CN116636928A - Registration progress detection method and system for lung trachea and electronic equipment - Google Patents

Abstract

The present application provides a registration progress detection method, system and electronic equipment for lung trachea. The method includes: acquiring a three-dimensional model of the trachea tree reconstructed based on medical imaging images of the lungs and trachea and a plurality of first key points in the three-dimensional model of the trachea tree; dividing the three-dimensional model of the trachea tree based on the plurality of first key points to obtain multiple Each model area contains at least one first key point; obtain the first position information of the current position of the positioning sensor in the lung trachea; according to the first position information, determine the first position of the positioning sensor in the three-dimensional model of the trachea tree Two position information and the target model area where it is located; according to the second position information, calculate the first distance between the positioning sensor and the at least one first key point contained in the target model area; according to the first distance, determine the target model The registration progress of the region. The scheme can accurately determine the completion status of the registration operation, and can also ensure the adequacy of registration data collection.

Description

Registration progress detection method, system and electronic device for pulmonary trachea

technical field

The present application relates to the technical field of medical devices, in particular to a registration progress detection method, system and electronic equipment for pulmonary trachea.

Background technique

With the development of computer technology and medical imaging technology, surgical navigation technology is widely used in the diagnosis and treatment of diseases due to its advantages of precision, flexibility and minimal invasiveness. For example, Electromagnetic Navigation Bronchoscope (ENB), which is commonly used to examine patients with peripheral lung diseases.

In the process of intraoperative diagnosis and treatment of a patient's lungs using ENB, an essential step is registration. The three-dimensional model of the tracheal tree is matched to facilitate the precise positioning of surgical instruments and other relative positions in the three-dimensional model of the tracheal tree, providing a prerequisite guarantee for surgical navigation. At present, because the registration process has not established a scientific evaluation process and standards, the progress of each registration is not intuitive enough, and the data collected for the actual physical space of the patient's lungs and trachea during the registration process is not sufficient, which affects the registration efficiency. and precision. For this reason, it is urgent to provide a technical solution that can know the degree of registration completion and ensure sufficient data collection during the registration process, so as to give feedback to the doctor on the registration progress and improve the registration accuracy.

Contents of the invention

In view of the above problems, the present application provides a registration progress detection method, system and electronic device for pulmonary trachea that solve the above problems or at least partially solve the above problems.

Therefore, in one embodiment of the present application, a registration progress detection method for lung trachea is provided.

The method includes:

Acquiring a three-dimensional model of the trachea tree reconstructed based on medical imaging images of the lung trachea and a plurality of first key points in the three-dimensional model of the trachea tree;

dividing the three-dimensional model of the tracheal tree based on a plurality of the first key points to obtain a plurality of model areas, wherein each of the model areas contains at least one first key point;

Acquiring first position information of the current position of the positioning sensor in the lung trachea;

According to the first position information, determine the second position information of the positioning sensor in the three-dimensional model of the trachea tree and the target model area where it is located;

calculating a first distance between the positioning sensor and the at least one first key point included in the target model area according to the second position information;

A registration progress for the target model region is determined according to the first distance.

In another embodiment of the present application, a registration progress detection system for lung trachea is also provided. The system includes:

A magnetic field generator, used to generate a positioning magnetic field; the lungs and trachea are in the positioning magnetic field;

A positioning sensor, which can generate a positioning signal by sensing the positioning magnetic field when it moves in the trachea of the lung, and send the positioning signal to a processing device, so that the processing device can determine the positioning according to the positioning signal location information of the sensor in the trachea of the lung;

The processing device is configured to execute the steps in the method for detecting the registration progress of the pulmonary trachea provided by the above-mentioned embodiment.

In one embodiment of the present application, an electronic device is provided. The electronic device includes: a memory and a processor, wherein the memory is used to store a computer program; the processor is coupled to the memory and used to execute the computer program stored in the memory for The steps or functions in the registration progress detection method for pulmonary trachea provided by the above-mentioned embodiment of the present application are realized.

The technical solutions provided by the various embodiments of the present application are based on obtaining the three-dimensional model of the tracheal tree reconstructed for the pulmonary trachea, and then based on multiple first key points in the obtained three-dimensional model of the tracheal tree to The three-dimensional model is divided to obtain multiple model regions, and each model region contains at least one first key point; further, according to the obtained first position information of the positioning sensor in the lung trachea, it can be determined that the positioning sensor is in The second position information in the three-dimensional model of the trachea tree and the target model area where it is located; and according to the second position information, the first distance between the positioning sensor and at least one first key point contained in the target model area can be calculated, and then according to The first distance can determine the registration progress for the target model region. In the solution of the present application, by using the first distance between the positioning sensor and the corresponding first key point in the target model area as a measure of the registration progress of the target model area, in order to evaluate the intraoperative registration for lung trachea registration The completion status provides an objective standard, which is conducive to improving the accuracy of the determination of the registration completion status; in addition, based on the determined registration progress of the target model area, it also helps to provide users (such as clinicians) with corresponding registration results in subsequent implementations. Accurate progress information feedback, so that the user can intuitively understand the registration completion of the target model area, and can provide effective assistance for the user to operate the positioning sensor to move in the lung trachea, thereby helping to ensure the adequacy of registration data collection. It can provide guarantee for follow-up precise guidance surgery.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Figures 1a to 1c are structural schematic diagrams of the medical system used for lung diagnosis and treatment in the embodiment of the application;

FIG. 2 is a schematic flowchart of a registration progress detection method for pulmonary trachea provided by an embodiment of the present application;

Figure 3a and Figure 3b are front plan views of the three-dimensional model of the trachea tree with centerline information provided by the embodiment of the present application;

Figure 4a and Figure 4b are front plan views of the model area division of the three-dimensional model of the tracheal tree provided by the embodiment of the present application;

FIG. 5 is a schematic diagram of trajectory data provided by an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a registration progress detection system for pulmonary trachea provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a registration progress detection device for pulmonary trachea provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a computer program product provided by an embodiment of the present application;

Fig. 10 and Fig. 11 are schematic diagrams of the surgical registration interface provided by the embodiment of the present application.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

Some processes described in the specification, claims, and above-mentioned drawings of the present application contain multiple operations appearing in a specific order, and these operations may not be executed in the order in which they appear herein or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. Additionally, these processes can include more or fewer operations, and these operations can be performed sequentially or in parallel. It should be noted that the descriptions of "first" and "second" in this article are used to distinguish different messages, devices, modules, etc. are different types. However, the term "or/and" in this application is only an association relationship describing associated objects, which means that there may be three relationships, such as: A or/and B, which means that A can exist alone, and A and B can exist simultaneously. There are three cases of B; the character "/" in this application generally indicates that the contextual objects are an "or" relationship. It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a good or system comprising a set of elements includes not only those elements but also includes items not expressly listed. other elements of the product, or elements inherent in the commodity or system. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the article or system comprising said element. In addition, the following embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

In the following embodiments of the present application, a positioning sensor, such as a positioning sensor disposed on a positioning catheter, will be involved. The positioning sensor adopts the principle of electromagnetic navigation (Electromagetic Navigation), which is different from the principle of ordinary electromagnetic navigation. The common principle of electromagnetic navigation is mainly to rely on the external magnetic field to attract or repel the permanent magnet in the catheter to affect the direction of the medical device entering the human body. In the embodiment of the present application, the working principle of the positioning sensor is mainly to output current to an external control system (such as the magnetic navigation device described below) in response to the magnetic field in the space where it is located, so that the control system can locate the position of the corresponding catheter. In detail, the positioning sensor and the control system are connected (signal) by wire or wirelessly. The control system includes a magnetic field generator for generating a magnetic field in a certain range of positioning space. The positioning sensor itself has no magnetism, and the coil in the positioning sensor is used to sense the magnetic field generated by the magnetic field generator. Among them, the magnetic field generator generates a changing magnetic field in a certain range of positioning space, and ensures that the magnetic field characteristics of each electrode in the positioning space are unique. The coil in the positioning sensor generates a current in a changing magnetic field, and the generated signal (ie, the positioning signal mentioned above) is collected and transmitted to the control system. The control system analyzes the signal to determine the precise position and orientation of the corresponding catheter.

For ease of understanding, before introducing the technical solutions provided by the embodiments of the present application, a medical system for lung surgery navigation is introduced first. specifically,

Fig. 1a and Fig. 1b are three-dimensional structural schematic diagrams of a medical system provided by an embodiment of the present application. As shown in FIG. 1 a and FIG. 1 b , the medical system includes: an operating console 10 , a magnetic navigation device 20 , a medical imaging device 30 and a positioning medical tool 40 . in,

The magnetic navigation device 20 is used for navigating the positioning medical tool 40 to a corresponding target point (or target area) on the medical path according to the medical path.

The aforementioned medical path may be planned by a corresponding processing module having a path planning function. Specifically, the processing module can be used to reconstruct a corresponding three-dimensional model based on medical image data (such as CT, MRI, etc.) of the patient's whole body or a certain body part, and perform path planning based on the planned three-dimensional model to obtain the corresponding medical path. For example, the 3D model of the trachea tree including the main trachea and bronchi can be reconstructed based on the medical image data of the patient's lungs before operation, and the navigation path from the main carina through the natural trachea of the lung to the target point can be planned according to the 3D model of the trachea tree (or planning path), the navigation path is the medical path. The above-mentioned main carina refers to the bifurcation of the main trachea, and the main trachea will be divided into the left main bronchus and the right main bronchus through the bifurcation.

During specific implementation, the above-mentioned processing module can be set on the magnetic navigation device 20, or can also be set on the main control trolley 50 for doctors as shown in FIG. 1c. The above-mentioned processing module may be application software, which has the functions of reconstructing a three-dimensional model, path planning, registration, etc., and it may be specifically installed in a control device such as the main control trolley 50 or the magnetic navigation device 20, as shown in Fig. The control device 511 (such as a computer device) shown in 1c. However, in order to reduce the radiation exposure of doctors and the risk of cross-infection between doctors and patients, in this embodiment, the control device 511 is preferably separated from the electromagnetic navigation device 20 and installed on the main control trolley 50, so that the doctor can operate the control device away from the operating room. The above-mentioned main control trolley 50 can communicate with the magnetic navigation device 20 , which can be regarded as an extension of the display and control functions of the magnetic navigation device 20 . For example: through the display screen contained in the control device 511 on the main control trolley 50, specifically, the human-computer interaction interface is displayed on the display screen, which can display the reconstructed three-dimensional model (such as the three-dimensional model of the tracheal tree), the medical path, and the operation progress ( Such as registration progress, real-time navigation progress), endoscopic images, etc.; in addition, the doctor can also trigger the registration operation to start by clicking the registration control displayed on the human-computer interaction interface; or, control the medical image through the human-computer interaction interface The device 30 performs scanning, and so on.

The above-mentioned medical imaging device 30 is used to obtain medical images of patients. For example, take medical images of a patient's lungs.

During specific implementation, the above-mentioned medical imaging device 30 may be, but is not limited to, a CT machine, an X-ray machine, etc., and it may generally refer to any imaging device for medical imaging if conditions permit, and is used for performing local or whole-body imaging on a patient. Imaging, the imaging type includes but not limited to two-dimensional image.

In one example, the above-mentioned medical imaging device 30 includes a C-shaped arm 311 that can move relative to the console 10, and the two ends of the C-shaped arm 311 are respectively used to install radiation modules (for emitting corresponding medical radiation, such as X-rays). and an imaging module (not shown in the figure, specifically, it can be arranged at one end of the C-shaped arm 311 above the operating platform), and the C-shaped opening faces the operating platform. The movement of the C-arm 311 relative to the console means that the opening of the C-arm can move along the length or width of the console 10, or that the opening of the C-arm can rotate around the console 10, so that the medical imaging device 30 The shooting or scanning covers the entire operating table and all directions, and can shoot medical images (that is, medical images) with appropriate angles on demand to improve the experience of using the medical system.

What needs to be supplemented here is that the above-mentioned medical imaging device 30 can be connected to the control device on the main control trolley 50 or the magnetic navigation device 20, so that the processing module (application software) on the control device can receive and process the medical imaging device 30 Acquired medical images.

The operating table 10 may be, but not limited to, an operating table in an operating room, or a hospital bed for patient diagnosis and treatment. The console 10 can transmit the radiation of the medical imaging device 30 , and has the function of not affecting the imaging effect of the medical imaging device 30 . In addition, the above-mentioned medical imaging device 30 and the magnetic navigation device 20 can be respectively arranged beside the operating table 10 .

The medical positioning tool 40 mentioned above refers to a medical tool with a positioning function, such as biopsy, treatment and other medical tools, specifically: it may be a guide wire or catheter for positioning, an ablation catheter, and the like.

The positioning medical tool 40 is connected to the magnetic navigation device 20 , or is connected to a part of the magnetic navigation device 20 . For example, when the shape and structure of the magnetic navigation device 20 is as shown in FIG. The path drives the positioning medical tool 40 into the patient's body, such as the patient's lung airway (or trachea), and reaches the corresponding target point (or target area) under the control of the magnetic navigation device 20 . The above-mentioned Fig. 1b gives an example of delivering the positioning medical tool 40 into the patient's body through a delivery mechanism. 212) The positioning medical tool 40 is delivered to the patient's body, and the doctor manually controls the propulsion device with the help of the display device corresponding to the magnetic navigation device (display device 511 shown in Figure 1c), so that the propulsion device drives the positioning medical tool The tool 40 moves according to the medical path, and then reaches the corresponding target point (or target area).

It should be noted here that: the above-mentioned conveying mechanism 21 may include a mechanical arm 211 and a lifting mechanism 212 . The lifting mechanism 212 is connected to one end of the positioning medical tool 40 . Pushing and pulling the above-mentioned lifting mechanism 212 by hand or the mechanical arm 211 can drive and position the medical tool 40 into and out of the trachea of the human body. In addition, the electromagnetic navigation device 20 can be in addition to the shape and structure shown in FIG. 1b, and can also be in other shapes and structures, such as the shape and structure shown in FIG. Specific limits.

Further, the above-mentioned magnetic navigation device 20 may further include a magnetic field generator 22 arranged in the above-mentioned operation console 10 , and a positioning sensor 23 arranged in the positioning medical tool 40 . Wherein, the magnetic field generator 22 is used to generate a positioning magnetic field for positioning the positioning sensor 23 .

During specific implementation, the above-mentioned magnetic field generator 22 is arranged in the console 10, and can emit a positioning magnetic field toward the bed surface. When the patient is lying on the console 10, the patient's corresponding body parts (such as the lungs) are located in the positioning magnetic field. , and since the patient is generally under general anesthesia on the console 10, the relative positions of the corresponding body parts (such as the lungs) of the patient in the positioning magnetic field are fixed. Since the positioning magnetic field has its own coordinate system, which is called the magnetic field coordinate system, the relative position of the patient's corresponding body parts (such as the lungs) in the magnetic field coordinate system is fixed, and the position and position of the positioning medical tool 40 in the patient's body are fixed. The direction can be represented by the position coordinates of the head of the positioning medical tool 40 in the magnetic field coordinate system. Specifically, the positioning magnetic field can position the positioning sensor 23 in the positioning medical tool 40, because the positioning sensor 23 is arranged on the medical tool 40. The position of the head end, that is, by locating the positioning sensor 23 to obtain the position coordinates of the positioning sensor in the magnetic field coordinate system, the position and direction of the positioning medical tool 40 in the patient's body can be obtained.

The registration progress detection method for the lung trachea described below in this application is based on the first position information of the positioning sensor relative to the lung trachea when walking in the patient's lung trachea (which is the actual physical space (that is, The position in the lung trachea in the magnetic field space), determine its mapping to the corresponding second position information in the three-dimensional model of the trachea tree reconstructed for the lung trachea, and determine the mapping of the positioning sensor to the trachea tree according to the second position information The target model area where the 3D model is located, so as to calculate the distance of the positioning sensor relative to the key point of the target model area, as a measure standard for judging the registration progress of the target model area. For the specific introduction of the model area included in the three-dimensional model of the tracheal tree, please refer to the relevant content in other embodiments of the application below, and details will not be repeated here. After it is determined that all the model regions that should be registered included in the three-dimensional model of the trachea tree have been registered, the registration of the entire lung trachea is completed.

The method for detecting the registration progress of the pulmonary trachea provided in the embodiment of the present application will be described in detail below.

Fig. 2 shows a schematic flowchart of a registration progress detection method for pulmonary trachea provided by an embodiment of the present application. The method is executed by a corresponding processing device, such as the magnetic navigation device 20 shown in FIGS. 1a to 1c or the control device 511 (such as a computer device) on the master console 50 shown in FIG. Not specifically limited. As shown in FIG. 2, the registration progress detection method for lung trachea includes the following steps:

101. Acquire a three-dimensional model of a tracheal tree reconstructed based on a medical imaging image of a lung trachea and a plurality of first key points of the three-dimensional model of the tracheal tree;

102. Divide the three-dimensional model of the trachea tree based on multiple first key points to obtain multiple model areas; wherein each of the model areas contains at least one first key point;

103. Acquire first position information of the current position of the positioning sensor in the lung trachea;

104. According to the first position information, determine the second position information of the positioning sensor in the three-dimensional model of the trachea tree and the target model area where it is located;

105. Calculate a first distance between the positioning sensor and at least one first key point included in the target model area according to the second position information;

106. Determine a registration progress for the target model region according to the first distance.

In the above 101, the three-dimensional model of the tracheal tree can be based on a series of preoperative medical imaging images (such as two-dimensional tomographic images, that is, CT images) collected from different angles for the patient's lungs, using three-dimensional reconstruction technology (such as three-dimensional Reconstruction software), obtained by correlating multiple medical imaging images.

For example, before the operation, multiple two-dimensional CT images of the patient's lungs can be obtained by scanning the patient's lungs such as CT tomography; then, the multiple two-dimensional CT images are imported into the processing module as described in other embodiments of the above text application (It can be application software with functions such as reconstruction of 3D model, path planning, registration, etc.), image recognition and segmentation of tissues such as lung trachea, etc., to obtain 3D modeling parameters of lung trachea, and then based on the 3D modeling parameters to construct a three-dimensional model of the trachea tree of the patient's lung trachea.

Based on the above example, that is, "acquiring the three-dimensional model of the trachea tree reconstructed based on the medical imaging images of the lung trachea" in the above-mentioned 101, can be obtained through the following related processing steps:

S111. Obtain a plurality of medical imaging images collected for the lungs and trachea;

S112. Identify the plurality of medical imaging images to obtain three-dimensional modeling parameters of the lung trachea;

S113. Based on the three-dimensional modeling parameters, construct the three-dimensional model of the tracheal tree.

After the three-dimensional model of the tracheal tree is obtained, the three-dimensional model of the tracheal tree can be skeletonized to extract the centerline information of the three-dimensional model of the tracheal tree, and provide data support for subsequent division of the three-dimensional model of the tracheal tree. For example, based on the central line information, a plurality of first key points, a reference point, etc. can be preset in the tracheal tree three-dimensional model in advance, and the subsequent realization of the tracheal tree three-dimensional model based on the multiple first key points and reference points can be prepared. divided. That is, in an achievable technical solution, the "obtain multiple first key points in the 3D model of the tracheal tree" in the above 101 can be obtained through the following specific steps:

S121. Determine the centerline information of the three-dimensional model of the tracheal tree;

S122. Determine a reference point and a plurality of first key points in the three-dimensional model of the tracheal tree according to the centerline information;

In the above S121, the centerline information of the three-dimensional model of the trachea tree may be extracted by using but not limited to a corresponding thinning algorithm, such as a topology thinning algorithm. The thinning algorithm mainly implements the method of extracting the centerline of the target object by repeatedly eroding the surface pixels of the target object until only the skeleton remains. For the specific implementation of using the thinning algorithm to extract the centerline information of the three-dimensional model of the tracheal tree, please refer to the existing related solutions.

In the front plan view of the three-dimensional model of the tracheal tree 100 shown in Fig. 3a and Fig. 3b, the central line information of the three-dimensional model of the tracheal tree is shown in a dotted line.

After extracting the centerline information of the three-dimensional model of the trachea tree, before performing step S122, the centerline bifurcation point in the centerline information can be determined by analyzing the centerline information, and then determined according to the centerline bifurcation point Multiple trachea models included in the tracheal tree 3D model. That is, the following steps may also be included between the above S121 and S122:

A1. Determine the bifurcation point of the centerline in the centerline information;

A2. Determine a plurality of trachea models included in the three-dimensional model of the trachea tree according to the bifurcation point of the centerline.

In the above, the bifurcation point of the centerline refers to the intersection point of at least two centerline segments. For the bifurcation points of the centerline in the centerline information, refer to the bifurcation point b0 , the bifurcation point b1 and the bifurcation point b2 shown in FIG. 3 a .

In reality, the shape of the human lung trachea is a tree. According to the anatomical structure of the lung trachea, the lung trachea can be divided into different levels according to the bifurcation level, for example: the main trachea (the first level, which is one end and the throat Connected, the other end is connected to the bronchus, which is an air channel) enters the lung through the hilum, and will bifurcate into two main bronchi (also called lobar main bronchus, which is the second level): left main bronchus and right main bronchus ; Further, the two main bronchi will be further bifurcated, for example, the left main bronchus will be further bifurcated into the left upper lobe bronchus, the left lower lobe bronchus, and so on. Based on this, for the three-dimensional model of the tracheal tree obtained in this embodiment, multiple tracheal models included in the three-dimensional model of the tracheal tree can be determined according to the centerline bifurcation points determined above, so as to provide support for subsequent processing steps. Specifically, as shown in FIG. 3a, from top to bottom, it can be determined that the three-dimensional model of the trachea tree includes the following multiple trachea models: a main trachea model 1, a right lung bronchus model connected to the main trachea model 1 and The left lung bronchus model, wherein the right lung bronchus model specifically includes: the right main bronchus model 11 (one end of which is connected to the main trachea model 1), and the right main bronchus model 11 (specifically the other end of the right main bronchus model 11) The right upper lobe bronchus model 111 and the right lower lobe bronchus model 112 connected by bifurcations, the left pulmonary bronchus model specifically includes: the left main bronchus model 12 (one end of which is connected to the main trachea model 1), and the left main bronchus model 12 (specifically It is the left upper lobe bronchus model 121 and the left lower lobe bronchus model 122 connected by bifurcation of the other end of the left main bronchus model 12 .

Correspondingly, the above-mentioned centerline information includes the centerlines of multiple trachea models in the three-dimensional model of the trachea tree.

In the above S122, the reference point may correspond to the position of the main carina in the lung trachea. Since the main carina refers to the bifurcation of the main trachea, based on this, the main trachea model, right main The intersection of the centerlines of the three trachea models, the bronchus model and the left main bronchus model, is used as a reference point, and then multiple first key points are determined based on the reference point and centerline information. Specifically, in a specific achievable technical solution, the above-mentioned S122 "determine the reference point and multiple first key points in the three-dimensional model of the trachea tree according to the centerline information" can be implemented by the following steps:

S1221. Acquire the intersection point of the centerline of the main trachea model, the centerline of the right main bronchus model, and the center line of the left main bronchus model, and determine it as the reference point;

S1222. Obtain a point on the main trachea model that is above the reference point and whose distance from the reference point is a preset distance, and determine it as the main trachea key point of the main trachea model;

S1223. Acquire a point on the end of the right upper lobe bronchus model and the right lower lobe bronchus model that is not connected to the right main bronchus model, and determine it as the right upper lobe key point of the right upper lobe bronchus model, the Key points of the right lower lobe of the right lower lobe bronchus model;

S1224. Acquire the left upper lobe bronchus model and a point on the end of the left lower lobe bronchus model that is not connected to the left main bronchus model, and determine it as the left upper lobe key point of the left upper lobe bronchus model, the left lower lobe model Key points of the left lower lobe of the lobar bronchi model;

Wherein, the key points of the right upper lobe, the key points of the right lower lobe, the key points of the left upper lobe and the key points of the left lower lobe are located in the right upper lobe bronchus model, the right lower lobe bronchus model, the The left upper lobe bronchus model and the respective centerlines of the left lower lobe bronchus model.

The preset distance mentioned above can be flexibly set according to the actual situation, and is not specifically limited here.

For example, continue to refer to Fig. 3a, the intersection of the centerline of the obtained main bronchus model 1, the center line of the right main bronchus model 11 and the center line of the left main bronchus model 12, that is, the above-mentioned bifurcation Point b0 is determined as reference point A. Further, a point about 10 cm away from the reference point A on the main trachea model 1 may be determined as the main trachea key point 10 of the main trachea model 1 . And, a point on the end of the right upper lobe bronchus model 111 that is not connected to the right main bronchus model 11 and located on the centerline of the right upper lobe bronchus model 111 can also be obtained, and determined as the right upper lobe key point of the right upper lobe bronchus model 111 1110.

Regarding the determination of the right lower lobe key point 1120 of the right lower lobe bronchus model shown in FIG. Determination of the right upper lobe key point 1110 of the lobar bronchi model 111 is described with respect to an example.

What needs to be added here is that the method described in the above steps S1211 to S1224 is to determine a corresponding The key points are introduced to explain the determination of multiple first key points. In this way, multiple first key points are obtained, so that each first key point is set at the end of the corresponding trachea model, which is beneficial to the follow-up based on the first key point. When detecting the registration progress of the corresponding model area, it is ensured that the positioning sensor has fully traversed the corresponding model area before it is determined that the registration is completed for the corresponding model area.

Of course, other key points can also be determined on the above-mentioned model to be regarded as the first key point. For example: following the example given above in the description steps S1221-S1224, see Figure 3b, a point on the main trachea model 1 about 5 cm away from the reference point A can also be determined as another main trachea key point of the main trachea model 1 10'; and, it is also possible to obtain a point on the center line of the right upper lobe bronchus model 111 between the above-mentioned determined right upper lobe key point 1110 and the bifurcation point b1, specifically, such as obtaining the center line of the right upper lobe bronchus model 111 A point at a set distance from the above-identified right upper lobe key point 1110 is determined as another right upper lobe key point (not shown in FIG. 3 b ) of the right upper lobe bronchus model 111 , etc., which is not limited in this embodiment. Using this method to obtain multiple first key points will result in the possibility that there may be two or more first key points in the corresponding model area. In this case, the registration progress is performed for the corresponding model area During the detection process, registration progress analysis may be performed within multiple registration progress ranges based on the two or more first key points contained in the model area. The specific implementation of the registration progress analysis within multiple registration progress ranges will be described in detail below, and will not be specifically described here.

Preferably, in this embodiment, a plurality of first key points are obtained through the above steps S1221 to S1224.

Based on the above, the three-dimensional model of the trachea tree in this embodiment includes multiple trachea models, specifically, the multiple trachea models include: a main trachea model, a right lung bronchus model and a left lung bronchus model connected to the main trachea model, Wherein, the right lung bronchus model includes: a right main bronchus model, a right upper lobe bronchus model, and a right lower lobe bronchus model; the left lung bronchus model includes: a left main bronchus model, a left upper lobe bronchus model, and a left lower lobe bronchus model;

A plurality of first key points include: a main trachea key point located on the main trachea model, a right upper lobe key point located on the right upper lobe bronchus model, a right lower lobe key point located on the right lower lobe bronchus model point, the left upper lobe key point located on the left upper lobe bronchus model, and the left lower lobe key point located on the left lower lobe bronchus model.

In the above 102, the division of the three-dimensional model of the trachea tree can be realized based on a reference plane and multiple first key points, and the reference plane can be determined based on the key points of the main trachea located on the main airway model and the reference points of the three-dimensional model of the trachea tree. That is, in a feasible solution, the above-mentioned 102 "decompose the three-dimensional model of the tracheal tree based on multiple first key points to obtain multiple model regions" may specifically include:

1021. Acquire a reference point of the three-dimensional model of the trachea tree; the reference point is determined based on the intersection of the main trachea model, the right main bronchus model, and the left main bronchus model;

1022. Determine a reference plane of the three-dimensional model of the trachea tree according to the key points of the main trachea and the reference point;

1023. Divide the three-dimensional model of the tracheal tree into multiple model regions according to the reference plane and the multiple first key points.

For the specific implementation description of the above step S1221, please refer to the content related to step S1221 above.

In the above 1022, the key point of the main trachea can be used as the starting point and the reference point can be used as the end point to determine a vector that can reflect the direction of the main trachea of the main trachea model; further, the vector can be used as the reference plane to be determined The normal vector of , provides the basis for determining the datum plane. Based on this, in a specific achievable technical solution, the above-mentioned 1022 "determine the reference plane of the three-dimensional model of the trachea tree according to the key points of the main trachea and the reference point" can be implemented by the following more specific steps:

10221. According to the key points of the main trachea and the reference point, determine a vector used to reflect the direction of the main trachea of the main trachea model;

10222. Determine a plane passing through the reference point and perpendicular to the vector as the reference plane.

On the front plan view of the three-dimensional model of the trachea tree shown in Fig. 4a, the direction of the main trachea of the main trachea model is indicated by the arrow V, and the reference plane is P.

In the above step 1023, the model area above the reference plane in the three-dimensional model of the trachea tree can be determined as the main airway model area; and further, the model area below the reference plane in the three-dimensional model of the trachea tree can be divided into left and right Part of the area, and then based on the key points of the trachea model contained in the left and right parts of the area, the left and right parts of the area are divided again, so as to realize the division of the three-dimensional model of the trachea tree into multiple model areas. Wherein, when dividing the model area below the reference plane into left and right parts, it can be realized by drawing a vertical line through the reference point along the direction of the above-mentioned vector. Therefore, in a specific achievable technical solution, the above-mentioned 1023 "divide the three-dimensional model of the tracheal tree into multiple model areas according to the reference plane and the plurality of second key points", the following steps can be adopted to accomplish:

10231. Determine the model area above the reference plane in the three-dimensional model of the trachea tree as the main trachea model area;

10232. Based on the reference point and the key point of the main trachea, determine a dividing line;

10233. According to the dividing line, divide the model area below the reference plane in the three-dimensional model of the trachea tree into a right lung bronchus model area and a left lung bronchus model area;

10234. According to the right upper lobe key point located in the right upper lobe bronchus model and the right lower lobe key point located in the right lower lobe bronchus model contained in the right lung bronchus model area, divide the area of the right lung bronchus model are the model area of the upper lobe of the right lung and the model area of the lower lobe of the right lung;

10235. According to the left upper lobe key point located in the left upper lobe bronchus model and the left lower lobe key point located in the left lower lobe bronchus model contained in the left lung bronchus model area, divide the left lung bronchus model area into left Model area of the upper lobe of the lung, model area of the lower lobe of the left lung.

For example, referring to Fig. 4a, the model area above the reference plane P in the above three-dimensional model of the trachea tree is the main trachea model area. Further, the line between the key point 10 of the main trachea and the reference point A is extended downward along the direction indicated by the arrow V (that is, the direction of the above-mentioned vector is the direction of the main trachea of the main trachea model) to obtain a division Line l0; in another way of expression, the above-mentioned dividing line l0 can also be obtained by drawing a vertical line downward along the direction indicated by the arrow V through the reference point A. The division line l0 determined above will divide the model area below the reference plane P in the three-dimensional model of the trachea tree into two areas, namely, the right lung bronchus model area and the left lung bronchus model area. In combination with Fig. 3a, it can be known that the above-mentioned right lung bronchus model area includes the right upper lobe bronchus model and the right lower lobe bronchus model. For this further, according to the right upper lobe key point 1110 located in the right upper lobe bronchus model, the right upper lobe bronchus model located in The right lower lobe key point 1220 divides the right lung bronchi model area into the right upper lobe model area and the right lower lobe model area.

Specifically, as shown in Fig. 4a, a line l1 can be directly drawn between the key point 1110 of the upper right lobe and the key point 1220 of the lower right lobe, and the midpoint c1 of the line l1 can be taken to pass through the midpoint c1 to draw a line parallel to The horizontal line l11 of the reference plane P, the horizontal line l11 will divide the right lung bronchus model area into upper and lower parts, specifically, the model area above the horizontal line l11 in the right lung bronchus model area is the right upper lobe model area, located at The model area below the horizontal line l11 is the model area of the lower lobe of the right lung.

Or, since the above-mentioned key point 1110 of the upper right leaf and key point 1220 of the lower right leaf are often not on the same vertical line, if a connecting line is directly drawn between the key point 1110 of the upper right leaf and the key point 1220 of the lower right leaf, the connection line made is often It is inclined, which may affect the accuracy of the subsequent division of the right lung bronchus model. In order to improve the accuracy of the subsequent region division of the right lung bronchus model, a point on the same vertical line as the other key point can be determined for one of the above-mentioned right upper lobe key points 1110 and right lower lobe key points 1220 , specifically, the ordinate of the determined point is the same as the ordinate of one key point among the above-mentioned upper right leaf key point 1110 and right lower leaf key point 1220, and its abscissa is the same as the above-mentioned upper right leaf key point 1110, right Another key point in the lower leaf key point 1220 has the same abscissa. Further, the subsequent region division of the right lung bronchus model can be realized according to the connection line between the determined point and another key point among the right upper lobe key point 1110 and the right lower lobe key point 1220 . Specifically, for example, referring to Fig. 4b, for the key point 1220 of the lower right leaf, a point 1220' can be determined, the ordinate of the point 1220' is the same as the ordinate of the key point 1220 of the lower right leaf, and the abscissa of the point 1220' is the same as that of the key point of the upper right leaf. The abscissa of point 1110 is the same; draw a connection line l1' between this point 1220' and the key point 1220 of the lower right leaf, and take the midpoint c1' of this connection line l1', and pass through the midpoint c1' to make a connection line with l1' vertical horizontal line l11', this horizontal line l11' will divide the right lung bronchus model area into upper and lower parts, specifically, the model area above the horizontal line l11' in the right lung bronchus model area is the right upper lobe model The region, the model region below the horizontal line l11' is the model region of the lower lobe of the right lung. The above connection line l11' is not only perpendicular to the horizontal line l11', but also parallel to the reference plane P.

Preferably, in this embodiment, the method shown in FIG. 4b is preferentially selected to realize the division of the right lung bronchus model area.

For the further implementation of the area division of the left lung bronchus model, please refer to the specific implementation related content of the above-described right lung bronchus model area division, and details will not be repeated here.

Based on the above, in a specific achievable solution, the above 10234 "According to the right upper lobe key point of the right upper lobe bronchus model contained in the right lung bronchus model area, the right lower lobe of the right lower lobe bronchus model The key point is to divide the right lung bronchi model area into the right upper lobe model area and the right lower lobe model area", which can be realized by the following steps:

S21. Determine a first horizontal line according to the key point of the upper right leaf and the key point of the lower right leaf; wherein, the first horizontal line is located between the key point of the upper right leaf and the key point of the lower right leaf, and parallel to said datum plane;

S22. Determine the model area above the first horizontal line in the right lung bronchus model area as the right upper lobe model area;

S23. Determine the model area below the first horizontal line in the right lung bronchi model area as the right lower lobe model area.

Wherein, the above-mentioned S21 "determine a first horizontal line according to the key points of the upper right lobe and the key points of the lower right lobe" can be specifically implemented by using the steps in any of the following ways:

Mode 1, pass through the center point of the first connecting line (connection l1 as described above) between the key point of the upper right lobe and the key point of the lower right leaf, and parallel to the horizontal line of the reference plane (as described above The horizontal line l11)) is determined as the first horizontal line.

Method 2: Determine a second key point (such as the above-mentioned point 1220') in the area of the right pulmonary bronchi model, wherein the ordinate of the second key point is the same as that of the right upper lobe key point, the The ordinate of a key point in the right lower leaf key point is the same, and the abscissa of the second key point is identical with another key point in the described right upper leaf key point and the described right lower leaf key point; The center point of the second connection line (such as the above-mentioned connection l1') between the second key point and the other key point in the right upper leaf key point and the right lower leaf key point, and the A horizontal line perpendicular to the second connecting line (such as the horizontal line l11' mentioned above, and this horizontal line l11' is parallel to the reference plane) is determined as the first horizontal line.

For the description of the above specific examples of the two implementations of the region division of the right lung bronchus model included in S21-S23, please refer to the relevant content described above in conjunction with FIG. 4a and FIG. 4b.

And correspondingly, in a specific implementable solution, the above-mentioned 10235, "According to the left upper lobe key point located in the left upper lobe bronchus model and the left lower lobe key point located in the left lower lobe bronchus model contained in the left lung bronchus model area point, the left lung bronchi model area is divided into the left upper lobe model area and the left lower lobe model area", which can be achieved by the following steps:

S31. Determine a second horizontal line according to the key point of the upper left leaf and the key point of the lower left leaf; wherein, the second horizontal line is located between the key point of the upper left leaf and the key point of the lower left leaf and is parallel to said datum plane;

S32. Determine the model area above the second horizontal line in the left lung bronchi model area as the left upper lobe model area;

S33. Determine a model area below the second horizontal line in the left lung bronchi model area as the left lower lobe model area.

Wherein, the above-mentioned S31 "determine a second horizontal line according to the key point of the upper left lobe and the key point of the lower left lobe" can be specifically implemented by using the steps in any of the following ways:

Method 3. The center point of the third line passing through the key point of the upper left leaf and the key point of the lower left leaf and parallel to the horizontal line of the reference plane is determined as the second horizontal line; or

Mode 4: Determine a third key point in the left pulmonary bronchi model area, wherein the ordinate of the third key point is the same as that of one of the key points in the left upper lobe key point and the left lower lobe key point. The ordinate is the same, the abscissa of the third key point is the same as the other key point in the left upper leaf key point and the left lower leaf key point; pass the third key point and the left upper leaf key point , the center point of the fourth connection line of another key point in the left lower leaf key point, and a horizontal line perpendicular to the fourth connection line (the horizontal line is also parallel to the reference plane), determined as the second horizontal line.

For the specific example descriptions of the above two implementations of the region division of the left lung bronchus model included in S31-S33, please refer to the above two implementation methods of the division of the right lung bronchus model included in S21-S23 Specific example description.

Among the multiple model areas obtained through the above-mentioned content related to step 102, each model area includes at least one trachea model, such as: referring to Figure 4a and in conjunction with Figure 3a, the main trachea model area includes the main trachea model 1. The model area of the upper lobe of the right lung includes the right main bronchus model 11 and the bronchus model of the right upper lobe 111; the model area of the lower lobe of the right lung includes the bronchus model 112 of the right lower lobe; A bronchial model 121 ; the left lower lobe model area includes a left lower lobe bronchus model 122 . as well as,

Each model area contains at least one first key point. Specifically, if the target model area is one of a plurality of model areas, the first key point located on at least part of the trachea in at least one of the trachea models included in the target model area The key point is at least one first key point included in the target model area. For example, in combination with Fig. 3a and Fig. 4b, if the target model area is the right upper lobe model area, and the right upper lobe model area includes the right main bronchus model 11 and the right upper lobe bronchus model 111, it is located on the upper right of the right upper lobe bronchus model 111 The leaf key point 1110 is at least one first key point included in the model area of the upper lobe of the right lung.

Based on the aforementioned steps S1221 - S1224 to acquire multiple first key point-related content, preferably in this embodiment, each model area contains a first key point. Specifically, the first key point contained in the main trachea model area is the main trachea key point located on the main trachea model; the first key point contained in the right upper lobe model area is the key point located on the right upper lobe bronchus model. Right upper lobe key point; the first key point contained in the right lower lobe model area is the right lower lobe key point located in the right lower lobe bronchus model; the first key point contained in the left upper lobe model area is The left upper lobe key point located in the left upper lobe bronchus model; the first key point included in the area of the left lower lobe model is the left lower lobe key point located in the left lower lobe bronchus model.

Furthermore, based on the above-mentioned range of model regions divided for the three-dimensional model of the trachea tree, as well as the first key points and determined reference points contained in each model region, it is possible to use the magnetic navigation device to track and position the sensor in real time in the patient's lungs. The point cloud data reflecting the clinical positioning signal (that is, the position data of the positioning sensor in the patient's lung tracheal space) obtained from the position in the tracheal space (actual physical space) is used to determine whether the positioning sensor reaches the above-mentioned tracheal tree respectively. The first key point and reference point of each model area in the three-dimensional model; if yes, it is considered that the data acquisition required for a registration is completed. In the above-mentioned data collection process using the positioning sensor, the collected point cloud data will be combined to automatically detect the registration progress of the target model area currently described in the 3D model of the trachea tree by the positioning sensor. After the registration of each model area in the three-dimensional tree model is completed, it is determined that the registration of the entire lung and trachea has been completed.

Specifically, in this embodiment, the registration progress detection solution provided by this embodiment is triggered to be executed after it is determined that the positioning sensor has reached the reference point. For example: in the stage of surgical registration, the doctor will manipulate the positioning sensor to enter the lung trachea from the patient's nostril or mouth and move it. When the reference point A is reached, a prompt message will be displayed on the surgical registration interface as shown in Fig. After the "Confirm" button in the prompt message or the "Start Registration" button displayed on the interface, the automatic execution of the registration progress detection solution provided by this embodiment will be triggered. Wherein, the above-mentioned surgical registration interface can be displayed through the display screen of the control device 511 as shown in Figure 1c; after the doctor clicks the "confirm" button, he can continue to manipulate the positioning sensor to move each trachea contained in the patient's lung trachea. , for example: the positioning sensor can be manipulated to perform a retreat action to move in the main trachea in the pulmonary trachea; after confirming that the main trachea has been traversed, the positioning sensor can be manipulated to traverse the right main bronchi and right lower lobe bronchus of the pulmonary trachea in sequence etc. In addition, after detecting that the doctor has clicked the "Confirm" button, the execution subject of this embodiment will trigger the execution of the above steps 103-106 to determine the target model area where the positioning sensor is currently located in the 3D model of the trachea tree, so as to realize the target model. Automatic detection of registration progress in regions. For the specific implementation of the automatic detection of the registration progress, please refer to the related content below.

With the above content, the method provided in this embodiment may also include the following steps:

When it is detected that the positioning sensor reaches the reference point in the three-dimensional model of the trachea, a prompt message is displayed to prompt the user to confirm the start of registration;

In response to the confirmation operation triggered by the user on the prompt information, the execution of the above step 103 is triggered.

In the above step 103, the magnetic navigation device 20 as shown in Fig. 1a or Fig. 1b may determine that the positioning sensor is in the lung trachea according to the acquired positioning signal sent by the positioning sensor in real time when it walks in the lung trachea. The current position information (namely the first position information) is sent to the executive body of the embodiment of the present application; wherein, the positioning signal is generated by the positioning sensor according to the collected current generated by its own internal coil in the transformed magnetic field. The changing magnetic field is generated by the magnetic navigation device 20 controlling the operation of the magnetic field generator 22 arranged in the operating table 10. Since the patient's lungs are under the changing magnetic field when the patient lies supine in the operating table 10, the positioning rotation sensor When the device travels in the trachea of the patient's lungs, it can sense the changing magnetic field and generate a corresponding current.

The above-mentioned first position information includes the current position and direction of the positioning sensor in the lung.

In the above step 104, the second position information corresponding to the first position information in the three-dimensional model of the trachea tree can be determined according to the spatial coordinate transformation relationship between the magnetic field space and the image space, and the second position information is also the positioning sensor with a virtual The corresponding position information when the logo is superimposed on the three-dimensional model of the trachea tree; according to the second position information, when the positioning sensor is superimposed on the three-dimensional model of the trachea tree in the form of a virtual logo, the target model area where the virtual logo is located can be determined, That is, it can be understood as the target model area where the positioning sensor is located in the three-dimensional model of the tracheal tree.

In the above 105-106, the corresponding distance measurement algorithm can be used to calculate the corresponding first key points in the positioning sensor and the target model area according to the second position information and the third position information of at least one first key point in the target model area. The first distance of the point (that is, the distance between the current position point of the positioning sensor in the three-dimensional model of the tracheal tree and the first key point of the target model area) is used as a measure of the registration progress of the target model area. Wherein, the distance measurement algorithm mentioned above may be, but not limited to: Euclidean distance, cosine similarity, Hamming distance, Frescher distance, Hausdorff distance, Manhattan distance and so on.

During specific implementation, based on the number of at least one first key point contained in the target model area, the registration progress corresponding to the target model area can be divided into a corresponding number of registration progress ranges, and then the above steps 105-106 are performed , the first key point of the target (such as the one with the closest distance to the current position of the positioning sensor in the target model area) can be found from at least one first key point contained in the target model area according to the search direction adapted to the target model area. first key point), and then calculate the first distance between the positioning sensor and the first key point of the target, so as to determine the target model area according to the first distance and the registration progress range corresponding to the first key point of the target registration progress. Wherein, if the target model area is the main trachea model area in multiple model areas, the search direction can be the direction opposite to the main trachea direction (as indicated by the arrow V in Figure 4a); if the target model area is multiple models For other model regions in the region except the main trachea model region, the search direction may be the layer-increasing direction of at least one trachea model included in the target model region. That is to say, the above-mentioned 105 "according to the second position information, calculate the first distance between the positioning sensor and the at least one first key point contained in the target model area" can be implemented, Can specifically include:

determining the search direction corresponding to the target model area;

According to the search direction, find the first key point of the target closest to the positioning sensor from the at least one first key point included in the target model area;

calculating a first distance between the positioning sensor and the first key point of the target according to the second position information;

And correspondingly, the above 106 "determine the registration progress for the target model region according to the first distance" may specifically include:

Obtain the registration progress range corresponding to the first key point of the target;

The registration progress for the target model area is determined according to the first distance between the positioning sensor and the target first key point and the registration progress range corresponding to the target first key point.

For example, based on the relevant content above, in the embodiment, it is preferred that each model area contains a first key point, that is, the target model area contains a first key point, then the configuration corresponding to the target model area can be The quasi-progress is directly divided into a registration progress range: 0-100%. If the first distance between the positioning sensor and a first key point included in the target model area is larger, it indicates that the registration progress of the target model area is smaller. In this embodiment, when the first distance is greater than the preset In the case of the distance threshold, the registration progress for the target model area is uniformly set to 0. The foregoing preset distance threshold can be flexibly set according to actual conditions, and is not limited here. And if the first distance is smaller, it means that the registration progress of the target model area is greater; the above-mentioned registration progress is at most 100%, which means that the positioning sensor reaches the first key point of the target model area, but this does not mean that the registration progress for the target model area is greater. The target model area has been registered. In order to improve the accuracy of judging whether the registration of the target model area is completed, this embodiment will also combine the number of data in the registration data set that falls into the determination area corresponding to the target model area. Judgment; Wherein, the judgment area is an area determined by the first key point of the target model area as the center point. The detailed description of the judgment area will be introduced in the relevant content below.

For another example, if there are two first key points in the target model area, the registration progress corresponding to the target model area can be divided into two registration progress ranges in advance, such as combining Figure 3b and Figure 4a, set the target model The region is the main trachea model area, and the two first key points contained in the main trachea model area: the main trachea model key point 10 and the main trachea model key point 10', the registration progress corresponding to the main trachea model area can be divided into The following two registration progress ranges: 0-50% (including 50%), 50% (excluding 50%)-100%, wherein, the registration progress range corresponding to the key point 10' of the main trachea model is 0-50 %, the registration progress corresponding to key 10 of the main trachea model ranges from 50% to 100%. If the current position of the positioning sensor in the main trachea model area is between the reference point A and the key 10' of the main trachea model, then at this time, according to the search direction adapted to the main trachea model area (opposite to the direction of the main trachea), you can Find the key point 10' of the main trachea model from the two first key points contained in the main trachea model area as the first key point of the target, that is, the key point 10' of the main trachea model is the same as the positioning sensor currently in the main trachea model area The first key point of the target with the closest position, and then the first distance D' between the sensor and the key point 10' of the main trachea model, and the registration progress range corresponding to the key point 10' of the main trachea model can be determined to determine the Registration progress for the target model region. Wherein, the larger the first distance D', the smaller the registration progress. When the first distance D' is greater than the preset distance threshold, the registration progress is uniformly set to 0; the smaller the first distance D', the smaller the registration progress. The greater the progress, the registration progress is at most 50%. Further, if the positioning sensor subsequently moves to a position between the main trachea model key 10' and the main trachea model key 10 in the main trachea model area, then the main trachea model key 10 is the first key point of the target, according to the positioning sensor The first distance D between the key point 10 of the main trachea model and the registration progress range corresponding to the key point 10 of the main trachea model is 50% to 100%, and the registration progress can be continuously determined for the target model area, wherein, continue The determined registration progress is at most 100%, which means that the positioning sensor has reached the first key point farthest from the reference point among the two first key points contained in the main trachea model area (i.e., the main trachea model key 10). This does not mean that the registration for the main trachea model area has been completed. In order to improve the accuracy of judging whether the registration for the main trachea model area is completed, this embodiment will also combine the data in the registration data set to fall into the main trachea model area. The judgment is made according to the number of corresponding judgment areas; wherein, the judgment area is an area determined by the key 10 of the main airway model as the center point. Similarly, for the determination of this judgment area, please refer to the relevant content below.

In this embodiment, in order to further improve the accuracy of the registration progress calculation, the wrong path judgment will be performed for the target model area, specifically: to determine whether the positioning sensor follows the plan planned for the target model area The path moves in the target model area; if it is, it is considered that the registration for the target model area enters the correct path, and the registration progress will be calculated. In addition, the path of the positioning sensor on the moving path in the target model area will be calculated. The point set is added to the registration data set to provide data support for judging whether the registration of the target model area is completed; if not, it is considered that the registration of the target model area has not entered the correct path, and the calculation of the registration progress is no longer performed. Nor is the set of waypoints added to the registration dataset along the path of movement of the positioning sensor within the region of the target model. specifically,

In this embodiment, each model area contains a first key point, so that the target model area contains a first key point, then the above-mentioned planning path directly refers to the planned path from the reference point to the target model The shortest path between the first key points of the region, which can be obtained by planning according to the centerline information of the three-dimensional model of the trachea tree; the moving path refers to the movement of the positioning sensor from the reference point to the current position in the target model area in the three-dimensional model of the trachea tree The shortest path of movement. From the above, that is, when each of the above-mentioned model regions contains a first key point, the method provided in the embodiment of the present application may further include the following steps:

107. Obtain a planned path obtained by executing path planning for the target model area; wherein, the planned path is the reference point planned according to the centerline information of the three-dimensional model of the trachea tree and the target model area Contains the shortest path between a first key point;

108. Determine the shortest moving path of the positioning sensor moving from the reference point to the current position in the target model area in the three-dimensional model of the tracheal tree;

109. Compare the moving path with the planned path to determine whether the positioning sensor moves according to the planned path;

1010. When moving according to the planned path, trigger the calculation step in step 105 above, and add all waypoints on the moving path to the registration data set.

In the above 107, when performing path planning, all points on the centerline contained in the centerline information of the three-dimensional model of the trachea tree can be used as a set of path points in the three-dimensional model of the airway tree; then, according to the extracted centerline information contained in The coordinates of all points on the center line of the center line, use the corresponding path search algorithm, and use the reference point as the initial path point to perform forward path search, so as to realize the search for the shortest path between the reference point and the first key point of each model area , as the planning path.

For example, referring to Fig. 4b, taking the path between the planning reference point A and the first key point (the right upper lobe key point 1110 of the right upper lobe bronchus model) of the right upper lobe model region as an example, it is assumed that the path planning is performed using The path search algorithm is a coordinate-based path search algorithm (such as the CPS algorithm), and then the coordinates of all points on the center line contained in the center line information of the extracted 3D model of the trachea tree can be used as the first path point with the reference point (that is, the initial road strength point), along the forward search direction (specifically, the direction of increasing the level of the trachea model, as shown by the virtual arrow in the figure Indicated direction), determine at least one first adjacent point on the center line that is located on the right side of the first path point and adjacent to the first path point; then, respectively calculate the distance between the first path point and each first adjacent point distance (such as Euclidean distance), and select the first adjacent point with the shortest corresponding distance as the second path point, and add the second path point to the planning path point set corresponding to the model area of the upper lobe of the right lung; then, continue Along the downward search direction, determine at least one second adjacent point adjacent to the second path point on the center line, and select the second adjacent point with the shortest distance from the second path point among the at least one second adjacent points Point is the third path point, and the third path point is added to the planning path point set corresponding to the right upper lobe model area; and so on, until the first key point of the right upper lobe model area is searched (that is, the The right upper lobe key point 1110 of the bronchial model), the execution path search for the right upper lobe model area can be ended, and the corresponding planning path can be generated according to the planning path point set corresponding to the right upper lobe model area, and the planning path can be superimposed Displayed in the 3D model of the tracheal tree to provide guidance for the doctor to control the positioning of the sensor in the trachea of the lungs.

Similarly, the shortest path between the planned reference point and the first key points of other model regions can also be used as the corresponding planning path. What needs to be added here is that when executing the corresponding path planning for the main trachea model area, the path search is performed along the backward search direction starting from the reference point. Wherein, the backward search direction specifically refers to the direction opposite to the direction indicated by the arrow V (the direction of the main trachea, which is directed from the throat end to the main carina in the pulmonary trachea).

In the above 108, the virtual trajectory data of the positioning sensor moving from the reference point to the current position in the target model area in the three-dimensional model of the trachea tree can be determined according to the real trajectory data of the positioning sensor moving in the lung trachea space, so that by The virtual trajectory data is processed, so as to obtain the shortest movement path where the positioning sensor moves from the reference point to the current position in the target model area in the three-dimensional model of the tracheal tree according to the processing results; wherein, the above-mentioned processing may include but not limited to Delete the duplicate track points caused by the positioning sensor performing the retraction action. Based on this, in an achievable technical solution, the above-mentioned 108 "determine the shortest moving path of the positioning sensor moving from the reference point to the current position in the target model area in the three-dimensional model of the tracheal tree" can be Specifically include:

1081. Acquire first trajectory data (real trajectory) of the positioning sensor moving in the lung trachea;

1082. According to the first trajectory data, determine second trajectory data (a virtual trajectory) in which the positioning sensor moves from the reference point to the current position in the target model area in the three-dimensional model of the tracheal tree;

1083. Determine the first type of trajectory point and the second type of trajectory point in the second trajectory data; wherein, the first type of trajectory point is a trajectory point that reflects the retraction action performed by the positioning sensor, and the second type of trajectory point The class track point is a track point corresponding to the first class track point that satisfies the deletion rule and reflects that the positioning sensor performs a forward movement;

1084. Delete the first type of track points and the second type of track points in the second track data to obtain deleted second track data;

1085. Determine the movement path according to the deleted second trajectory data.

During specific implementation, the above-mentioned first trajectory data (which is the real trajectory) is obtained according to the point cloud data sent by the positioning sensor in real time (the point cloud data of the positioning signal generated by it in real time). After the first trajectory data is obtained, the above-mentioned first trajectory data can be spatially converted to obtain the third trajectory data corresponding to the first trajectory data (virtual trajectory) corresponding to the positioning sensor in the three-dimensional model of the tracheal tree, so as to further Second trajectory data in which the positioning sensor moves from the reference point to the current position in the target model area in the three-dimensional model of the tracheal tree is extracted from the third trajectory data. After that, it can be analyzed whether the distance between the two trajectory points in the time series of the second trajectory data increases relative to the reference point, and if so, it indicates that the two trajectory points correspond to the positioning sensor to perform the forward movement, and the two trajectory points are If not, it indicates that the two track points correspond to the positioning sensor performing a retreat action, and the two track points are forward track points. When the positioning sensor performs a forward movement, it is considered that there are repeated trajectory points in the second trajectory data. Therefore, the set of retraction trajectory points used to reflect the backward movement of the positioning sensor in the second trajectory data will be deleted. , at the same time, the points corresponding to the set of forward track points in the second track data used to reflect the forward movement of the positioning sensor and the set of retreat track points will be deleted. The time series of the track point set is the closest, but earlier than the time series of the retreat track point set, and the points in the forward track point set whose corresponding distance range is the same as the distance range corresponding to the retreat track point set are deleted. Through the above deletion operation, after deleting the repeated trajectory points in the second trajectory data, based on the trajectory points contained in the deleted second trajectory data, it can be obtained that the positioning sensor moves from the reference point to the current position in the three-dimensional model of the tracheal tree. The shortest path of movement within the target model area.

Based on the above, in an achievable technical solution, "determining the first type of trajectory points in the second trajectory data" in the above 1083 may specifically include:

10831. According to the time stamps of multiple track points included in the second track data, determine multiple pairs of track points with adjacent time stamps;

10832. Calculate the second distance and the third distance of the first trajectory point and the second trajectory point included in each pair of trajectory points relative to the reference point; wherein, the timestamp of the second trajectory point is later than the first trajectory the timestamp of the point;

10833. According to the second distance and the third distance, determine whether each pair of track points is the first type of track point.

In the above, a corresponding distance measurement algorithm may be used to calculate the second distance and the third distance of the first trajectory point and the second trajectory point contained in each pair of trajectory points relative to the reference point, respectively. For the applicable distance measurement algorithm, refer to the relevant description of the distance measurement algorithm above, which will not be repeated here.

If the third distance between the second track point and the reference point in the calculated pair of track points is less than the second distance between the first track point and the reference point, then it can be determined that the pair of track points is the first type of track point; otherwise, it can be It is determined that the pair of track points are not the first type of track points.

That is, the target pair of track points is one of many pairs of track points, then the above-mentioned 10833 "according to the second distance and the third distance, judge whether each pair of track points is my first type of track point", which can be used as follows Concrete steps to achieve:

If the third distance between the second track point and the reference point in the target pair track point is less than the second distance between the first track point and the reference point, then the target pair track point is a first type track point;

If the third distance between the second trajectory point and the reference point among the target pair trajectory points is greater than or equal to the second distance between the first trajectory point and the reference point, then the target pair trajectory point is not the first type of trajectory point.

On the basis of determining the first type of trajectory points, it can also be combined with the corresponding deletion rules to determine the first type of trajectory points from the remaining trajectory points except the first type of trajectory points contained in the second trajectory data. Corresponding track points that meet the requirements of the deletion rule. The satisfying deletion rule includes: the timestamp is earlier than the timestamp of the first type of track point; the distance from the reference point is greater than or equal to the distance between the track point with the latest time stamp and the reference point in the first type of track point, and less than Or equal to the distance between the track point with the earliest time stamp and the reference point among the track points of the first type.

For ease of understanding, an example of the above-mentioned 1083 will be described below in conjunction with FIG. 5 ,

As referring to the second trajectory data L shown in FIG. 5 , for the second trajectory data L, it is determined that all the trajectory points on the trajectory line segment l2 are the first type of trajectory points by performing the above steps 10831 to 10833, and the time on the trajectory line segment l2 The first type of track point with the earliest stamp is track point g2, and the first type of track point with the latest time stamp is track point g1, where the distance between track point g1 and reference point A is d1, and the distance between track point g2 and the reference point is d2 (greater than d1, not shown in the figure), that is, the distance range between the first type of trajectory point and the reference point is [d1, d2]. Then, firstly, according to the time stamps of each track point in the second track point data L, it can be determined that the time stamps of the track points on the track line segment between the reference point A and the track point g2 are all earlier than the time stamps of the first type of track points timestamp. Further, the distance d3 from the reference point to all the trajectory points on the trajectory line segment between the reference point A and the trajectory point g2 can be calculated. Then, from all the track points on the track line segment between the reference point A and the track point g2, filter out the track points whose corresponding distance d3 is greater than or equal to the distance d1 and less than or equal to the distance d2, and determine it as the second type of track point, For example, all the trajectory points on the trajectory line segment l3 between the trajectory point g2 and the trajectory point g3 are the second type of trajectory points.

Subsequently, after deleting the determined first-type trajectory points and second-type trajectory points from the second trajectory data L, in the process of determining the moving path according to the deleted second trajectory data, the deleted second trajectory can be The trajectory point adjacent to the trajectory point g3 in the data L is connected to the trajectory point adjacent to the trajectory point g1.

In the above-mentioned 109-1010, but not limited to, the method of Dynamic Time Warping (DTW) can be used to compare the planned path obtained for the target model area through the above-mentioned steps 107-108 with the determined moving path , to compare the similarity between the planned path and the moving path; if the similarity is greater than or equal to the preset threshold, it is determined that the sensor is moving according to the planned path, in other words, it can be regarded as a registration entry for the target model area correct path), which triggers the calculation of the registration progress for the target model region, and adds all waypoints on the moving path to the registration dataset. If the similarity is less than the preset threshold, it is determined that the positioning sensor has not moved according to the trajectory path. In other words, it can be said that the registration for the target model area has not entered the correct path, thereby triggering the stop calculation of the registration for the target model area In addition, all waypoints on the moving path are not included in the registration dataset.

The aforementioned registration data set can be used to judge whether the configuration of the target model region is completed, so as to further improve the accuracy of judging whether the registration of the target model region is completed. Specifically, the method provided in this embodiment may also include the following steps:

1011. Using a first key point included in the target model area as the center point, determine a judgment area;

1012. Determine the number of waypoints included in the registration data set within the determination area;

1013. Determine whether to complete the registration of the target model region according to the quantity.

In the above step 1011, the judgment area can be a circular area with a radius of R and a first key point contained in the target model area as the center point; of course, the judgment area can also be an area of other shapes, such as rectangle, square, five Polygons, hexagons, etc. are not limited here, as long as the determination area is centered on the first key point of the target model area. In this embodiment, it is preferable that the determination area is a circle center area.

In the above 1011-1013, when the shape of the determination area is a circular area with the first key point of the target model area as the center point and a radius of R, the first key points in the registration data set and the target model area can be counted The distance between points is less than or equal to the number of way points of R, if the number is greater than or equal to the set threshold, it is determined that the registration for the target model area is completed; if the number is less than the set threshold, it is determined that the registration for the target is not completed Registration of model regions.

Further, after it is determined that the registration of the target model region is completed, a corresponding prompt may be displayed to prompt that the registration of the target model region has been completed. For example, referring to FIG. 11 , a two-dimensional front view of the three-dimensional model of the trachea tree 100 is displayed on the surgical registration interface. Taking the target model area as the main trachea model area in the three-dimensional model of the trachea tree 100 as an example, the two-dimensional The display color of the main trachea model area in the front view is updated to gray, and a registration completion mark is displayed on the main trachea model area, such as This is a reminder that the registration has been done for the main trachea model region.

The above is mainly from the perspective that each model region contains a first key point, and introduces the execution of the wrong path judgment for the target model region and the judgment of whether the registration is completed for the target model region. If each model area in this embodiment contains at least one first key point, and correspondingly, when the above-mentioned target model area contains at least two first key points, then: the method provided in the embodiment of the present application may also include the following step:

107'. Obtain a planned path between two target points; wherein, the two target points are determined from the reference point and at least two first key points contained in the target model area to be adjacent to the positioning sensor two points; the planned path is the shortest path between the two target points planned based on the centerline information of the three-dimensional model of the trachea tree;

108'. Determine the shortest movement path where the positioning sensor moves from the first target point to the current position in the target model area in the three-dimensional model of the tracheal tree; the first target point is the two target points Target points that have been exceeded by the positioning sensor as described in ;

109' comparing the moving path with the planned path to determine whether the positioning sensor moves according to the planned path;

1010'. When moving according to the planned path, trigger the calculation step in step 105 above, and add all waypoints on the moving path to the registration data set.

For example, in combination with Fig. 3b and Fig. 4a, the target model area is taken as the main trachea model area, and the main trachea model area contains the following two first key points: the main trachea key point 10' and the main trachea key point 10 as an example, Assuming that the current position of the positioning sensor in the main trachea model area is between the reference point A and the main trachea key point 10', the relationship The two points adjacent to the positioning sensor are the reference point A and the key point 10' of the main trachea; wherein, the reference point A is the first target point that the positioning sensor has moved beyond; after that, the obtained reference point A and The planned path between the key points 10' of the main trachea is compared with the determined moving path of the positioning sensor from the reference point A to the shortest position in the main trachea model area, so as to determine whether the positioning sensor is Move in the main trachea model area according to the above-mentioned planned path, if yes, trigger the calculation of the registration progress for the main trachea model area, and add the above-mentioned moving path to the registration data set.

For the specific implementation of the planned path, moving path, comparison, etc. described in the above 107'-1010', please refer to the content related to steps 107-1010 above.

Further, the method provided in this embodiment may also include the following steps:

1011'. Taking the first key point farthest from the reference point among the at least two first key points included in the target model area as the center point, determine the judgment area;

1012'. Determine the number of waypoints included in the registration data set within the decision area;

1013'. According to the quantity, determine whether to complete the registration of the target model region.

For the specific implementation description of the above steps 1011'~1013', please refer to the content related to steps 1011~1013 above.

In addition, after it is determined that the registration for the target model area has been completed, if it is detected that the positioning sensor enters the next target model area by returning to the above-mentioned steps 103-104, the above-mentioned steps 105-106 can be performed again to realize the registration for the next target model area. The registration progress detection of a target model area, and then determine whether the registration for the next target model area is completed. Accordingly, after it is detected that the registration has been completed for all model regions contained in the three-dimensional model of the tracheal tree, it can be determined that the registration has been completed for the entire lung trachea.

In order to facilitate doctors to intuitively understand the registration progress, this embodiment can also display the registration progress of each model area in the three-dimensional model of the tracheal tree, and output corresponding prompts after the registration is confirmed. The prompts can be but not limited to For: changing the color of the corresponding model area, adjusting the registered logo for the corresponding model area, voice prompts, etc. For a specific description of the prompt, refer to the relevant content described in conjunction with FIG. 11 .

In addition, the embodiment of the present application can also calculate and display bifurcation angle information (including multiple bifurcation angles) of the three-dimensional model of the tracheal tree, so as to provide a basis for the doctor to operate the positioning sensor to move the lung trachea. The information on the above-mentioned bifurcation angle can be calculated according to the centerline information of the three-dimensional model of the trachea tree, specifically, it can be calculated according to the centerline of each trachea model in the three-dimensional model of the trachea tree, wherein a bifurcation angle refers to the centerline of a trachea model The angle between the centerlines of another adjacent trachea model, in other words, a bifurcation angle refers to the angle between the centerlines of two trachea models that have a bifurcation relationship. That is, the method provided in this embodiment may also include the following steps:

1014. According to the centerline information of the three-dimensional model of the trachea tree, determine the centerlines of the multiple trachea models in the three-dimensional model of the trachea tree;

1015. Determine the bifurcation angle information of the three-dimensional model of the trachea tree according to the respective centerlines of the plurality of trachea models; wherein the bifurcation angle information includes multiple bifurcation angles, and one bifurcation angle indicates that there is a bifurcation The angle between the centerlines of the two trachea models of the relationship;

1016. Display the bifurcation angle information on the three-dimensional model of the trachea tree, so that the user can manipulate the positioning sensor to move in the lung trachea based on the bifurcation angle information.

For example, referring to Fig. 3 a, the included angle between the centerline of the main trachea model 1 and the centerline of the right main bronchus model 11 is a bifurcation angle; the centerline of the right main bronchus model 11 and the right upper lobe bronchus model 111 The angle between the centerlines is another bifurcation angle, and so on. By analogy, other remaining bifurcation angles can be obtained.

To sum up, the technical solution provided by this embodiment is based on obtaining the three-dimensional model of the tracheal tree reconstructed for the pulmonary trachea, and based on multiple first key points in the obtained three-dimensional model of the tracheal tree The three-dimensional tree model can be divided into multiple model areas, and each model area contains at least one first key point; further, according to the obtained first position information of the positioning sensor in the lung trachea, it can be determined Obtain the second position information of the positioning sensor in the three-dimensional model of the trachea tree and the target model area where it is located, and calculate the first distance between the positioning sensor and at least one first key point contained in the target model area according to the second position information , and then determine the registration progress for the target model region according to the first distance. Using the technical solution provided in this embodiment, by using the first distance between the positioning sensor and the corresponding first key point in the target model area as a measure of the registration progress of the target model area, in order to evaluate the accuracy of the lung trachea in the operation The registration completion status of the registration provides an objective standard, which is conducive to improving the accuracy of the determination of the registration completion status; in addition, based on the determined registration progress of the target model area, it is also helpful for subsequent implementation to users (such as clinical Physician) corresponding registration progress information feedback, so that the user can intuitively understand the registration completion of the target model area, and can provide effective assistance for the user to operate the positioning sensor to move in the lung trachea, so as to ensure registration data collection The adequacy of the method can provide guarantee for subsequent precision-guided surgery.

What needs to be added here is: Considering that if the positioning sensor has been in the non-moving situation in the lung trachea, the point cloud data collected by the positioning sensor (which is the position data of the positioning sensor in the lung trachea) is often Meaningless; and, at the beginning of the registration, the amount of point cloud data collected by the positioning sensor is often relatively small. In this case, if the point cloud data collected by the positioning sensor is processed to use For the calculation of the registration progress, the judgment of whether the registration operation is completed, etc., the accuracy of the calculation and judgment results is often relatively low. For this reason, this embodiment determines that the number of point clouds collected by the positioning sensor is greater than or equal to the set number threshold, and when it is determined that the movement range of the positioning sensor is greater than the set range threshold, the point cloud data collected by the positioning sensor is started to be processed to determine the current position of the positioning sensor in the lung trachea location information, trajectory data moving in the lungs and trachea, etc. The above is also the reason why the registration progress for the target model area is uniformly set to 0 when the first distance is greater than the preset distance threshold in this embodiment.

Among them, in the above processing process, the point cloud data collected by the positioning sensor will be preprocessed first to delete some abnormal data, such as outlier data and invalid data due to signal loss. For example, because the coil in the positioning sensor cannot sense the magnetic field due to interference, it cannot generate its own current. At this time, the positioning sensor will send a default signal to the executive body of this embodiment, and the received default signal becomes Invalid data or possibly outlier data. After the above preprocessing is completed, the preprocessed point cloud data can be rasterized to downsample the point cloud data, which is convenient for laying the foundation for further analysis of the point cloud data, improving the efficiency of further analysis, and the purpose of further analysis Including but not limited to: determining the position information of the current position of the positioning sensor in the trachea of the lung, the trajectory data of the movement in the trachea of the lung, and the like. For the specific implementation of data rasterization processing, you can refer to the existing relevant content, and will not go into details here.

An embodiment of the present application also provides a registration progress detection system for lung trachea corresponding to the above method embodiment. As shown in FIG. 6, the registration progress detection system for lung surgery navigation may include:

A magnetic field generator, used to generate a positioning magnetic field; the lungs and trachea are in the positioning magnetic field;

A positioning sensor, which can generate a positioning signal by sensing the positioning magnetic field when it moves in the trachea of the lung, and send the positioning signal to a processing device, so that the processing device can determine the positioning according to the positioning signal location information of the sensor in the trachea of the lung;

The processing device is configured to execute the steps in the embodiment of the method for detecting the registration progress of the pulmonary trachea provided in the present application.

For the specific description of the above-mentioned magnetic field generator and positioning sensor, refer to the relevant content in other embodiments of the above-mentioned application, and details will not be repeated here.

The above-mentioned processing device may be a control device with a data processing function, such as the control device 511 shown in FIG. 1c (such as a computer device). The control device can be independently installed on the doctor's main control trolley 50 as shown in FIG. , which is not limited in this embodiment.

What needs to be added here is that the registration progress detection system for the pulmonary trachea provided by the above-mentioned embodiment of the present application may include other devices or devices in addition to the above-mentioned devices or devices. Regarding other devices that may be included Or devices, can participate in the above-mentioned content related to the medical system introduced in Figure 1a to Figure 1c.

Fig. 7 shows a structural block diagram of an apparatus for detecting registration progress of a pulmonary trachea provided by an embodiment of the present application. As shown in FIG. 7 , the device for detecting the registration progress of the pulmonary trachea includes: an acquisition module 61, a division module 62, a determination module 63, and a calculation module 64; wherein,

An acquisition module 61, configured to acquire a three-dimensional model of the tracheal tree reconstructed based on medical imaging images of the lung trachea and a plurality of first key points in the three-dimensional model of the tracheal tree;

A division module 62, configured to divide the three-dimensional model of the trachea tree based on a plurality of the first key points to obtain a plurality of model areas, wherein each of the model areas contains at least one first key point;

The obtaining module 61 is also used to obtain the first position information of the current position of the positioning sensor in the lung trachea;

A determining module 63, configured to determine, according to the first position information, the second position information of the positioning sensor in the three-dimensional model of the trachea tree and the target model area where it is located;

A calculation module 64, configured to calculate a first distance between the positioning sensor and the at least one first key point included in the target model area according to the second position information;

The determining module 63 is further configured to determine a registration progress for the target model region according to the first distance.

Further, the above three-dimensional model of the trachea tree includes multiple trachea models, each of the model areas includes at least one trachea model, wherein the multiple trachea models include: a main trachea model, a main trachea model connected to the main trachea model Right lung bronchus model and left lung bronchus model, wherein, the right lung bronchus model includes: right main bronchus model, right upper lobe bronchus model, right lower lobe bronchus model; described left lung bronchus model includes: left main bronchus model, left upper lobe bronchus model Lobe bronchus model, left lower lobe bronchus model; multiple first key points include: the main trachea key point located on the main trachea model, the right upper lobe key point located on the right upper lobe bronchus model, the right upper lobe key point located on the right The right lower lobe key point on the lower lobe bronchus model, the left upper lobe key point on the left upper lobe bronchus model, and the left lower lobe key point on the left lower lobe bronchus model.

The above division module 62, when used to divide the three-dimensional model of the trachea tree based on the first key points to obtain multiple model areas, is specifically used to: acquire the reference point of the three-dimensional model of the trachea tree; The reference point is determined based on the intersection of the main trachea model, the right main bronchus model and the left main bronchus model; according to the main trachea key point and the reference point, determine the three-dimensional model of the trachea tree A reference plane: dividing the three-dimensional model of the trachea tree into multiple model regions according to the reference plane and the plurality of first key points.

Further, when the above division module 62 is used to determine the reference plane of the three-dimensional model of the trachea tree according to the key points of the main trachea and the reference point, it is specifically used to: according to the key points of the main trachea and the A reference point is used to determine a vector used to reflect the direction of the main trachea of the main trachea model; a plane passing through the reference point and perpendicular to the vector is determined as the reference plane.

Further, when the division module 62 is used to divide the three-dimensional model of the trachea tree into multiple model regions according to the reference plane and the plurality of first key points, it is specifically used to: divide the trachea tree The model area located above the reference plane in the three-dimensional model is determined as the main trachea model area; based on the reference point and the key point of the main trachea, a dividing line is determined; according to the dividing line, the trachea tree is three-dimensionally The model area located below the reference plane in the model is divided into the right lung bronchus model area and the left lung bronchus model area; according to the right upper lobe key points and the right lower lobe key points contained in the right lung bronchus model area , dividing the right lung bronchus model area into right upper lobe model area and right lower lobe model area; according to the left upper lobe key points and left lower lobe key points contained in the left lung bronchus model area, the The left lung bronchi model area is divided into a left upper lobe model area and a left lower lobe model area.

Further, the above division module 62 is used to divide the right lung bronchus model area into right lung bronchus model area according to the right upper lobe key points and the right lower lobe key points contained in the right lung bronchus model area. Lobe model area, right lower lobe model area, it is specifically used to: determine a first horizontal line according to the key points of the upper right lobe and the key points of the lower right lobe; wherein, the first horizontal line is located in the upper right lobe Between the key point and the key point of the right lower lobe, and parallel to the reference plane; the model area above the first horizontal line in the right lung bronchus model area is determined as the right upper lobe model area: determining the model area below the first horizontal line in the right lung bronchi model area as the right lower lobe model area.

Further, the above division module 62 is used to determine a first horizontal line according to the key point of the upper right leaf and the key point of the lower right leaf, including: passing the key point of the upper right leaf and the key point of the lower right leaf The center point of the first connecting line of points, and the horizontal line parallel to the reference plane, is determined as the first horizontal line; or, a second key point is determined in the right lung bronchus model area, wherein the The ordinate of the second key point is the same as the ordinate of one of the key points of the upper right leaf and the key point of the lower right leaf, and the abscissa of the second key point is the same as that of the key point of the upper right leaf and the key point of the lower right leaf. The other key point in the key point of the lower right leaf is the same; the center of the second connection line passing through the second key point and the key point of the upper right leaf and another key point in the key point of the lower right leaf point, and a horizontal line perpendicular to the second connecting line is determined as the first horizontal line.

Further, the above division module 62 is used to divide the left lung bronchus model area into left lung upper lobe model area according to the left upper key point and the left lower key point contained in the left lung bronchus model area 1. When the left lower lobe model area is used, it is specifically used to: determine a second horizontal line according to the left upper lobe key point and the left lower lobe key point; wherein, the second horizontal line is located between the left upper lobe key point and the left upper lobe key point Between the key points of the left lower lobe and parallel to the reference plane; the model area above the second horizontal line in the left lung bronchus model area is determined as the left upper lobe model area; the A model area located below the second horizontal line in the left pulmonary bronchi model area is determined as the left lower lobe model area.

Further, the above division module 62 is used to determine a second horizontal line according to the key point of the upper left leaf and the key point of the lower left leaf, including: passing through the key point of the upper left leaf and the key point of the lower left leaf The center point of the third line and the horizontal line parallel to the reference plane is determined as the second horizontal line; or, a third key point is determined in the left lung bronchus model area, wherein the third The ordinate of the key point is the same as the ordinate of a key point in the left upper leaf key point and the left lower leaf key point, and the abscissa of the third key point is the same as the left upper leaf key point, the left lower leaf key point Another key point in the key point is the same; the center point of the fourth connection line passing through the third key point and the left upper leaf key point, another key point in the left lower leaf key point, and with the A horizontal line perpendicular to the fourth connecting line is determined as the second horizontal line.

Further, each of the model areas contains a first key point; and, the acquisition module 61 can also be used to acquire a planned path obtained by executing path planning for the target model area; wherein, the planned path is based on the Centerline information of the three-dimensional model of the trachea tree, the shortest path between the planned reference point and a first key point included in the target model area;

The above determination module 63 can also be used to determine the shortest movement path of the positioning sensor moving from the reference point to the current position in the target model area in the three-dimensional model of the trachea tree;

And, the device provided in the embodiment of the present application may further include: a comparison module, configured to compare the moving path with the planned path, so as to determine whether the positioning sensor moves according to the planned path; a trigger module, When moving according to the planned path, triggering the execution of the step of calculating the first distance between the positioning sensor and a first key point contained in the target model area according to the second position information, and All waypoints on the path of movement are added to the registration dataset.

Further, when the determination module 63 is used to determine the shortest moving path of the positioning sensor moving from the reference point to the current position in the target model area in the three-dimensional model of the tracheal tree, it can be specifically used to : Acquiring the first trajectory data of the movement of the positioning sensor in the lung trachea; according to the first trajectory data, determining that the positioning sensor moves from the reference point to the position in the three-dimensional model of the trachea tree The second trajectory data of the current position in the target model area; determine the first type of trajectory points and the second type of trajectory points in the second trajectory data; wherein, the first type of trajectory points reflect the execution of the positioning sensor The trajectory point of the retreat action, the second type of trajectory point is a trajectory point corresponding to the first type of trajectory point that satisfies the deletion rule and reflects that the positioning sensor performs a forward movement; The first type of track point and the second type of track point are deleted; according to the deleted second track data, the movement path is determined; wherein, the satisfying the deletion rule includes: the time stamp is earlier than the first type The timestamp of the track point; the distance from the reference point is greater than or equal to the distance between the track point with the latest timestamp and the reference point in the first type of track point, and less than or equal to the distance between the track point with the earliest time stamp in the first type of track point and The distance from the reference point.

Further, when the above-mentioned determination module 63 is used to determine the first type of trajectory points in the second trajectory data, it may be specifically configured to: according to the time stamps of multiple trajectory points contained in the second trajectory data, Determine multiple pairs of track points adjacent to the time stamp; calculate the second distance and the third distance of the first track point and the second track point contained in each pair of track points relative to the reference point; wherein, the second track point The time stamp is later than the time stamp of the first track point; according to the second distance and the third distance, it is judged whether each pair of track points is the first type of track point.

Further, the target pair of track points is one of multiple pairs of track points; and the determination module 63 is used to determine the target pair of track points according to the second distance and the third distance corresponding to the target pair of track points Whether it is the first type of track point, it can be specifically used for: if the third distance is less than the second distance, then the target pair track point is the first type of track point; if the third distance is greater than or equal to The second distance, the target pair track point is not the first type of track point.

Further, the above determination module 63 is also used to determine the judgment area with a first key point included in the target model area as the center point; Quantity; according to the quantity, determine whether to complete the registration for the target model region.

What needs to be explained here is that the registration progress detection device for the pulmonary trachea provided in the above embodiment can realize the technical solution described in the above method embodiment provided in this application. Corresponding content in the embodiment of the registration progress detection method for lung trachea provided in the application will not be repeated here.

FIG. 8 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 8 , the electronic device includes: a memory 71 and a processor 72 . Wherein, the above-mentioned memory 71 is used to store computer programs; the processor, coupled with the memory, is used to execute the computer programs stored in the memory, so as to realize the configuration for the pulmonary trachea provided by the present application. The steps or functions in the embodiments of the quasi-progress detection method.

The above-mentioned memory 71 can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

The aforementioned electronic device may refer to the aforementioned processing device shown in FIG. 6 .

Further, as shown in FIG. 8 , the electronic device may further include: a communication component 73 , a display 74 , a power supply component 75 , an audio component 76 and other components. FIG. 8 only schematically shows some components, which does not mean that the electronic device only includes the components shown in FIG. 8 .

Correspondingly, an embodiment of the present application further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a computer, it can implement the registration progress detection method for the pulmonary trachea provided by the above-mentioned embodiment of the present application. steps or functions.

The methods in this application may be fully or partially implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. Fig. 9 schematically shows a block diagram of a computer program product provided by the present application. The computer program product includes a computer program/instruction 81. When the computer program/instruction 81 is executed by the processor 72 such as shown in FIG. A step or function in a registration progress detection method for . The computer may be a general computer, a special computer, a computer network, a network device, a user device, a core network device, an OAM or other programmable devices.

The computer program or instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instructions may be downloaded from a website, computer, A server or data center transmits to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrating one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; or it may be a semiconductor medium, such as a solid state disk. The computer readable storage medium may be a volatile or a nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a necessary general-purpose hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (16)

1. A registration progress detection method for a pulmonary trachea, comprising:

acquiring a three-dimensional model of a tracheal tree reconstructed based on a medical image of a lung trachea and a plurality of first key points in the three-dimensional model of the tracheal tree;

dividing the three-dimensional model of the tracheal tree based on a plurality of first key points to obtain a plurality of model areas, wherein each model area comprises at least one first key point;

acquiring first position information of a current position of a positioning sensor in the lung trachea;

determining second position information of the positioning sensor in the three-dimensional model of the tracheal tree and a target model area where the positioning sensor is located according to the first position information;

calculating a first distance between the positioning sensor and the at least one first key point contained in the target model area according to the second position information;

and determining the registration progress of the target model area according to the first distance.

2. The method of claim 1, wherein the three-dimensional model of the airway tree comprises a plurality of airway models, each of the model regions comprising at least one of the airway models, wherein,

The plurality of tracheal models comprises: a main tracheal model, a right pulmonary bronchus model and a left pulmonary bronchus model connected to the main tracheal model, wherein the right pulmonary bronchus model comprises: a right main bronchus model, a right upper leaf bronchus model, and a right lower leaf bronchus model; the left lung broncho-mask includes: a left main bronchus model, a left upper leaf bronchus model, and a left lower leaf bronchus model;

the plurality of first keypoints includes: a main tracheal keypoint located on the main tracheal model, an upper right lobe keypoint located on the upper right lobe bronchial model, a lower right lobe keypoint located on the lower right lobe bronchial model, an upper left lobe keypoint located on the upper left lobe bronchial model, a lower left lobe keypoint located on the lower left lobe bronchial model.

3. The method of claim 2, wherein partitioning the three-dimensional model of the tracheal tree based on the plurality of first keypoints results in a plurality of model regions, comprising:

acquiring a datum point of the three-dimensional model of the tracheal tree; the fiducial point is determined based on an intersection of the main bronchi model, the right main bronchi model, and the left main bronchi model;

Determining a reference plane of the three-dimensional model of the tracheal tree according to the main tracheal key points and the reference points;

and dividing the three-dimensional model of the tracheal tree into a plurality of model areas according to the reference plane and the plurality of first key points.

4. A method according to claim 3, wherein determining the reference plane from the main airway key point and the reference point comprises:

determining a vector for reflecting the main air pipe direction of the main air pipe model according to the main air pipe key point and the datum point;

a plane passing through the reference point and perpendicular to the vector is determined as the reference plane.

5. A method according to claim 3, wherein dividing the three-dimensional model of the tracheal tree into a plurality of model regions based on the reference plane and the plurality of first keypoints comprises:

determining a model area above the reference plane in the three-dimensional model of the tracheal tree as a main tracheal model area;

determining a parting line based on the fiducial point and the primary airway key;

dividing a model area below the reference plane in the three-dimensional model of the tracheal tree into a right lung bronchus model area and a left lung bronchus model area according to the dividing line;

Dividing the right lung bronchus model region into a right lung upper lobe model region and a right lung lower lobe model region according to the right upper lobe key point and the right lower lobe key point contained in the right lung bronchus model region;

and dividing the left lung bronchus model region into a left upper lung model region and a left lower lung model region according to the left upper leaf key point and the left lower leaf key point contained in the left lung bronchus model region.

6. The method of claim 5, wherein dividing the right lung bronchus model region into a right upper lung lobe model region, a right lower lung lobe model region, based on the right upper lobe keypoints and the right lower lobe keypoints contained within the right lung bronchus model region, comprises:

determining a first horizontal line according to the upper right leaf key point and the lower right leaf key point; wherein the first horizontal line is located between the upper right leaf keypoint and the lower right leaf keypoint and is parallel to the reference plane;

determining a model region above the first horizontal line in the right lung bronchus model region as the right lung upper lobe model region;

And determining a model region below the first horizontal line in the right lung bronchus model region as the right lung inferior lobe model region.

7. The method of claim 6, wherein determining a first horizontal line based on the upper right leaf keypoint and the lower right leaf keypoint comprises:

determining a horizontal line which passes through the center point of a first connecting line of the upper right leaf key point and the lower right leaf key point and is parallel to the reference plane as the first horizontal line; or alternatively

Determining a second key point in the right lung bronchus model area, wherein the ordinate of the second key point is the same as the ordinate of one key point of the right upper lobe key point and the right lower lobe key point, and the abscissa of the second key point is the same as the other key point of the right upper lobe key point and the right lower lobe key point; and determining a horizontal line which passes through the center point of a second connecting line of the second key point and the other key point of the upper right leaf key point and the lower right leaf key point and is perpendicular to the second connecting line as the first horizontal line.

8. The method of claim 5, wherein dividing the left lung bronchus model region into a left upper lung lobe model region, a left lower lung lobe model region, based on the left upper keypoint and the left lower keypoint contained within the left lung bronchus model region, comprises:

Determining a second horizontal line according to the upper left leaf key point and the lower left leaf key point; wherein the second horizontal line is located between the upper left leaf keypoint and the lower left leaf keypoint and is parallel to the reference plane;

determining a model region above the second horizontal line in the left lung bronchus model region as the left lung upper lobe model region;

and determining a model region below the second horizontal line in the left lung bronchus model region as the left lung inferior lobe model region.

9. The method of claim 8, wherein determining a second horizontal line based on the upper left leaf keypoint and the lower left leaf keypoint comprises:

determining a horizontal line which passes through the center point of a third connecting line of the upper left leaf key point and the lower left leaf key point and is parallel to the reference plane as the second horizontal line; or alternatively

Determining a third key point in the left lung bronchus model area, wherein the ordinate of the third key point is the same as the ordinate of one key point of the left upper leaf key point and the left lower leaf key point, and the abscissa of the third key point is the same as the other key point of the left upper leaf key point and the left lower leaf key point; and determining a horizontal line which passes through the center point of a fourth connecting line of the third key point and the other key point of the upper left leaf key point and the lower left leaf key point and is perpendicular to the fourth connecting line as the second horizontal line.

10. The method according to any one of claims 3 to 9, wherein each of the model regions comprises a first keypoint;

and, the method further comprises:

acquiring a planned path obtained by executing path planning on the target model area; the planned path is the shortest path between the planned datum point and a first key point contained in the target model area according to the central line information of the three-dimensional model of the tracheal tree;

determining a movement path of the positioning sensor in the three-dimensional model of the tracheal tree from the reference point to the shortest position in the target model area;

comparing the moving path with the planned path to determine whether the positioning sensor moves according to the planned path;

and triggering and executing the step of calculating a first distance between the positioning sensor and one first key point contained in the target model area according to the second position information when the planned path moves, and adding all path points on the moving path to a registration data set.

11. The method of claim 10, wherein determining a path of movement for the positioning sensor to move in the three-dimensional model of the tracheal tree from the reference point to a shortest current position in the target model region comprises:

Acquiring first track data of the movement of the positioning sensor in the lung trachea;

determining second track data of the positioning sensor moving from the datum point to the current position in the target model area in the three-dimensional model of the tracheal tree according to the first track data;

determining a first type of track point and a second type of track point in the second track data; the first type of track points are track points reflecting the back action executed by the positioning sensor, and the second type of track points are track points which correspond to the first type of track points, meet a deletion rule and reflect the forward action executed by the positioning sensor;

deleting the first type track points and the second type track points in the second track data;

determining the moving path according to the deleted second track data;

wherein, the meeting the deletion rule includes: the time stamp is earlier than the time stamp of the first type of track point; the distance from the reference point is larger than or equal to the distance between the track point with the latest time stamp in the track points of the first type and the reference point, and smaller than or equal to the distance between the track point with the earliest time stamp in the track points of the first type and the reference point.

12. The method of claim 11, wherein determining a first type of trajectory point in the second trajectory data comprises:

determining a plurality of pairs of track points with adjacent time stamps according to the time stamps of the track points contained in the second track data;

calculating a second distance and a third distance of a first track point and a second track point which are contained in each pair of track points relative to the datum point respectively; wherein the timestamp of the second trace point is later than the timestamp of the first trace point;

and judging whether each pair of track points is a first type of track point according to the second distance and the third distance.

13. The method of claim 12, wherein the target pair of trace points is one of a plurality of pairs of trace points;

judging whether the target pair track points are the first track points according to the second distance and the third distance corresponding to the target pair track points, wherein the judging comprises the following steps:

if the third distance is smaller than the second distance, the target pair track point is a first track point;

and if the third distance is greater than or equal to the second distance, the target pair track point is not the first track point.

14. The method as recited in claim 10, further comprising:

Determining a judging area by taking a first key point contained in the target model area as a central point;

determining the number of path points contained in the registration data set in the judging area;

based on the number, it is determined whether registration for the target model region is complete.

15. A registration progress detection system for a pulmonary trachea, comprising:

a magnetic field generator for generating a positioning magnetic field; the lung trachea is in the positioning magnetic field;

a positioning sensor capable of generating a positioning signal by sensing the positioning magnetic field when moving in the lung trachea, and transmitting the positioning signal to a processing device, so that the processing device determines position information of the positioning sensor in the lung trachea according to the positioning signal;

processing apparatus for performing the steps in the registration progress detection method for a pulmonary trachea according to any one of claims 1 to 14.

16. An electronic device, comprising: a memory and a processor, wherein,

the memory is used for storing a computer program;

the processor, coupled to the memory, for executing the computer program stored in the memory for implementing the steps in the registration progress detection method for pulmonary airways according to any of the preceding claims 1 to 14.