CN115131304A - Pulmonary nodule boundary sphere generation method, device and equipment - Google Patents

Abstract

The present application provides a method, device and device for generating a boundary sphere of a pulmonary nodule. The method includes: acquiring CT value information of a target lung in response to a boundary sphere generation instruction; and generating a three-dimensional model of the target lung according to the CT value information , and determine the position information of the target lung nodule in the three-dimensional model of the target lung, and display the three-dimensional model and the position information of the target lung nodule on the display interface; The position information of the lung nodule, determine the centroid of the target lung nodule, and determine the maximum distance between the surface point of the target lung nodule and the centroid; generate the bounding sphere of the target lung nodule and display it on the display interface. Based on images captured by CT, MR and other equipment, the boundary spheres are automatically generated for pulmonary nodule lesions, which brings convenience to the preparation of surgical plans.

Description

A method, device and equipment for generating a pulmonary nodule boundary sphere

technical field

The present application relates to the technical field of image information processing, and in particular, to a method, device and device for generating a boundary sphere of a pulmonary nodule.

Background technique

With the development of medical imaging technology, CT (computed tomography, electronic computer X-ray tomography), MR (magnetic resonance, magnetic resonance) and other equipment are widely used in the daily clinical diagnosis process, based on the images taken by CT, MR and other equipment It can automatically or manually reconstruct the three-dimensional structure of human tissues and organs, and display it through three-dimensional visualization technology. It has an absolute advantage in basic research and clinical applications.

Pulmonary nodules are a relatively common pulmonary lesion. With the development of medicine in recent years, the relative positional relationship between nodule lesions and blood vessels, lungs, lung lobes and other organs can be obtained by means of organ reconstruction. The boundary position provides doctors with a reasonable surgical plan, but at present, the boundary position of nodular lesions cannot be accurately determined.

SUMMARY OF THE INVENTION

The present invention provides a method, device and device for generating a pulmonary nodule boundary sphere, which are used to solve the problem of the lack of an effective method for determining the boundary position of a pulmonary nodule at present.

The present application provides a method for generating a pulmonary nodule boundary sphere, the method comprising:

In response to the boundary sphere generation instruction, obtain CT value information of the target lung;

Generate a three-dimensional model of the target lung according to the above-mentioned CT value information, and determine the position information of the target lung nodule in the three-dimensional model of the above-mentioned target lung, and display the above-mentioned three-dimensional model and the above-mentioned position information of the target lung nodule on the display interface;

When it is determined that the automatic generation method of the boundary sphere is adopted, the centroid of the above-mentioned target lung nodule is determined based on the position information of the above-mentioned target lung nodule, and the maximum distance between the surface point of the above-mentioned target lung nodule and the above-mentioned centroid is determined;

Based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid, a bounding sphere of the target lung nodule is generated and displayed on the display interface.

An optional embodiment is that the method further includes:

Display the options of how to generate bounding spheres on the display interface;

According to the selection of the above-mentioned boundary sphere generation method options, when it is determined to adopt the boundary sphere manual generation method, the selected centroid position is determined according to the user operation, and the boundary sphere radius is determined by the input parameter method/mouse drag method;

Based on the centroid position selected by the user and the determined radius of the bounding sphere, the bounding sphere of the target lung nodule is generated and displayed on the display interface.

An optional implementation manner is, based on the position information of the above-mentioned target pulmonary nodule, determine the centroid of the above-mentioned target pulmonary nodule, and determine the maximum distance between the surface point of the above-mentioned target lung nodule and the above-mentioned centroid, including:

According to the position information of each point of the target lung nodule, determine the two points with the largest distance, and determine the midpoint of the two points with the largest distance as the centroid of the target lung nodule;

The distance between each point of the target lung nodule and the centroid is obtained, and the obtained maximum distance is determined as the maximum distance between the surface point of the target lung nodule and the centroid.

An optional implementation manner is, before generating the bounding sphere of the above-mentioned target lung nodule, further comprising:

Display the option of safety distance on the display interface, and collect the safety distance input by the user;

Based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid, the bounding sphere of the target lung nodule is generated, including:

Taking the centroid as the center of the sphere, and the sum of the maximum distance between the surface point of the target lung nodule and the centroid and the collected safety distance as the radius, a bounding sphere of the target lung nodule is generated.

An optional embodiment is that the method further includes:

According to the position information of each point in other parts except the above-mentioned target lung nodule, determine the distance between each point and the above-mentioned centroid, and compare it with the above-mentioned boundary sphere radius;

When it is determined that there is a distance smaller than the radius of the above-mentioned boundary sphere, a risk reminder is displayed on the above-mentioned display interface, and the option of changing the safe distance or switching the method of generating the boundary sphere is displayed.

An optional implementation is to display the options of the boundary sphere generation method on the display interface, including:

When it is determined that there are multiple pulmonary nodules in the above-mentioned target lungs, the boundary sphere generation method option and the list of target pulmonary nodules are displayed on the display interface, so that the user can select the boundary sphere generation method according to the boundary sphere generation method option, and select the boundary sphere generation method according to the target lung nodules. Select the target lung nodule corresponding to the generation method of the bounding sphere from the section list.

An optional implementation manner is, when it is determined that there are multiple pulmonary nodules in the above-mentioned target lung, the location information of the target pulmonary nodule is determined, including:

When it is determined that there are multiple pulmonary nodules according to the CT value information of the target lung, the connected region is determined by using the connected domain labeling algorithm;

The set of points in each connected region is determined as a target lung nodule, and the position information of each target lung nodule is obtained.

The above method automatically generates boundary spheres for pulmonary nodule lesions based on images captured by CT, MR and other equipment, which brings convenience to the preparation of surgical plans.

The present application also provides a device for generating pulmonary nodule boundary spheres, the device comprising:

an acquisition module, used for acquiring the CT value information of the target lung in response to the boundary sphere generation instruction;

The three-dimensional model display module is used to generate a three-dimensional model of the target lung according to the above-mentioned CT value information, and determine the position information of the target lung nodule in the three-dimensional model of the above-mentioned target lung, and display the above-mentioned three-dimensional model and the above-mentioned target on the display interface. Location information of pulmonary nodules;

A determination module, configured to determine the centroid of the target lung nodule based on the position information of the target lung nodule when the boundary sphere is automatically generated, and determine the maximum distance between the surface point of the target lung nodule and the centroid;

The boundary sphere display module is used for generating the boundary sphere of the target lung nodule based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid and displaying it on the display interface.

The present application also provides a device for generating a pulmonary nodule boundary sphere, the device comprising at least one processor; and a memory communicatively connected to the at least one processor;

Wherein, the memory stores an instruction executable by the at least one processor, and the instruction is executed by the at least one processor, so that the at least one processor can execute any one of the above-mentioned methods for generating a pulmonary nodule boundary sphere. step.

The present application provides a computer storage medium, where a computer program is stored in the computer storage medium, and the computer program is used to cause a computer to execute any one of the above steps in the above-mentioned method for generating a pulmonary nodule boundary sphere.

Description of drawings

In order to explain the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of a method for generating a pulmonary nodule boundary sphere according to an embodiment of the present application;

2 is a schematic diagram of a boundary ball generation button provided by an embodiment of the present application;

3 is a schematic diagram of a boundary sphere generation mode option provided by an embodiment of the present application;

4 is a schematic diagram of a boundary sphere of a target lung nodule provided by an embodiment of the present application;

5 is a schematic diagram of a display mode of position information of a boundary sphere of a target pulmonary nodule according to an embodiment of the present application;

6 is a schematic diagram of a specific flow of a method for generating a pulmonary nodule boundary sphere according to an embodiment of the present application;

7 is a schematic diagram of a dicom image of a target lung provided by an embodiment of the present application;

8 is a schematic diagram of a dicom image enlargement process of a target lung provided by an embodiment of the present application;

9 is a schematic diagram of a center option and a radius option of a boundary sphere provided by an embodiment of the present application;

10 is a schematic flowchart of a method for determining a centroid of a target lung nodule and a method for determining the maximum distance between a surface point of a target lung nodule and the centroid according to an embodiment of the present application;

11 is a schematic diagram of a safe distance option provided by an embodiment of the present application;

12 is a schematic flowchart of a risk reminder method provided by an embodiment of the present application;

13 is a schematic diagram of a risk reminder interface provided by an embodiment of the present application;

14 is a schematic diagram of options for a target pulmonary nodule provided by an embodiment of the present application;

15 is a schematic overall flowchart of a method for automatically generating a pulmonary nodule boundary sphere according to an embodiment of the present application;

16 is a schematic diagram of a pulmonary nodule mask data provided by an embodiment of the present application;

17 is a schematic diagram of a dicom image loaded with pulmonary nodule mask data according to an embodiment of the present application;

FIG. 18 is a schematic diagram of a boundary sphere of another target pulmonary nodule according to an embodiment of the present application;

19 is a schematic flowchart of a device for generating a pulmonary nodule boundary sphere according to an embodiment of the present application;

FIG. 20 is a schematic flowchart of a device for generating a pulmonary nodule boundary sphere according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and in detail below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. The acquisition, storage, use, and processing of data in the embodiments of this application all comply with the relevant provisions of national laws and regulations.

With the development of medical imaging technology, CT, MR and other equipment are widely used in the daily clinical diagnosis process. Based on the images captured by CT, MR and other equipment, the three-dimensional structure of human tissues and organs can be automatically or manually reconstructed. Through three-dimensional visualization technology It can visually display the distribution of tissues and organs around the lesion, and can formulate and simulate surgical plans according to the distribution of tissues and organs. It has an absolute advantage in surgery and plays an extremely important role in basic research and clinical applications.

Pulmonary nodules are a relatively common pulmonary lesion. In recent years, with the development of medicine, the relative positional relationship between nodule lesions and blood vessels, lungs, lung lobes and other organs can be obtained by means of organ reconstruction, so as to provide doctors with reasonable information. surgical plan.

At present, when doctors perform pulmonary nodule resection, they first determine whether to remove the detected pulmonary nodules based on the three-dimensional model of the lung and the approximate location of the pulmonary nodule based on experience. The dependence of the experience is high, and there is also a certain uncertainty.

In view of the above-mentioned problems, the present application proposes a method for generating a pulmonary nodule boundary sphere, which is based on reconstructed lesions, blood vessels, lungs, and lobes obtained by using dicom (Digital Imaging and Communications in Medicine) data. The 3D model of the organ supports both manual drawing and automatic generation of lung nodule boundary spheres.

Manual drawing refers to generating the boundary sphere of pulmonary nodules by dragging and lifting the mouse on the cross section of the dicom image, while automatic generation refers to selecting the target organ and placing the target organ (usually one or more nodules). ) Generate multiple independent pulmonary nodules through the connected domain algorithm, automatically generate a boundary sphere for each independent pulmonary nodule, and consider the set safety distance when automatically generating the boundary sphere. Other tissues and organs are prompted.

Through the above method, a boundary sphere surrounding the pulmonary nodule can be accurately generated for each pulmonary nodule, so as to assist the doctor in formulating a surgical resection plan and provide convenience for the doctor's surgical operation.

1 is a schematic flowchart of a method for generating a pulmonary nodule boundary sphere provided by an embodiment of the present application. As shown in FIG. 1 , an embodiment of the present application provides a method for generating a pulmonary nodule boundary sphere, including:

Step 101, obtaining CT value information of the target lung in response to the boundary sphere generating instruction;

Receive the boundary sphere generation instruction sent by the user, obtain the dicom image information of the target case corresponding to the instruction, and determine the CT value information of the target lung corresponding to the instruction.

As shown in FIG. 2 , the method for obtaining the above-mentioned boundary sphere generation instruction may be: displaying a boundary sphere generation button on the display interface, and acquiring the user's boundary sphere generation instruction by collecting user clicks on the boundary sphere generation button.

In some embodiments, during the preliminary configuration, the information of the patient is pre-entered into the pulmonary nodule boundary sphere generation system, and the time corresponding to the information is recorded at the same time; the boundary sphere is displayed on the initial interface of the pulmonary nodule boundary sphere generation system At the same time as the generation button, the target object selection option and/or the acquisition date option of the CT value information can also be displayed, so that the user can select the number or name of the patient whose lung nodule boundary sphere needs to be generated, and/or, select the CT value to be obtained. Date the information was collected.

Step 102, generating a three-dimensional model of the target lung according to the above-mentioned CT value information, and determining the position information of the target lung nodule in the three-dimensional model of the above-mentioned target lung, and displaying the above-mentioned three-dimensional model and the above-mentioned target lung nodule on the display interface. location information;

According to the obtained CT value information of the target lung, generate three-dimensional models of different organs of the target lung, such as blood vessels around the lung, lungs, lung lobes, etc., and load the generated three-dimensional models on the page for intuitive viewing by users .

In some embodiments, the above-mentioned three-dimensional model is composed of multiple masks, which can be displayed on the display interface in a manner of displaying a mask selected by the user.

At the same time, the location information of the pulmonary nodules in the three-dimensional model is acquired, and correspondingly displayed on the user's display interface. The location information of the pulmonary nodule may be the three-dimensional coordinates of each point in the three-dimensional point cloud of the pulmonary nodule. In a specific implementation, since the CT value of the lung nodule region is different from the CT value of other parts, the coordinates of the point where the lung nodule region exists can be determined by the CT value information.

Step 103, when it is determined that the automatic generation method of the boundary sphere is adopted, based on the position information of the above-mentioned target lung nodule, determine the centroid of the above-mentioned target lung nodule, and determine the maximum distance between the surface point of the above-mentioned target lung nodule and the above-mentioned centroid;

In some embodiments, as shown in FIG. 3 , while displaying the above-mentioned three-dimensional model and the location information of the target lung nodule on the interface, an option for generating a boundary sphere is also displayed on the display interface, and the options include an automatic generating method and Generated manually.

According to the user's selection of the boundary sphere generation method options through mouse clicks, etc., it is determined that when the user adopts the manual generation method of the boundary sphere, the center of mass of the target pulmonary nodule is determined according to the obtained position information of the target pulmonary nodule, and the distance sphere is determined. The point on the surface of the lung nodule with the furthest centroid, and the distance from that point to the centroid is obtained.

Step 104, based on the above-mentioned centroid and the maximum distance between the surface point of the target lung nodule and the above-mentioned centroid, generate the bounding sphere of the above-mentioned target lung nodule and display it on the display interface;

Taking the obtained centroid as the center of the generated bounding sphere, and taking the distance between the surface point of the lung nodule with the farthest distance from the sphere center and the centroid as the radius of the bounding sphere, the bounding sphere of the target lung nodule is generated, and it is displayed in the user's The display interface is displayed, as shown in Figure 4, the spherical area in the figure is the generated boundary sphere, and the light-colored area in the boundary sphere is the target lung nodule.

In some embodiments, as shown in FIG. 5 , when the boundary ball is displayed on the display interface, the position information of the boundary ball, such as the coordinates of the center of the boundary ball, etc., may be displayed at the same time, or the size information may also be displayed at the same time, such as the boundary The radius of the sphere, again as the ratio of the distance in the displayed picture to the actual distance.

The above method, by calculating the center of mass of the pulmonary nodule as the center of the bounding sphere, and determining the radius of the bounding sphere, a bounding sphere that covers the pulmonary nodule lesions and conforms to a safe distance is generated to provide a reference for the surgical plan, and this method is used to calculate Generating a boundary sphere can assist doctors in formulating surgical resection plans, reduce some uncertainties caused by doctors' naked eyes and empirical judgments, and provide patients with the most accurate surgical plan.

In the above step 103, in order to meet the needs of doctors to manually draw boundary spheres in the case of a small number of pulmonary nodules or some special scenarios, the embodiment of the present application also provides a manual drawing option, that is, displaying the boundary spheres on the display interface The options of the generation method include automatic generation and manual generation, as shown in Figure 3. Since the user usually chooses the automatic generation method, the default method can be set as the automatic generation method, that is, if the user does not select the generation method, the automatic generation method is used by default. Mode switching, the above default mode users can set according to their own needs.

An optional implementation manner is, as shown in FIG. 6 , the method for generating a pulmonary nodule boundary sphere provided in the embodiment of the present application further includes the following steps:

Step 601, displaying a boundary sphere generation method option on the display interface;

Step 602, according to the selection of the above-mentioned boundary sphere generation method option, when it is determined that the boundary sphere manual generation method is adopted, the selected centroid position is determined according to the user operation, and the boundary sphere radius is determined by the input parameter method/mouse drag method;

Step 603: Based on the position of the centroid selected by the user and the determined radius of the bounding sphere, the bounding sphere of the target lung nodule is generated and displayed on the display interface.

In some embodiments, when the user chooses to manually generate the lung nodule boundary sphere, the dicom image of the target lung will be displayed on the display interface, and the lung nodule area will be highlighted in other colors on the image to facilitate the user to perform Draw manually, as shown in Figure 7.

In some embodiments, in order to facilitate the user to draw, the user can also zoom in by manipulating the partial image of the dicom image of the target lung, so as to better select the center and radius of the sphere. In the specific implementation, the user can slide the mouse wheel The selected area of the dicom image of the target lung is enlarged in various ways, such as moving the mouse or inputting parameters. The enlarged dicom image is shown in Figure 8.

When manually drawing the boundary sphere of a pulmonary nodule, the center and radius options of the boundary sphere will be displayed on the display interface. As shown in Figure 9, the user can input in the input field, select in the drop-down field, and click on the picture. Select the center position of the generated bounding sphere, among which, the recommended center position determined by calculation will be displayed in the drop-down column. When the center position is selected by clicking, the selected ball as shown in Figure 7 will be displayed correspondingly in the figure. The horizontal and vertical auxiliary lines of the center are used for the user to determine the position; at the same time, the user can select the radius of the generated bounding sphere by inputting parameters and dragging the mouse.

The following describes in detail the method for determining the centroid of the target lung nodule and the maximum distance between the surface point of the target lung nodule and the centroid in the above step 103 with reference to FIG. 10 .

An optional implementation is, as shown in FIG. 10 , based on the position information of the target lung nodule, determine the centroid of the target lung nodule, and determine the maximum distance between the surface point of the target lung nodule and the centroid, include:

Step 1001, according to the position information of each point of the above-mentioned target lung nodule, determine two points with the largest distance, and determine the midpoint of the two points with the largest distance as the centroid of the above-mentioned target lung nodule;

Step 1002: Obtain the distance between each point of the target lung nodule and the centroid, and determine the obtained maximum distance as the maximum distance between the surface point of the target lung nodule and the centroid.

Specifically, first obtain the longest diameter of the target pulmonary nodule, and the calculation process of the longest diameter is as follows:

For the n pixel points (X _i ,Y _i, ,Z _i ) in the target lung nodule, first calculate the distance from each point (X _i ,Y _i, ,Z _i ) to the other n-1 points , after the calculation, n*(n-1) distances are obtained, and the largest distance is obtained from the n*(n-1) distances as the maximum diameter d.

If the coordinates of the two pixel points corresponding to the maximum diameter are (X _a , Y _a , Z _a ) and (X _b , Y _b , Z _b ), then the center of mass is the midpoint of the longest diameter, and the coordinates of the center of mass (X, Y, Z) is:

X=( _Xb + _Xa )/2; Y ₌ ( _Yb +Ya)/2; Z ₌ ( _Zb +Za)/2.

After the centroid is determined, the distance between each point on the target lung nodule and the centroid is calculated, and the maximum value r _max among the distances is obtained.

An optional implementation manner is, before generating the bounding sphere of the above-mentioned target lung nodule, further comprising:

Display the option of safety distance on the display interface, and collect the safety distance input by the user;

Based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid, the bounding sphere of the target lung nodule is generated, including:

Taking the centroid as the center of the sphere, and the sum of the maximum distance between the surface point of the target lung nodule and the centroid and the collected safety distance as the radius, a bounding sphere of the target lung nodule is generated.

In order to ensure that the target pulmonary nodule is completely removed and keep a certain distance from the target pulmonary nodule and nearby blood vessels, so as to avoid damage to the surrounding blood vessels during the removal of the pulmonary nodule, increase the maximum value r _max of the above obtained distances. The safety distance d is taken as the final radius of the boundary sphere, that is, the final determined radius is r=r _max +d.

As shown in FIG. 11 , the option of safety distance is displayed on the display interface, and the user can set the required safety distance value by inputting in the input field, selecting in the drop-down field, etc.

An optional embodiment is, as shown in FIG. 12 , the method for generating a pulmonary nodule boundary sphere provided by the present application further includes:

Step 1201, according to the position information of each point in other parts except the above-mentioned target lung nodule, determine the distance between each of the above-mentioned points and the above-mentioned centroid, and compare it with the above-mentioned boundary sphere radius;

Step 1202 , when it is determined that there is a distance smaller than the radius of the bounding sphere, a risk reminder is displayed on the above-mentioned display interface, and an option of changing the safe distance or switching the generating method of the bounding sphere is displayed.

In order to further ensure that the surrounding blood vessels are not damaged when the pulmonary nodule is resected, when generating the bounding sphere of the target pulmonary nodule, it is also necessary to confirm that there are no blood vessels or other tissues and organs other than the target pulmonary nodule in the generated bounding sphere. .

In a specific implementation, after the center and radius of the generated bounding sphere are determined, the distances of other points located around the target lung nodule except for the target lung nodule from the above-mentioned center of mass are calculated, and the distances from the above-mentioned center of mass are compared with the calculated value. The radius is compared, and when it is determined that there is no point whose distance from the centroid is less than the radius, it is determined that there are no other blood vessels or tissues and organs in the generated bounding sphere, that is, it is safer to perform the resection plan of the target pulmonary nodule according to the bounding sphere. .

When it is determined that there is a point whose distance from the centroid is less than the radius, it is determined that there are other blood vessels or tissues and organs in the generated bounding sphere, that is, performing the resection plan of the target pulmonary nodule according to the bounding sphere has the risk of damaging other parts, such as , cut the blood vessels around the pulmonary nodule. At this time, a risk reminder as shown in Figure 13 is generated on the display interface. The user can choose to ignore the reminder and continue to generate the boundary sphere according to the risk reminder, or take other methods, for example, in the If the currently set safety distance is too large, modify the safety distance, or use the manual generation method to generate the boundary sphere.

In some embodiments, while performing the risk reminder, specific positions of other parts within the bounding sphere may also be generated on the interface, so as to facilitate the user to make subsequent judgments.

In some embodiments, since there may be multiple pulmonary nodules in the target lung, that is, when there is more than one pulmonary nodule on one side of the target lung, the embodiments of the present application also design the target pulmonary nodule for multiple pulmonary nodules. options.

An optional implementation is to display the options of the boundary sphere generation method on the display interface, including:

When it is determined that there are multiple pulmonary nodules in the above-mentioned target lungs, the boundary sphere generation method option and the list of target pulmonary nodules are displayed on the display interface, so that the user can select the boundary sphere generation method according to the boundary sphere generation method option, and select the boundary sphere generation method according to the target lung nodules. Select the target lung nodule corresponding to the generation method of the bounding sphere from the section list.

As shown in Figure 14, when it is determined that there are multiple pulmonary nodules in the target lung, the display interface displays the generation method of the boundary sphere, and also generates the option of the target pulmonary nodule. The user can click the option of the target pulmonary nodule, Obtain a list of target lung nodules that includes all lung nodules in the target lung, select the target lung nodules that need to generate boundary spheres from the list, and select the corresponding boundary sphere generation method, that is, the boundary sphere generation method that can be selected Generates bounding spheres for selected target lung nodules.

Wherein, the target lung nodules selected by the user according to the above target lung nodule list may be one or more, and when the selected target lung nodules are multiple, the user may also select the same or different target lung nodules for different target lung nodules. How the bounding sphere is generated.

An optional implementation manner is, when it is determined that there are multiple pulmonary nodules in the above-mentioned target lung, the location information of the target pulmonary nodule is determined, including:

When it is determined that there are multiple pulmonary nodules according to the CT value information of the target lung, the connected region is determined by using the connected domain labeling algorithm;

The set of points in each connected region is determined as a target lung nodule, and the position information of each target lung nodule is obtained.

In some embodiments, when it is determined that there are multiple pulmonary nodules according to the CT value information, all connected domains need to be found first according to the connected domain labeling algorithm, and each connected domain is treated as an independent pulmonary nodule.

Specifically, the embodiment of the present application takes the eight-neighbor labeling algorithm as an example to describe the steps of determining each independent lung nodule in detail. The points in the following description refer to the points belonging to the lung nodule area determined according to the CT value information. .

Step 1, traverse the points in the lung nodule area, and find the first non-zero pixel point, starting from this point, determine whether the leftmost, upper left, uppermost and upper right in the eight neighborhoods of this point have other points, If there is no point at the extreme left, upper left, uppermost and upper right, it is determined that the point belongs to a new connected region.

Step 2, if there are points in the leftmost and upper right points in the eight neighborhoods of this point, mark this point as the mark point of the smallest point among the leftmost point and the upper right point, and change the big mark to the small mark.

Step 3, if there are points on the upper left and upper right of the eight neighborhoods of this point, mark this point as the mark point of the smallest point among the upper left point and the upper right point, and modify the large mark to a small mark.

Step 4, otherwise, mark this point as one of the four points of the leftmost point, the upper left point, the uppermost point and the upper right point in the order of the leftmost, upper left, uppermost and upper right.

After the points in the lung nodule area are marked, the lung nodule area can be divided into several independent connected domains, and each connected domain is used as an independent nodule to generate a target lung nodule list and save it.

The method for generating a pulmonary nodule boundary sphere provided by the embodiment of the present application provides a method for generating a boundary sphere, namely manual drawing and automatic generation. If the number of nodules is relatively small or the doctor has some special needs to draw manually, the boundary can be manually drawn. 3D display of the ball after drawing, users can check whether the drawn boundary ball meets the needs of surgery. If the number of nodules is large and the nodules are complex in location or close to blood vessels, you can choose to automatically generate bounding spheres. Automatically generate a bounding sphere, mainly by calculating the center point of the pulmonary nodule as the center of the bounding sphere, and determining the radius of the bounding sphere, and considering the existence of relatively close blood vessels nearby, a lesion covering the pulmonary nodule is generated and meets the safety requirements. The boundary sphere of the distance provides a reference for the surgical plan. Using this method to calculate and generate the boundary sphere can ensure that the entire nodule is removed while avoiding damage to the surrounding blood vessels. Assist doctors to formulate surgical resection plans, reduce some uncertainties caused by doctors' visual and empirical judgments, and provide patients with the most accurate surgical plan.

The overall flow of the method for automatically generating a pulmonary nodule boundary sphere provided by the embodiment of the present application will be described in detail below with reference to FIG. 15 .

Step 1. In response to the boundary sphere generation instruction, load the dicom image information, and use the artificial intelligence package to generate the stl data of each organ, and generate and display the three-dimensional model of the target lung on the display interface.

At the same time, the mask data corresponding to the lung nodule part in the 3D model of the target lung is generated, as shown in Figure 16, the light-colored area in the figure is the lung nodule area, and the mask data is loaded into the dicom image, as shown in Figure 16. shown in Figure 17.

Step 2: When it is determined that there are multiple pulmonary nodules, multiple connected domains are identified according to the connected domain generation algorithm, the point set in each connected domain is saved as a target lung nodule, and a target lung nodule list is generated.

In step 3, a list of target pulmonary nodules is displayed on the display interface, the position information of the target pulmonary nodule selected by the user is obtained, and the centroid is calculated according to the position information.

Specifically, the premise of this application is that the result data of pulmonary nodules has been extracted, and the result data is a two-dimensional array, and the length of the two-dimensional array is M*N, where M is the resolution of the dicom image. If the resolution of the dicom image is The rate is 512*512, then M=512*512, and N is the total number of dicom images of the case. Points within the range of lung nodules have a corresponding value of 1 in the two-dimensional array, and points outside the range of lung nodules have a corresponding value of 0 in the two-dimensional array.

In the implementation, convert all 1 points into three-dimensional point coordinates (X, Y, Z), and calculate the distance from each point (X _i , Y _i, Z _i ) to other n-1 points, Obtain n*(n-1) distances, obtain the largest distance among these distances as the maximum diameter, and obtain the two points corresponding to the maximum diameter (X _a , Y _a , Z _a ) and (X _b , Y _b , Z _b ); then the center of mass is the midpoint of the longest diameter, and the coordinates (X, Y, Z) of the center of mass are:

X=( _Xb + _Xa )/2; Y ₌ ( _Yb +Ya)/2; Z ₌ ( _Zb +Za)/2.

Step 4: Determine the radius of the generated bounding sphere according to the position information of the target lung nodule and the calculated centroid.

Specifically, the distance between each point on the target lung nodule and the centroid is calculated, and the maximum value r _max in the distance is obtained.

The safety distance input by the user is obtained, and the safety distance d is added as the final radius of the boundary sphere on the basis of the maximum value r _max in the obtained distances, that is, the final radius is r=r _max +d.

Step 5: Determine the distance between each point and the centroid in other parts except the target lung nodule.

Step 6, determine whether there is a point whose distance from the centroid is less than the radius, if so, go to Step 7, if not, go to Step 8.

Step 7, carry out a risk prompt, such as prompting "there is a risk of cutting blood vessels".

Step 8, generate a boundary sphere, display it on the display interface, and store it in the database.

Specifically, a mask (two-dimensional data) is first generated, and then a three-dimensional model is generated. The mask generation method is as follows: if the radius of the boundary sphere is R, the center of the sphere is taken as the center, and the side length is 2R to draw a cube, and the cube is drawn. All points within the sphere are used as sampling points, and the distance from the point to the center of the sphere is calculated. If it is greater than R, it means that it is not within the range of the sphere (marked as 1), and if it is less than or equal to R, it means it is within the range of the sphere (marked as 0). The generated two-dimensional The array is used as mask data to generate a 3D model and save it as a boundary sphere.

The generated bounding sphere is shown in Figure 18, where the arrows indicate the generated bounding sphere.

Step 9, determine whether all target lung nodules selected by the user have been traversed, if not, return to step 3, if yes, end.

Based on the same disclosed concept, an embodiment of the present application also provides a device for generating a pulmonary nodule boundary sphere. Since the device is the device in the method in the embodiment of the present application, and the principle of the device for solving problems is similar to that of the method, Therefore, the implementation of the device may refer to the implementation of the method, and the repeated parts will not be repeated.

As shown in FIG. 19 , an embodiment of the present application provides a device for generating a pulmonary nodule boundary sphere, which includes:

an acquisition module 1901, configured to acquire the CT value information of the target lung in response to the boundary sphere generation instruction;

The three-dimensional model display module 1902 is used to generate a three-dimensional model of the target lung according to the above-mentioned CT value information, and determine the position information of the target lung nodule in the three-dimensional model of the above-mentioned target lung, and display the above-mentioned three-dimensional model and the above-mentioned three-dimensional model on the display interface. Location information of the target lung nodule;

The determining module 1903 is configured to determine the centroid of the above-mentioned target lung nodule based on the position information of the above-mentioned target lung nodule, and determine the maximum distance between the surface point of the above-mentioned target lung nodule and the above-mentioned centroid when the boundary sphere is automatically generated;

The boundary sphere display module 1904 is configured to generate the bounding sphere of the target lung nodule based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid and display it on the display interface.

Optionally, the above-mentioned device for generating boundary spheres of pulmonary nodules further includes a manual generation module for boundary spheres, which is used for:

Display the options of how to generate bounding spheres on the display interface;

According to the selection of the above-mentioned boundary sphere generation method options, when it is determined to adopt the boundary sphere manual generation method, the selected centroid position is determined according to the user operation, and the boundary sphere radius is determined by the input parameter method/mouse drag method;

Based on the centroid position selected by the user and the determined radius of the bounding sphere, the bounding sphere of the target lung nodule is generated and displayed on the display interface.

Optionally, the above-mentioned determining module 1903 is configured to determine the centroid of the above-mentioned target pulmonary nodule based on the position information of the above-mentioned target pulmonary nodule, and determine the maximum distance between the surface point of the above-mentioned target pulmonary nodule and the above-mentioned centroid, including:

According to the position information of each point of the target lung nodule, determine the two points with the largest distance, and determine the midpoint of the two points with the largest distance as the centroid of the target lung nodule;

The distance between each point of the target lung nodule and the centroid is obtained, and the obtained maximum distance is determined as the maximum distance between the surface point of the target lung nodule and the centroid.

Optionally, before the above-mentioned boundary sphere display module 1904 is used to generate the above-mentioned boundary sphere of the target lung nodule, it further includes:

Display the option of safety distance on the display interface, and collect the safety distance input by the user;

Based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid, the bounding sphere of the target lung nodule is generated, including:

Taking the centroid as the center of the sphere, and the sum of the maximum distance between the surface point of the target lung nodule and the centroid and the collected safety distance as the radius, a bounding sphere of the target lung nodule is generated.

Optionally, the above-mentioned pulmonary nodule boundary sphere generating device further includes a risk reminder module for:

According to the position information of each point in other parts except the above-mentioned target lung nodule, determine the distance between each point and the above-mentioned centroid, and compare it with the above-mentioned boundary sphere radius;

When it is determined that there is a distance smaller than the radius of the above-mentioned boundary sphere, a risk reminder is displayed on the above-mentioned display interface, and the option of changing the safe distance or switching the method of generating the boundary sphere is displayed.

Optionally, the above-mentioned boundary sphere manual generation module is used to display the boundary sphere generation method options on the display interface, including:

When it is determined that there are multiple pulmonary nodules in the above-mentioned target lungs, the boundary sphere generation method option and the list of target pulmonary nodules are displayed on the display interface, so that the user can select the boundary sphere generation method according to the boundary sphere generation method option, and select the boundary sphere generation method according to the target lung nodules. Select the target lung nodule corresponding to the generation method of the bounding sphere from the section list.

Optionally, the above-mentioned three-dimensional model display module 1902 is configured to determine the location information of the target lung nodules when it is determined that there are multiple pulmonary nodules in the above-mentioned target lung, including:

When it is determined that there are multiple pulmonary nodules according to the CT value information of the target lung, the connected region is determined by using the connected domain labeling algorithm;

The set of points in each connected region is determined as a target lung nodule, and the position information of each target lung nodule is obtained.

Based on the same disclosed concept, the embodiment of the present application also provides a device for generating a pulmonary nodule boundary sphere, because the device is the device in the method in the embodiment of the present application, and the principle of the device to solve the problem is the same as that of the method. Similar, therefore, the implementation of the device can refer to the implementation of the method, and the repetition will not be repeated.

As will be appreciated by one skilled in the art, various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application can be embodied in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", "module" or "system".

In some possible implementations, a device according to the present application may include at least one processor and at least one memory. The memory stores program codes, which, when executed by the processor, cause the processor to execute the steps in the method for generating a pulmonary nodule boundary sphere according to various exemplary embodiments of the present application described above in this specification.

Such a lung nodule boundary sphere generating apparatus 200 according to the present application is described below with reference to FIG. 20 . The device 200 shown in FIG. 20 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present application.

As shown in FIG. 20, device 200 is represented as a general-purpose device. The components of the device 200 may include, but are not limited to: the above-mentioned at least one processor 201, the above-mentioned at least one memory 202, and a bus 203 connecting different system components (including the memory 202 and the processor 201), wherein the memory stores program codes, and when the program The code, when executed by the processor, causes the processor to perform the following steps:

In response to the boundary sphere generation instruction, obtain CT value information of the target lung;

Generate a three-dimensional model of the target lung according to the above-mentioned CT value information, and determine the position information of the target lung nodule in the three-dimensional model of the above-mentioned target lung, and display the above-mentioned three-dimensional model and the above-mentioned position information of the target lung nodule on the display interface;

When it is determined that the automatic generation method of the boundary sphere is adopted, the centroid of the above-mentioned target lung nodule is determined based on the position information of the above-mentioned target lung nodule, and the maximum distance between the surface point of the above-mentioned target lung nodule and the above-mentioned centroid is determined;

Based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid, a bounding sphere of the target lung nodule is generated and displayed on the display interface.

Bus 203 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, or a local bus using any of a variety of bus structures.

Memory 202 may include readable media in the form of volatile memory, such as random access memory (RAM) 2021 and/or cache memory 2022 , and may further include read only memory (ROM) 2023 .

The memory 202 may also include a program/utility 2025 having a set (at least one) of program modules 2024 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, which An implementation of a network environment may be included in each or some combination of the examples.

The device 200 may also communicate with one or more external devices 204 (eg, keyboards, pointing devices, etc.), may also communicate with one or more devices that enable a user to interact with the device 200, and/or communicate with the device 200. Any device (eg, router, modem, etc.) that communicates with one or more other devices. Such communication may take place through input/output (I/O) interface 205 . Also, the device 200 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 206 . As shown, network adapter 206 communicates with other modules for device 200 via bus 203 . It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and Data backup storage system, etc.

Optionally, the above processor is also used for:

Display the options of how to generate bounding spheres on the display interface;

According to the selection of the above-mentioned boundary sphere generation method options, when it is determined to adopt the boundary sphere manual generation method, the selected centroid position is determined according to the user operation, and the boundary sphere radius is determined by the input parameter method/mouse drag method;

Based on the centroid position selected by the user and the determined radius of the bounding sphere, the bounding sphere of the target lung nodule is generated and displayed on the display interface.

Optionally, the above-mentioned processor is configured to determine the centroid of the above-mentioned target pulmonary nodule based on the position information of the above-mentioned target pulmonary nodule, and determine the maximum distance between the surface point of the above-mentioned target pulmonary nodule and the above-mentioned centroid, including:

According to the position information of each point of the target lung nodule, determine the two points with the largest distance, and determine the midpoint of the two points with the largest distance as the centroid of the target lung nodule;

The distance between each point of the target lung nodule and the centroid is obtained, and the obtained maximum distance is determined as the maximum distance between the surface point of the target lung nodule and the centroid.

Optionally, before the above-mentioned processor is used to generate the boundary sphere of the above-mentioned target pulmonary nodule, it is further used to:

Display the option of safety distance on the display interface, and collect the safety distance input by the user;

Based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid, the bounding sphere of the target lung nodule is generated, including:

Taking the centroid as the center of the sphere, and the sum of the maximum distance between the surface point of the target lung nodule and the centroid and the collected safety distance as the radius, a bounding sphere of the target lung nodule is generated.

Optionally, the above processor is also used for:

According to the position information of each point in other parts except the above-mentioned target lung nodule, determine the distance between each point and the above-mentioned centroid, and compare it with the above-mentioned boundary sphere radius;

When it is determined that there is a distance smaller than the radius of the above-mentioned boundary sphere, a risk reminder is displayed on the above-mentioned display interface, and the option of changing the safe distance or switching the method of generating the boundary sphere is displayed.

Optionally, the above-mentioned processor is used to display the options for generating the boundary sphere on the display interface, including:

When it is determined that there are multiple pulmonary nodules in the above-mentioned target lungs, the boundary sphere generation method option and the list of target pulmonary nodules are displayed on the display interface, so that the user can select the boundary sphere generation method according to the boundary sphere generation method option, and select the boundary sphere generation method according to the target lung nodules. Select the target lung nodule corresponding to the generation method of the bounding sphere from the section list.

Optionally, the above-mentioned processor is configured to determine the location information of the target pulmonary nodule when it is determined that there are multiple pulmonary nodules in the above-mentioned target lung, including:

When it is determined that there are multiple pulmonary nodules according to the CT value information of the target lung, the connected region is determined by using the connected domain labeling algorithm;

The set of points in each connected region is determined as a target lung nodule, and the position information of each target lung nodule is obtained.

In some possible implementations, various aspects of the method for generating a pulmonary nodule boundary sphere provided by the present application can also be implemented in the form of a program product, which includes program code, and when the program product runs on a computer device, The program code is used to cause the computer device to execute the steps in a method for generating a pulmonary nodule boundary sphere according to various exemplary embodiments of the present application described above in this specification.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

The program product for monitoring of embodiments of the present application may employ a portable compact disk read only memory (CD-ROM) and include program code, and may be executed on a device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, carrying readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural programming Language - such as the "C" language or similar programming language. The program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote device, or entirely on the remote device or server. In the case of a remote device, the remote device may be connected to the user device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external device (eg, using an Internet service provider via Internet connection).

It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, this division is merely exemplary and not mandatory. Indeed, according to embodiments of the present application, the features and functions of two or more units described above may be embodied in one unit. Conversely, the features and functions of one unit described above may be further subdivided to be embodied by multiple units.

Furthermore, although the operations of the methods of the present application are depicted in the figures in a particular order, this does not require or imply that the operations must be performed in the particular order, or that all illustrated operations must be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined to be performed as one step, and/or one step may be decomposed into multiple steps to be performed.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each process and/or block in the flowchart and block diagrams, and combinations of processes and blocks in the flowchart and block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in one or more of the flowcharts and one or more blocks of the block diagrams.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions An apparatus implements the functions specified in one or more of the flowcharts and one or more blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and the block or blocks of the block diagrams.

While the preferred embodiments of the present application have been described, additional changes and modifications to these embodiments may occur to those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be construed to include the preferred embodiment and all changes and modifications that fall within the scope of this application.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims (10)

1. A method of lung nodule boundary sphere generation, the method comprising:

responding to a boundary sphere generation instruction, and acquiring CT value information of a target lung;

generating a three-dimensional model of a target lung according to the CT value information, determining position information of a target lung nodule in the three-dimensional model of the target lung, and displaying the three-dimensional model and the position information of the target lung nodule on a display interface;

determining the centroid of the target lung nodule based on the position information of the target lung nodule and determining the maximum distance between the surface point of the target lung nodule and the centroid when a boundary sphere automatic generation mode is adopted;

and generating and displaying a boundary sphere of the target lung nodule on a display interface based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid.

2. The method of claim 1, further comprising:

displaying a boundary ball generation mode option on a display interface;

according to the selection of the boundary ball generation mode option, when a manual boundary ball generation mode is determined, the center of mass position is determined according to the operation of a user, and the radius of the boundary ball is determined through an input parameter mode/a mouse dragging mode;

based on the user-selected centroid location and the determined boundary sphere radius, a boundary sphere of the target lung nodule is generated and displayed on a display interface.

3. The method of claim 1, wherein determining a centroid of the target lung nodule based on the position information of the target lung nodule and determining a maximum distance of the surface point of the target lung nodule from the centroid comprises:

determining two points with the largest distance according to the position information of each point of the target pulmonary nodule, and determining the midpoint of the two points with the largest distance as the centroid of the target pulmonary nodule;

and acquiring the distance between each point of the target pulmonary nodule and the centroid, and determining the acquired maximum distance as the maximum distance between the surface point of the target pulmonary nodule and the centroid.

4. The method of claim 1, wherein prior to generating the boundary sphere of the target lung nodule, further comprising:

displaying options of the safe distance on a display interface, and collecting the safe distance input by a user;

generating a boundary sphere of the target lung nodule based on the centroid and a maximum distance of a target lung nodule surface point from the centroid, comprising:

and taking the centroid as the sphere center, and taking the sum of the maximum distance between the surface point of the target pulmonary nodule and the centroid and the acquired safe distance as a radius to generate a boundary sphere of the target pulmonary nodule.

5. The method of any one of claims 1 to 4, further comprising:

determining the distance between each point and the centroid according to the position information of each point in other parts except the target pulmonary nodule, and comparing the distance with the radius of the boundary sphere;

and when the distance smaller than the radius of the boundary ball is determined, displaying a risk prompt on the display interface, and displaying a safe distance change option or a boundary ball generation mode switching option.

6. The method of claim 2, wherein displaying a boundary sphere generation mode option on a display interface comprises:

and when the target lung is determined to have multiple pulmonary nodules, displaying a boundary sphere generation mode option and a target pulmonary nodule list on a display interface so that a user can select a boundary sphere generation mode according to the boundary sphere generation mode option and select the target pulmonary nodule in the generation mode corresponding to the boundary sphere according to the target pulmonary nodule list.

7. The method of claim 1, wherein determining the location of the target lung nodule when multiple lung nodules are determined in the target lung comprises:

determining whether multiple pulmonary nodules exist according to the CT value information of the target lung, and determining a connected region by using a connected region marking algorithm;

and determining the point set of each connected region as a target lung nodule to obtain the position information of each target lung nodule.

8. A pulmonary nodule boundary sphere generating apparatus, comprising:

the acquisition module is used for responding to the boundary sphere generation instruction and acquiring CT value information of the target lung;

the three-dimensional model display module is used for generating a three-dimensional model of a target lung according to the CT value information, determining position information of a target lung nodule in the three-dimensional model of the target lung, and displaying the three-dimensional model and the position information of the target lung nodule on a display interface;

the determining module is used for determining the centroid of the target lung nodule based on the position information of the target lung nodule and determining the maximum distance between the surface point of the target lung nodule and the centroid when a boundary sphere automatic generation mode is adopted;

and the boundary sphere display module is used for generating and displaying a boundary sphere of the target lung nodule on a display interface based on the centroid and the maximum distance between the surface point of the target lung nodule and the centroid.

9. A lung nodule boundary sphere generating device comprising a processor and a memory storing instructions executable by the at least one processor, the computer program, when executed by the processor, implementing the method of any one of claims 1 to 7.

10. A computer storage medium, characterized in that the computer storage medium stores a computer program for causing a computer to perform the method according to any one of claims 1-7.

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