CN111275825A - Positioning result visualization method and device based on virtual intelligent medical platform - Google Patents

Abstract

The disclosure relates to a positioning result visualization method and device based on a virtual intelligent medical platform, wherein the method comprises the following steps: obtaining a three-dimensional visual virtual image according to the target object data; carrying out virtual-real registration on a three-dimensional model related to a target object in a virtual image and a real positioning scene to obtain a registration result; combining a accelerator beam three-dimensional model and a registration result in the virtual image, and rendering to obtain a positioning result; and displaying the positioning result during the positioning process of the radiotherapy. In the embodiment of the disclosure, by combining a mixed reality technology, information such as tumors and rays is visualized, and three-dimensional holographic display of medical images, three-dimensional display of radiotherapy plans and visual display of positioning results are realized; the target object can observe the positioning result more intuitively and efficiently, the positioning and positioning completion degree can be confirmed, and the positioning error is reduced; meanwhile, the positioning result can be corrected through the display information, and the positioning accuracy is improved.

Description

A method and device for visualization of positioning results based on a virtual intelligent medical platform

technical field

The present disclosure relates to the technical field of computer vision, and in particular, to a method and device for visualizing placement results based on a virtual intelligent medical platform.

Background technique

With the development of information technology and electronic technology, traditional information receiving methods and information processing methods have been unable to meet the needs of target objects to obtain information efficiently; for example, in the medical field, in the setting process of radiotherapy (RT) treatment In the experiment, the patient obtains the setup result through the technician's dictation; since the tumor, normal tissue and rays in the human body are not visible to the naked eye, and most patients have no medical background, the patient cannot obtain the setup result intuitively and efficiently. Effective interaction cannot be performed, which reduces the placement efficiency.

SUMMARY OF THE INVENTION

In view of this, the present disclosure proposes a method and device for visualizing a setup result based on a virtual intelligent medical platform.

According to an aspect of the present disclosure, there is provided a method for visualizing a setup result based on a virtual intelligent medical platform, including:

According to the target object data, a 3D visualized virtual image is obtained;

The registration result is obtained by performing virtual-real registration on the relevant three-dimensional model of the target object in the virtual image and the actual placement scene;

Combined with the three-dimensional model of the accelerator beam in the virtual image and the registration result, rendering is performed to obtain the placement result;

During radiotherapy setup, the setup results are displayed.

In a possible implementation manner, obtaining a three-dimensional visualized virtual image according to the target object data includes:

Obtain the target object DICOM RT (Radiothearapy In DICOM) data through the DICOM network;

According to the DICOM RT data, extract the target object data;

According to the target object data, establish a three-dimensional model of the accelerator beam and a three-dimensional model related to the target object;

The three-dimensional visualized virtual image is obtained according to the three-dimensional model of the accelerator beam and the three-dimensional model related to the target object.

In a possible implementation manner, the establishment of a three-dimensional model of the accelerator beam and a three-dimensional model related to the target object according to the target object data includes:

By analyzing and processing the target object data, radiotherapy-related data is obtained;

establishing corresponding three-dimensional model data according to the radiation therapy-related data;

The three-dimensional model data is converted into a specified format to obtain the three-dimensional model of the accelerator beam and the related three-dimensional model of the target object.

In a possible implementation manner, the registration result is obtained by performing virtual-real registration on the three-dimensional model related to the target object in the virtual image and the real placement scene, including:

obtaining a real-time picture of the actual placement scene;

According to the real-time picture, obtain the feature points of the realistic placement scene;

According to the feature points, the three-dimensional model related to the target object in the virtual image is matched to the corresponding position in the real placement scene, and a registration result is obtained.

In a possible implementation manner, the feature points correspond to position markers added on the skin of the target object during a computer tomography (Computed Tomography, CT) scanning process.

In a possible implementation manner, during the radiotherapy setup process, displaying the setup result includes:

Determine at least one target position according to the position and angle of view of the target object in the realistic radiotherapy scene;

The placement result is displayed at the target position through a display device.

In a possible implementation manner, the target object data includes: basic information of the target object, CT image data, planning information, structure set information, and dose information;

The three-dimensional model related to the target object includes: a three-dimensional model of the target area, a three-dimensional model of the ROI region of interest, and a three-dimensional model of dose distribution.

According to another aspect of the present disclosure, there is provided a device for visualizing a setup result based on a virtual intelligent medical platform, including:

The virtual image building module is used to obtain a three-dimensional visualized virtual image according to the target object data;

a virtual-real registration module, configured to obtain a registration result by performing virtual-real registration on the relevant three-dimensional model of the target object in the virtual image and the actual placement scene;

a rendering module, configured to combine the three-dimensional model of the accelerator beam in the virtual image and the registration result to render the placement result;

The display module is used for displaying the set-up result during the radiotherapy set-up process.

According to another aspect of the present disclosure, there is provided a device for visualizing a placement result based on a virtual intelligent medical platform, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above method.

According to another aspect of the present disclosure, there is provided a non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the above-described method.

In the embodiment of the present disclosure, by combining the mixed reality technology, information such as tumors and rays can be visualized, so as to realize the three-dimensional holographic display of medical images, the three-dimensional display of radiation therapy plans, and the intuitive display of placement results; the target object can be observed and placed more intuitively and efficiently. As a result, the positioning situation can be clearly understood, and the completion degree of positioning and positioning can be confirmed, thereby reducing the positioning error. At the same time, display information can be used to assist communication and improve placement efficiency. In addition, the doctor can also correct the placement result by displaying the information to improve the accuracy of the placement.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure, and together with the description, serve to explain the principles of the disclosure.

FIG. 1 shows a flowchart of a method for visualizing a setup result based on a virtual intelligent medical platform according to an embodiment of the present disclosure;

FIG. 2 shows a schematic diagram of the connection of a device for visualization of a positioning result according to an embodiment of the present disclosure;

FIG. 3 shows a schematic diagram of a visualization scene of a radiotherapy setup result according to an embodiment of the present disclosure;

FIG. 4 shows a structural diagram of a device for visualizing a positioning result based on a virtual intelligent medical platform according to an embodiment of the present disclosure;

FIG. 5 shows a block diagram of an apparatus for visualizing a setup result based on a virtual intelligent medical platform according to an embodiment of the present disclosure.

Detailed ways

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following detailed description. It will be understood by those skilled in the art that the present disclosure may be practiced without certain specific details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present disclosure.

With the change of disease spectrum, malignant tumor has become the number one killer threatening human health; in the whole course of tumor progression, about 2/3 of patients will inevitably receive radiation therapy for the purpose of radical cure or palliative reduction.

At present, during the actual clinical radiotherapy setup process, the setup results are informed to the patient by the technician's dictation; however, since the tumor, normal tissue and rays in the human body are not visible to the naked eye, and most patients have no medical background, the technician's dictation cannot make the patient clear. A clear understanding of the specific situation cannot reduce the patient's fears and worries about tumors and radiotherapy, which causes many physical and psychological symptoms and adverse psychological reactions during the implementation stage of radiotherapy, which seriously affects the patient's quality of life and treatment compliance, and even treatment. Effect.

Therefore, the present disclosure provides a technical solution for visualization of placement results. By combining mixed reality technology, information such as tumors and rays can be visualized to realize three-dimensional holographic display of medical images, three-dimensional display of radiation therapy plans, and intuitive display of placement results; The placement results can be observed more intuitively and efficiently, the placement situation can be clearly understood, and the completion of positioning and placement can be confirmed to reduce placement errors. At the same time, display information can be used to assist communication and improve placement efficiency. In addition, the doctor can also correct the placement result by displaying the information to improve the accuracy of the placement

FIG. 1 shows a flowchart of a method for visualizing a setup result based on a virtual intelligent medical platform according to an embodiment of the present disclosure. As shown in Figure 1, the method may include:

Step 10, obtaining a three-dimensional visualized virtual image according to the target object data;

Step 20: Obtain a registration result by performing virtual-real registration on the relevant three-dimensional model of the target object in the virtual image and the actual placement scene;

Step 30, combining the three-dimensional model of the accelerator beam in the virtual image and the registration result, and rendering to obtain the placement result;

Step 40: During the radiotherapy placement process, display the placement result.

Among them, the Virtual Intelligent (VI) medical platform is a medical platform built on the basis of virtual reality, augmented reality, mixed reality and other holographic technologies, combined with artificial intelligence and big data analysis methods, which is used to assist and guide invasive, Minimally invasive, non-invasive clinical diagnosis and treatment process, assisting patients in diagnosis and treatment, and can be applied to fields including but not limited to surgery, internal medicine, radiotherapy, interventional departments, etc. The placement result refers to the result obtained during the process of radiotherapy placement, that is, the doctor first outlines the tumor on the image of the planning system to determine the center coordinates of the patient's tumor. The tumor center is placed on the treatment center (including the isocenter) of the radiotherapy equipment.

In this way, based on the virtual intelligent medical platform, the existing target object data information in the hospital is analyzed and transformed into a 3D visualized virtual image, and the virtual image is matched with the real scene through the virtual intelligent technology, and displayed on the display terminal, so as to realize the medical image. The three-dimensional holographic display, the three-dimensional display of the radiation treatment plan, and the intuitive display of the placement results allow the target object to observe the placement results more intuitively and efficiently, reducing the placement error and improving the placement efficiency.

2 and 3, the above-mentioned visualization solution of the placement result based on the virtual intelligent medical platform will be illustrated with an example.

FIG. 2 shows a schematic diagram of the connection of a device for visualizing the placement result according to an embodiment of the present disclosure. As shown in FIG. 2 , the device for visualizing the placement result may include: an image acquisition device (ie the camera 01 in the figure, the camera 02, camera 03), display device (ie, display device 01, display device 02 in the figure), processing device PC, server, hospital information system; As shown in Figure 3, the scene includes: image acquisition equipment (ie camera 01, camera 02, camera 03 in the figure), display device (ie the display in the figure), PC, server, hospital information system, accelerator.

In the above Figures 2 and 3, the image acquisition device is used to capture the real-time picture in the actual placement scene, and transmit the picture to the PC in real time by wired or wireless means, and the PC and the server obtain the target object data through the hospital information system. After the data is processed by the visualization of the placement results, the PC and the server will transmit the obtained processing results to the display device in real time for terminal display after data extraction, 3D reconstruction, and virtual-real registration. It should be noted that the number, installation position, connection method, etc. of each device such as the image capturing device and the display device in FIG. 2 and FIG. 3 can be set according to actual needs, which is not limited in the present disclosure.

In a possible implementation manner, in step 10, obtaining a 3D visualized virtual image according to target object data may include: obtaining DICOM RT data through a DICOM network; extracting the target object according to the DICOM RT data object data; according to the target object data, establish a three-dimensional model of the accelerator beam and a three-dimensional model related to the target object; and obtain the three-dimensional visualized virtual image according to the three-dimensional model of the accelerator beam and the three-dimensional model related to the target object.

Among them, the DICOM RT data is related data obtained from the hospital DICOM network, which is an international standard for medical images and related information (ISO 12052). DICOM RT data can be obtained through an in-hospital information system, and the DICOM RT data can include: CT image data, RT Plan plan information, RT Structure Set information, RT Dose dose information, and exemplarily, the target object can be obtained through CI scanning. CT image data, and further related data such as planning information, structure set information, and dose information can be obtained according to the CT image data. Then, according to the information such as the identity of the target subject for radiotherapy, data extraction can be performed in the DICOM RT data obtained above to obtain the corresponding target object data. The target object data may include: basic information of the target object, CT image data, planning information , structure set information, dose information and other related information; further, the target object data can be segmented and modeled to establish multiple three-dimensional models, wherein the multiple three-dimensional models can include: a three-dimensional model of the target area, a region of interest (region of interest, ROI) three-dimensional model, dose distribution three-dimensional model and other related three-dimensional models of target objects and accelerator beam three-dimensional models, etc.; further, according to the spatial relative position relationship between the established three-dimensional models, each three-dimensional model Combined to obtain a 3D visualized virtual image.

For example, the server in Figure 2 or Figure 3 can be connected to the hospital's DICOM network to provide the C-Store network service (a relational database for quick query), so that CT image data, RT Plan plan information, RT Structure Set structure set information, RT Dose dose information and other DICOM RT data; then, the DICOM RT data can be analyzed and processed to extract the basic information of the target object, CT image data of the target object, plan information, structure set information, dose information and other target object data; further, according to the target object data, a plurality of three-dimensional models are established, and finally a three-dimensional visualized virtual image is obtained.

In a possible implementation manner, the establishment of a three-dimensional model of the accelerator beam and a three-dimensional model related to the target object according to the target object data includes: obtaining radiotherapy related data by analyzing the target object data; According to the radiotherapy-related data, corresponding three-dimensional model data is established; the three-dimensional model data is converted into a specified format to obtain the three-dimensional model of the accelerator beam and the related three-dimensional model of the target object.

For example, the target object data extracted above can be subjected to data analysis to obtain radiotherapy-related data, and a Json file describing the data information (that is, a file saved in the Json data format) can be generated, and the radiotherapy-related data (that is, a Json file) can be generated. The above Json file) is imported into the medical image processing software 3D Slicer, and the segmentation Editor and modeling Model Maker modules of the software can be used to analyze the target area, region of interest, dose distribution and accelerator beam of the target object's planning information respectively using Python language. Part of the CT image data, structure set information, and dose information are segmented and modeled to obtain multiple corresponding 3D models such as the 3D model of the target area, the 3D model of the region of interest, the 3D model of the dose distribution, and the 3D model of the accelerator beam. Save the 3D model of the target area, the 3D model of the region of interest, the 3D dose distribution model, and the 3D model of the accelerator beam as OBJ format model data files, and generate a Json file describing the model data files for subsequent processing. In this way, based on the 3D slicer software, after modeling and processing the target object data, a 3D model is obtained, so as to realize the automatic and batch processing of the data; at the same time, the target object can be obtained through the 3D reconstruction of CT image data. , to obtain the positioning situation intuitively and efficiently, make subjective judgments, and participate in the confirmation of the completion of positioning and positioning to reduce errors.

In a possible implementation manner, in step 20, obtaining a registration result by performing virtual-real registration on a three-dimensional model related to the target object in the virtual image and a real-world placement scene includes: obtaining the real-world placement scene. according to the real-time picture, obtain the feature points of the realistic positioning scene; according to the feature points, match the three-dimensional model related to the target object in the virtual image to the actual positioning scene. Corresponding position, get the registration result.

In this embodiment of the present disclosure, one or more image capture settings set in the real placement scene may be used to capture images of the real placement scene in real time. The registration result is obtained by performing fusion processing on the real-time images obtained by each image acquisition device, and then performing virtual and real registration on the fused images with the three-dimensional model related to the target object in the obtained 3D visualized virtual image.

Wherein, the feature points correspond to the position markers added on the skin of the target object during the computed tomography CT scanning process. Exemplarily, marks can be added to special positions of the skin during CT scanning, such as: the middle and both sides of the chest, the middle and both sides of the abdomen, etc., and the marks can be generated in the form of two-dimensional codes; The obtained spatial positions of the feature points of the real scene correspond to each other, and at the same time, the position of the virtual image reconstructed from the CT scan data and the position of the marker remain relatively unchanged; furthermore, the feature points obtained from the real-time incoming image from the camera and the above-established three-dimensional image are relatively unchanged. The relative relationship of the visualized virtual images is matched with the relevant three-dimensional models of multiple target objects in the virtual image to the real-time image to achieve virtual-real registration.

For example, as shown in Figure 3, when performing virtual-real registration, 3 cameras and PCs can be used to obtain multi-angle real-time images of the actual placement scene through 3 cameras installed in different positions, and transmit them in real time. Enter into the PC, and the PC obtains the feature points of the actual placement scene in the screen through calculation; then the PC obtains the patient data information through the background, and matches according to the patient Json file information extracted from the data; retrieves the corresponding 3D reconstructed data from the server. The model data file, according to the feature points obtained by the real-time input of the camera and the relative relationship with the above-established 3D visualized virtual image, the relevant 3D models of target objects such as target areas and ROI areas of interest for patients, technicians and doctors Match to the corresponding position of the realistic placement scene.

In a possible implementation manner, in step 40, combining the three-dimensional model of the accelerator beam in the virtual image and the registration result, rendering to obtain the placement result; may include: determining the accelerator according to the registration result The position of the beam three-dimensional model (field model), exemplarily, can be based on the above-mentioned target object-related three-dimensional model and the isocenter of the accelerator beam three-dimensional model is consistent, determine the position of the accelerator beam three-dimensional model, and then the accelerator beam. The three-dimensional beam model and the above-mentioned registration results are rendered to obtain the placement result; it should be noted that, in the embodiment of the present disclosure, the number of the three-dimensional beam model of the accelerator may be one or more, that is, the placement result may include multiple 3D models of accelerator beams with different angles and shapes.

In a possible implementation manner, in step 40, during the radiotherapy placement process, displaying the placement result includes: determining at least the position and angle of view of the target object in the realistic radiotherapy scene. A target position; the placement result is displayed at the target position through a display device.

In the embodiment of the present disclosure, the number of target positions can be set according to the position, viewing angle, actual environment and other factors of the target object, and one or more target positions can be obtained, so that the above-mentioned registration result can be displayed intuitively; The device can distinguish each component in the registration result by setting different areas to different colors or different color depths, so that the target object can obtain the registration result more intuitively and efficiently, which is convenient for the target object to observe and confirm The placement result improves placement efficiency.

For example, as shown in Figure 3, the virtual-real registration results can be displayed by display devices (projectors, monitors, etc.), and multiple display devices can be added at different positions and angles according to the patient's position and viewing angle in the radiotherapy scene. . For example, for a lying patient, a display device can be projected or placed directly above the patient to facilitate the patient to observe and confirm the placement result. In this way, the target object can observe the registration result intuitively and conveniently, and then can make a subjective judgment on the positioning situation based on its own situation, so that the positioning situation can be corrected; at the same time, the doctor can also correct the positioning result by observing the display device , which improves the positioning accuracy.

It should be noted that although the above-mentioned embodiment is used as an example to introduce a method for visualizing the placement result based on the virtual intelligent medical platform as above, those skilled in the art can understand that the present disclosure should not be limited thereto. In fact, the user can flexibly set each implementation manner according to personal preferences and/or actual application scenarios, as long as it conforms to the technical solutions of the present disclosure.

In this way, by combining with mixed reality technology, information such as tumors and rays can be visualized to realize three-dimensional holographic display of medical images, three-dimensional display of radiation therapy plans, and intuitive display of placement results; patients can observe the placement results more intuitively and efficiently, and clearly understand the placement results. Positioning situation, and can make subjective judgments, participate in the confirmation of positioning and positioning completion, and reduce positioning errors. At the same time, it can be used to assist the communication between doctors and patients, improve the efficiency of positioning, reduce the psychological pressure of the patients, eliminate the doubts and fears of the patients, keep the patients in a healthy psychological state and good immune function, cooperate more actively with the treatment, and reduce the treatment of the patients. errors, which have a positive impact on the treatment of cancer radiotherapy patients. In addition, the doctor can also correct the positioning result through the three-dimensional stereo image, so as to improve the accuracy of the positioning.

FIG. 4 shows a structural diagram of an apparatus for visualizing a positioning result based on a virtual intelligent medical platform according to an embodiment of the present disclosure. As shown in FIG. 4 , the device may include: a virtual image construction module 41 for obtaining a three-dimensional visualized virtual image according to the target object data; a virtual-real registration module 42 for comparing the virtual image with the real setting scene Perform virtual-real registration to obtain the registration result; the rendering module 43 is used for combining the three-dimensional model of the accelerator beam in the virtual image and the registration result, and rendering to obtain the placement result; the display module 44 is used for the radiation therapy pendulum During the positioning process, the positioning result is displayed.

In a possible implementation manner, the virtual image construction module 41 may include: a DICOM RT data acquisition unit for acquiring target object DICOM RT data through a DICOM network; a target object data extraction unit for acquiring DICOM RT data according to the DICOM network RT data, to extract the target object data; a three-dimensional model construction unit, used to build a three-dimensional model of the accelerator beam and a three-dimensional model related to the target object according to the target object data; a virtual image acquisition unit, used for according to the accelerator beam. The three-dimensional model and the three-dimensional model related to the target object are obtained to obtain the three-dimensional visualized virtual image.

In a possible implementation manner, the three-dimensional model building unit may include: a data analysis subunit, configured to obtain radiotherapy-related data by analyzing and processing the target object data; a model data building subunit, using According to the radiation therapy-related data, corresponding 3D model data is established; a format conversion subunit is used to convert the 3D model data into a specified format to obtain the accelerator beam 3D model and the target object-related 3D model.

In a possible implementation manner, the virtual-real registration module 42 may include: a real-time image acquisition unit, configured to acquire a real-time image of the actual placement scene; image, to obtain the feature points of the realistic placement scene; a virtual-real registration unit, configured to match the three-dimensional model related to the target object in the virtual image to the corresponding position in the realistic placement scene according to the feature points, get the registration result.

In a possible implementation manner, the feature points correspond to position markers added on the skin of the target object during a computed tomography CT scan.

In a possible implementation manner, the display module 44 may include: a target position selection unit, configured to determine at least one target position according to the position and angle of view of the target object in the realistic radiotherapy scene; The positioning result is displayed at the target position through a display device.

In a possible implementation manner, the target object data includes: basic information of the target object, CT image data, planning information, structure set information and dose information; the three-dimensional model related to the target object includes: a three-dimensional model of the target area, 3D model of ROI region of interest, 3D model of dose distribution and 3D model of accelerator beam.

It should be noted that although the above embodiment is used as an example to introduce a device for visualizing the placement result based on a virtual intelligent medical platform as above, those skilled in the art can understand that the present disclosure should not be limited thereto. In fact, the user can flexibly set each implementation manner according to personal preferences and/or actual application scenarios, as long as it conforms to the technical solutions of the present disclosure.

In this way, by combining the mixed reality technology, information such as tumors and rays can be visualized to realize the three-dimensional holographic display of medical images, the three-dimensional display of radiation therapy plans, and the intuitive display of the placement results; patients can observe the placement results more intuitively and efficiently, and clearly understand Positioning situation, and can make subjective judgments, participate in the confirmation of positioning and positioning completion, and reduce positioning errors. At the same time, it can be used to assist the communication between doctors and patients, improve the efficiency of positioning, reduce the psychological pressure of the patients, eliminate the doubts and fears of the patients, keep the patients in a healthy psychological state and good immune function, cooperate more actively with the treatment, and reduce the treatment of the patients. errors, which have a positive impact on the treatment of cancer radiotherapy patients. In addition, the doctor can also correct the positioning result through the three-dimensional stereo image, so as to improve the accuracy of the positioning.

FIG. 5 shows a block diagram of an apparatus 1900 for visualizing a setup result based on a virtual intelligent medical platform according to an embodiment of the present disclosure. For example, the apparatus 1900 may be provided as a server. 5, apparatus 1900 includes processing component 1922, which further includes one or more processors, and a memory resource represented by memory 1932 for storing instructions executable by processing component 1922, such as applications. An application program stored in memory 1932 may include one or more modules, each corresponding to a set of instructions. Additionally, the processing component 1922 is configured to execute instructions to perform the above-described methods.

The device 1900 may also include a power supply assembly 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input output (I/O) interface 1958. Device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server™, MacOS X™, Unix™, Linux™, FreeBSD™ or the like.

In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as memory 1932 comprising computer program instructions executable by processing component 1922 of apparatus 1900 to perform the above-described method.

The present disclosure may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the present disclosure.

A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or instructions in one or more programming languages. Source or object code, written in any combination, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through the Internet connect). In some embodiments, custom electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), can be personalized by utilizing state information of computer readable program instructions. Computer readable program instructions are executed to implement various aspects of the present disclosure.

Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium storing the instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

Various embodiments of the present disclosure have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A positioning result visualization method based on a virtual intelligent medical platform is characterized by comprising the following steps:

obtaining a three-dimensional visual virtual image according to the target object data;

carrying out virtual-real registration on the three-dimensional model related to the target object in the virtual image and the real positioning scene to obtain a registration result;

combining a accelerator beam three-dimensional model in the virtual image and the registration result, and rendering to obtain a positioning result;

and displaying the positioning result during the radiotherapy positioning process.

2. The method of claim 1, wherein obtaining a virtual image of a three-dimensional visualization from the target object data comprises:

obtaining DICOM RT data of a target object through a DICOM network;

extracting the target object data according to the DICOM RT data;

establishing an accelerator beam three-dimensional model and a target object related three-dimensional model according to the target object data;

and obtaining the three-dimensional visual virtual image according to the accelerator beam three-dimensional model and the target object related three-dimensional model.

3. The method of claim 2, wherein said building an accelerator beam three-dimensional model and a target object dependent three-dimensional model from said target object data comprises:

analyzing the target object data to obtain radiotherapy related data;

establishing corresponding three-dimensional model data according to the relevant data of the radiotherapy;

and converting the three-dimensional model data into a specified format to obtain the accelerator beam three-dimensional model and a target object related three-dimensional model.

4. The method according to claim 1, wherein the obtaining a registration result by performing virtual-real registration on the three-dimensional model related to the target object in the virtual image and the real positioning scene comprises:

acquiring a real-time picture of the real positioning scene;

obtaining the characteristic points of the real positioning scene according to the real-time picture;

and matching the three-dimensional model related to the target object in the virtual image to the corresponding position in the real positioning scene according to the characteristic points to obtain a registration result.

5. The method of claim 4, wherein the feature points correspond to position markers added to the skin of the target subject during a computed tomography CT scan.

6. The method of claim 5, wherein displaying the positioning results during the radiation therapy positioning comprises:

determining at least one target position according to the position and the visual angle of the target object in the real radiotherapy scene;

and displaying the positioning result at the target position through a display device.

7. The method according to any one of claims 2-6, wherein the target object data comprises: basic information of a target object, CT image data, plan information, structure set information and dosage information;

the target object-related three-dimensional model comprises: a target area three-dimensional model, an ROI three-dimensional model and a dose distribution three-dimensional model.

8. The utility model provides a put a position result visualization device based on virtual intelligent medical platform which characterized in that includes:

the virtual image construction module is used for obtaining a three-dimensional visual virtual image according to the target object data;

the virtual-real registration module is used for carrying out virtual-real registration on the three-dimensional model related to the target object in the virtual image and the real positioning scene to obtain a registration result;

the rendering module is used for combining the accelerator beam three-dimensional model in the virtual image and the registration result, and rendering to obtain a positioning result;

and the display module is used for displaying the positioning result in the radiotherapy positioning process.

9. The utility model provides a put a position result visualization device based on virtual intelligent medical platform which characterized in that includes:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to implement the method of any one of claims 1 to 7 when executing the memory-stored executable instructions.

10. A non-transitory computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the method of any of claims 1 to 7.

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