacement boundary conditions of the first three-dimensional model.

[0084] As an optional implementation, the first tissue is the lung parenchyma in the lung, which includes the lesion. That is, the first respiratory displacement includes the respiratory displacement of the lesion, wherein the respiratory displacement of the lesion is the displacement generated by the breathing of the first subject. The prediction device further performs the following steps: Based on the first respiratory displacement, determine a third respiratory displacement pattern of the first tissue, wherein the third respiratory displacement pattern is the pattern of respiratory displacement of the lung parenchyma. Obtain a first phase, wherein the first phase is the phase in the breathing pattern of the first subject corresponding to a target time, the target time being the time of planning a first path, and the first path being the path from the skin region of the first subject to the lesion. Based on the third respiratory displacement pattern, determine a second respiratory displacement corresponding to the first phase. Based on the third respiratory displacement pattern, determine a third respiratory displacement corresponding to the movement phase, wherein the movement phase is the phase in the breathing pattern of the first subject corresponding to the movement time, and the movement time being the time of movement from the skin region towards the lesion. Based on the difference between the second and third respiratory displacements, adjust the first path to obtain a second path.

[0085] In this embodiment, the prediction device first determines a third respiratory displacement pattern based on a first respiratory displacement, thereby determining the respiratory displacement of the lesion at any given time based on the third respiratory displacement pattern. The prediction device then determines the respiratory displacement of the lesion when planning a first path (i.e., the aforementioned second respiratory displacement) based on the third respiratory displacement pattern, and the respiratory displacement of the lesion when moving from the skin region towards the lesion (i.e., the aforementioned third respiratory displacement) based on the third respiratory displacement pattern. Then, based on the difference between the second and third respiratory displacements, the first path is adjusted to obtain a second path, which increases the probability of the second path passing the lesion. Thus, moving from the skin region towards the lesion based on the second path at the moment of movement increases the success rate of reaching the lesion. This achieves the effect of correcting the first path based on the third respiratory displacement pattern.

[0086] As an optional implementation, the first tissue is the lung parenchyma of the lung of the first object, and the first three-dimensional model further includes a duct model, which is a model of the tracheal tissue in the lung, wherein the tracheal tissue includes at least one of the following: trachea and bronchi. Before obtaining the second three-dimensional model based on the first three-dimensional model and the first relationship, the prediction device further performs the following steps: obtaining a second relationship, wherein the second relationship is the relationship between the force on the duct model and the deformation of the duct model. Based on the first three-dimensional model, the first relationship, and the second relationship, the second three-dimensional model is obtained.

[0087] In this embodiment, the second relationship can be determined based on the stress characteristics of the tracheal tissue, which include the deformation of the tracheal tissue when subjected to external force. The deformation of the tracheal tissue model can be determined based on the second relationship and the external force acting on the tracheal tissue model. Optionally, the external force acting on the tracheal tissue includes the force generated by the breathing of the first object.

[0088] Optionally, the prediction device determines a second force relationship of the tracheal tissue based on its stress characteristics, wherein the second force relationship is the relationship between the external force on the tracheal tissue and the deformation of the tracheal tissue. Then, a second relationship is determined based on the second force relationship.

[0089] In some schemes, the predictive device determines the second force relationship based on an elastic model. The elastic model includes the following elastic parameters: .in, This represents the elastic modulus of the tracheal tissue along its axial direction. This represents the elastic modulus of the tracheal tissue in the radial direction. This represents the elastic modulus of the tracheal tissue in the circumferential direction. This indicates the radial contraction ratio when the tracheal tissue is stretched axially. This indicates the circumferential contraction ratio of the tracheal tissue when stretched axially. This indicates the circumferential contraction ratio when the tracheal tissue is stretched radially. This represents the shear modulus of the tracheal tissue in the first plane. This represents the shear modulus of the tracheal tissue in the second plane. The third plane represents the shear modulus of the tracheal tissue. The first plane is defined by the axial and radial directions of the tracheal tissue, the second plane is defined by the axial and circumferential directions of the tracheal tissue, and the third plane is defined by the radial and circumferential directions of the tracheal tissue.

[0090] As an optional implementation, a second three-dimensional model is obtained based on a first three-dimensional model, a first relationship, and a second relationship, including: obtaining a third three-dimensional model based on the first three-dimensional model, the first relationship, and the second relationship. A fourth respiratory displacement of the first tissue is obtained based on the third three-dimensional model. The fourth respiratory displacement law of the first tissue is determined based on the fourth respiratory displacement, which is the law of respiratory displacement of the lung parenchyma, wherein the respiratory displacement of the lung parenchyma is the displacement generated by the breathing of the first subject. A fifth respiratory displacement law is obtained, wherein the fifth respiratory displacement law is the law of respiratory displacement of the lung parenchyma, and the fifth respiratory displacement law is obtained based on measured data, which is obtained by measuring the respiratory displacement of the first tissue during the breathing process of the first subject. The difference between the fourth and fifth respiratory displacement laws is determined. If the difference is less than a difference threshold, the third three-dimensional model is determined as the second three-dimensional model. If the difference is greater than or equal to the difference threshold, the parameters of the third three-dimensional model are adjusted based on the difference until the difference is less than the difference threshold, thus obtaining the second three-dimensional model.

[0091] In this implementation, after obtaining the fourth respiratory displacement law, the prediction device acquires the actually measured respiratory displacement law (i.e., the fifth respiratory displacement law). Because the fifth respiratory displacement law is determined based on the actual measured data, its accuracy is high; that is, the fifth respiratory displacement law can be used as the ground truth (GT) of the fourth respiratory displacement law. Therefore, based on the difference between the fourth and fifth respiratory displacement laws, it can be determined whether the error of the respiratory displacement of the first tissue obtained based on the third three-dimensional model is large or small. Specifically, if the difference between the fourth and fifth respiratory displacement laws is less than the difference threshold, it indicates that the error of the respiratory displacement of the first tissue obtained based on the third three-dimensional model is small; if the difference between the fourth and fifth respiratory displacement laws is greater than or equal to the difference threshold, it indicates that the error of the respiratory displacement of the first tissue obtained based on the third three-dimensional model is large.

[0092] Therefore, if the difference is less than a difference threshold, the prediction device determines the third 3D model as the second 3D model. If the difference is greater than or equal to the difference threshold, the parameters of the third 3D model are adjusted based on this difference until the difference is less than the difference threshold, thus obtaining the second 3D model. This improves the accuracy of the respiratory displacement of the first tissue obtained based on the second 3D model.

[0093] Optionally, the parameters of the third three-dimensional model include the parameters of the first relation and the parameters of the second relation. For example, the first relation is the strain energy density function of the lung parenchyma, and the parameters of the first relation include the parameters in formula (1). The second relation is the same as the second force relation, which is determined based on the elastic model. In this case, the parameters of the second relation include the elastic parameters of the elastic model.

[0094] Optionally, the prediction device adjusts the parameters of the third 3D model based on reverse engineering optimization algorithms. For example, reverse engineering optimization algorithms include particle swarm optimization (PSO) and Levenberg-Marquardt (LM) algorithms.

[0095] In some schemes, the predictive device obtains the fifth respiratory displacement law by performing the following steps: acquiring a pressure sequence collected by a pressure sensor, wherein the pressure sensor is used to collect pressure on the abdomen of a first subject. For example, the pressure sensor is attached to the abdomen of the first subject, and then a pressure sequence is obtained by the pressure sensor, wherein the pressure sequence includes the pressure on the abdomen of the first subject at different times. Based on the pressure in the pressure sequence and the pressure collection time, the fifth respiratory displacement law can be obtained. For example, curve fitting of the pressure in the pressure sequence and the pressure collection time can obtain the fifth respiratory displacement law.

[0096] In other schemes, the predictive device obtains the fifth respiratory displacement pattern by performing the following steps: acquiring a position sequence of at least one optical marker, wherein at least one optical marker is affixed to the chest of the first subject. For example, the number of optical markers is six, and the position of at least one optical marker at different times can be determined based on an optical tracking device, thus obtaining a position sequence of at least one optical marker. Based on the positions in the position sequence and the acquisition times of the positions, the fifth respiratory displacement pattern can be obtained. For example, curve fitting of the positions in the position sequence and the acquisition times of the positions can yield the fifth respiratory displacement pattern.

[0097] As an optional implementation, determining the difference between the fourth and fifth respiratory displacement patterns includes: determining the fifth respiratory displacement corresponding to the second phase based on the fourth respiratory displacement pattern; determining the sixth respiratory displacement corresponding to the second phase based on the fifth respiratory displacement pattern; and determining the absolute value of the difference between the fifth and sixth respiratory displacements to obtain the difference, wherein the difference is positively correlated with the absolute value.

[0098] In this embodiment, the prediction device determines the respiratory displacement corresponding to the same phase (i.e., the aforementioned fifth respiratory displacement and the aforementioned sixth respiratory displacement) based on the fourth respiratory displacement law and the fifth respiratory displacement law, respectively. Then, based on the absolute value of the difference between the fifth respiratory displacement and the sixth respiratory displacement, the difference between the fourth respiratory displacement law and the fifth respiratory displacement law can be obtained.

[0099] Optionally, the prediction device can obtain the difference between the fourth and fifth respiratory shift patterns based on the root mean square error (RMSE) of the fifth and sixth respiratory shifts.

[0100] Optionally, the second phase corresponds to the moment when the first subject's respiratory volume is the largest, or the second phase corresponds to the moment when the first subject's inhalation volume is the largest.

[0101] As an optional implementation, the first three-dimensional model further includes a blood vessel model, wherein the blood vessel model is a model of the blood vessels in the lungs of the first object. Based on the first three-dimensional model, the first relationship, and the second relationship, a third three-dimensional model is obtained, including: based on the first three-dimensional model, the first relationship, the second relationship, and the third relationship, the third three-dimensional model is obtained, wherein the third relationship is the relationship between the force acting on the blood vessel model and the deformation of the blood vessel model.

[0102] Optionally, the prediction device determines a third force relationship of the blood vessel based on its stress characteristics, whereby the third force relationship is the relationship between the external force acting on the blood vessel and its deformation. Then, a third relationship is determined based on this third force relationship. Optionally, the prediction device determines the third force relationship based on a hyperelastic model and uses this third force relationship as the third relationship.

[0103] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0104] If the technical solution of this application involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, while using clear signs / information to inform users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, personal information processing may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

[0105] The methods of the embodiments of this application have been described in detail above, and the apparatus of the embodiments of this application is provided below.

[0106] Please see Figure 5 , Figure 5 This is a schematic diagram of a simulation-based respiratory displacement prediction device provided in an embodiment of this application. The simulation-based respiratory displacement prediction device 1 includes: an acquisition unit 11 and a processing unit 12, wherein: Acquisition unit 11 is used to acquire a first three-dimensional model of a first object, the first three-dimensional model including a first organization model, the first organization model being a model of the first organization in the first object; Processing unit 12 is used to determine a first relationship of the first tissue model based on the stress characteristics of the first tissue, wherein the first relationship is the relationship between the force on the first tissue model and the deformation of the first tissue model. The acquisition unit 11 is further configured to acquire a first simulated force, the first simulated force being used to simulate the respiratory force on the first tissue, the respiratory force being the force generated by the breathing of the first object; The processing unit 12 is further configured to determine a first respiratory displacement of the first tissue based on the first three-dimensional model, the first relationship, and the first simulated force, wherein the first respiratory displacement is a displacement generated by the breathing of the first object.

[0107] In any embodiment of this application, the first tissue is tissue in the lung of the first object, and the first three-dimensional model further includes a second tissue model, which is a model of the diaphragm of the first object; The acquisition of the first simulated force includes: Obtain the first respiratory displacement pattern of the diaphragm, the first respiratory displacement pattern is the pattern of respiratory displacement of the diaphragm, the respiratory displacement of the diaphragm is the displacement in a first direction, the respiratory displacement of the diaphragm is the displacement generated by the breathing of the first object, and the first direction is the direction from the lungs of the first object to the diaphragm; Based on the first respiratory displacement pattern, the first simulated force is obtained.

[0108] In any embodiment of this application, the first three-dimensional model further includes a thoracic cavity model, which is a model of the thoracic cavity of the first object; The processing unit 12 is further configured to: Based on the first respiratory displacement pattern, the movement of the second tissue model is controlled to adjust the air pressure inside the thoracic cavity model; The first simulated force is obtained based on the air pressure inside the thoracic cavity model.

[0109] In conjunction with any embodiment of this application, the acquisition unit 11 is further configured to acquire the second respiratory displacement pattern of the thoracic cavity, the second respiratory displacement pattern being the pattern of lateral respiratory displacement, the lateral respiratory displacement being the component of the respiratory displacement of the thoracic cavity in the second direction, the respiratory displacement of the thoracic cavity being the displacement generated by the breathing of the first object, and the second direction being perpendicular to the first direction; The processing unit 12 is also used to obtain the first simulated force based on the second respiratory displacement law and the air pressure in the chest cavity model.

[0110] In any embodiment of this application, the first three-dimensional model further includes a boundary model, which is a model of a boundary region in the lung, and the boundary region is in contact with the thoracic cavity; The processing unit 12 is further configured to: Based on the second breathing displacement law, the motion law of the boundary model is obtained; The first simulated force is obtained based on the motion law of the boundary model and the air pressure inside the thoracic cavity model.

[0111] In any embodiment of this application, the acquisition unit 11 is further configured to acquire a second simulated force, the second simulated force being used to simulate the pressure of air bubbles in the lungs on the lungs; The processing unit 12 is also used to obtain the first simulated force based on the motion law of the boundary model, the air pressure in the thoracic cavity model, and the second simulated force.

[0112] In any embodiment of this application, the first tissue is the lung parenchyma in the lung, the lung parenchyma includes lesions, and the processing unit 12 is further configured to determine a third respiratory displacement pattern of the first tissue based on the first respiratory displacement, wherein the fourth respiratory displacement pattern is the pattern of the respiratory displacement of the lung parenchyma. The acquisition unit 11 is further configured to acquire a first phase, wherein the first phase is the phase in the breathing pattern of the first object that corresponds to the target time, the target time is the time when the first path is planned, and the first path is the path from the skin area of ​​the first object to the lesion; The processing unit 12 is further configured to determine a second respiratory displacement corresponding to the first phase based on the third respiratory displacement pattern; The processing unit 12 is further configured to determine the third respiratory displacement corresponding to the movement phase based on the third respiratory displacement pattern, wherein the movement phase is the phase in the respiratory pattern of the first object that corresponds to the movement time, and the movement time is the moment when the object moves from the skin area toward the lesion. The processing unit 12 is further configured to adjust the first path based on the difference between the second respiratory displacement and the third respiratory displacement to obtain a second path.

[0113] In conjunction with any embodiment of this application, the processing unit 12 is further configured to: Based on the first three-dimensional model and the first relationship, a second three-dimensional model is obtained; The first respiratory displacement is determined based on the second three-dimensional model and the first simulated force.

[0114] In any embodiment of this application, the first tissue is the lung parenchyma of the lung of the first object, and the first three-dimensional model further includes a duct model, which is a model of the tracheal tissue in the lung; The acquisition unit 11 is also used to acquire a second relationship, which is the relationship between the force on the pipe model and the deformation of the pipe model; The processing unit 12 is further configured to obtain the second three-dimensional model based on the first three-dimensional model, the first relationship, and the second relationship.

[0115] In conjunction with any embodiment of this application, the processing unit 12 is further configured to: Based on the first 3D model, the first relationship, and the second relationship, a third 3D model is obtained; Based on the third three-dimensional model, the fourth respiratory displacement of the first tissue is obtained; Based on the fourth respiratory displacement, the pattern of the fourth respiratory displacement of the first tissue is determined, wherein the pattern of the fourth respiratory displacement is the pattern of the respiratory displacement of the lung parenchyma; The acquisition unit 11 is further configured to acquire a fifth respiratory displacement pattern, which is the pattern of respiratory displacement of the lung parenchyma. The fifth respiratory displacement pattern is obtained based on measured data, which is obtained by measuring the respiratory displacement of the first tissue during the breathing process of the first object. The processing unit 12 is also used to determine the difference between the fourth respiratory displacement pattern and the fifth respiratory displacement pattern; The processing unit 12 is further configured to determine the third three-dimensional model as the second three-dimensional model if the difference is less than the difference threshold. The processing unit 12 is further configured to, when the difference is greater than or equal to the difference threshold, adjust the parameters of the third three-dimensional model based on the difference until the difference is less than the difference threshold, thereby obtaining the second three-dimensional model.

[0116] In conjunction with any embodiment of this application, the processing unit 12 is further configured to: Based on the aforementioned fourth respiratory displacement pattern, the fifth respiratory displacement corresponding to the second phase is determined; Based on the fifth respiratory displacement pattern, the sixth respiratory displacement corresponding to the second phase is determined; The absolute value of the difference between the fifth respiratory displacement and the sixth respiratory displacement is determined to obtain the difference, and the difference is positively correlated with the absolute value.

[0117] In this embodiment, the first three-dimensional model of the first object includes a first tissue model, which is a model of the first tissue within the first object. The prediction device determines a first relationship of the first tissue model based on the force characteristics of the first tissue, wherein the first relationship is the relationship between the force acting on the first tissue model and the deformation of the first tissue. A first simulated force is obtained, wherein the first simulated force is used to simulate the respiratory force on the first tissue, which is the force generated by the breathing of the first object. Then, based on the first three-dimensional model, the first relationship, and the first simulated force, the respiratory force acting on the first tissue model can be simulated based on the first simulated force, and the movement of the first tissue during the breathing process of the first object can be simulated based on the first relationship and the first simulated force, thereby determining the first respiratory displacement of the first tissue. This improves the accuracy of the first respiratory displacement.

[0118] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0119] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 also includes an input device 23 and an output device 24. The processor 21, memory 22, input device 23, and output device 24 are coupled together via connectors, which include various interfaces, transmission lines, or buses, etc., and are not limited in this embodiment. It should be understood that in the various embodiments of this application, coupling refers to mutual connection in a specific way, including direct connection or indirect connection through other devices, such as through various interfaces, transmission lines, buses, etc.

[0120] The processor 21 can be one or more graphics processing units (GPUs). If the processor 21 is a GPU, the GPU can be a single-core GPU or a multi-core GPU. Optionally, the processor 21 can be a processor group composed of multiple GPUs, with the multiple processors coupled to each other via one or more buses. Optionally, the processor can also be other types of processors, etc., which are not limited in this embodiment.

[0121] The memory 22 can be used to store computer program instructions, as well as various types of computer program code, including program code for executing the scheme of this application. Optionally, the memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), which is used for related instructions and data.

[0122] Input device 23 is used to input data and / or signals, and output device 24 is used to output data and / or signals. Input device 23 and output device 24 can be independent devices or an integrated device.

[0123] It is understood that in this embodiment of the application, the memory 22 can be used not only to store related instructions, but also to store related data. This embodiment of the application does not limit the specific data stored in the memory.

[0124] Understandable, Figure 6 This is merely a simplified design of an electronic device. In practical applications, the electronic device may also include other necessary components, including, but not limited to, any number of input / output devices, processors, memories, etc., and all electronic devices that can implement the embodiments of this application are within the protection scope of this application.

[0125] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0126] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will also readily understand that the various embodiments of this application have different focuses, and for the sake of convenience and brevity, the same or similar parts may not be repeated in different embodiments. Therefore, parts not described or not described in detail in one embodiment can be referred to the descriptions in other embodiments.

[0127] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0128] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0129] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0130] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0131] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A simulation-based method for predicting respiratory displacement, characterized in that, The method includes: Obtain a first three-dimensional model of a first object, the first three-dimensional model including a first organization model, the first organization model being a model of the first organization in the first object; Based on the stress characteristics of the first tissue, a first relationship is determined for the first tissue model, which is the relationship between the force on the first tissue model and the deformation of the first tissue model. A first simulated force is obtained, which is used to simulate the respiratory force on the first tissue, the respiratory force being the force generated by the breathing of the first object; Based on the first three-dimensional model, the first relationship, and the first simulated force, the first respiratory displacement of the first tissue is determined, wherein the first respiratory displacement is the displacement generated by the respiration of the first object.

2. The method according to claim 1, characterized in that, The first tissue is the tissue in the lung of the first object, and the first three-dimensional model also includes a second tissue model, which is a model of the diaphragm of the first object; The acquisition of the first simulated force includes: Obtain the first respiratory displacement pattern of the diaphragm, the first respiratory displacement pattern is the pattern of respiratory displacement of the diaphragm, the respiratory displacement of the diaphragm is the displacement in a first direction, the respiratory displacement of the diaphragm is the displacement generated by the breathing of the first object, and the first direction is the direction from the lungs of the first object to the diaphragm; Based on the first respiratory displacement pattern, the first simulated force is obtained.

3. The method according to claim 2, characterized in that, The first three-dimensional model also includes a thoracic cavity model, which is a model of the thoracic cavity of the first object; The process of obtaining the first simulated force based on the first respiratory displacement pattern includes: Based on the first respiratory displacement pattern, the movement of the second tissue model is controlled to adjust the air pressure inside the thoracic cavity model; The first simulated force is obtained based on the air pressure inside the thoracic cavity model.

4. The method according to claim 3, characterized in that, Before obtaining the first simulated force based on the air pressure within the thoracic cavity model, the method further includes: The second respiratory displacement pattern of the chest cavity is obtained. The second respiratory displacement pattern is the pattern of lateral respiratory displacement. The lateral respiratory displacement is the component of the respiratory displacement of the chest cavity in the second direction. The respiratory displacement of the chest cavity is the displacement generated by the breathing of the first object. The second direction is perpendicular to the first direction. The process of obtaining the first simulated force based on the air pressure within the thoracic cavity model includes: The first simulated force is obtained based on the second respiratory displacement law and the air pressure inside the thoracic cavity model.

5. The method according to any one of claims 1 to 4, characterized in that, The determination of the first respiratory displacement of the first tissue based on the first three-dimensional model, the first relationship, and the first simulated force includes: Based on the first three-dimensional model and the first relationship, a second three-dimensional model is obtained; The first respiratory displacement is determined based on the second three-dimensional model and the first simulated force.

6. The method according to claim 5, characterized in that, The first tissue is the lung parenchyma of the lung of the first object, and the first three-dimensional model also includes a duct model, which is a model of the tracheal tissue in the lung. Before obtaining the second three-dimensional model based on the first three-dimensional model and the first relationship, the method further includes: Obtain the second relationship, which is the relationship between the force on the pipe model and the deformation of the pipe model; Based on the first 3D model, the first relationship, and the second relationship, the second 3D model is obtained.

7. The method according to claim 6, characterized in that, The process of obtaining the second three-dimensional model based on the first three-dimensional model, the first relationship, and the second relationship includes: Based on the first 3D model, the first relationship, and the second relationship, a third 3D model is obtained; Based on the third three-dimensional model, the fourth respiratory displacement of the first tissue is obtained; Based on the fourth respiratory displacement, the pattern of the fourth respiratory displacement of the first tissue is determined, wherein the pattern of the fourth respiratory displacement is the pattern of the respiratory displacement of the lung parenchyma; The fifth respiratory displacement pattern is obtained, which is the pattern of respiratory displacement of the lung parenchyma. The fifth respiratory displacement pattern is obtained based on measured data, which is obtained by measuring the respiratory displacement of the first tissue during the breathing process of the first object. Determine the difference between the fourth respiratory displacement pattern and the fifth respiratory displacement pattern; If the difference is less than the difference threshold, the third 3D model is determined to be the second 3D model; If the difference is greater than or equal to the difference threshold, the parameters of the third 3D model are adjusted based on the difference until the difference is less than the difference threshold, thus obtaining the second 3D model.

8. A simulation-based respiratory displacement prediction device, characterized in that, The simulation-based respiratory displacement prediction device includes: An acquisition unit is used to acquire a first three-dimensional model of a first object, wherein the first three-dimensional model includes a first organization model, and the first organization model is a model of the first organization in the first object; The processing unit is configured to determine a first relationship of the first tissue model based on the stress characteristics of the first tissue, wherein the first relationship is the relationship between the force on the first tissue model and the deformation of the first tissue model. The acquisition unit is further configured to acquire a first simulated force, the first simulated force being used to simulate the respiratory force on the first tissue, the respiratory force being the force generated by the breathing of the first object; The processing unit is further configured to determine a first respiratory displacement of the first tissue based on the first three-dimensional model, the first relationship, and the first simulated force, wherein the first respiratory displacement is a displacement generated by the respiration of the first object.

9. A surgical robot, characterized in that, Including the simulation-based respiratory displacement prediction device as described in claim 8.

10. An electronic device, characterized in that, include: A processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs the method as described in any one of claims 1 to 7.

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