Medical image display method and device and medical imaging equipment

Abstract

The invention relates to a medical image display method and device and medical imaging equipment. Acquiring an object to a target medical image, mapping the target medical image and the target spatial position to obtain a mapping result, and sending the mapping result and the target medical image to the head-mounted device to indicate the head-mounted device to display the target medical image according to the mapping result; position information of the interventional instrument is marked in the target medical image. In the embodiment of the invention, the target medical image reflects the blood vessel condition of the object, the target medical image and the target spatial position of the object are mapped, the target medical image can be combined with the object to obtain the mapping result, and the head-mounted device displays the target medical image based on the mapping result. And the target medical image is combined and displayed in the virtual space of the head-mounted equipment, so that a user can conveniently observe the real-time condition of the object. Moreover, the position information of the interventional instrument is marked in the target medical image, so that the user can intuitively and accurately observe the position information of the interventional instrument.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technology field, and in particular to a medical image display method and device and medical imaging equipment. BACKGROUND

[0002] Digital subtraction angiography (DSA) is an interventional examination method, which can observe the blood flow of the cardiovascular system and diagnose heart and blood vessel lesions. In a DSA operation, a doctor needs to inject contrast medium into a patient's body through an interventional instrument, and then uses X-ray imaging technology to obtain a digital subtraction angiography image, displays the digital subtraction angiography image on a display screen, and observes the internal situation of the blood vessel based on the displayed digital subtraction angiography image.

[0003] However, due to the complexity of the internal situation of the blood vessel, the doctor is difficult to accurately determine the position information of the interventional instrument based on the displayed digital subtraction angiography image on the display screen, thereby causing operation risks and complications. Therefore, how to display a medical image to accurately obtain the position information of the interventional instrument is a technical problem to be solved in the field. SUMMARY

[0004] Therefore, it is necessary to provide a medical image display method, device and medical imaging equipment capable of accurately obtaining the position information of an interventional instrument in view of the above technical problems.

[0005] In a first aspect, the present application provides a medical image display method applied to a computer device, and the method comprises:

[0006] obtaining an initial medical image and a target spatial position of a subject;

[0007] performing positioning processing on an interventional instrument in the initial medical image to obtain a target medical image, wherein the target medical image is marked with position information of the interventional instrument;

[0008] mapping the target medical image and the target spatial position to obtain a mapping result;

[0009] sending the mapping result and the target medical image to a head-mounted device to instruct the head-mounted device to display the target medical image according to the mapping result.

[0010] In one of the embodiments, the position information comprises a tip position and a direction of the interventional instrument.

[0011] In one of the embodiments, the target spatial position comprises a virtual spatial position or a real spatial position, and the process of obtaining the target spatial position comprises:

[0012] Receive the virtual spatial location sent by the head-mounted device; or,

[0013] The location data of the object collected by the acquisition component is obtained, and the location data is analyzed and processed to obtain the real spatial location.

[0014] In one embodiment, mapping the target medical image and the target spatial location to obtain a mapping result includes:

[0015] When the target spatial location includes the virtual spatial location, the target medical image and the virtual spatial location are mapped according to the first transformation relationship to obtain the mapping result. The first transformation relationship is the transformation relationship between the image coordinate system corresponding to the target medical image and the virtual spatial coordinate system corresponding to the virtual spatial location.

[0016] When the target spatial location includes the real spatial location, the target medical image and the real spatial location are mapped according to the second transformation relationship and the third transformation relationship to obtain the mapping result. The second transformation relationship is the transformation relationship between the image coordinate system and the real spatial coordinate system corresponding to the real spatial location; the third transformation relationship is the transformation relationship between the virtual spatial coordinate system and the real spatial coordinate system.

[0017] In one embodiment, prior to acquiring the initial medical image of the object, the method further includes:

[0018] Receive the target distance sent by the head-mounted device; the target distance is the distance between the position of the object in the virtual space corresponding to the head-mounted device and the position of the center of the imaging device in the virtual space;

[0019] The spatial location of the device to be calibrated is determined based on the target distance;

[0020] The position of the device to be calibrated is corrected based on the spatial location to be calibrated.

[0021] In one embodiment, the device to be calibrated includes the imaging device and / or a scanning bed that carries the object.

[0022] In one embodiment, after performing position correction on the device to be corrected based on the spatial location to be corrected, the method further includes:

[0023] Send a calibration and verification command to the head-mounted device;

[0024] The head-mounted device receives the corrected distance sent in response to the correction verification command, wherein the corrected distance is the distance between the corrected position of the object in the virtual space and the corrected position of the center of the imaging device in the virtual space;

[0025] Based on the corrected distance, determine whether the position correction is complete.

[0026] Secondly, this application also provides a medical image display method applied to a head-mounted device, the method comprising:

[0027] Receive target medical images and mapping results sent by computer equipment;

[0028] The target medical image is displayed based on the mapping result;

[0029] The target medical image includes the location information of the interventional device marked by the computer device. The mapping result is obtained by the computer device mapping the target medical image and the target spatial location, where the target spatial location is the spatial location of the object corresponding to the target medical image.

[0030] In one embodiment, the method further includes:

[0031] Obtain the target distance between the position of the object in the virtual space corresponding to the head-mounted device and the position of the center of the imaging device in the virtual space;

[0032] The target distance is sent to the computer device; the target distance is used by the computer device to determine the position to be calibrated of the device to be calibrated, and to perform position calibration on the device to be calibrated based on the spatial position to be calibrated.

[0033] In one embodiment, the method further includes:

[0034] If a calibration and verification command is received from the computer device, the calibrated distance is sent to the computer device in response to the calibration and verification command.

[0035] The corrected distance is the distance between the corrected position of the object in the virtual space and the corrected position of the center of the imaging device in the virtual space. The corrected distance is used by the computer device to determine whether the position correction is complete.

[0036] Thirdly, this application also provides a medical image display device, comprising:

[0037] The first acquisition module is used to acquire the initial medical image and target spatial location of the object;

[0038] The processing module is used to perform localization processing on the interventional device in the initial medical image to obtain a target medical image, wherein the target medical image is marked with the location information of the interventional device;

[0039] The mapping module is used to map the target medical image and the target spatial location to obtain a mapping result;

[0040] The first sending module is used to send the mapping result and the target medical image to the head-mounted device, so as to instruct the head-mounted device to display the target medical image according to the mapping result.

[0041] Fourthly, this application also provides a medical image display device, comprising:

[0042] The first receiving module is used to receive the target medical image and mapping results sent by the computer device;

[0043] A display module is used to display the target medical image based on the mapping result;

[0044] The target medical image includes the location information of the interventional device marked by the computer device. The mapping result is obtained by the computer device mapping the target medical image and the target spatial location, where the target spatial location is the spatial location of the object corresponding to the target medical image.

[0045] Fifthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method steps of the first aspect described above.

[0046] Sixthly, this application also provides a head-mounted device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method steps of the second aspect described above.

[0047] In a seventh aspect, this application also provides a medical imaging device, including the computer device provided in the fifth aspect and the head-mounted device provided in the sixth aspect.

[0048] Eighthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method steps of the first and second aspects described above.

[0049] Ninthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the method steps of the first and second aspects described above.

[0050] The aforementioned medical image display methods, devices, and medical imaging equipment,

[0051] The process involves acquiring a target medical image of the object, mapping the target medical image to the target spatial location to obtain a mapping result, and sending the mapping result and the target medical image to a head-mounted device to instruct the head-mounted device to display the target medical image based on the mapping result. The target medical image contains the location information of the interventional device. In this embodiment, the target medical image reflects the vascular condition of the object. Mapping the target medical image to the target spatial location of the object allows the target medical image to be combined with the object to obtain a mapping result. The head-mounted device displays the target medical image based on the mapping result, combining and displaying the target medical image in the virtual space of the head-mounted device, facilitating the user's observation of the object's real-time condition. Furthermore, the location information of the interventional device is marked in the target medical image, allowing the user to intuitively and accurately observe the location information of the interventional device. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is an application environment diagram of a medical image display method in one embodiment;

[0054] Figure 2 This is a flowchart illustrating a medical image display method in one embodiment;

[0055] Figure 3 This is a flowchart illustrating a position correction method in one embodiment;

[0056] Figure 4 This is a flowchart illustrating the position correction method in another embodiment;

[0057] Figure 5 This is a flowchart illustrating a medical image display method in another embodiment;

[0058] Figure 6 This is a structural block diagram of a medical image display device in one embodiment;

[0059] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] The medical image display method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, computer device 102 communicates with head-mounted device 104 via a network. A data storage system can store the data that computer device 102 needs to process. The data storage system can be integrated into computer device 102 or located in the cloud or on other network servers. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. Computer device 102 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0062] In one exemplary embodiment, such as Figure 2 As shown, a medical image display method is provided, which is applied to... Figure 1 The following explanation uses computer equipment as an example, including the following steps S201 to S204. Wherein:

[0063] S201, Obtain the initial medical image and target spatial location of the object.

[0064] In this embodiment, raw data of the internal condition of blood vessels in an object can be acquired using an imaging device, and then sent to a computer device. The computer device reconstructs the raw data to obtain an initial medical image. Optionally, the initial medical image can be a two-dimensional medical image or a three-dimensional medical image.

[0065] On one hand, a head-mounted device can be used to collect the virtual spatial coordinates of an object in virtual space, and these virtual coordinates can be sent to a computer as the target spatial location. On the other hand, other acquisition components can be used to collect the object's position data in real space, and this position data can be sent to a computer. The computer analyzes and processes the position data to obtain the object's real spatial coordinates, and the real spatial ordinate is the target spatial location. There is a one-to-one mapping relationship between the virtual and real spatial locations; that is, there is a transformation relationship between the virtual and real spatial coordinate systems. Assuming the virtual spatial location is R(x1, y1, z1) and the real spatial location is D(xi, yi, zi), using the transformation relationships a, b, c between the virtual and real spatial coordinate systems, we can make xi = ax1, yi = by1, and zi = cz1, thus mapping the two spatial locations.

[0066] S202, The interventional device in the initial medical image is located to obtain the target medical image, which is marked with the location information of the interventional device.

[0067] The location information includes the tip position and orientation of the interventional device (catheter).

[0068] In this embodiment, the initial medical image can be denoised, the denoised image can be localized to obtain the location information of the interventional device, and the location information of the interventional device can be marked in the denoised image to obtain the target medical image.

[0069] In one possible implementation, the interventional device in the initial medical image can be directly located to obtain its position information. This position information can then be annotated in the initial medical image to obtain the target medical image. During the surgery, the doctor can use a head-mounted device (i.e., VR technology) to observe real-time images of the patient's internal blood vessels and display the position and orientation of the catheter on the target medical image (VR image).

[0070] S203, map the target medical image and the target spatial location to obtain the mapping result.

[0071] In this embodiment, the purpose of the mapping result is to obtain the mapping relationship between the pixel coordinates in the target medical image and the coordinates in the virtual space. Therefore, when the target spatial position is the virtual spatial position sent by the head-mounted device, the mapping relationship between the pixel coordinates in the target medical image and the virtual spatial position is directly established using the image coordinate system and the virtual space coordinate system to obtain the mapping result.

[0072] In one possible implementation, if the target spatial location is a real-world location obtained from data collected by other sensors, the real-world location can first be transformed into a virtual location based on the transformation relationship between the real-world coordinate system and the virtual-world coordinate system, thus obtaining the corresponding virtual spatial location. Then, using the transformation relationship between the image coordinate system and the virtual-world coordinate system, a mapping relationship is established between the pixel coordinates in the target medical image and the virtual spatial location, yielding the mapping result.

[0073] In another possible implementation, if the target spatial location is a real-world location obtained from data collected by other sensors, the mapping between the target medical image and the real-world spatial location can be achieved first based on the transformation relationship between the image coordinate system and the real-world coordinate system. Then, the real-world spatial location is transformed into the virtual spatial location based on the coordinate systems of the real and virtual spaces, yielding the corresponding virtual spatial location. Next, a mapping relationship is established between the pixel coordinates in the target medical image and the real-world spatial location using the image coordinate system and the virtual spatial coordinate system, obtaining the mapping result. Finally, based on the transformation relationship between the real-world and virtual spatial coordinate systems, the correspondence between the real-world and virtual spatial locations is obtained, thus completing the mapping between the target medical image and the virtual spatial location.

[0074] S204, The mapping result and the target medical image are sent to the head-mounted device to instruct the head-mounted device to display the target medical image according to the mapping result.

[0075] In this embodiment, the computer device simultaneously sends the mapping result and the target medical image to the head-mounted device. The head-mounted device displays the virtual spatial position of the target medical image in the virtual space according to the mapping result, that is, it projects the target medical image onto the surgical area of ​​the object through the head-mounted device. For example, if the initial medical image is a two-dimensional image, the processed two-dimensional target medical image (i.e., the two-dimensional perspective processing result) can be projected onto the surgical area in real time; if the initial medical image is a three-dimensional medical image, the processed three-dimensional target medical image (i.e., the three-dimensional perspective processing result) can be projected onto the surgical area to provide real-time images of the internal condition of blood vessels through the head-mounted device. Doctors can observe the internal condition of the patient's blood vessels based on the displayed target medical image, and at the same time, they can accurately insert interventional instruments into the patient's blood vessels based on the position information displayed on the target medical image. That is, based on the information provided by the navigation tool, the catheter can be accurately inserted into the patient's blood vessels under DSA imaging technology, which can greatly improve the accuracy and safety of DSA surgery and reduce surgical risks and complications.

[0076] In the aforementioned medical image display method, a target medical image is acquired from the object, the target medical image and the target spatial location are mapped to obtain a mapping result, and the mapping result and the target medical image are sent to a head-mounted device to instruct the head-mounted device to display the target medical image according to the mapping result; the target medical image is marked with the location information of the interventional device. In this embodiment, the target medical image reflects the vascular condition of the object. Mapping the target medical image and the target spatial location of the object allows the target medical image to be combined with the object to obtain a mapping result. The head-mounted device displays the target medical image based on the mapping result, combining and displaying the target medical image in the virtual space of the head-mounted device, which facilitates the user's observation of the object's real-time condition. Moreover, the target medical image is marked with the location information of the interventional device, allowing the user to intuitively and accurately observe the location information of the interventional device.

[0077] In one embodiment, the target spatial location includes a virtual spatial location or a real spatial location, and the process of obtaining the target spatial location includes:

[0078] Receive the virtual spatial location sent by the head-mounted device; or, acquire the location data of the object collected by the acquisition component, and analyze and process the location data to obtain the real spatial location.

[0079] In this embodiment, the head-mounted device collects the virtual spatial location of the object and sends the virtual spatial location to the computer device.

[0080] To improve the consistency between the projected result (the display result of the target medical image in the virtual space of the head-mounted device) and the object in the surgical area, a camera or some positioning technology can be used to achieve real-time imaging. Optionally, the acquisition component can be radar, an image sensor, a camera, etc.; or a position sensor. If the acquisition component is radar, the position data can be point cloud data. The radar sends the point cloud data to a computer device, which analyzes and processes the point cloud data to obtain the object's real-world spatial location. If the acquisition component is an image sensor, a camera, etc., the position data can be image data. The image sensor sends the image data to a computer device, which uses image processing algorithms to analyze and process the image data to obtain the object's real-world spatial location.

[0081] In this embodiment, the virtual spatial location sent by the head-mounted device is received; or, the location data of the object collected by the acquisition component is acquired, and the location data is analyzed and processed to obtain the real spatial location. In this embodiment, using the virtual spatial location of the object collected by the head-mounted device facilitates the computer device to establish a mapping relationship between the virtual spatial location and the target medical image, thereby improving the display efficiency of the target medical image. Furthermore, using location data acquired by sensor components allows for a more accurate real spatial location due to the more precise algorithm used by the computer device to process the location data, thus improving the accuracy of the target spatial location acquisition and consequently the accuracy of the target medical image display results.

[0082] Since the target spatial location includes either a virtual or real spatial location, mapping the target medical image to the target spatial location yields a mapping result that can include the following two scenarios:

[0083] The first case: When the target spatial location includes the virtual spatial location, the target medical image and the virtual spatial location are mapped according to the first transformation relationship to obtain the mapping result. The first transformation relationship is the transformation relationship between the image coordinate system corresponding to the target medical image and the virtual spatial coordinate system corresponding to the virtual spatial location.

[0084] The second scenario: When the target spatial location includes the real spatial location, the target medical image and the real spatial location are mapped according to the second and third transformation relationships to obtain the mapping result. The second transformation relationship is the transformation relationship between the image coordinate system and the real spatial coordinate system corresponding to the real spatial location; the third transformation relationship is the transformation relationship between the virtual spatial coordinate system and the real spatial coordinate system.

[0085] For a specific implementation method, please refer to the above embodiments.

[0086] Figure 3 This is a flowchart illustrating a position correction method in one embodiment, such as... Figure 3 As shown, it includes the following steps:

[0087] S301, Receive the target distance sent by the head-mounted device; the target distance is the distance between the position of the object in the virtual space corresponding to the head-mounted device and the position of the center of the imaging device in the virtual space.

[0088] S302, determine the spatial location of the device to be calibrated based on the target distance.

[0089] The equipment to be calibrated includes imaging equipment and / or a scanning bed that carries the object.

[0090] S303, performs position correction on the device to be corrected based on the spatial location to be corrected.

[0091] Digital subtraction angiography (DSA) is an interventional examination method that observes blood flow in the cardiovascular system. Three-dimensional digital subtraction angiography (DSA) is a medical imaging technique used for three-dimensional visualization of blood vessels. It involves injecting a contrast agent into the blood vessel and then using X-rays to capture images of the vessel from multiple angles. These images are then reconstructed using computer software to create a digital subtraction angiography image of the vessel. However, before the use of 3D technology, the reconstruction of digital subtraction angiography images was poor because the object's position was not centered on the imaging device. Currently, hardware devices such as sensors can be used to measure the position of the scanning table or C-arm, and their position can be manually adjusted. However, this requires a significant amount of time and effort, is costly, and the calibration is not precise enough.

[0092] In this embodiment, the object is located at the center of the imaging device. The head-mounted device acquires the distance between the object's position in virtual space and the position of the imaging device's center in virtual space. This distance is sent as the target distance to the computer device. The computer device determines the spatial position to be calibrated for the device based on the target distance. For example, if the target distance is the distance in virtual space, the target distance is converted to real space based on the transformation relationship between the virtual space coordinate system and the real space coordinate system to obtain the actual distance corresponding to the target distance. Based on the initial position of the imaging device / scanning bed in real space and the actual distance, the spatial position to be calibrated for the imaging device / scanning bed is determined. The device to be calibrated is then controlled to move to the spatial position to be calibrated.

[0093] In one possible implementation, the positions of the scanning bed and imaging device can also be adjusted simultaneously based on the target distance.

[0094] Optionally, during the calibration process, the head-mounted device (i.e., the virtual reality device) can also be fixed to a scanning bed (3D bed) or an imaging device (C-arm).

[0095] The aforementioned position correction process can also be understood as follows: The virtual reality (VR) device is fixed to a 3D bed or C-arm, and the VR system on the VR device is activated. The VR system displays a virtual marker of the object (the object's position in the virtual space corresponding to the head-mounted device). The purpose is to align this virtual marker with the target position (the center of the imaging device in the virtual space). Therefore, the distance between the virtual marker and the target position is measured using the VR system, obtaining the measurement result (target distance). This measurement result is sent to a computer, which automatically calculates the correct position of the 3D bed or C-arm using the measurement result.

[0096] In this embodiment, a target distance is received from a head-mounted device, and the spatial position of the device to be calibrated is determined based on the target distance. Position calibration is then performed on the device based on this spatial position. This embodiment uses the target distance obtained from the head-mounted device to determine the spatial position, reducing the time and cost of manual intervention and improving the efficiency and accuracy of medical equipment.

[0097] Figure 4 This is a flowchart illustrating the position correction method in another embodiment, as shown below. Figure 4 As shown, it includes the following steps:

[0098] S401 sends a calibration and verification command to the head-mounted device.

[0099] S402, Receive the corrected distance sent by the head-mounted device in response to the correction and verification command. The corrected distance is the distance between the corrected position of the object in the virtual space and the corrected position of the center of the imaging device in the virtual space.

[0100] S403, based on the corrected distance, determine whether the position correction is complete.

[0101] In this embodiment, after the computer device controls the device to be calibrated to move to the position to be calibrated, it can send a calibration verification command to the head-mounted device to instruct the head-mounted device to reacquire the distance between the position of the object in the virtual space corresponding to the head-mounted device and the position of the center of the imaging device in the virtual space, i.e., the calibrated distance. The calibrated distance is then sent to the computer device. If the calibrated distance is equal to 0 or less than a preset distance, the calibration is considered complete. If the calibrated distance is not 0 or greater than the preset distance, the new position to be calibrated for the device is determined based on the calibrated distance and the current spatial distance of the device to be calibrated, until the latest calibrated distance meets the requirements.

[0102] The computer equipment automatically adjusts the position of the 3D bed or C-arm based on the measurement results, and confirms whether the corrected position is correct. If the corrected position is correct, the automatic correction process is completed; if the corrected position is incorrect, the process returns to the step of obtaining the measurement results of the corrected position again and re-corrects.

[0103] In this embodiment, a calibration verification command is sent to the head-mounted device, and the calibrated distance sent by the head-mounted device in response to the calibration verification command is received. Based on the calibrated distance, it is determined whether the position calibration is complete. In this embodiment, the computer device performs calibration of the device to be calibrated based on the calibrated distance, which improves the accuracy of the calibration of the device to be calibrated.

[0104] Figure 5This is a flowchart illustrating a medical image display method in another embodiment, such as... Figure 5 As shown, it includes the following steps:

[0105] S501, Receive the target distance sent by the head-mounted device; the target distance is the distance between the position of the object in the virtual space corresponding to the head-mounted device and the position of the center of the imaging device in the virtual space;

[0106] S502, determine the spatial location of the device to be calibrated based on the target distance;

[0107] S503, performs position correction on the device to be corrected based on the spatial location to be corrected;

[0108] S504, sends a calibration and verification command to the head-mounted device;

[0109] S505, Receive the corrected distance sent by the head-mounted device in response to the correction verification command. The corrected distance is the distance between the corrected position of the object in the virtual space and the corrected position of the center of the imaging device in the virtual space.

[0110] S506, Based on the corrected distance, determine whether the position correction is complete;

[0111] S507, receives the virtual spatial location sent by the head-mounted device;

[0112] S508: Obtain the location data of the object collected by the acquisition component, and analyze and process the location data to obtain the real spatial location.

[0113] S509, when the target spatial location includes a virtual spatial location, the target medical image and the virtual spatial location are mapped according to the first transformation relationship to obtain the mapping result. The first transformation relationship is the transformation relationship between the image coordinate system corresponding to the target medical image and the virtual spatial coordinate system corresponding to the virtual spatial location.

[0114] S510, when the target spatial location includes the real spatial location, the target medical image and the real spatial location are mapped according to the second transformation relationship and the third transformation relationship to obtain the mapping result. The second transformation relationship is the transformation relationship between the image coordinate system and the real spatial coordinate system corresponding to the real spatial location; the third transformation relationship is the transformation relationship between the virtual spatial coordinate system and the real spatial coordinate system.

[0115] S511, the mapping result and the target medical image are sent to the head-mounted device to instruct the head-mounted device to display the target medical image according to the mapping result.

[0116] In this embodiment, the target medical image reflects the vascular condition of the object. By mapping the target medical image to the target spatial location of the object, the target medical image and the object can be combined to obtain a mapping result. The head-mounted device displays the target medical image based on the mapping result, combining and displaying the target medical image in the virtual space of the head-mounted device, which facilitates the user's observation of the object's real-time condition. Moreover, the target medical image is marked with the location information of the interventional device, allowing the user to intuitively and accurately observe the location information of the interventional device.

[0117] In one embodiment, a medical image display method is provided, applied to a head-mounted device. The method includes: receiving a target medical image and a mapping result sent by a computer device; displaying the target medical image according to the mapping result; wherein the target medical image includes location information of interventional devices marked by the computer device, and the mapping result is obtained by the computer device mapping the target medical image and a target spatial location, where the target spatial location is the spatial location of the object corresponding to the target medical image.

[0118] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0119] Based on the same inventive concept, this application also provides a medical image display device for implementing the medical image display method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more medical image display device embodiments provided below can be found in the limitations of the medical image display method described above, and will not be repeated here.

[0120] In one exemplary embodiment, such as Figure 6 As shown, a medical image display device is provided, which is applied to a computer device, including: a first acquisition module 11, a processing module 12, a mapping module 13, and a first transmission module 14, wherein:

[0121] The first acquisition module 11 is used to acquire the initial medical image and target spatial location of the object;

[0122] Processing module 12 is used to perform localization processing on the interventional device in the initial medical image to obtain the target medical image, in which the location information of the interventional device is marked;

[0123] Mapping module 13 is used to map the target medical image and the target spatial location to obtain the mapping result;

[0124] The first sending module 14 is used to send the mapping result and the target medical image to the head-mounted device, so as to instruct the head-mounted device to display the target medical image according to the mapping result.

[0125] In one embodiment, the location information includes the tip position and orientation of the interventional device.

[0126] In one embodiment, the first acquisition module 11 is specifically used to receive the virtual spatial location sent by the head-mounted device; or, to acquire the location data of the object collected by the acquisition component, and to analyze and process the location data to obtain the real spatial location.

[0127] In one embodiment, the mapping module 13 is specifically used to map the target medical image and the virtual spatial location according to a first transformation relationship when the target spatial location includes a virtual spatial location, to obtain a mapping result. The first transformation relationship is the transformation relationship between the image coordinate system corresponding to the target medical image and the virtual spatial coordinate system corresponding to the virtual spatial location.

[0128] When the target spatial location includes the real spatial location, the target medical image and the real spatial location are mapped according to the second transformation relationship and the third transformation relationship to obtain the mapping result. The second transformation relationship is the transformation relationship between the image coordinate system and the real spatial coordinate system corresponding to the real spatial location; the third transformation relationship is the transformation relationship between the virtual spatial coordinate system and the real spatial coordinate system.

[0129] In one embodiment, the medical image display device further includes:

[0130] The second receiving module is used to receive the target distance sent by the head-mounted device; the target distance is the distance between the position of the object in the virtual space corresponding to the head-mounted device and the position of the center of the imaging device in the virtual space;

[0131] The first determining module is used to determine the spatial location of the device to be calibrated based on the target distance;

[0132] The calibration module is used to perform position calibration on the device to be calibrated based on the spatial location to be calibrated.

[0133] In one embodiment, the device to be calibrated includes an imaging device and / or a scanning bed that carries the object.

[0134] In one embodiment, the medical image display device further includes:

[0135] The second sending module is used to send calibration and verification commands to the head-mounted device;

[0136] The third receiving module is used to receive the corrected distance sent by the head-mounted device in response to the correction and verification command. The corrected distance is the distance between the corrected position of the object in the virtual space and the corrected position of the center of the imaging device in the virtual space.

[0137] The second determining module is used to determine whether the position correction is complete based on the corrected distance.

[0138] In one embodiment, a medical image display device is provided, the device being applied to a head-mounted device, the device comprising:

[0139] The first receiving module is used to receive the target medical image and mapping results sent by the computer device;

[0140] The display module is used to display the target medical image based on the mapping results;

[0141] The target medical image includes the location information of interventional devices marked by computer equipment. The mapping result is obtained by the computer equipment mapping the target medical image and the target spatial location, where the target spatial location is the spatial location of the object corresponding to the target medical image.

[0142] In one embodiment, the medical image display device further includes:

[0143] The second acquisition module is used to acquire the target distance between the position of the object in the virtual space corresponding to the head-mounted device and the position of the center of the imaging device in the virtual space;

[0144] The third sending module is used to send the target distance to the computer device; the target distance is used by the computer device to determine the position of the device to be calibrated and to perform position calibration on the device based on the spatial position of the device to be calibrated.

[0145] In one embodiment, the medical image display device further includes:

[0146] The response module is used to send the corrected distance to the computer device in response to the correction and verification command if a correction and verification command is received from the computer device.

[0147] The corrected distance is the distance between the corrected position of the object in the virtual space and the corrected position of the center of the imaging device in the virtual space. The corrected distance is used by the computer device to determine whether the position correction is complete.

[0148] The modules in the aforementioned medical image display device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0149] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data related to medical image display. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a medical image display method.

[0150] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0151] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above method embodiments.

[0152] In one exemplary embodiment, a head-mounted device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above method embodiments.

[0153] In one exemplary embodiment, a medical imaging device is provided, including a computer device and a head-mounted device. The computer device is used to acquire an initial medical image of an object and a target spatial location; the computer device is used to perform positioning processing on the interventional device in the initial medical image to obtain a target medical image, in which the location information of the interventional device is marked; the computer device is used to map the target medical image and the target spatial location to obtain a mapping result, and send the mapping result and the target medical image to the head-mounted device; the head-mounted device is used to display the target medical image according to the mapping result.

[0154] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above method embodiments.

[0155] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of any of the above method embodiments.

[0156] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0157] 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. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0158] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0159] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A medical image display method characterized by, The method is applied to a computer device, and comprises: obtaining an initial medical image and a target spatial position of an object; performing positioning processing on an interventional instrument in the initial medical image to obtain a target medical image, wherein the target medical image is marked with position information of the interventional instrument; mapping the target medical image and the target spatial position to obtain a mapping result; sending the mapping result and the target medical image to a head-mounted device, so that the head-mounted device displays the target medical image according to the mapping result.

2. The method of claim 1, wherein, The target spatial position comprises a virtual spatial position or a real spatial position, and the process of obtaining the target spatial position comprises: receiving the virtual spatial position sent by the head-mounted device; or obtaining position data of the object collected by a collection component, and performing analysis processing on the position data to obtain the real spatial position.

3. The method of claim 2, wherein, The mapping of the target medical image and the target spatial position to obtain a mapping result comprises: in the case where the target spatial position comprises the virtual spatial position, mapping the target medical image and the virtual spatial position according to a first conversion relationship to obtain the mapping result, wherein the first conversion relationship is a conversion relationship between an image coordinate system corresponding to the target medical image and a virtual spatial coordinate system corresponding to the virtual spatial position; in the case where the target spatial position comprises the real spatial position, mapping the target medical image and the real spatial position according to a second conversion relationship and a third conversion relationship to obtain the mapping result, wherein the second conversion relationship is a conversion relationship between the image coordinate system and a real spatial coordinate system corresponding to the real spatial position, and the third conversion relationship is a conversion relationship between the virtual spatial coordinate system and the real spatial coordinate system.

4. The method of claim 1, wherein, Before the initial medical image of the object is obtained, the method further comprises: receiving a target distance sent by the head-mounted device, wherein the target distance is a distance between a position of the object in a virtual space corresponding to the head-mounted device and a position of a center of an imaging device in the virtual space; determining a to-be-corrected spatial position of a to-be-corrected device according to the target distance; performing position correction on the to-be-corrected device based on the to-be-corrected spatial position.

5. The method of claim 4, wherein, After the position correction on the to-be-corrected device based on the to-be-corrected spatial position is performed, the method further comprises: sending a correction verification instruction to the head-mounted device; receiving a corrected distance sent by the head-mounted device in response to the correction verification instruction, wherein the corrected distance is a distance between a corrected position of the object in the virtual space and a corrected position of the center of the imaging device in the virtual space; determining whether the position correction is completed according to the corrected distance.

6. A medical image display method characterized by, The method is applied to a head-mounted device, and comprises: receiving a target medical image and a mapping result sent by a computer device; displaying the target medical image according to the mapping result. The target medical image includes position information of an interventional instrument marked by the computer device, the mapping result is obtained by mapping the target medical image and a target space position, and the target space position is a space position where an object corresponding to the target medical image is located.

7. A medical image display apparatus characterized by comprising: The device is applied to a computer device, and the device comprises: A first acquisition module is configured to acquire an initial medical image and a target space position of an object. A processing module is configured to perform positioning processing on an interventional instrument in the initial medical image to obtain a target medical image, and the target medical image is marked with position information of the interventional instrument. A mapping module is configured to map the target medical image and the target space position to obtain a mapping result. A first sending module is configured to send the mapping result and the target medical image to a head-mounted device to instruct the head-mounted device to display the target medical image according to the mapping result.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method in any one of claims 1 to 5.

9. A head-mounted device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method in claim 6.

10. A medical imaging apparatus, characterized by, The device comprises the computer device in claim 8 and the head-mounted device in claim 9, The computer device is configured to acquire an initial medical image and a target space position of an object. The computer device is configured to perform positioning processing on an interventional instrument in the initial medical image to obtain a target medical image, and the target medical image is marked with position information of the interventional instrument. The computer device is configured to map the target medical image and the target space position to obtain a mapping result, and send the mapping result and the target medical image to a head-mounted device. The head-mounted device is configured to display the target medical image according to the mapping result.

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