CN115953372B - Bone grinding image display method, device, equipment and storage medium - Google Patents
Bone grinding image display method, device, equipment and storage medium Download PDFInfo
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- 238000000227 grinding Methods 0.000 title claims abstract description 331
- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 300
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000009877 rendering Methods 0.000 claims abstract description 244
- 230000011218 segmentation Effects 0.000 claims description 18
- 210000001519 tissue Anatomy 0.000 claims description 15
- 238000003709 image segmentation Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 18
- 230000000694 effects Effects 0.000 abstract description 14
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000005481 NMR spectroscopy Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
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- 210000002303 tibia Anatomy 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Abstract
The present disclosure relates to a bone grinding image display method, apparatus, device, and storage medium. Acquiring an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user; performing volume rendering on a bone planning grinding image based on CT values which are contained in an initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image; performing volume rendering on a current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone; and displaying the planned grinding rendering image and the current grinding rendering image. The process does not need to render a large amount of dough sheet data, and does not relate to a transmission process of a large amount of dough sheet data, so that resource consumption is reduced, and timeliness and rendering effect of the rendering process are finally ensured.
Description
Technical Field
The present disclosure relates to the field of image display, and in particular, to a bone grinding image display method, device, apparatus, and storage medium.
Background
In bone grinding navigation, the suitability of the bone grinding amount largely determines the success or failure of the operation. Therefore, real-time and efficient observation and interaction of bone milling amount are particularly important.
In the related art, generally, three-dimensional reconstruction is performed on resected bone through an image segmentation technology to obtain a geometric model of the resected bone, and then the geometric model of the resected bone is rendered, so that the rendered geometric model of the resected bone is displayed. However, the geometry model of the resected bone contains a large amount of patch data, and the transmission of the large amount of patch data and the rendering process need to consume a lot of resources, so that the problem of blockage of the patch data transmission easily occurs, and therefore the timeliness and the rendering effect of the patch rendering process cannot be ensured.
Disclosure of Invention
In order to solve the technical problems, the present disclosure provides a bone grinding image display method, a device, equipment and a storage medium.
In a first aspect, the present disclosure provides a bone grinding image display method comprising:
acquiring an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user;
performing volume rendering on the bone planning grinding image based on CT values which are contained in the initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image;
Performing volume rendering on the current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone;
and displaying the planned grinding rendering image and the current grinding rendering image.
In a second aspect, the present disclosure provides a bone grinding image display apparatus comprising:
the acquisition module is used for acquiring an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user;
the first generation module is used for carrying out volume rendering on the bone planning grinding image based on CT values which are contained in the initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image;
the second generation module is used for carrying out volume rendering on the current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone;
and the display module is used for displaying the planned grinding rendering image and the current grinding rendering image.
In a third aspect, embodiments of the present disclosure further provide an electronic device, including:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method provided by the first aspect.
In a fourth aspect, embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method provided by the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the embodiment of the disclosure relates to a bone grinding image display method, a device, equipment and a storage medium, wherein an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user are obtained; performing volume rendering on a bone planning grinding image based on CT values which are contained in an initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image; performing volume rendering on a current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone; and displaying the planned grinding rendering image and the current grinding rendering image. Therefore, the planned grinding rendering image and the current grinding rendering image can be drawn and displayed in a volume drawing mode, so that an image rendering effect is achieved, a large amount of surface patch data is not required to be rendered in the process, a large amount of surface patch data transmission process is not involved, resource consumption is reduced, and timeliness and rendering effect of the rendering process are finally guaranteed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a bone grinding image display method according to an embodiment of the disclosure;
FIG. 2 is a schematic illustration of a planned grinding image provided by an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a method for displaying a bone grinding image according to an embodiment of the present disclosure;
fig. 4 is a schematic structural view of a bone grinding image display device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
In order to ensure timeliness and rendering effect of a rendering process, the embodiment of the disclosure provides a bone grinding image display method, a device, equipment and a storage medium.
A bone grinding image display method provided in an embodiment of the present disclosure will be described with reference to fig. 1 to 3. In embodiments of the present disclosure, the bone grinding image display method may be performed by an electronic device. The electronic device may include devices with communication functions, such as a tablet computer, a desktop computer, a notebook computer, and the like, and may also include devices simulated by a virtual machine or a simulator.
Fig. 1 is a schematic flow chart of a bone grinding image display method according to an embodiment of the disclosure.
As shown in fig. 1, the bone grinding image display method may include the following steps.
S110, acquiring an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user.
In this embodiment, in bone grinding navigation, it is necessary to render a bone image. The electronic device obtains an initial scan image of a target user through a central processing unit (central processing unit, CPU), determines a bone planning grinding image based on the initial scan image, and obtains a current grinding image of the bone in the bone grinding process, so that bone image rendering is performed based on the three images.
Wherein the initial scan image may be a CT image of the target user at the bone location to be ground. That is, the initial scan image includes each voxel point on the bone to be ground and a CT value corresponding to each voxel point.
Alternatively, the CT image may be scanned by means of an electron computer tomography (Computed Tomography, CT) or by means of a nuclear magnetic resonance.
The bone planning grinding image can be a bone image to be ground, which is obtained by planning. The bone planning grinding image may be a planning mask image, where the mask refers to a pixel index position corresponding to a certain tissue region of the human body.
In an embodiment of the present disclosure, optionally, acquiring a bone planning grinding image includes: image segmentation is carried out on the initial scanning image, and a target segmentation image containing bones to be ground is obtained; and displaying the target segmentation image, the initial scanning image and the bone parameters of the target user, wherein the target segmentation image, the initial scanning image and the bone parameters of the target user are used for conducting bone grinding planning on the target user and generating a bone planning grinding image.
Specifically, the electronic device performs image segmentation on the initial scanning image through a CPU (Central processing Unit) by using a threshold segmentation algorithm or a pre-trained image segmentation model to obtain a target segmentation image of a bone to be ground, and then displays the target segmentation image, the initial scanning image and bone parameters of a target user acquired in advance, so that the user performs bone grinding planning based on the target segmentation image, the initial scanning image and the bone parameters of the target user acquired in advance to generate a bone planning grinding image.
The target segmentation image is a planning mask image, which includes, but is not limited to, femur, tibia, and intra-cavity tissue of the bone to be ground, for example.
Wherein the bone parameters of the target user may be clinical data of the target user.
For example, if the left knee lateral unicondylar replacement is required for the target user, a bone region to be resected is planned on the left knee lateral side based on the target segmentation image, the initial scanning image and the bone parameters of the target user acquired in advance, and a bone planning grinding image is obtained.
The current grinding image of the bone can be an image of the bone which has been ground at the current moment. The current grinding image of the bone may be a current mask image.
And S120, performing volume rendering on the bone planning grinding image based on CT values which are contained in the initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image.
In this embodiment, after the CPU in the electronic device obtains the three images, the three images are sent to the graphics processor (Graphics Processing Unit, GPU), and then the GPU uses a plurality of parallel threads to perform multiple volume rendering on the effective area in the bone planning grinding image based on the CT values corresponding to the voxel points on the bone to be ground included in the initial scan image, that is, perform volume rendering on each tissue structure to be rendered, so as to generate the planning grinding rendering image corresponding to the bone planning grinding image.
The volume rendering is to render not only the surface voxels of the object to be rendered, but also the internal voxels of the object to be rendered, and to weight and sum the rendering data of the internal voxels of the object to be rendered with the surface voxels to obtain voxel weighted values, and to use the voxel weighted values as the rendering data of the surface voxels of the object to be rendered.
The planned grinding rendering image is a result image of rendering the bone planned grinding image.
Specifically, based on CT values, included in an initial scan image, corresponding to each voxel point on a bone to be ground, respectively, rendering data, corresponding to each voxel point on the bone to be ground, are found, rendering data, corresponding to each voxel point on the bone to be ground, respectively, are used as rendering data, corresponding to each voxel point on a bone planning grinding image, respectively, and finally planning grinding rendering images are generated based on rendering data, corresponding to each voxel point on the bone planning grinding image, respectively.
Therefore, the GPU can generate the planning grinding rendering image in a volume drawing mode, a large amount of surface patch data are not required to be acquired and processed from the CPU, the resource consumption is reduced, and each voxel in the volume drawing process contributes to the drawing result, so that the rendering effect of the planning grinding rendering image is improved.
And S130, performing volume rendering on the current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone.
In this embodiment, the GPU in the electronic device performs multiple volume rendering on the effective area in the current grinding image of the bone based on CT values corresponding to each voxel point on the bone to be ground included in the initial scan image, that is, performs volume rendering on each tissue structure to be rendered, so as to generate a current grinding rendering image corresponding to the current grinding image of the bone.
The current grinding rendering image is a result image of rendering the current grinding image of the bone.
Specifically, based on CT values respectively corresponding to each voxel point on a bone to be ground contained in an initial scanning image, respectively corresponding rendering data of each voxel point on the bone to be ground are found, then the rendering data respectively corresponding to each voxel point on the bone to be ground is used as rendering data respectively corresponding to each voxel point on a current grinding image of the bone, and finally a current grinding rendering image is generated based on the rendering data respectively corresponding to each voxel point on the current grinding image of the bone.
Therefore, the GPU can generate the current grinding rendering image in a volume rendering mode, a large amount of surface patch data do not need to be acquired and processed from the CPU, resource consumption is reduced, and each voxel in the volume rendering process contributes to a rendering result, so that the rendering effect of the current grinding rendering image is improved.
The execution order of S120 and S130 is not limited.
And S140, displaying the planned grinding rendering image and the current grinding rendering image.
In the embodiment, the GPU in the electronic equipment displays the drawn planned grinding rendering image and the current grinding rendering image, so that a user can determine whether to grind the bone to be ground continuously or not by watching the planned grinding rendering image and the current grinding rendering image, and bone grinding is realized through a man-machine interaction mode.
In an embodiment of the present disclosure, optionally, after S140, the method further includes: acquiring a grinding instruction for a bone to be ground, wherein the grinding instruction is acquired when a ground area in a current grinding rendering image is smaller than a bone planning area in a planning grinding rendering image; based on the grinding instruction, controlling grinding equipment to continuously grind the current rest bones in the current grinding image of the bones to obtain a next grinding image of the bones; and continuously performing volume drawing on a next grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, generating and displaying a next grinding rendering image corresponding to the next grinding image of the bone, and stopping continuously acquiring a grinding instruction until the ground area in the current grinding rendering image is the same as the bone planning area in the planning grinding rendering image.
It can be understood that when the GPU on the electronic device displays the planned grinding rendering image and the current grinding rendering image, the user compares the bone planning area in the planned grinding rendering image with the ground area in the current grinding rendering image, and judges whether the bone planning area is smaller than the ground area; if the grinding instruction is smaller than the preset grinding instruction, indicating that part of the bones to be ground is not completely ground, and sending a grinding instruction to a CPU of the electronic equipment by a user, so that the CPU controls the grinding equipment to continuously grind the rest bones in the current grinding image of the bones based on the grinding instruction; repeating the steps until the ground area in the current grinding rendering image is the same as the bone planning area in the planning grinding rendering image, stopping continuously acquiring the grinding instruction, namely, not controlling the grinding equipment to continuously grind the rest bones in the current grinding image of the bones.
Therefore, the grinding equipment can be controlled to continuously grind the rest bones in the current grinding image of the bones in a man-machine interaction mode until the ground areas in the current grinding rendering image are the same as the bone planning areas in the planning grinding rendering image, and the grinding operation is finished.
According to the bone grinding image display method, an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user are obtained; performing volume rendering on a bone planning grinding image based on CT values which are contained in an initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image; performing volume rendering on a current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone; and displaying the planned grinding rendering image and the current grinding rendering image. Therefore, the planned grinding rendering image and the current grinding rendering image can be drawn and displayed in a volume drawing mode, so that an image rendering effect is achieved, a large amount of surface patch data is not required to be rendered in the process, a large amount of surface patch data transmission process is not involved, resource consumption is reduced, and timeliness and rendering effect of the rendering process are finally guaranteed.
In another embodiment of the present disclosure, the process of volume rendering a bone planning grind image and volume rendering a current grind image of bone is specifically explained.
In some embodiments of the present disclosure, S120 specifically includes:
s1201, determining a plurality of screen voxel points displayed on a screen window from all voxel points of bones to be ground, and determining a plurality of non-screen voxel points not displayed on the screen window;
s1202, respectively emitting projection light rays to each screen voxel point along the direction pointing to each screen voxel point based on the same projection center, wherein each projection light ray comprises at least one non-screen pixel point;
s1203, for each non-screen voxel point on each projection light, acquiring a CT value corresponding to each non-screen voxel point from an initial scanning image;
and S1204, performing volume rendering on the planning grinding image based on CT values corresponding to the non-screen voxel points on each projection ray, and generating a planning grinding rendering image.
The screen window refers to a display window of the electronic device.
The screen voxel point refers to the forefront voxel point of the bone to be ground. That is, the screen voxel point is the voxel point of the bone surface to be ground, and the user can see directly through the screen window.
Wherein, the non-screen voxel point refers to other voxel points except the forefront voxel point in the bone to be ground. Specifically, the non-screen voxel points include voxel points inside the bone to be ground, and voxel points on the surface of the bone to be ground that are not visible directly through the screen window by the user.
Wherein the projection center may be a camera center of the screen window position.
It can be understood that, based on the same projection center, along the direction pointing to each screen voxel point, each projection ray sent to each screen voxel point respectively will intersect or not intersect with the bone to be ground, when not intersecting, the screen voxel point where the projection ray is located is empty, when intersecting, the projection ray will pass through the bone to be ground, during the process of passing through the bone to be ground, non-screen voxel points are acquired at intervals of specific step length, and CT values corresponding to each non-screen voxel point on the projection ray are acquired based on the initial scan image. Further, based on the CT value corresponding to each non-screen voxel point on each projection ray, the rendering data of the screen pixel points on the projection ray are determined, so that the planning grinding image is subjected to volume rendering, and the planning grinding rendering image is generated.
In an embodiment of the present disclosure, optionally, S1204 includes:
s12041, calculating rendering data corresponding to the screen voxel points on each projection ray based on the CT values corresponding to the non-screen voxel points on each projection ray;
s12042, generating a planned grinding rendering image according to rendering data corresponding to the screen voxel points on each projection ray.
The S12041 specifically includes: obtaining color values and transparency corresponding to each CT value; multiplying the color value and the transparency corresponding to the same non-screen voxel point on each projected ray to obtain rendering data of the same non-screen voxel point; and superposing the rendering data of each non-screen voxel point on each projection ray, and determining the rendering data corresponding to the screen voxel point on each projection ray.
Optionally, the rendering data corresponding to the screen voxel point on each projection ray may be determined as follows:
Sum(j)＝∑color_i*alpha_i
where i is a non-screen voxel point on each projection ray, color_i is a color value of the non-screen voxel point on each projection ray, alpha_i is a transparency of the non-screen voxel point on each projection ray, j is a screen voxel point on each projection ray, and Sum (j) is rendering data corresponding to the screen voxel point on each projection ray.
In some cases, for each projected ray, the rendering data corresponding to a screen voxel point on that projected ray may be a superposition of the rendering data of all non-screen voxel points on that projected ray.
In other cases, for each projection ray, according to the positions of the non-screen voxel points on the projection ray, the rendering data of the non-screen voxel points are superimposed, and if the superimposed value of the rendering data of the non-screen voxel points is equal to a preset threshold value, the superimposed value of the rendering data of the non-screen voxel points is used as the rendering data corresponding to the screen voxel points on the projection ray. Alternatively, the preset threshold may be an empirical value of predetermined rendering data.
For S12042, the planned grinding image includes a bone region tissue of the bone to be ground and a planned grinding region, and S12042 specifically includes: determining a plurality of first target voxel points corresponding to bone region tissues and a plurality of second target voxel points corresponding to planning grinding regions from screen voxel points on the projection light; generating a bone region rendering image based on rendering data respectively corresponding to the plurality of first target voxel points, and generating a planning region rendering image based on rendering data respectively corresponding to the plurality of second target voxel points; and superposing the bone region rendering image and the planning region rendering image according to the positions and angles of the first target voxel points and the second target voxel points relative to the projection center, and generating a planning grinding rendering image.
The bone region tissue of the bone to be ground refers to a tissue region where grinding is not required. The planned grinding region refers to a tissue region that needs to be ground. Alternatively, the bone region tissue of the bone to be ground and the planned grinding region may be represented by different colors.
To facilitate the user in distinguishing the planned grinding area from the bone area tissue, fig. 2 shows a schematic representation of the planned grinding image. The planned grinding image comprises bones to be ground, wherein the white areas are bone tissue areas of the bones to be ground, and the gray areas are planned grinding areas of the bones to be ground.
The first target voxel point is a voxel point located in a bone tissue region, and the second target voxel point is a voxel point located in a planned grinding region. Specifically, two parallel threads can be utilized to perform image rendering based on rendering data corresponding to a plurality of first target voxel points respectively to obtain a bone region rendering image, and image rendering based on rendering data corresponding to a plurality of second target voxel points respectively to obtain a planning region rendering image.
Further, after the bone region rendering image and the planning region rendering image are respectively generated by utilizing two parallel threads, positions and angles of a plurality of first target voxel points and a plurality of second target voxel points relative to a projection center are determined, and the bone region rendering image and the planning region rendering image are overlapped based on the positions and the angles, so that a part which is shielded along a direction looking into a screen window is covered, and the remaining non-shielded region is remained, so that the planning grinding rendering image displayed on the screen window is obtained.
Therefore, based on CT values corresponding to each non-screen voxel point on each projection ray, the planning grinding image is subjected to volume rendering, and the rendering effect of the planning grinding rendering image is ensured.
In some embodiments of the present disclosure, S130 specifically includes:
s1301, determining a plurality of screen voxel points displayed on a screen window from all voxel points of bones to be ground, and determining a plurality of non-screen voxel points not displayed on the screen window;
s1302, respectively sending projection light to each screen voxel point along the direction pointing to each screen voxel point based on the same projection center;
s1303, for each non-screen voxel point on each projection light, acquiring a CT value corresponding to each non-screen voxel point from an initial scanning image;
and S1304, performing volume rendering on the current grinding image of the bone based on CT values corresponding to non-screen voxel points on each projection ray, and generating a current grinding rendering image.
The specific implementation of S1301 to S1304 is similar to S1201 to S1204, and will not be described here.
Therefore, based on CT values corresponding to non-screen voxel points on each projection ray, volume rendering is performed on the current grinding image of the skeleton, and the rendering effect of the current grinding rendering image is ensured.
In yet another embodiment of the present disclosure, for ease of understanding, a logical schematic of a bone grinding image display is provided.
As shown in fig. 3, the bone grinding image display method may include the following steps.
S310, the electronic equipment acquires an initial scanning image of the target user.
S320, the electronic equipment performs image segmentation on the initial scanning image through the CPU to obtain a target segmentation image containing bones to be grinded.
The specific implementation of S320 is referred to the description of the foregoing embodiments, and is not described herein.
S330, the electronic device displays the target segmentation image, the initial scanning image and the pre-acquired bone parameters of the target user.
S340, the user performs bone grinding planning on the target user based on the target segmentation image, the initial scanning image and the bone parameters of the target user acquired in advance, and determines a bone planning grinding image.
S350, the electronic equipment acquires a current grinding image of the bone.
And S360, the electronic device sends the initial scanning image, the bone planning grinding image and the bone current grinding image to the GPU through the CPU.
And S370, the electronic equipment performs volume rendering on the bone planning grinding image based on CT values respectively corresponding to all voxel points on the bone to be ground contained in the initial scanning image through the GPU, generates a planning grinding rendering image corresponding to the bone planning grinding image, performs volume rendering on the bone current grinding image based on CT values respectively corresponding to all voxel points on the bone to be ground contained in the initial scanning image, generates a current grinding rendering image corresponding to the bone current grinding image, and displays the planning grinding rendering image and the current grinding rendering image.
The specific implementation of S370 is referred to the description of the above embodiments, and will not be repeated here.
S380, the user judges whether the ground area in the current grinding rendering image is smaller than the bone planning area in the planning grinding rendering image.
Specifically, if the ground area is smaller than the bone planning area, S390 is executed, otherwise, the process is ended.
S390, the electronic equipment acquires a grinding instruction aiming at the bone to be ground, controls the grinding equipment to continuously grind the current rest bone in the current grinding image of the bone based on the grinding instruction to obtain a next grinding image of the bone, continuously performs volume drawing on the next grinding image of the bone based on CT values respectively corresponding to each voxel point on the bone to be ground contained in the initial scanning image, and generates and displays a next grinding rendering image corresponding to the next grinding image of the bone.
In the present embodiment, after S390 is performed, S370 is performed back.
The embodiment of the disclosure further provides a bone grinding image display device for implementing the bone grinding image display method, and the description is below with reference to fig. 4. In an embodiment of the present disclosure, the bone grinding image display apparatus may be an electronic device. The electronic device may include devices with communication functions, such as a tablet computer, a desktop computer, a notebook computer, and the like, and may also include devices simulated by a virtual machine or a simulator.
Fig. 4 is a schematic structural view of a bone grinding image display apparatus according to an embodiment of the present disclosure.
As shown in fig. 4, the bone grinding image display apparatus 400 may include:
an acquisition module 410, configured to acquire an initial scan image, a bone planning grinding image, and a current bone grinding image of a target user;
the first generating module 420 is configured to perform volume rendering on the bone planning grinding image based on CT values corresponding to each voxel point on the bone to be ground included in the initial scan image, and generate a planning grinding rendering image corresponding to the bone planning grinding image;
the second generating module 430 is configured to perform volume rendering on the current grinding image of the bone based on CT values corresponding to each voxel point on the bone to be ground included in the initial scan image, and generate a current grinding rendering image corresponding to the current grinding image of the bone;
and a display module 440, configured to display the planned grinding rendering image and the current grinding rendering image.
The embodiment of the disclosure provides a bone grinding image display device, which acquires an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user; performing volume rendering on a bone planning grinding image based on CT values which are contained in an initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image; performing volume rendering on a current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone; and displaying the planned grinding rendering image and the current grinding rendering image. Therefore, the planned grinding rendering image and the current grinding rendering image can be drawn and displayed in a volume drawing mode, so that an image rendering effect is achieved, a large amount of surface patch data is not required to be rendered in the process, a large amount of surface patch data transmission process is not involved, resource consumption is reduced, and timeliness and rendering effect of the rendering process are finally guaranteed.
In some embodiments of the present disclosure, the obtaining module 410 is specifically configured to:
image segmentation is carried out on the initial scanning image, and a target segmentation image containing the bone to be ground is obtained;
displaying the target segmentation image, the initial scanning image and the bone parameters of the target user, wherein the target segmentation image, the initial scanning image and the bone parameters of the target user are used for conducting bone grinding planning on the target user and generating the bone planning grinding image.
In some embodiments of the present disclosure, the first generating module 420 is specifically configured to:
determining a plurality of screen voxel points displayed on a screen window from all voxel points of the bone to be ground, and determining a plurality of non-screen voxel points not displayed on the screen window;
respectively sending out projection light rays to each screen voxel point along the direction pointing to each screen voxel point based on the same projection center, wherein each projection light ray comprises at least one non-screen pixel point;
for each non-screen voxel point on each projection light, acquiring a CT value corresponding to each non-screen voxel point from the initial scanning image;
And performing volume rendering on the planning grinding image based on CT values corresponding to the non-screen voxel points on each projection ray, and generating the planning grinding rendering image.
In some embodiments of the present disclosure, the first generating module 420 is specifically configured to:
calculating rendering data corresponding to the screen voxel points on each projection ray based on the CT values corresponding to the non-screen voxel points on each projection ray;
and generating the planned grinding rendering image according to the rendering data corresponding to the screen voxel points on each projection ray.
In some embodiments of the present disclosure, the first generating module 420 is specifically configured to:
obtaining color values and transparency corresponding to each CT value;
multiplying the color value and the transparency corresponding to the same non-screen voxel point on each projected ray to obtain rendering data of the same non-screen voxel point;
and superposing the rendering data of each non-screen voxel point on each projection ray, and determining the rendering data corresponding to the screen voxel point on each projection ray.
In some embodiments of the present disclosure, the planned grinding image includes a bone region tissue of the bone to be ground and a planned grinding region; the first generating module 420 is specifically configured to:
Determining a plurality of first target voxel points corresponding to the bone region tissues and a plurality of second target voxel points corresponding to the planning grinding region from the screen voxel points on the projection light;
generating a skeleton region rendering image based on rendering data respectively corresponding to the plurality of first target voxel points, and generating a planning region rendering image based on rendering data respectively corresponding to the plurality of second target voxel points;
and superposing the bone region rendering image and the planning region rendering image according to the positions and angles of the first target voxel points and the second target voxel points relative to the projection center, and generating the planning grinding rendering image.
In some embodiments of the present disclosure, the apparatus further comprises:
the instruction acquisition module is used for acquiring a grinding instruction aiming at the bone to be ground, wherein the grinding instruction is acquired when the ground area in the current grinding rendering image is smaller than the bone planning area in the planning grinding rendering image;
the grinding control module is used for controlling grinding equipment to continuously grind the current rest bones in the current grinding image of the bones based on the grinding instruction to obtain a next grinding image of the bones;
And the volume drawing module is used for continuing to carry out volume drawing on the next grinding image of the bone based on CT values which correspond to each voxel point on the bone to be ground and are contained in the initial scanning image, generating and displaying a next grinding rendering image corresponding to the next grinding image of the bone until the ground area in the current grinding rendering image is the same as the bone planning area in the planning grinding rendering image, and stopping continuing to acquire the grinding instruction.
It should be noted that, the bone grinding image display apparatus 400 shown in fig. 4 may perform the steps in the method embodiments shown in fig. 1 to 3, and implement the processes and effects in the method embodiments shown in fig. 1 to 3, which are not described herein.
Fig. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
As shown in fig. 5, the electronic device may include a processor 501 and a memory 502 storing computer program instructions.
In particular, the processor 501 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.
Memory 502 may include mass storage for information or instructions. By way of example, and not limitation, memory 502 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of these. Memory 502 may include removable or non-removable (or fixed) media, where appropriate. The memory 502 may be internal or external to the integrated gateway device, where appropriate. In a particular embodiment, the memory 502 is a non-volatile solid state memory. In a particular embodiment, the Memory 502 includes Read-Only Memory (ROM). The ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (Electrical Programmable ROM, EPROM), electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), electrically rewritable ROM (Electrically Alterable ROM, EAROM), or flash memory, or a combination of two or more of these, where appropriate.
The processor 501 reads and executes the computer program instructions stored in the memory 502 to perform the steps of the bone grinding image display method provided by the embodiments of the present disclosure.
In one example, the electronic device may also include a transceiver 503 and a bus 504. As shown in fig. 5, the processor 501, the memory 502, and the transceiver 503 are connected to each other via the bus 504 and perform communication with each other.
Bus 504 includes hardware, software, or both. By way of example, and not limitation, the buses may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics BUS, an enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) BUS, a Front Side BUS (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (Industrial Standard Architecture, ISA) BUS, an InfiniBand interconnect, a Low Pin Count (LPC) BUS, a memory BUS, a micro channel architecture (Micro Channel Architecture, MCa) BUS, a peripheral control interconnect (Peripheral Component Interconnect, PCI) BUS, a PCI-Express (PCI-X) BUS, a serial advanced technology attachment (Serial Advanced Technology Attachment, SATA) BUS, a video electronics standards association local (Video Electronics Standards Association Local Bus, VLB) BUS, or other suitable BUS, or a combination of two or more of these. Bus 504 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.
The following are embodiments of a computer-readable storage medium provided in the embodiments of the present disclosure, which are the same inventive concept as the bone grinding image display method of the above embodiments, and reference may be made to the embodiments of the bone grinding image display method described above for details that are not described in detail in the embodiments of the computer-readable storage medium.
The present embodiment provides a storage medium containing computer executable instructions which, when executed by a computer processor, are for performing a bone grinding image display method comprising:
acquiring an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user;
performing volume rendering on the bone planning grinding image based on CT values which are contained in the initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image;
performing volume rendering on the current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone;
And displaying the planned grinding rendering image and the current grinding rendering image.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present disclosure is not limited to the above method operations, but may also perform the related operations in the bone grinding image display method provided in any embodiment of the present disclosure.
From the above description of embodiments, it will be apparent to those skilled in the art that the present disclosure may be implemented by means of software and necessary general purpose hardware, but may of course also be implemented by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present disclosure may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, and the like, and includes several instructions for causing a computer cloud platform (which may be a personal computer, a server, or a network cloud platform, etc.) to execute the bone grinding image display method provided in the various embodiments of the present disclosure.
Note that the above is only a preferred embodiment of the present disclosure and the technical principle applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.
Claims (9)
1. A bone grinding image display method, comprising:
acquiring an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user;
performing volume rendering on the bone planning grinding image based on CT values which are contained in the initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image;
performing volume rendering on the current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone;
Displaying the planned grinding rendering image and the current grinding rendering image;
the step of performing volume rendering on the bone planning grinding image based on CT values corresponding to each voxel point on the bone to be ground included in the initial scan image, and generating a planning grinding rendering image corresponding to the bone planning grinding image includes: determining a plurality of screen voxel points displayed on a screen window from all voxel points of the bone to be ground, and determining a plurality of non-screen voxel points not displayed on the screen window; respectively sending out projection light rays to each screen voxel point along the direction pointing to each screen voxel point based on the same projection center, wherein each projection light ray comprises at least one non-screen pixel point; for each non-screen voxel point on each projection light, acquiring a CT value corresponding to each non-screen voxel point from the initial scanning image; and performing volume rendering on the planning grinding image based on CT values corresponding to the non-screen voxel points on each projection ray, and generating the planning grinding rendering image.
2. The method of claim 1, wherein acquiring a bone planning grinding image comprises:
Image segmentation is carried out on the initial scanning image, and a target segmentation image containing the bone to be ground is obtained;
displaying the target segmentation image, the initial scanning image and the bone parameters of the target user, wherein the target segmentation image, the initial scanning image and the bone parameters of the target user are used for conducting bone grinding planning on the target user and generating the bone planning grinding image.
3. The method of claim 1, wherein the generating the planned grinding rendered image based on the CT values corresponding to the non-screen voxel points on each of the projection rays comprises:
calculating rendering data corresponding to the screen voxel points on each projection ray based on the CT values corresponding to the non-screen voxel points on each projection ray;
and generating the planned grinding rendering image according to the rendering data corresponding to the screen voxel points on each projection ray.
4. A method according to claim 3, wherein said calculating the rendering data corresponding to the screen voxel point on each of the projection rays based on the CT values corresponding to the respective non-screen voxel points on each of the projection rays comprises:
Obtaining color values and transparency corresponding to each CT value;
multiplying the color value and the transparency corresponding to the same non-screen voxel point on each projected ray to obtain rendering data of the same non-screen voxel point;
and superposing the rendering data of each non-screen voxel point on each projection ray, and determining the rendering data corresponding to the screen voxel point on each projection ray.
5. A method according to claim 3, wherein the planned grinding image comprises a bone region tissue of the bone to be ground and a planned grinding region;
the generating the planned grinding rendering image according to the rendering data corresponding to the screen voxel point on each projection ray comprises the following steps:
determining a plurality of first target voxel points corresponding to the bone region tissues and a plurality of second target voxel points corresponding to the planning grinding region from the screen voxel points on the projection light;
generating a skeleton region rendering image based on rendering data respectively corresponding to the plurality of first target voxel points, and generating a planning region rendering image based on rendering data respectively corresponding to the plurality of second target voxel points;
And superposing the bone region rendering image and the planning region rendering image according to the positions and angles of the first target voxel points and the second target voxel points relative to the projection center, and generating the planning grinding rendering image.
6. The method of any one of claims 1-5, further comprising:
acquiring a grinding instruction for the bone to be ground, wherein the grinding instruction is acquired when a ground area in the current grinding rendering image is smaller than a bone planning area in the planning grinding rendering image;
based on the grinding instruction, controlling grinding equipment to continuously grind the current rest bones in the current grinding image of the bones to obtain a next grinding image of the bones;
and continuously performing volume drawing on the next grinding image of the bone based on CT values which correspond to each voxel point on the bone to be ground and are contained in the initial scanning image, generating and displaying a next grinding rendering image corresponding to the next grinding image of the bone until the ground area in the current grinding rendering image is the same as the bone planning area in the planning grinding rendering image, and stopping continuously acquiring the grinding instruction.
7. A bone grinding image display apparatus, comprising:
the acquisition module is used for acquiring an initial scanning image, a bone planning grinding image and a bone current grinding image of a target user;
the first generation module is used for carrying out volume rendering on the bone planning grinding image based on CT values which are contained in the initial scanning image and correspond to all voxel points on the bone to be ground, and generating a planning grinding rendering image corresponding to the bone planning grinding image;
the second generation module is used for carrying out volume rendering on the current grinding image of the bone based on CT values which are contained in the initial scanning image and correspond to each voxel point on the bone to be ground, and generating a current grinding rendering image corresponding to the current grinding image of the bone;
the display module is used for displaying the planned grinding rendering image and the current grinding rendering image;
the step of performing volume rendering on the bone planning grinding image based on CT values corresponding to each voxel point on the bone to be ground included in the initial scan image, and generating a planning grinding rendering image corresponding to the bone planning grinding image includes: determining a plurality of screen voxel points displayed on a screen window from all voxel points of the bone to be ground, and determining a plurality of non-screen voxel points not displayed on the screen window; respectively sending out projection light rays to each screen voxel point along the direction pointing to each screen voxel point based on the same projection center, wherein each projection light ray comprises at least one non-screen pixel point; for each non-screen voxel point on each projection light, acquiring a CT value corresponding to each non-screen voxel point from the initial scanning image; and performing volume rendering on the planning grinding image based on CT values corresponding to the non-screen voxel points on each projection ray, and generating the planning grinding rendering image.
8. An electronic device, comprising:
a processor;
a memory for storing executable instructions;
wherein the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method of any of the preceding claims 1-6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the storage medium stores a computer program, which, when executed by a processor, causes the processor to implement the method of any of the preceding claims 1-6.
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