CN110738729A - puncture guide plate three-dimensional model generation method, computer equipment and storage medium - Google Patents
puncture guide plate three-dimensional model generation method, computer equipment and storage medium Download PDFInfo
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- CN110738729A CN110738729A CN201910960971.3A CN201910960971A CN110738729A CN 110738729 A CN110738729 A CN 110738729A CN 201910960971 A CN201910960971 A CN 201910960971A CN 110738729 A CN110738729 A CN 110738729A
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Abstract
The invention is applicable to the technical field of medical instruments, and provides puncture guide plate three-dimensional model generation methods, computer equipment and storage media, wherein the puncture guide plate three-dimensional model generation method comprises the steps of constructing a three-dimensional model of a region to be punctured, determining the position and direction information of a th puncture point on the three-dimensional model of the region to be punctured based on selection operation of a user, constructing a puncture guide plate base three-dimensional model, constructing a guide pipeline three-dimensional model on the puncture guide plate main body three-dimensional model based on the position and direction information of the th puncture point, and generating a positioning hole three-dimensional model on the puncture guide plate main body three-dimensional model.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a method for generating puncture guide plate three-dimensional models, computer equipment and a storage medium.
Background
With the continuous development of computer technology, computer-aided diagnosis (CAD) plays an increasingly important role in clinics. A doctor acquires a CT image of a patient, segments an interested organ and tissue in a binary image form by a computer image processing technology, and then carries out three-dimensional reconstruction by adopting a graphic technology so as to obtain a three-dimensional grid model of the organ and the tissue. Compared with the traditional two-dimensional image diagnosis, by means of the three-dimensional model of the pathological organ and the tissue, a doctor can observe and know the pathological condition of a patient from multiple angles and in all directions, so that the disease condition and the illness state of the patient can be diagnosed and evaluated more accurately. In addition, on the three-dimensional model, a doctor can determine the needle inserting point and the needle inserting direction of the puncture needle on the reconstructed skin model, design a puncture guide plate which is attached to the skin in a three-dimensional modeling mode, and then print the model in a 3D printing mode to be used as an auxiliary tool for puncture in an actual operation.
The existing guide plate generation method is mainly to design the puncture guide plate through three-dimensional modeling software such as 3dmax, Maya and the like.
3dmax, Maya and other three-dimensional modeling software has a strong network model editing function, but the use of the three-dimensional modeling software is relatively complex, and a user needs to do a lot of learning and training to operate the software well.
Disclosure of Invention
The embodiment of the invention aims to provide puncture guide plate three-dimensional model generation methods, and aims to solve the problems that three-dimensional modeling software such as 3dmax, Maya and the like is relatively complex to use and needs a large amount of learning and training of users to operate the software functions well.
The embodiment of the invention is realized in such a way that puncture guide plate three-dimensional model generation methods comprise the following steps:
constructing a three-dimensional model of a region to be punctured, and determining th puncture point position and direction information on the three-dimensional model of the region to be punctured based on selection operation of a user;
constructing a three-dimensional model of a puncture guide plate base, wherein the three-dimensional model of the puncture guide plate base is provided with a surface which is profiled with the skin contour of the three-dimensional model of the area to be punctured;
constructing a three-dimensional model of a guide pipeline on the three-dimensional model of the puncture guide plate base based on the position and direction information of the th puncture point;
and generating a positioning hole three-dimensional model on the puncture guide plate base three-dimensional model.
The embodiment of the present invention further provides computer devices, which include a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the steps of the three-dimensional model generation method of the puncture guide plate described in any items of the above methods.
There is further provided computer readable storage media having stored thereon a computer program, which when executed by a processor, causes the processor to execute the steps of the method for generating a three-dimensional model of a penetration guide described in any of the above methods
According to the puncture guide plate three-dimensional model generation method provided by the embodiment of the invention, the puncture point and the puncture direction are selected from the three-dimensional model of the region to be punctured, the puncture guide plate base three-dimensional model is constructed based on the three-dimensional model of the region to be punctured, the guide pipeline three-dimensional model is constructed based on the puncture point and the puncture direction, and the positioning hole three-dimensional model is generated on the puncture guide plate base three-dimensional model, so that a user can rapidly generate the puncture guide plate three-dimensional model according to the method through simple operation.
Drawings
FIG. 1 is a flowchart illustrating an implementation of a method for generating a three-dimensional model of an kind of puncture guide plate according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating an implementation of a second method for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating an implementation of a third method for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating an implementation of a fourth method for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating an implementation of a fifth method for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating another methods for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating an implementation of a method for generating three-dimensional models of kinds of puncture guide plates according to an embodiment of the present invention;
FIG. 8 is a flowchart illustrating an implementation of another methods for generating three-dimensional models of a puncture guide plate according to an embodiment of the present invention;
FIG. 9 is a scanned image of a liver tumor provided by an embodiment of the present invention;
FIG. 10 is a schematic view of indicating the puncture location and direction information according to an embodiment of the present invention;
FIG. 11 is a schematic view of the adjustment control direction provided by the embodiment of the present invention;
FIG. 12 is a schematic diagram of determining a target area according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of a three-dimensional model of a penetration guide provided in an embodiment of the present invention;
fig. 14 is a schematic diagram of a three-dimensional model of a positioning hole according to an embodiment of the present invention.
Detailed Description
For purposes of making the objects, aspects and advantages of the present invention more apparent, the present invention will be described in detail below with reference to the accompanying drawings and examples.
It is to be understood that the terms "," "second," and the like as used herein may be used herein to describe various elements, but these elements are not limited by these terms unless otherwise specified.these terms are used merely to distinguish the th element from the other elements.for example, a xx script may be referred to as a second xx script, and similarly, the second xx script may be referred to as an xx script without departing from the scope of this application.
In the embodiment of the invention, the puncture point and the puncture direction are selected on the three-dimensional model of the region to be punctured, the three-dimensional model of the puncture guide plate base is constructed based on the three-dimensional model of the region to be punctured, the three-dimensional model of the guide pipeline is constructed based on the puncture point and the puncture direction, and the three-dimensional model of the positioning hole is generated on the three-dimensional model of the puncture guide plate base, so that a user can quickly generate the three-dimensional model of the puncture guide plate according to the method through simple.
By way of example, the method for generating the three-dimensional model of the puncture guide plate can be used for auxiliary equipment in medical puncture, the equipment comprises an image acquisition device and an image processing device, the image acquisition device can be a medical scanning device such as CT, MRI and the like, and the image processing device can be a computer and the like. The three-dimensional model of the puncture guide plate can be constructed by processing the organ tissue structure image acquired by the image acquisition device by using the three-dimensional model generation method of the puncture guide plate, and the three-dimensional model generation method of the puncture guide plate is stored in the image processing device. As shown in fig. 9 to 14, the workflow of the method is shown by taking the three-dimensional model generation of the liver tumor puncture guide as an example.
Fig. 1 shows a flowchart of an implementation of a th puncture guide plate three-dimensional model generation method provided by an embodiment of the present invention, which is detailed as follows:
step S102, constructing a three-dimensional model of the region to be punctured, and determining th puncture point position and direction information on the three-dimensional model of the region to be punctured based on the selection operation of the user.
In the embodiment of the invention, a region to be punctured is a region which a designer designing a three-dimensional model of a puncture guide plate on body surface skin wants to puncture, a puncture point is a puncture point selected by a user on the three-dimensional model of the guide plate to be punctured, a puncture point is a region which is interested by the user, such as a liver tumor position, and a puncture point direction refers to a direction in which the user controls puncture of a puncture needle.
In the embodiment of the invention, the puncture point is a point which a user wants to puncture in the region to be punctured, and the th puncture point refers to a point which the user punctures on a three-dimensional model of the region to be punctured
As shown in the position and direction information 3 of the th puncture point shown in fig. 10 and 11, in the embodiment of the present invention, a user may select the th puncture point on the three-dimensional model of the region to be punctured by mouse clicking, dots appear on the th puncture point in the three-dimensional model of the region to be punctured after selecting the th puncture point, the dot may be dragged in any direction by clicking and holding the dot with a mouse, the dragged direction is the th puncture point direction, meanwhile, the puncture radius may be adjusted in real time by using a mouse wheel, the current th puncture point direction and puncture radius are identified by cylinders in real time, the color of the cylinder may be blue, the th puncture point and direction may be quickly selected by a simple operation of the user, thereby reducing the learning cost of the user and improving the design efficiency of the puncture guide.
And S104, constructing a three-dimensional model of the base of the puncture guide plate, wherein the three-dimensional model of the base of the puncture guide plate is provided with a surface which is similar to the skin contour of the three-dimensional model of the area to be punctured.
In the embodiment of the invention, the three-dimensional model of the base of the puncture guide plate is a closed structure formed by connecting surfaces, and the profiling surface is a surface which is attached to the skin contour of the three-dimensional model of the region to be punctured.
As possible embodiments of the present invention, the specific steps of constructing the three-dimensional model of the base of the puncture guide plate with a surface that follows the skin contour of the three-dimensional model of the area to be punctured are described with reference to FIG. 2 and its explanation.
And step S106, constructing a three-dimensional model of a guide pipeline on the three-dimensional model of the base of the puncture guide plate based on the position and direction information of the th puncture point.
In the embodiment of the invention, the three-dimensional model of the guide pipeline refers to a channel through which a puncture needle passes when puncture is performed.
As possible embodiments of the present invention, the specific steps for constructing the three-dimensional model of the guiding tube on the three-dimensional model of the base of the puncture guide plate based on the position and direction information of the puncture point refer to fig. 5 and its explanation.
And S108, generating a positioning hole three-dimensional model on the puncture guide plate base three-dimensional model.
In the embodiment of the invention, the positioning hole can be a through hole or a blind hole, which is a position convenient for placing the three-dimensional model of the base of the puncture guide plate on the area to be punctured in advance during puncturing.
As possible embodiments of the present invention, the specific steps for generating the three-dimensional model of the positioning hole on the three-dimensional model of the base of the puncture guide plate are shown in FIG. 8 and the explanation thereof.
In the embodiment of the invention, the puncture point and the puncture direction are selected on the three-dimensional model of the region to be punctured, the three-dimensional model of the puncture guide plate base is constructed based on the three-dimensional model of the region to be punctured, the three-dimensional model of the guide pipeline is constructed based on the puncture point and the puncture direction, and the three-dimensional model of the positioning hole is generated on the three-dimensional model of the puncture guide plate base, so that a user can quickly generate the three-dimensional model of the puncture guide plate according to the method through simple.
Fig. 2 shows a flowchart of an implementation of a second method for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention, which is detailed as follows:
in the embodiment of the present invention, the step S104 specifically includes a step S202 and a step S204.
Step S202, constructing an th surface of the three-dimensional model of the base of the puncture guide plate, which is profiled with the skin contour, based on the skin contour of the three-dimensional model of the region to be punctured.
In an embodiment of the present invention, side refers to the side that follows the contour of the skin.
As possible embodiments of the present invention, please refer to FIG. 3 and the explanation thereof for the specific steps of constructing side of the three-dimensional model of the base of the puncturing guide plate which is profiled with the skin contour based on the skin contour of the three-dimensional model of the area to be punctured.
And step S204, constructing other surfaces which are connected with the boundary of the th surface to form a closed structure.
In the embodiment of the invention, the other surfaces and the th surface are combined into whole, namely, the base model of the puncture guide plate, the shapes of the other surfaces are not limited, and the other surfaces can also be matched with the contour of the skin.
As possible embodiments of the present invention, please refer to fig. 4 and its explanation for the specific steps of constructing other sides of the closed structure connected to the boundary of the side.
Fig. 3 shows a flowchart of an implementation of a third method for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention, which is detailed as follows:
in the embodiment of the present invention, the step S202 specifically includes a step S302 and a step S304
Step S302, determining a target area comprising the th puncture point and a preset mark position on the skin contour of the three-dimensional model of the area to be punctured based on the selection operation of the user.
In the embodiment of the invention, the preset mark position refers to that a user fixedly places no less than 3 raised mark positions on the body surface skin of the region to be punctured in advance, the three-dimensional model of the region to be punctured, which is constructed by dividing the scanned two-dimensional image through the binary image and performing three-dimensional reconstruction, contains the preset mark position, and the specific step of constructing the three-dimensional model of the region to be punctured can be referred to the explanation of the step S102.
As shown in FIG. 12, as preferred embodiments of the present invention, 6 control points 4 (only by way of example, and the number is not limited) are selected on the skin contour around the puncture point and 3 preset mark positions, and the area enclosed by the 6 control points 4 is the target area.
In step S304, a surface following the skin contour of the target region, i.e., the th surface, is constructed.
In the embodiment of the invention, the target region is copied through the copying operation of the user, and the target region is extracted from the three-dimensional model of the region to be punctured, the extracted surface is the th surface, since the target region is selected from the skin contour, the target region is attached to the skin contour, and the st surface is extracted by copying the target contour from the skin contour, the th surface is attached to the skin contour, that is, the th surface is copied to the skin contour of the target region.
Fig. 4 shows a flowchart of an implementation of a fourth method for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention, which is detailed as follows:
in the embodiment of the present invention, the step S204 specifically includes a step S402 and a step S404.
And step S402, copying the th surface, and performing outward translation processing on the copied surface to form a second surface.
, the th surface is the back surface of the three-dimensional model of the base of the puncture guide plate and is attached to the outline of the skin, the second surface is the front surface of the three-dimensional model of the base of the puncture guide plate and is far away from the skin, and the translation distance is the thickness of the three-dimensional model of the base of the puncture guide plate because the second surface is formed by translating the copy surface of the th surface.
Step S404, the boundary of the th surface and the boundary of the second surface are connected to form a third surface.
In the embodiment of the invention, the boundary of the th surface is connected with the boundary of the second surface to form a closed structure, and the curved surface connecting the boundary of the th surface with the boundary of the second surface is the third surface.
In the preferred embodiments of the invention, the th surface, the second surface and the third surface are all triangular mesh models, the th surface and the second surface have the outward direction of the skin as normal vectors, the th surface is inverted in the direction opposite to the vertex direction of the triangle on the second surface, the boundary of the th surface and the boundary of the second surface are detected and extracted, and the boundary of the th surface and the boundary of the second surface are triangulated to obtain the third surface, the purpose of inverting the th surface in the direction of the vertex is to make the normal vector of the vertex of the triangle of the third surface equal to the outward direction of the skin , so that the third surface is formed as the cylindrical curved surface , which is convenient for final rendering after modeling is completed, and if the direction of the vertex of the triangle of the th surface is not inverted, the formed is irregular, and rendering is difficult.
Fig. 5 shows a flowchart of an implementation of a fifth method for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention, which is detailed as follows:
in the embodiment of the present invention, the step S106 specifically includes steps S502 to S516.
Step S502 of determining position and direction information of a second puncture point corresponding to the puncture point on the th surface based on the position and direction information of the th puncture point.
In the embodiment of the invention, the th puncture point position and direction information is determined by the user's selection operation on the three-dimensional model of the region to be punctured, the th surface is generated by the user selecting groups of control points around the th puncture point and the preset mark position in the skin contour of the three-dimensional model of the region to be punctured, regions are enclosed as target regions, the target regions contain th puncture point position and direction information, the th surface is extracted by the user copying the target regions from the skin contour of the three-dimensional model of the region to be punctured, and then the th puncture point position and direction information contained in the target regions is copied to the th surface to form th surface second puncture point position and direction information.
Step S504 is to generate a th puncture hole boundary on the th plane based on the position and direction information of the second puncture point.
In the embodiment of the present invention, the th puncture hole boundary refers to circular holes cut from the th plane of the second puncture point, and the boundary on the hole is the th puncture hole boundary.
As possible embodiments of the present invention, the specific steps for generating the th puncture hole boundary on the th plane based on the information of the position and direction of the second puncture point refer to fig. 6 and its explanation.
Step S506, after copying the th puncture hole boundary, translating the copied boundary outward along the direction of the second puncture point to a position with a distance equal to the sum of the length of the three-dimensional model of the guide duct and the thickness of the three-dimensional model of the puncture guide plate, and generating a second puncture hole boundary.
In an embodiment of the invention, the thickness of the three-dimensional model of the puncture guide plate is the distance between the th surface and the second surface.
In the embodiment of the invention, the length of the three-dimensional model of the guide pipeline can be selected and adjusted according to the actual requirement of a user, the direction of the second puncture point is the direction of the puncture needle puncturing into the body surface skin, the outward direction of the second puncture point is the direction opposite to the direction of the second puncture point, after the puncture hole boundary is copied by the user, the copied hole boundary is moved along the direction opposite to the direction of the second puncture point, the moving distance can be adjusted according to the requirement of the user, but the distance must be greater than the thickness of the three-dimensional model of the puncture guide plate, namely, the distance between the th surface and the second surface, the length exceeding the thickness of the three-dimensional model of the puncture guide pipeline is the length of the three-dimensional model of the guide pipeline, and the determined hole boundary after the movement is the second puncture hole boundary.
Step S508, the th puncture hole boundary and the second puncture hole boundary are connected to form a three-dimensional model of the inner wall of the guiding duct.
In the embodiment of the present invention, the three-dimensional model of the guiding tube is divided into the inner wall model of the guiding tube and the outer wall model of the guiding tube, and the closed structure formed by the connection of the boundary of the th puncture hole formed by the second puncture point in the th plane and the boundary of the second puncture hole is the three-dimensional model of the inner wall of the guiding tube.
In preferred embodiments of the present invention, the puncture hole boundary and the second puncture hole boundary are triangular mesh models, the directions of the triangular vertices on the puncture hole boundary and the second puncture hole boundary are normal vectors with the outward direction of the skin, and the puncture hole boundary and the second puncture hole boundary are triangulated to obtain a three-dimensional model of the inner wall of the guiding duct.
Step S510 of determining position and direction information of a third puncture point on the second surface corresponding to the second puncture point, based on the position and direction information of the second puncture point on the th surface.
In the embodiment of the present invention, the second surface is obtained by translating the replicated surface along the direction of the skin normal vector after the th surface is replicated by the user, the position and direction information of the second puncture point included in the th surface is replicated on the replicated surface, and the second surface is translated from the replicated surface, so that the position and direction information of the second puncture point included in the replicated surface is also replicated on the second surface, and the position and direction information of the third puncture point on the second surface is formed.
Step S512 is to generate a third puncture hole boundary on the second surface based on the position and direction information of the third puncture point.
In the embodiment of the present invention, the third perforation hole boundary refers to circular perforations formed by cutting the third perforation point on the second surface, and the boundary on the perforation is the third perforation hole boundary.
For possible embodiments of the present invention, the specific steps for generating the third puncture hole boundary on the second face based on the location and direction information of the third puncture point are described with reference to fig. 7 and the explanation thereof.
Step S514, copying the third puncture hole boundary, translating the copied third puncture hole boundary outward along the direction of the third puncture point to a position with a distance equal to the length of the three-dimensional model of the guide duct, generating a fourth puncture hole boundary, and connecting the third puncture hole boundary and the fourth puncture hole boundary to form the three-dimensional model of the outer wall of the guide duct.
In the embodiment of the present invention, the length of the three-dimensional model of the guiding tube is determined by the user when the second puncture hole boundary is formed, and the explanation of step S506 can be referred to. The direction of the third puncture point is the direction in which the puncture needle punctures the body surface skin, the outward direction of the third puncture point is the direction opposite to the direction of the third puncture point, after the user copies the third puncture hole boundary, the copied hole boundary moves along the direction opposite to the direction of the third puncture point, the moving distance is the length of the guide pipeline, and the determined hole boundary after the movement is the fourth puncture hole boundary.
In another embodiments of the present invention, the three-dimensional model of the guiding tube is divided into an inner wall model of the guiding tube and an outer wall model of the guiding tube, and the closed structure formed by the connection of the third puncture hole boundary formed by the third puncture point in the second face and the fourth puncture hole boundary is the outer wall model of the guiding tube.
In preferred embodiments of the present invention, the boundary of the third puncture hole and the boundary of the fourth puncture hole are triangular mesh models, the outward directions of the skin at the vertices of the triangles on the boundary of the third puncture hole and the boundary of the fourth puncture hole are normal vectors, and the boundary of the third puncture hole and the boundary of the fourth puncture hole are triangulated to obtain the three-dimensional model of the outer wall of the guiding duct.
And step S516, connecting the boundary of the three-dimensional model of the inner wall of the guide pipeline and the boundary of the three-dimensional model of the outer wall of the guide pipeline to form the three-dimensional model of the guide pipeline.
In the embodiment of the invention, the three-dimensional model of the guide pipeline refers to a closed three-dimensional model formed by connecting the boundary of the three-dimensional model of the inner wall of the guide pipeline and the boundary of the three-dimensional model of the outer wall of the guide pipeline, is arranged on the second surface and faces to the direction opposite to the direction of the third puncture point, and when in puncture, a puncture needle is introduced into the three-dimensional model of the guide pipeline, so that the puncture position selected by a user can be punctured quickly.
In preferred embodiments of the present invention, the boundary of the three-dimensional model of the inner wall of the guide pipeline and the boundary of the three-dimensional model of the outer wall of the guide pipeline are triangular mesh models, the directions of the boundaries of the three-dimensional model of the inner wall of the guide pipeline and the vertices of the triangles of the boundaries of the three-dimensional model of the outer wall of the guide pipeline both use the outward direction of the skin as a normal vector, and the boundary of the three-dimensional model of the inner wall of the guide pipeline and the boundary of the three-dimensional model of the outer wall of the guide pipeline are triangulated, so that the three-dimensional model of the inner wall of the guide pipeline.
As shown in fig. 13, as preferred embodiments of the present invention, the three-dimensional model of the base of the puncture guide plate is combined with the three-dimensional model of the guide duct to form the three-dimensional model of the puncture guide plate according to the embodiment of the present invention.
In the embodiment of the invention, the method for generating the inner wall model and the outer wall model of the guide pipeline by automatically extending the puncturing hole boundary of the th surface and the third puncturing hole boundary of the second surface in the opposite direction of the puncturing direction is simple and rapid, and reduces the workload of a user.
Fig. 6 shows a flowchart of an implementation of another methods for generating a three-dimensional model of a puncture guide plate according to an embodiment of the present invention, which is detailed as follows:
in the embodiment of the invention, the three-dimensional model of the puncture guide plate is a triangular mesh model, and each intermediate model and the intermediate surface in the generation process are also triangular mesh models.
In an embodiment of the present invention, the step S504 specifically includes steps S602 to S616.
And S602, determining th collision body according to the position and direction information of the second puncture point.
In an embodiment of the present invention, a radius of the th collision volume is a puncture radius determined based on a setting operation by a user on the th face.
In the embodiment of the present invention, the th collision volume is a cylinder, the position of the cylinder is the position of the second puncture point, the facing direction is the direction of the second puncture point, the radius of the cylinder is the puncture radius, which is substantially equal to the "current puncture direction and puncture radius are identified by cylinders in real time" in step S102, and please refer to step S102 for determining the puncture radius.
S604, acquiring a th index of the th puncture point on the three-dimensional model of the region to be punctured.
In the embodiment of the present invention, the three-dimensional model of the region to be punctured is a triangular mesh model, which is a polygonal mesh composed of triangles, each triangle has three vertices, each vertex is possibly shared with other triangles, the indexed triangular mesh contains a vertex list, each triangle is composed of three indexes of the vertex list, and the index of the triangle where the th puncture point is located in the vertex list of the three-dimensional model of the region to be punctured is the th index.
And S606, mapping the th index according to a preset mapping relation, and determining a second index of the second puncture point on the th surface.
In the embodiment of the invention, the triangle index where the th puncture point is located, namely the th index, is mapped to the second index of the second puncture point on the th surface through a preset mapping relation, the mapping relation is preset in a triangle mesh model, and the method is a basic means for obtaining triangle indexes by mapping triangle indexes in the field and is not repeated.
S608, determining the triangle in the th neighborhood by taking the triangle with the index as the second index as a starting point and the radius of the th collision volume as a radius.
In the embodiment of the present invention, the neighborhood is special intervals, any open interval with point a as a center point is called a neighborhood of point a, the neighborhood of point a is δ, and δ is positive numbers, then the open interval (a- δ, a + δ) is called δ neighborhood of point a, point a is the center of the neighborhood, and δ is the radius of the neighborhood.
In the embodiment of the present invention, the triangle with the index as the second index is taken as the center, the radius of the th collision volume, that is, the neighborhood with the puncture radius as the radius is the th neighborhood, and the th neighborhood contains a plurality of triangles.
S610, determining the position relation between the triangle in the th neighborhood and the th collision volume based on degree priority search algorithm.
In an embodiment of the present invention, the positional relationship is such that the triangle in the th neighborhood is completely inside the th collision volume, the triangle in the th neighborhood is completely outside the th collision volume, and the triangle in the th neighborhood intersects the collision volume.
In embodiments of the present invention, degree first search algorithm is used to calculate the intersection between the triangle in the th neighborhood and the th collider, the triangle completely inside the th neighborhood is marked as deleted, the triangle completely outside the th neighborhood is marked as preserved, and the triangle intersected with the th collider is marked as intersected, and degree first search algorithm is type conventional algorithm of graph search and will not be described again.
S612, splitting the triangle corresponding to the side with the number of 2 intersections in the triangle in the neighboring region that intersects with the th collision volume until the number of intersections between each side of the triangle in the neighboring region and the th collision volume is at most 1.
In an embodiment of the present invention, for each triangle marked as an intersection, if there are two intersections of an edge with the th collision volume, the edge is split at the midpoint of the two intersections, splitting triangles into two triangles, so that at most intersections of each edge of the triangle that eventually intersects with the th collision volume.
And S614, processing the triangles with the intersection point number of at most 1 between each edge of the triangle in the neighborhood and the th collision volume and the th collision volume based on an -degree priority search algorithm, and determining the triangle inside the th collision volume.
In an embodiment of the present invention, the intersection of the triangle marked as intersecting with the th collision volume is recalculated using the degree first search algorithm and the triangles are cut into two parts, namely, the triangle inside the th collision volume and the triangle outside the th collision volume, the triangle inside the th collision volume is marked as deleted and the triangle outside the th collision volume is marked as held.
S616, delete the triangle located inside the th collision volume, and generate a th puncture hole boundary.
In the embodiment of the present invention, the boundary of the th puncture hole and the th puncture hole can be obtained by deleting all triangles marked as deleted in the th collision body.
In the embodiment of the invention, the intersection detection is carried out on the th triangle and the th collision body, and the classification, splitting and cutting processes are carried out according to the detection result, so that the speed and stability of the generation process of the th puncture hole and th puncture hole boundaries are greatly improved.
Fig. 7 shows a flowchart of an implementation of a three-dimensional model generation method for kinds of puncture guide plates according to an embodiment of the present invention, which is detailed as follows:
in the embodiment of the present invention, the step S512 specifically includes steps S702 to S714.
Step S702, determining a second collision body according to the position and direction information of the third puncture point.
In an embodiment of the invention, the radius of the second collision volume is the sum of the puncture radius and the thickness of the three-dimensional model of the guide duct.
In an embodiment of the present invention, the second collision volume is a cylinder, the position of the cylinder is the position of the third puncture point, the facing direction is the direction of the third puncture point, the radius of the cylinder is the sum of the puncture radius and the thickness of the three-dimensional model of the guiding conduit, please refer to step S102 above for determining the puncture radius, since the direction and the radius of the puncture point are identified by the cylinder in real time, the radius of the cylinder can be adjusted and set according to the requirement of the user, the specific step of adjusting the radius of the cylinder can refer to the explanation in step S102, the radius of the cylinder is adjusted to be longer than the puncture radius, and then the distance from the radius of the cylinder to the puncture radius is the thickness of the three-dimensional model of the guiding conduit.
Step S704, performing mapping processing on the second index according to a preset mapping manner, and determining a third index of the third puncture point on the second surface.
In the embodiment of the present invention, the mapping relationship is preset in the triangular mesh model, which is a basic means for performing triangular index mapping in the field to obtain another triangular indexes, and is not described again.
Step S706, determining a triangle of a second neighborhood by using the triangle whose index is the third index as a starting point and the radius of the second collision volume as a radius.
In the embodiment of the present invention, the neighborhood is special intervals, any open interval with point a as a center point is called a neighborhood of point a, the neighborhood of point a is δ, and δ is positive numbers, then the open interval (a- δ, a + δ) is called δ neighborhood of point a, point a is the center of the neighborhood, and δ is the radius of the neighborhood.
In the embodiment of the present invention, a triangle whose index is the third index is used as a center, a neighborhood whose radius is the radius of the second collision volume is used as a second neighborhood, and the second neighborhood contains a plurality of triangles.
Step S708, determining the position relationship between the triangle of the second neighborhood and the second collision volume based on degree-first search algorithm.
In an embodiment of the invention, the positional relationship is such that the triangles of the second neighborhood are completely inside the second collision volume, the triangles of the second neighborhood are completely outside the second collision volume, and the triangles of the second neighborhood intersect the collision volume.
In embodiments of the present invention, a degree first search algorithm is used to calculate the intersection between the triangle in the second neighborhood and the second collider, and the comparison between the triangle completely inside the second neighborhood and the second collider is marked as deleted, the comparison between the triangle completely outside the second neighborhood and the second collider is marked as preserved, and the comparison between the triangle completely outside the second neighborhood and the second collider is marked as intersected.
Step S710, splitting the triangle corresponding to the side having the number of 2 intersection points in the triangle of the second neighborhood intersected with the second collision volume until the number of intersection points between each side of the triangle of the second neighborhood and the second collision volume is at most 1.
In an embodiment of the present invention, for each triangle marked as an intersection, if there are two intersections of an edge with the second collision volume, the edge is split at the midpoint of the two intersections, splitting triangles into two triangles, so that there are at most intersections of each edge of the triangle that eventually intersects the second collision volume.
Step S712, processing the triangles in which the number of intersections between each edge of the triangle in the second neighborhood and the second collision volume is at most 1 based on degree priority algorithm, and determining the triangle inside the second collision volume.
In an embodiment of the present invention, the intersection of the triangle marked as intersecting with the second collision volume is recalculated using the degree first search algorithm, and the triangles are cut into two parts, namely, a triangle inside the second collision volume and a triangle outside the second collision volume, and the triangle inside the second collision volume is marked as deleted and the triangle outside the second collision volume is marked as held.
Step S714, delete the triangle inside the second collision volume, and generate a third puncture hole boundary.
In the embodiment of the present invention, the boundary of the second puncture hole and the second puncture hole can be obtained by deleting all triangles marked as deleted in the th collision object.
In the embodiment of the invention, the intersection detection is carried out on the triangle of the second surface and the th collision body, and the classification, splitting and cutting processes are carried out according to the detection result, so that the speed and the stability of the generation process of the third puncture hole and the boundary of the third puncture hole are greatly improved.
Fig. 8 shows a flowchart of an implementation of another methods for generating three-dimensional models of puncture guide plates according to an embodiment of the present invention, which is detailed as follows:
in the embodiment of the present invention, the step S108 specifically includes a step S802 and a step S804.
And S802, determining an th mark position corresponding to the preset mark position on the three-dimensional model of the puncture guide plate base based on the preset mark position.
In the embodiment of the invention, the preset mark positions are mark positions with no less than 3 bulges fixedly placed on the body surface skin of the region to be punctured, the scanned two-dimensional image is subjected to three-dimensional reconstruction to construct a three-dimensional model of the region to be punctured, and the specific steps for constructing the three-dimensional model of the region to be punctured can be referred to the explanation of step S102. the three-dimensional model of the base of the puncture guide plate is divided into the th surface, the second surface and the third surface, and since the st surface is copied around the th puncture point and the target region of the preset mark position on the skin contour of the three-dimensional model of the region to be punctured, the th mark position is contained in the corresponding position on the th surface, and the th mark position is also contained on the second surface which is copied from the th surface.
Step S804, generating a three-dimensional model of the positioning hole corresponding to the th mark position based on the th mark position.
In the embodiment of the present application, the positioning hole three-dimensional model may be a through hole three-dimensional model or a blind hole three-dimensional model, the through hole three-dimensional model may refer to the above steps S602 to S616 to obtain th surface and positioning holes at th marked positions in the second surface, as shown in fig. 14, the marked positions made by a marker pen on the body surface skin of the region to be punctured can be seen through the positioning hole 5, or can be matched with the marked bump points, the blind hole three-dimensional model refers to the above steps S602 to S616 to obtain holes at the th surface th marked position, the th marked position of the second surface is not provided with holes, 3 bump marked positions are fixedly placed on the body surface skin of the region to be punctured, the bump marks can not be removed after scanning is finished, the blind hole three-dimensional model can be matched with the bump marked positions to quickly position, the positioning process used by the positioning hole matching corresponding marked positions after the puncture guide is finished, and the positioning accuracy can be improved.
In another embodiments of the invention, the puncture point and the puncture direction are selected on the three-dimensional model of the region to be punctured, the three-dimensional model of the puncture guide plate base is constructed based on the three-dimensional model of the region to be punctured, the three-dimensional model of the guide pipeline is constructed based on the puncture point and the puncture direction, and the three-dimensional model of the positioning hole is generated on the three-dimensional model of the puncture guide plate base, so that a user can quickly generate the three-dimensional model of the puncture guide plate according to the method through simple operation, the learning cost of the user is reduced, the automation degree is high, and all the design and derivation processes are completed in pieces of.
In embodiments, computer devices are proposed, the computer devices comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
constructing a three-dimensional model of a region to be punctured, and determining th puncture point position and direction information on the three-dimensional model of the region to be punctured based on selection operation of a user;
constructing a three-dimensional model of a puncture guide plate base, wherein the three-dimensional model of the puncture guide plate base is provided with a surface which is profiled with the skin contour of the three-dimensional model of the area to be punctured;
constructing a three-dimensional model of a guide pipeline on the three-dimensional model of the puncture guide plate base based on the position and direction information of the th puncture point;
and generating a positioning hole three-dimensional model on the puncture guide plate base three-dimensional model.
In another embodiments of the invention, there are provided computer readable storage media having stored thereon a computer program that, when executed by a processor, causes the processor to perform the steps of:
constructing a three-dimensional model of a region to be punctured, and determining th puncture point position and direction information on the three-dimensional model of the region to be punctured based on selection operation of a user;
constructing a three-dimensional model of a puncture guide plate base, wherein the three-dimensional model of the puncture guide plate base is provided with a surface which is profiled with the skin contour of the three-dimensional model of the area to be punctured;
constructing a three-dimensional model of a guide pipeline on the three-dimensional model of the puncture guide plate base based on the position and direction information of the th puncture point;
and generating a positioning hole three-dimensional model on the puncture guide plate base three-dimensional model.
It should be understood that although the steps in the flow charts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows, unless otherwise explicitly stated herein, the steps are not strictly limited in order of performance and may be performed in other sequences, and that at least part of the steps in embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time , but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be partially rotated or alternated with at least of other steps or sub-steps of other steps.
Those of ordinary skill in the art will appreciate that all or a portion of the processes in the methods of the above embodiments may be implemented by a computer program that may be stored in a non-volatile computer readable storage medium that, when executed, may include the processes of the embodiments of the methods described above, wherein any reference to memory, storage, database or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, non-volatile memory may include read-only memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), or flash memory, volatile memory may include Random Access Memory (RAM) or external cache memory, RAM is available in a variety of forms, such as static RAM (sram), dynamic RAM (dram), synchronous dram (sdram), double data rate sdram (ddr sdram), sdram (sdram), synchronous sdram (sdram), and dynamic RAM (rdram), such as dynamic RAM (sdram), direct memory (dram), and dynamic RAM (rdram) bus (rdram).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
- The method for generating the three-dimensional model of the puncture guide plate is characterized by comprising the following steps of:constructing a three-dimensional model of a region to be punctured, and determining th puncture point position and direction information on the three-dimensional model of the region to be punctured based on selection operation of a user;constructing a three-dimensional model of a puncture guide plate base, wherein the three-dimensional model of the puncture guide plate base is provided with a surface which is profiled with the skin contour of the three-dimensional model of the area to be punctured;constructing a three-dimensional model of a guide pipeline on the three-dimensional model of the puncture guide plate base based on the position and direction information of the th puncture point;and generating a positioning hole three-dimensional model on the puncture guide plate base three-dimensional model.
- 2. The method for generating a three-dimensional model of a puncture guide according to claim 1, wherein the step of constructing a three-dimensional model of a puncture guide base having a surface that follows the skin contour of the three-dimensional model of the area to be punctured comprises:constructing an th surface of the three-dimensional model of the base of the puncture guide plate, which is profiled with the skin contour, based on the skin contour of the three-dimensional model of the area to be punctured;the other faces were constructed to be connected to the boundary of the th face in closed configuration.
- 3. The method for generating the three-dimensional model of the puncture guide plate as claimed in claim 2, wherein the step of constructing the th surface of the three-dimensional model of the puncture guide plate base which is profiled with the skin contour based on the skin contour of the three-dimensional model of the region to be punctured comprises the following steps:determining a target area containing the th puncture point and a preset mark position on the skin contour of the three-dimensional model of the area to be punctured based on the selection operation of a user;a face is constructed that follows the skin contour of the target area, namely the th face.
- 4. The puncture guide three-dimensional model generation method according to claim 2,the step of constructing other faces connected with the boundary of the th face to form closed structure comprises the following steps:copying the th surface, and carrying out outward translation processing on the copied surface to form a second surface;and connecting the boundary of the th surface with the boundary of the second surface to form a third surface.
- 5. The method for creating a three-dimensional model of a puncture guide according to claim 4, wherein the step of constructing a three-dimensional model of a guide duct on the three-dimensional model of the puncture guide body based on the position and direction information of the th puncture point comprises:determining position and direction information of a second puncture point on the th face corresponding to the th puncture point based on the position and direction information of the th puncture point;generating a th puncture hole boundary on the th face based on the position and orientation information of the second puncture point;copying the th puncture hole boundary, and then translating outwards along the direction of the second puncture point to a position with the distance equal to the sum of the length of the three-dimensional model of the guide pipeline and the thickness of the three-dimensional model of the puncture guide plate, so as to generate a second puncture hole boundary, wherein the thickness of the three-dimensional model of the puncture guide plate is the distance between the th surface and the second surface;connecting the th puncture hole boundary with the second puncture hole boundary to form a three-dimensional model of the inner wall of the guide pipeline;determining position and direction information of a third puncture point on the second surface corresponding to the second puncture point based on the position and direction information of the second puncture point on the th surface;generating a third puncture hole boundary on a second face based on the position and direction information of the third puncture point;copying the third puncture hole boundary, translating the copied third puncture hole boundary outwards along the direction of the third puncture point to a position with a distance equal to the length of the three-dimensional model of the guide pipeline, generating a fourth puncture hole boundary, and connecting the third puncture hole boundary and the fourth puncture hole boundary to form a three-dimensional model of the outer wall of the guide pipeline;and connecting the boundary of the three-dimensional model of the inner wall of the guide pipeline with the boundary of the three-dimensional model of the outer wall of the guide pipeline to form the three-dimensional model of the guide pipeline.
- 6. The method for generating a three-dimensional model of a puncture guide according to claim 5,the three-dimensional model of the puncture guide plate is a triangular mesh model, and each intermediate model and the middle surface in the generation process are also triangular mesh models;the step of generating a th puncture hole boundary on the th plane based on the position and direction information of the second puncture point specifically includes:determining an th collision volume according to the position and direction information of the second puncture point, wherein the radius of the th collision volume is a puncture radius determined on the th surface based on a setting operation of a user;obtaining a th index of the th puncture point on the three-dimensional model of the region to be punctured;mapping the th index according to a preset mapping relation, and determining a second index of the second puncture point on the th surface;determining a triangle in a th neighborhood by taking the triangle with the index as the second index as a starting point and taking the radius of the th collision volume as a radius;determining a positional relationship of the triangle of the neighborhood with the collision volume based on an degree first search algorithm, the positional relationship being divided into the triangle of the neighborhood being completely inside the collision volume, the triangle of the neighborhood being completely outside the collision volume, the triangle of the neighborhood intersecting the collision volume;splitting the triangle corresponding to the side with the number of 2 intersections in the triangle in the neighboring region intersecting the th collision volume until the number of intersections between each side of the triangle in the neighboring region and the th collision volume is at most 1;processing the triangles with the neighborhood of which the intersection points of each edge of the triangle and the th collision volume are at most 1 based on an -degree priority search algorithm with the th collision volume to determine a triangle inside the th collision volume;the triangle located inside the th collision volume is deleted to generate a th puncture hole boundary.
- 7. The method for generating a three-dimensional model of a puncture guide according to claim 5, wherein the step of generating a third puncture hole boundary on the second surface based on the position and direction information of the third puncture point comprises:determining a second collision body according to the position and direction information of the third puncture point, wherein the radius of the second collision body is the sum of the puncture radius and the thickness of the three-dimensional model of the guide pipeline;mapping the second index according to a preset mapping relation, and determining a third index of the third puncture point on the second surface;determining triangles of a second neighborhood by taking the triangle with the index as the third index as a starting point and taking the radius of the second collision volume as a radius;determining a positional relationship of the triangle of the second neighborhood to the second collision volume based on an degree first search algorithm;splitting the triangles corresponding to the edges with the number of intersection points of 2 in the triangles of the second neighborhood intersected with the second collider until the number of intersection points of each edge of the triangles of the second neighborhood and the second collider is at most 1;processing the triangles with the second collision volume and the second collision volume, wherein the number of intersections between each edge of the triangles in the second neighborhood and the second collision volume is at most 1, and determining the triangles located inside the second collision volume based on an -degree priority search algorithm;and deleting the triangle inside the second collision body to generate a third puncture hole boundary.
- 8. The method for generating a three-dimensional model of a puncture guide plate according to claim 3, wherein the step of generating a three-dimensional model of a positioning hole on the three-dimensional model of the base of the puncture guide plate comprises the following steps:determining th marking position corresponding to the preset marking position on the three-dimensional model of the puncture guide plate base based on the preset marking position;and generating a positioning hole three-dimensional model corresponding to the marking position based on the marking position.
- Computer device of claim 9, , comprising a memory and a processor, wherein the memory has stored thereon a computer program which, when executed by the processor, causes the processor to carry out the steps of the method of generating a three-dimensional model of a puncture guide plate of any of claims 1 to 8.
- 10, computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, causes the processor to carry out the steps of the method for generating a three-dimensional model of a puncture guide plate according to any of claims 1 to 8.
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