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WO2025189405A1 - Procédé d'utilisation de modèle tridimensionnel basé sur une bibliothèque de contenu de modèle médical - Google Patents

Procédé d'utilisation de modèle tridimensionnel basé sur une bibliothèque de contenu de modèle médical

Info

Publication number
WO2025189405A1
WO2025189405A1 PCT/CN2024/081549 CN2024081549W WO2025189405A1 WO 2025189405 A1 WO2025189405 A1 WO 2025189405A1 CN 2024081549 W CN2024081549 W CN 2024081549W WO 2025189405 A1 WO2025189405 A1 WO 2025189405A1
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WO
WIPO (PCT)
Prior art keywords
medical
dimensional
data
model
data file
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/081549
Other languages
English (en)
Chinese (zh)
Inventor
陈鑫
秦文健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Institute of Advanced Technology of CAS
Original Assignee
Shenzhen Institute of Advanced Technology of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Institute of Advanced Technology of CAS filed Critical Shenzhen Institute of Advanced Technology of CAS
Priority to PCT/CN2024/081549 priority Critical patent/WO2025189405A1/fr
Publication of WO2025189405A1 publication Critical patent/WO2025189405A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/30—Polynomial surface description

Definitions

  • the present application relates to the field of computer technology. Specifically, the present application relates to a method, device, electronic device and storage medium for using a three-dimensional model based on a medical model content library.
  • VR virtual reality
  • MR mixed reality
  • This new simulation-based teaching method can shorten students' clinical practice learning curve while ensuring medical safety during their learning process.
  • This application provides a method, device, electronic device, and storage medium for using a three-dimensional model based on a medical model content library, which can solve the problem in related technologies of being difficult to quickly provide medical three-dimensional scenes and model combinations in various scenarios.
  • the technical solution is as follows:
  • a method for using a three-dimensional model based on a medical model content library includes the following steps: when conducting medical simulation training, calling a medical virtual content library, wherein the medical virtual content library is obtained by storing three-dimensional data files; wherein medical content data, medical instrument data, and medical operation scene data are obtained, and the medical content data is converted into a three-dimensional medical content data file, the medical instrument data is converted into a three-dimensional medical instrument data file, and the medical operation scene data is converted into a three-dimensional medical operation scene data file; the three-dimensional medical content data file, the three-dimensional medical instrument data file, and the three-dimensional medical operation scene data file are stored to obtain a corresponding medical virtual content library; obtaining demand data, indexing a corresponding target three-dimensional data file in the medical virtual content library based on the demand data, and retrieving a corresponding target three-dimensional model based on the target three-dimensional medical file, wherein the demand data is the attributes corresponding to the model required for simulation training.
  • a three-dimensional model using device based on a medical model content library includes:
  • a file acquisition module calls a medical virtual content library, which stores three-dimensional data files; wherein the module acquires medical content data, medical instrument data, and medical operation scene data, and the user converts the medical content data into a three-dimensional medical content data file, the medical instrument data into a three-dimensional medical instrument data file, and the medical operation scene data into a three-dimensional medical operation scene data file;
  • a storage module configured to store the three-dimensional medical content data file, the three-dimensional medical instrument data file, and the three-dimensional medical operation scene data file, and obtain a corresponding medical virtual content library
  • the retrieval module obtains the demand data, indexes the corresponding target three-dimensional data file in the medical virtual content library based on the demand data, and retrieves the corresponding target three-dimensional model based on the target three-dimensional medical file, wherein the demand data is the attributes corresponding to the model required for simulation training.
  • the apparatus further includes but is not limited to:
  • a medical image acquisition module is used to acquire medical images in different states, wherein the medical images include normal and diseased images;
  • Classification module used to classify all medical images based on organs and tissues
  • the content determination module segments all classified medical images to obtain corresponding target areas, and is used to determine the target areas as medical content data, wherein the target areas are areas where organs and tissues are located in the medical images.
  • the apparatus further includes but is not limited to:
  • a label data acquisition module configured to acquire corresponding label data based on the organs and tissues corresponding to the target area
  • a target three-dimensional medical model acquisition module which performs three-dimensional reconstruction and rendering on the target area to obtain a corresponding target three-dimensional medical model
  • the 3D medical content model file determination module is configured to associate the tag data with the target 3D medical model to determine a corresponding 3D medical content data file.
  • the apparatus further includes but is not limited to:
  • a multi-view image acquisition module for acquiring a corresponding multi-view image set based on multiple angles, wherein the multi-view image set includes point cloud images of multiple angles;
  • a feature point extraction module is used to extract feature points based on the multi-view image set and calculate the three-dimensional coordinates corresponding to the feature points, wherein the feature points include corner points and edge points;
  • a reconstruction module is used to reconstruct a three-dimensional model based on the three-dimensional coordinates of the feature points, wherein the three-dimensional model includes a medical instrument model and a medical operation scene model.
  • the apparatus further includes but is not limited to:
  • a classification data acquisition module is used to obtain classification data corresponding to the three-dimensional model
  • a classification module which is used to classify each three-dimensional model level by level based on the classification data, wherein when the three-dimensional model is classified level by level, each level corresponds to a level label;
  • the three-dimensional data file acquisition module associates the three-dimensional model with all corresponding hierarchical labels to obtain the corresponding three-dimensional data file, wherein the three-dimensional data file includes the three-dimensional medical instrument data file and the three-dimensional medical operation scene data file.
  • the apparatus further includes but is not limited to:
  • a limited index determination module is used to determine the corresponding limited index after the user enters the interface corresponding to the medical virtual content library, wherein the interface includes scene limitation, instrument limitation and part limitation;
  • a target three-dimensional data file determining module which searches a corresponding limited index based on the requirement data to determine a corresponding target three-dimensional data file
  • a download module used for downloading the model storage format corresponding to the target three-dimensional data file
  • the output module determines the storage format of the downloaded model as the target three-dimensional model and uses it for output.
  • an electronic device includes at least one processor and at least one memory, wherein the memory stores computer-readable instructions; the computer-readable instructions are executed by one or more of the processors, so that the electronic device implements a method for using a three-dimensional model based on a medical model content library as described above.
  • a storage medium stores computer-readable instructions thereon, and the computer-readable instructions are executed by one or more processors to implement the above-mentioned method for using a three-dimensional model based on a medical model content library.
  • a computer program product includes computer-readable instructions, which are stored in a storage medium.
  • One or more processors of an electronic device read the computer-readable instructions from the storage medium, load and execute the computer-readable instructions, so that the electronic device implements a three-dimensional model usage method based on a medical model content library as described above.
  • a medical virtual content library is called, and the medical virtual content library is obtained by storing three-dimensional data files; wherein, medical content data, medical instrument data and medical operation scene data are obtained, and the medical content data is converted into a three-dimensional medical content data file, the medical instrument data is converted into a three-dimensional medical instrument data file and the medical operation scene data is converted into a three-dimensional medical operation scene data file; the three-dimensional medical content data file, the three-dimensional medical instrument data file and the three-dimensional medical operation scene data file are stored to obtain a corresponding medical virtual content library; demand data is obtained, and the corresponding target three-dimensional data file is indexed in the medical virtual content library based on the demand data, and the target three The corresponding target three-dimensional medical file is retrieved, wherein the demand data is the attributes corresponding to the model required for simulation training; in the process of building a medical virtual content library, by integrating the existing information related to medical training assessment in the early stage, such as disease images corresponding to organs and tissues
  • FIG1 is a schematic diagram of an implementation environment according to the present application.
  • FIG2 is a flow chart showing a method for using a three-dimensional model based on a medical model content library according to an exemplary embodiment
  • FIG3 is a flowchart of steps S120 to S140 in a method for using a three-dimensional model based on a medical model content library according to an exemplary embodiment
  • FIG4 is a flowchart from S1210 to S1212 in a method for using a three-dimensional model based on a medical model content library according to an exemplary embodiment
  • FIG5 is a flowchart from S1220 to S1222 in a method for using a three-dimensional model based on a medical model content library according to an exemplary embodiment
  • FIG6 is a flowchart from S1311 to S1313 of a method for using a three-dimensional model based on a medical model content library according to an exemplary embodiment
  • FIG7 is a schematic diagram of a file naming format for converting medical content data into a three-dimensional medical content data file
  • FIG8 is a flowchart from S1321 to S1323 of a method for using a three-dimensional model based on a medical model content library according to an exemplary embodiment
  • FIG9 is a schematic diagram of a file naming format for converting medical operation scene data into a three-dimensional medical operation scene data file
  • FIG10 is a schematic diagram of the file naming format for converting medical device data into a three-dimensional medical device data file
  • FIG11 is a flowchart of steps S210 to S240 in a method for using a three-dimensional model based on a medical model content library according to an exemplary embodiment
  • FIG12 is a schematic diagram of the system interface corresponding to a user entering a medical virtual content library
  • FIG13 is a structural block diagram of a device for using a three-dimensional model based on a medical model content library according to an exemplary embodiment
  • Fig. 14 is a structural block diagram of an electronic device according to an exemplary embodiment.
  • FIG1 is a schematic diagram of an implementation environment involved in a method for using a three-dimensional model based on a medical model content library, wherein the implementation environment includes a collection end 110 and a service end 130 .
  • the acquisition end 110 can also be considered as an image acquisition device, which is used to obtain medical images, medical content data, medical instrument data, medical operation scene data, etc. in different states.
  • Server 130 can be an electronic device such as a desktop computer, laptop computer, or server. It can also be a computer cluster consisting of multiple servers, or even a cloud computing center consisting of multiple servers. Server 130 is used to provide background services, such as, but not limited to, providing 3D model usage services.
  • a network communication connection is pre-established between the server 130 and the acquisition terminal 110 via a wired or wireless method, and data transmission between the server 130 and the acquisition terminal 110 is achieved through the network communication connection.
  • the transmitted data includes, but is not limited to, medical images, medical content data, medical device data, medical operation scene data, etc.
  • the use of three-dimensional models based on the medical model content library can be realized, which greatly simplifies user operations and helps to improve user experience.
  • the medical virtual content library is constructed on mobile phones by making medical-related three-dimensional models in advance.
  • the demand data is the attributes corresponding to the model required for simulation training, that is, what type of model is needed. It can be the corresponding purpose and function, or it can directly correspond to the name of the model, and the model naming method in the medical virtual content library is changed.
  • the medical virtual content library is obtained by storing three-dimensional data files. Referring to Figure 3, the specific construction process is as follows:
  • the method of acquiring data varies depending on the type of medical data.
  • the process of acquiring medical content referring to FIG. 4 , specifically includes the following steps:
  • medical images include normal and diseased images.
  • each image is classified according to its corresponding organ and tissue.
  • the images of different organ and tissue types are included in normal conditions and diseased conditions.
  • the images of diseased conditions are further subdivided according to different diseases.
  • S1212 Segment all classified medical images to obtain corresponding target areas, and determine the target areas as medical content data.
  • the target area is the area where the organs and tissues are located in the medical image.
  • it needs to be outlined by professional radiologists.
  • it can be trained through a deep neural network. After the training converges, the deep neural network user that meets the requirements will outline the image, thereby improving the efficiency of medical image outlining; and the area corresponding to the outlined image is used as the target area, and the target area is the medical content data that needs to be collected.
  • the multi-view image set includes images from multiple perspectives, and medical devices and operation scenes are photographed using multiple cameras or from different angles to obtain image data of sufficient quantity and coverage.
  • S1221 Extract feature points based on the multi-view image set, and calculate the three-dimensional coordinates corresponding to the feature points.
  • feature points include corner points and edge points; at the same time, feature matching can be performed between different views to establish the correspondence between feature points.
  • the reconstruction process it is necessary to calculate the three-dimensional coordinates of the points based on the results of feature matching and use methods such as triangulation to generate preliminary point cloud data, and optimize the preliminary generated point cloud data, including removing noise points, smoothing, coordinate transformation, etc., to improve the quality and accuracy of the point cloud.
  • a surface reconstruction algorithm such as Poisson reconstruction, Delaunay triangulation, etc.
  • the three-dimensional model is also a three-dimensional point cloud model, and the three-dimensional model includes a medical device model and a medical operation scene model.
  • S1313 Associate the label data with the target three-dimensional medical model to determine a corresponding three-dimensional medical content data file.
  • the process of acquiring medical images based on the current medical images, it is necessary to determine the basic information corresponding to the current medical images. For example, "the patient's gender is male, the body part is the abdomen, the organ is the liver, and the corresponding disease name is benign liver tumor 10mm" can be used as the label data corresponding to the target area. Then, based on the label data, the developed 3D reconstruction software is used to reconstruct and render the outlined target area to obtain the required target medical 3D model. Finally, the label data is associated with the target 3D medical model to obtain the corresponding 3D medical content data file.
  • S1322 Classify each three-dimensional model level by level based on the classification data. When classifying the three-dimensional model level by level, each level corresponds to a level label.
  • the three-dimensional data file includes a three-dimensional medical instrument data file and the three-dimensional medical operation scene data file.
  • the demand data is obtained, the corresponding target three-dimensional data file is indexed in the medical virtual content library based on the demand data, and the corresponding target three-dimensional model is retrieved based on the target three-dimensional medical file, wherein the demand data is the attributes corresponding to the model required for simulation training.
  • the interface includes scene limitation, instrument limitation and part limitation.
  • the required model type is described in the requirement data. For example, if you need to find scalpel No. 3, you can directly select the instrument limitation and then search the instrument model database index to obtain the target three-dimensional data file corresponding to scalpel No. 3.
  • S240 Determine the storage format of the downloaded model as a target three-dimensional model and output it.
  • 3D content selection output can be generated to meet the needs of doctors.
  • select the teaching and research scenario For teaching the diagnosis of gastric lesions, you can limit the index to the stomach in the site selection, and randomly generate multiple 3D stomach models with different lesions for medical teaching.
  • For anatomy teaching you can select anatomy teaching in the scene, select anatomical surgical instruments in the instrument selection, and generate one for each site in the site selection, which can meet the needs of our subsequent mixed reality anatomy medical development.
  • the required models can be directly selected and searched on the client side, and then downloaded for use.
  • This realizes the construction of a three-dimensional content library suitable for medical mixed reality, and can automatically provide and select multiple three-dimensional models according to subsequent mixed reality development scenarios, thereby quickly providing medical three-dimensional scenes and model combinations in multiple scenarios, which is suitable for medical teaching, training and assessment.
  • the following is an embodiment of the device of the present application, which can be used to implement a method for using a three-dimensional model based on a medical model content library involved in this application.
  • a method for using a three-dimensional model based on a medical model content library involved in this application please refer to the method embodiment of a method for using a three-dimensional model based on a medical model content library involved in this application.
  • the present application provides a three-dimensional model using device based on a medical model content library, with reference to FIG13 , including but not limited to:
  • the file acquisition module 300 calls a medical virtual content library, which stores three-dimensional data files; wherein the module acquires medical content data, medical instrument data, and medical operation scene data; and the user converts the medical content data into a three-dimensional medical content data file, the medical instrument data into a three-dimensional medical instrument data file, and the medical operation scene data into a three-dimensional medical operation scene data file;
  • the storage module 310 is configured to store the 3D medical content data file, the 3D medical instrument data file, and the 3D medical operation scene data file to obtain a corresponding medical virtual content library;
  • the retrieval module 320 obtains the required data, indexes the corresponding target three-dimensional data file in the medical virtual content library based on the required data, and retrieves the corresponding target three-dimensional model based on the target three-dimensional medical file, wherein the required data is the attributes corresponding to the model required for simulation training.
  • the apparatus further includes, but is not limited to:
  • the medical image acquisition module 400 is used to acquire medical images in different states, wherein the medical images include normal and diseased images;
  • Classification module 410 used to classify all medical images based on organs and tissues
  • the content determination module 420 segments all classified medical images to obtain corresponding target regions, and is used to determine the target regions as medical content data, wherein the target regions are regions where organs and tissues are located in the medical images.
  • the apparatus further includes, but is not limited to:
  • a label data acquisition module 500 is used to acquire corresponding label data based on the organs and tissues corresponding to the target area;
  • a target three-dimensional medical model acquisition module 510 performs three-dimensional reconstruction and rendering on the target area to obtain a corresponding target three-dimensional medical model
  • the 3D medical content model file determination module 520 is configured to associate the tag data with the target 3D medical model to determine a corresponding 3D medical content data file.
  • the apparatus further includes, but is not limited to:
  • a multi-view image acquisition module 600 is used to acquire a corresponding multi-view image set based on multiple angles, wherein the multi-view image set includes point cloud images of multiple angles;
  • a feature point extraction module 610 is configured to extract feature points based on the multi-view image set and calculate the three-dimensional coordinates corresponding to the feature points, wherein the feature points include corner points and edge points;
  • the reconstruction module 620 is used to reconstruct a three-dimensional model based on the three-dimensional coordinates of the feature points, wherein the three-dimensional model includes a medical instrument model and a medical operation scene model.
  • the apparatus further includes, but is not limited to:
  • the classification data acquisition module 700 is used to obtain classification data corresponding to the three-dimensional model
  • a classification module 710 is configured to classify each 3D model into different levels based on the classification data, wherein each level has a corresponding level label when classifying the 3D model into different levels.
  • the 3D data file acquisition module 720 associates the 3D model with all corresponding hierarchical tags to obtain the corresponding 3D data file, wherein the 3D data file includes the 3D medical instrument data file and the 3D medical operation scene data file.
  • the apparatus further includes, but is not limited to:
  • the limited index determination module 800 is used to determine the corresponding limited index after the user enters the interface corresponding to the medical virtual content library, wherein the interface includes scene limitation, instrument limitation and part limitation;
  • a target three-dimensional data file determining module 810 searches a corresponding limited index based on the requirement data to determine a corresponding target three-dimensional data file;
  • a download module 820 is used to download the model storage format corresponding to the target three-dimensional data file
  • the output module 830 determines the storage format of the downloaded model as the target three-dimensional model for output.
  • the above embodiment provides a three-dimensional model usage device based on a medical model content library.
  • the division of the above-mentioned functional modules is only used as an example.
  • the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of a three-dimensional model usage device based on a medical model content library will be divided into different functional modules to complete all or part of the functions described above.
  • the three-dimensional model usage device based on the medical model content library and the three-dimensional model usage method based on the medical model content library provided in the above embodiment belong to the same concept, and the specific way in which each module performs operations has been described in detail in the method embodiment and will not be repeated here.
  • An electronic device 4000 is provided in an embodiment of the present application.
  • the electronic device 4000 may include a desktop computer, a laptop computer, a server, etc.
  • the electronic device 4000 includes at least one processor 4001 and at least one memory 4003 .
  • the communication bus 4002 may include a path for transmitting data between the processor 4001 and the memory 4003.
  • the communication bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc.
  • the communication bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in FIG14, but this does not mean that there is only one bus or one type of bus.
  • the electronic device 4000 may further include a transceiver 4004, which may be used for data exchange between the electronic device and other electronic devices, such as data transmission and/or data reception.
  • a transceiver 4004 may be used for data exchange between the electronic device and other electronic devices, such as data transmission and/or data reception.
  • the number of transceivers 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.
  • Processor 4001 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.
  • the memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program instructions or codes in the form of instructions or data structures and can be accessed by the electronic device 400, but is not limited to these.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • CD-ROM Compact Disc Read Only Memory
  • optical disc storage including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.
  • a disk storage medium or other magnetic storage device or any
  • Computer-readable instructions are stored in the memory 4003 , and the processor 4001 can read the computer-readable instructions stored in the memory 4003 through the communication bus 4002 .
  • the computer-readable instructions are executed by one or more processors 4001 to implement the method for using a three-dimensional model based on a medical model content library in the above-mentioned embodiments.
  • an embodiment of the present application provides a storage medium on which computer-readable instructions are stored.
  • the computer-readable instructions are executed by one or more processors to implement the above-mentioned method for using a three-dimensional model based on a medical model content library.
  • a computer program product which includes computer-readable instructions.
  • the computer-readable instructions are stored in a storage medium.
  • One or more processors of an electronic device read the computer-readable instructions from the storage medium, load and execute the computer-readable instructions, so that the electronic device implements the three-dimensional model usage method based on the medical model content library as described above.
  • this technology combines medical images collected from various scenarios, segmenting and reconstructing regions of interest to generate 3D medical models for multiple locations and scenarios.
  • This model then creates a 3D content library based on location and medical descriptions.
  • the rich 3D medical resources provided for mixed reality medical training and instruction can quickly provide different 3D models based on specific needs, simulating the demand for medical 3D models in various scenarios. This significantly improves the efficiency of medical teaching and training using mixed reality, addressing doctors' need for medical 3D models in a variety of different states.

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Abstract

La présente demande se rapporte au domaine technique des ordinateurs, et concerne un procédé et un appareil d'utilisation de modèle tridimensionnel basés sur une bibliothèque de contenu de modèle médical, un dispositif électronique et un support de stockage. Le procédé comprend les étapes suivantes : lors de la réalisation d'un entraînement de simulation médicale, invoquer une bibliothèque de contenu virtuel médical, la bibliothèque de contenu virtuel médical étant obtenue en stockant des fichiers de données tridimensionnels ; et obtenir des données de demande, rechercher dans la bibliothèque de contenu virtuel médical un fichier de données tridimensionnel cible correspondant sur la base des données de demande, et invoquer un modèle tridimensionnel cible correspondant sur la base d'un fichier médical tridimensionnel cible. La présente demande résout le problème de l'état de la technique de la manière de fournir rapidement des scènes tridimensionnelles médicales et des modes correspondants dans diverses scènes.
PCT/CN2024/081549 2024-03-13 2024-03-13 Procédé d'utilisation de modèle tridimensionnel basé sur une bibliothèque de contenu de modèle médical Pending WO2025189405A1 (fr)

Priority Applications (1)

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PCT/CN2024/081549 WO2025189405A1 (fr) 2024-03-13 2024-03-13 Procédé d'utilisation de modèle tridimensionnel basé sur une bibliothèque de contenu de modèle médical

Applications Claiming Priority (1)

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PCT/CN2024/081549 WO2025189405A1 (fr) 2024-03-13 2024-03-13 Procédé d'utilisation de modèle tridimensionnel basé sur une bibliothèque de contenu de modèle médical

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CN106898043A (zh) * 2017-02-08 2017-06-27 上海维尔盛视智能科技有限公司 一种基于虚拟现实的医学影像系统
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CN108805648A (zh) * 2017-04-19 2018-11-13 苏州宝时得电动工具有限公司 虚拟现实系统及其控制方法
US20200038119A1 (en) * 2017-03-24 2020-02-06 Surgical Theater LLC System and method for training and collaborating in a virtual environment
CN117437365A (zh) * 2023-12-20 2024-01-23 中国科学院深圳先进技术研究院 医学三维模型的生成方法、装置、电子设备及存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106898043A (zh) * 2017-02-08 2017-06-27 上海维尔盛视智能科技有限公司 一种基于虚拟现实的医学影像系统
US20200038119A1 (en) * 2017-03-24 2020-02-06 Surgical Theater LLC System and method for training and collaborating in a virtual environment
CN106974730A (zh) * 2017-04-01 2017-07-25 上海术理智能科技有限公司 基于虚拟现实和医学影像的手术模拟方法、装置和设备
CN108805648A (zh) * 2017-04-19 2018-11-13 苏州宝时得电动工具有限公司 虚拟现实系统及其控制方法
CN117437365A (zh) * 2023-12-20 2024-01-23 中国科学院深圳先进技术研究院 医学三维模型的生成方法、装置、电子设备及存储介质

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