CN106236258B - The method and device for planning of abdominal-cavity minimal-invasion surgery puncture path - Google Patents
The method and device for planning of abdominal-cavity minimal-invasion surgery puncture path Download PDFInfo
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- CN106236258B CN106236258B CN201610681311.8A CN201610681311A CN106236258B CN 106236258 B CN106236258 B CN 106236258B CN 201610681311 A CN201610681311 A CN 201610681311A CN 106236258 B CN106236258 B CN 106236258B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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Abstract
The embodiment of the invention provides a kind of method and device for planning of abdominal-cavity minimal-invasion surgery puncture path, method includes: to capture lesion internal organs in abdominal cavity in real time by ultrasound unit to generate ultrasound image；The dynamic change of lesion internal organs in abdominal cavity is determined according to the ultrasound image captured in real time；And the dynamic change according to the lesion internal organs, the puncture path planned in advance is finely adjusted, so that the puncture path after fine tuning avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.The embodiment of the present invention realizes the fine tuning to puncture path, so that the puncture path after fine tuning is precisely directed to the target spot on lesion internal organs, to reduce the formulation difficulty of operation plan.
Description
Technical field
The present embodiments relate to abdominal cavity intervention field of surgery more particularly to a kind of rule of abdominal-cavity minimal-invasion surgery puncture path
Draw method and device.
Background technique
Interventional therapy is treated using a kind of minimal invasive that modern high tech method carries out, and is exactly in medical imaging device
Guidance under, by special conduit, the precision instruments such as seal wire introduce human body, carry out diagnosis and local treatment to internal morbid state.
The automation equipments such as robot are applied widely in industrial circle, operating flexibility, stability and
Clear superiority is shown in terms of accuracy.In order to the existing precision that solves to perform the operation it is insufficient, it is irradiated it is more, notch is larger, operates
The problems such as tired, people start inquire into how to introduce robotic method during surgery, by new and high technologies such as robot, sensors
Unique advantage, completely new treatment method and system are provided for surgeon, solved the above problems, improve surgical effect.
In the implementation of the present invention, at least there are following problems in inventor's discovery: such as abdomen in the prior art
For chamber Minimally Invasive Surgery, since lesion internal organs are located in abdominal cavity, due to patient body position's transformation or breathing etc., lead to lesion
Internal organs would generally generating state variation, therefore, increase operation embodiment formulation difficulty.
Summary of the invention
A kind of method and device for planning for being designed to provide abdominal-cavity minimal-invasion surgery puncture path of the embodiment of the present invention is used
To solve the above problem in the prior art.
Technical solution used in the embodiment of the present invention is as follows:
The embodiment of the present invention provides a kind of planing method of abdominal-cavity minimal-invasion surgery puncture path comprising:
It captures lesion internal organs in abdominal cavity in real time by ultrasound unit and generates ultrasound image；
The dynamic change of lesion internal organs in abdominal cavity is determined according to the ultrasound image captured in real time；
According to the dynamic change of the lesion internal organs, the puncture path planned in advance is finely adjusted, so that after fine tuning
Puncture path avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.
Optionally, in any of the embodiments of the present invention, it is determined according to the ultrasound image captured in real time sick in abdominal cavity
The dynamic change of stove internal organs includes: the ultrasound image for obtaining and capturing in real time in respiratory, and according to real-time in respiratory
The ultrasound image of capture determines the dynamic change of lesion internal organs in abdominal cavity.
Optionally, in any of the embodiments of the present invention, according to the dynamic change of the lesion internal organs, to what is planned in advance
It includes: dynamic change and three dimensional field reconstructed image according to the lesion internal organs that puncture path, which is finely adjusted, to preparatory planning
Puncture path be finely adjusted.
Optionally, in any of the embodiments of the present invention, according to the dynamic change of the lesion internal organs, to what is planned in advance
Puncture path be finely adjusted include: puncture path instruction after simulative display fine tuning inserting needle position and inserting needle direction, with to working as
Puncture path after preceding moment fine tuning is finely tuned again.
Optionally, in any of the embodiments of the present invention, further includes: control the radiation of the ultrasonic wave of the ultrasound unit
Face keeps the sensitive organ around the lesion internal organs and the lesion internal organs visible in the ultrasound image captured in real time.
Optionally, in any of the embodiments of the present invention, the median plane of ultrasound unit and leading for execution puncture path are controlled
It is in same plane to device, so that sensitive organ around the lesion internal organs and the lesion internal organs is capturing in real time
Ultrasound image is visible.
Optionally, in any of the embodiments of the present invention, further includes: according to the medicine of the lesion internal organs shot in advance
Image carries out surgery planning, to plan puncture path in advance.
The embodiment of the present invention also provides a kind of device for planning of abdominal-cavity minimal-invasion surgery puncture path comprising:
Ultrasound unit captures lesion internal organs in abdominal cavity in real time and generates ultrasound image；
Host determines the dynamic change of lesion internal organs in abdominal cavity according to the ultrasound image captured in real time；
According to the dynamic change of the lesion internal organs, the puncture path planned in advance is finely adjusted, so that after fine tuning
Puncture path avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.
Optionally, in any of the embodiments of the present invention, the guider of the median plane of ultrasound unit and execution puncture path
In same plane, so that the sensitive organ around the lesion internal organs and the lesion internal organs is in the ultrasound captured in real time
Image is visible.
Optionally, in any of the embodiments of the present invention, the host is also used to the puncture path after simulative display fine tuning
The inserting needle position and inserting needle direction of instruction, are finely tuned again with the puncture path after finely tuning to current time.
Optionally, in any of the embodiments of the present invention, the host is also used to obtain and capture in real time in respiratory
Ultrasound image, and determine according to the ultrasound image captured in real time in respiratory the dynamic change of lesion internal organs in abdominal cavity.
Optionally, in any of the embodiments of the present invention, the host is also used to be become according to the dynamic of the lesion internal organs
Change and three dimensional field reconstructed image, are finely adjusted the puncture path planned in advance.
Optionally, in any of the embodiments of the present invention, the host is also used to the puncture path after simulative display fine tuning
The inserting needle position and inserting needle direction of instruction, are finely tuned again with the puncture path after finely tuning to current time.
Optionally, in any of the embodiments of the present invention, the host is also used to control the ultrasonic wave of the ultrasound unit
Radiating surface, make sensitive organ around the lesion internal organs and the lesion internal organs can in the ultrasound image captured in real time
See.
Optionally, in any of the embodiments of the present invention, the host is also used to dirty according to the lesion shot in advance
The medical image of device carries out surgery planning, to plan puncture path in advance.
The embodiment of the present invention also provides a kind of device for planning of abdominal-cavity minimal-invasion surgery puncture path comprising:
First processing units generate ultrasound image for capturing lesion internal organs in abdominal cavity in real time by ultrasound unit；
The second processing unit, for determining that the dynamic of lesion internal organs in abdominal cavity becomes according to the ultrasound image captured in real time
Change；
Third processing unit carries out the puncture path planned in advance for the dynamic change according to the lesion internal organs
Fine tuning, so that the puncture path after fine tuning avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.
Optionally, in any of the embodiments of the present invention, the second processing unit is further used for obtaining in respiratory
The ultrasound image captured in real time, and determine according to the ultrasound image captured in real time in respiratory the dynamic of lesion internal organs in abdominal cavity
Variation.
Optionally, in any of the embodiments of the present invention, third processing unit is further used for according to the lesion internal organs
Dynamic change and three dimensional field reconstructed image, the puncture path planned in advance is finely adjusted.
Optionally, in any of the embodiments of the present invention, after third processing unit is further used for simulative display fine tuning
The inserting needle position and inserting needle direction of puncture path instruction, are finely tuned again with the puncture path after finely tuning to current time.
Optionally, in any of the embodiments of the present invention, first processing units are further used for controlling the ultrasound unit
Ultrasonic wave radiating surface, make the sensitive organ around the lesion internal organs and the lesion internal organs in the ultrasound captured in real time
Image is visible.
Optionally, in any of the embodiments of the present invention, first processing units further control the median plane of ultrasound unit
It is in same plane with the guider for executing puncture path, so that quick around the lesion internal organs and the lesion internal organs
Sensor official is visible in the ultrasound image captured in real time.
Optionally, in any of the embodiments of the present invention, further includes: according to the medicine of the lesion internal organs shot in advance
Image carries out surgery planning, to plan puncture path in advance.
The technical solution of the embodiment of the present invention has the advantage that captures lesion internal organs in abdominal cavity by ultrasound unit in real time
Generate ultrasound image；The dynamic change of lesion internal organs in abdominal cavity is determined according to the ultrasound image captured in real time；And according to
The dynamic change of the lesion internal organs, is finely adjusted the puncture path planned in advance, so that the puncture path only needle after fine tuning
Sensitive organ in addition to the lesion internal organs is avoided to the lesion internal organs, to realize the fine tuning to puncture path, is made
Puncture path after must finely tuning is precisely directed to the target spot on lesion internal organs, to reduce the formulation difficulty of operation plan.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
The planing method flow diagram of one abdominal-cavity minimal-invasion surgery puncture path of Fig. 1 embodiment of the present invention；
The planing method flow diagram of two abdominal-cavity minimal-invasion surgery puncture path of Fig. 2 embodiment of the present invention；
The planing method flow diagram of three abdominal-cavity minimal-invasion surgery puncture path of Fig. 3 embodiment of the present invention；
The device for planning flow diagram of four abdominal-cavity minimal-invasion surgery puncture path of Fig. 4 embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the device for planning of five abdominal-cavity minimal-invasion surgery puncture path of the embodiment of the present invention；
Fig. 6 is that the median plane of ultrasound unit and the guider of execution puncture path are in schematic diagram in same plane.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The planing method flow diagram of one abdominal-cavity minimal-invasion surgery puncture path of Fig. 1 embodiment of the present invention；As shown in Figure 1,
Comprising:
S101, lesion internal organs generation ultrasound image in abdominal cavity is captured in real time by ultrasound unit；
In the present embodiment, ultrasound unit can be a ultrasonic probe, which can be located on mechanical arm tail end.Abdomen
Lesion internal organs in chamber can be kidney, gall-bladder etc., and imaging can be had children outside the state plan under the incidence of ultrasonic wave.
It can also include other sensors on puncture path in addition to there is lesion internal organs on ultrasound image in the present embodiment
Official, such as blood vessel, bone etc..
S102, the dynamic change that lesion internal organs in abdominal cavity are determined according to the ultrasound image captured in real time；
In the present embodiment or other any embodiments, since the internal organs in abdominal cavity are during actual operation, usually postback
Raw dynamic change, such as due to breathing causes, therefore, and in order to accurately determine inserting needle path, in the present embodiment, step S102
In, it is available to breathe when determining the dynamic change of lesion internal organs in abdominal cavity according to the ultrasound image captured in real time
The ultrasound image captured in real time in journey, and lesion internal organs in abdominal cavity are determined according to the ultrasound image captured in real time in respiratory
Dynamic change.The dynamic change may include the variation of Organ size, variation of internal organs position etc..
S103, according to the dynamic change of the lesion internal organs, the puncture path planned in advance is finely adjusted so that fine tuning
Puncture path afterwards avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.
In the present embodiment or other any embodiments, in order to prevent during actual operation, other sensitive organs are made
At injury, in the present embodiment, in step S103, in the dynamic change according to the lesion internal organs, to the puncture road planned in advance
Include: the dynamic change and three dimensional field reconstructed image according to the lesion internal organs when diameter is finely adjusted, is worn to what is planned in advance
Thorn path is finely adjusted.Specifically, possible position in internal organs dynamic changing process is determined in surgical procedure by ultrasound image,
It is compared with being determined according to preoperative still medical image along the puncture path arrival internal organs lesions position planned in advance, if
More than preset error, then it is finely adjusted.
In the present embodiment or other any embodiments, in order to intuitively watch the effect finely tuned every time, the present embodiment
In, in fine tuning, the inserting needle position and inserting needle direction of the puncture path instruction after synchronously simulating display fine tuning, to current time
Puncture path after fine tuning is finely tuned again, so as to by repeatedly by fine tuning, finding optimal puncture path.
The planing method flow diagram of two abdominal-cavity minimal-invasion surgery puncture path of Fig. 2 embodiment of the present invention；As shown in Fig. 2,
Comprising:
S201, the control ultrasound unit ultrasonic wave radiating surface, make the lesion internal organs and the lesion internal organs
The sensitive organ of surrounding is visible in the ultrasound image captured in real time；
In the present embodiment or other any embodiments, controls the median plane of ultrasound unit and execute the guider of puncture path
In same plane, so that the sensitive organ around the lesion internal organs and the lesion internal organs is in the ultrasound captured in real time
Image is visible.
In the present embodiment, the median plane for controlling ultrasound unit and the guider for executing puncture path be in same plane it is interior from
And the organ on puncture path can be made to be imaged on the ultrasound image as far as possible, to be finely adjusted path in the next steps
When, the efficiency of fine tuning is higher, to find optimal puncture path as much as possible.
S202, lesion internal organs generation ultrasound image in abdominal cavity is captured in real time by ultrasound unit；
S203, the dynamic change that lesion internal organs in abdominal cavity are determined according to the ultrasound image captured in real time；
S204, according to the dynamic change of the lesion internal organs, the puncture path planned in advance is finely adjusted so that fine tuning
Puncture path afterwards avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.
Related step S202-S204, reference can be made to above-described embodiment one, repeats no more in detail.
The planing method flow diagram of three abdominal-cavity minimal-invasion surgery puncture path of Fig. 3 embodiment of the present invention；As shown in figure 3,
Comprising:
S301, surgery planning is carried out according to the medical image of the lesion internal organs shot in advance, with preparatory planning puncture
Path.
Optionally, in embodiment or any other embodiment, the medical images of the lesion internal organs shot in advance can be with
Two-dimensional medical image data, can be all medical image files for following DICOM agreement, including CT, MRI etc. in appoint
The combination for one or two of anticipating.
Optionally, in the present embodiment or any other embodiment, it is based on two-dimensional medical image data, constructs patient's lesion device
The three-D volumes of the threedimensional model of official and calculating foci, in the lesion threedimensional model display delineate lesion three-dimensional configuration and
Position, creates surgery planning on the digital image of three-dimensional configuration for including lesion, and the surgery planning includes preparatory
The multiple target point of setting and more puncture paths, i.e., the puncture path planned in advance may have a plurality of, to plan in advance internal organs lesion
Can surgery location may have it is multiple
S302, the control ultrasound unit ultrasonic wave radiating surface, make the lesion internal organs and the lesion internal organs
The sensitive organ of surrounding is visible in the ultrasound image captured in real time；
S303, lesion internal organs generation ultrasound image in abdominal cavity is captured in real time by ultrasound unit；
S304, the dynamic change that lesion internal organs in abdominal cavity are determined according to the ultrasound image captured in real time；
S305, according to the dynamic change of the lesion internal organs, the puncture path planned in advance is finely adjusted so that fine tuning
Puncture path afterwards avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.
Related step S302-S305, reference can be made to above-described embodiment two, repeats no more in detail.
The device for planning flow diagram of four abdominal-cavity minimal-invasion surgery puncture path of Fig. 4 embodiment of the present invention；As shown in figure 4,
Comprising:
Ultrasound unit 401 captures lesion internal organs in abdominal cavity in real time and generates ultrasound image；
Host 402 determines the dynamic change of lesion internal organs in abdominal cavity according to the ultrasound image captured in real time；According to institute
The dynamic change for stating lesion internal organs is finely adjusted the puncture path planned in advance so that fine tuning after puncture path only for
The lesion internal organs and avoid the sensitive organ in addition to the lesion internal organs.
Optionally, in the present embodiment or other any embodiments, ultrasound unit can be a ultrasonic probe, be mounted on a machine
The end of tool arm, host 402 can be a computer, and the computer and the mechanical arm are installed on an operation trolley.
Optionally, in the present embodiment or other any embodiments, the median plane of ultrasound unit and leading for puncture path is executed
It is in same plane to device, so that sensitive organ around the lesion internal organs and the lesion internal organs is capturing in real time
Ultrasound image is visible.It is shown in Figure 6, same plane is in for the median plane of ultrasound unit and the guider of execution puncture path
Interior schematic diagram, lesion internal organs are the tumour in abdominal cavity, and surgical instrument is puncture needle.
Optionally, in the present embodiment or other any embodiments, the host is also used to the puncture after simulative display fine tuning
The inserting needle position and inserting needle direction of path instruction, are finely tuned again with the puncture path after finely tuning to current time.
Optionally, in the present embodiment or other any embodiments, the host is also used to obtain in respiratory in real time
The ultrasound image of capture, and determine that the dynamic of lesion internal organs in abdominal cavity becomes according to the ultrasound image captured in real time in respiratory
Change.
Optionally, in the present embodiment or other any embodiments, the host is also used to according to the dynamic of the lesion internal organs
State variation and three dimensional field reconstructed image, are finely adjusted the puncture path planned in advance.
Optionally, in the present embodiment or other any embodiments, the host is also used to the puncture after simulative display fine tuning
The inserting needle position and inserting needle direction of path instruction, are finely tuned again with the puncture path after finely tuning to current time.
Optionally, in the present embodiment or other any embodiments, the host is also used to control the super of the ultrasound unit
The radiating surface of sound wave makes the sensitive organ around the lesion internal organs and the lesion internal organs in the ultrasound image captured in real time
It can be seen that.
Optionally, in the present embodiment or other any embodiments, the host is also used to according to the disease shot in advance
The medical image of stove internal organs carries out surgery planning, to plan puncture path in advance.
It should be noted that the function that host further realizes can also be by other peripheral processors in above-described embodiment
Or executed independently of the equipment of host, it repeats no more in detail.
Fig. 5 is the structural schematic diagram of the device for planning of five abdominal-cavity minimal-invasion surgery puncture path of the embodiment of the present invention；Such as Fig. 5 institute
Show comprising:
First processing units 501 generate ultrasound image for capturing lesion internal organs in abdominal cavity in real time by ultrasound unit；
The second processing unit 502, for determining the dynamic of lesion internal organs in abdominal cavity according to the ultrasound image that captures in real time
State variation；
Third processing unit 503, for the dynamic change according to the lesion internal organs, to the puncture path planned in advance into
Row fine tuning, so that the puncture path after fine tuning avoids the sensor in addition to the lesion internal organs only for the lesion internal organs
Official.
Optionally, in the present embodiment or other any embodiments, the second processing unit, which is further used for obtaining, to be breathed
The ultrasound image captured in real time in journey, and lesion internal organs in abdominal cavity are determined according to the ultrasound image captured in real time in respiratory
Dynamic change.
Optionally, in the present embodiment or other any embodiments, third processing unit is further used for according to the lesion
The dynamic change and three dimensional field reconstructed image of internal organs, are finely adjusted the puncture path planned in advance.
Optionally, in the present embodiment or other any embodiments, third processing unit is further used for simulative display fine tuning
The inserting needle position and inserting needle direction of puncture path instruction afterwards, it is micro- again with the puncture path progress after being finely tuned to current time
It adjusts.
Optionally, in the present embodiment or other any embodiments, first processing units are further used for controlling the ultrasound
The radiating surface of the ultrasonic wave of unit is capturing sensitive organ around the lesion internal organs and the lesion internal organs in real time
Ultrasound image is visible.
Optionally, in the present embodiment or other any embodiments, first processing units are further controlled in ultrasound unit
Heart face and the guider for executing puncture path are in same plane, so that around the lesion internal organs and the lesion internal organs
Sensitive organ it is visible in the ultrasound image captured in real time.
It optionally, further include fourth processing unit in the present embodiment or other any embodiments, for according to shooting in advance
The lesion internal organs medical image carry out surgery planning, to plan puncture path in advance.
It should be noted that first processing units, the second processing unit, third processing unit in above-described embodiment,
Four processing units can integrate on unified processor, can also be distributed on different processor.
The embodiment of the present invention also provides a kind of storage medium, and executable above method embodiment is stored on the storage medium
Instruction.The storage medium can be located locally with the computer-readable medium of any form, such as disk, flash disk, can also
In on remote server.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of device for planning of abdominal-cavity minimal-invasion surgery puncture path characterized by comprising ultrasound unit captures abdomen in real time
Lesion internal organs generate ultrasound image in chamber；Host determines lesion internal organs in abdominal cavity according to the ultrasound image captured in real time
Dynamic change；According to the dynamic change of the lesion internal organs, the puncture path planned in advance is finely adjusted, so that after fine tuning
Puncture path avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.
2. the apparatus according to claim 1, which is characterized in that control the median plane of ultrasound unit and execute puncture path
Guider is in same plane, so that the sensitive organ around the lesion internal organs and the lesion internal organs is captured in real time
Ultrasound image it is visible.
3. the apparatus according to claim 1, which is characterized in that the host is also used to the puncture road after simulative display fine tuning
The inserting needle position and inserting needle direction of diameter instruction, are finely tuned again with the puncture path after finely tuning to current time.
4. the apparatus according to claim 1, which is characterized in that the host is also used to obtain and catch in real time in respiratory
The ultrasound image obtained, and determine according to the ultrasound image captured in real time in respiratory the dynamic change of lesion internal organs in abdominal cavity.
5. the apparatus according to claim 1, which is characterized in that the host is also used to the dynamic according to the lesion internal organs
Variation and three dimensional field reconstructed image, are finely adjusted the puncture path planned in advance.
6. the apparatus according to claim 1, which is characterized in that the host is also used to control the ultrasound of the ultrasound unit
The radiating surface of wave makes sensitive organ around the lesion internal organs and the lesion internal organs can in the ultrasound image captured in real time
See.
7. device according to claim 1-6, which is characterized in that the host is also used to what basis was shot in advance
The medical image of the lesion internal organs carries out surgery planning, to plan puncture path in advance.
8. a kind of device for planning of abdominal-cavity minimal-invasion surgery puncture path comprising:
First processing units generate ultrasound image for capturing lesion internal organs in abdominal cavity in real time by ultrasound unit；
The second processing unit, for determining the dynamic change of lesion internal organs in abdominal cavity according to the ultrasound image captured in real time；
Third processing unit is finely adjusted the puncture path planned in advance for the dynamic change according to the lesion internal organs,
So that the puncture path after fine tuning avoids the sensitive organ in addition to the lesion internal organs only for the lesion internal organs.
9. device according to claim 8, which is characterized in that the first processing units further control ultrasound unit
Median plane and the guider for executing puncture path are in same plane, so that the lesion internal organs and lesion internal organs week
The sensitive organ enclosed is visible in the ultrasound image captured in real time.
10. device according to claim 8, which is characterized in that the third processing unit is further used for simulative display
The inserting needle position and inserting needle direction of puncture path instruction after fine tuning, are carried out again with the puncture path after finely tuning to current time
Fine tuning.
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| JP7457692B2 (en) * | 2018-08-01 | 2024-03-28 | ブレイン ナビ バイオテクノロジー カンパニー リミテッド | Method of operating a system and system for updating a surgical path of a robotic arm assembly to perform a surgery, and a storage medium thereof |
| CN111166489B (en) * | 2018-12-07 | 2021-09-28 | 张永学 | Control method and device for automatic puncture biopsy medical robot and robot |
| CN111067597B (en) * | 2019-12-10 | 2021-04-16 | 山东大学 | System for determining puncture path according to human body posture in tumor puncture |
| CN111513849B (en) * | 2020-04-30 | 2022-04-19 | 京东方科技集团股份有限公司 | Surgical system for puncture, control method and control device |
| CN114454172B (en) * | 2020-09-25 | 2024-04-23 | 武汉联影智融医疗科技有限公司 | Control method of tail end adapter of mechanical arm |
| CN112286205A (en) * | 2020-11-13 | 2021-01-29 | 毕建平 | Puncture path planning method and system and robot |
| WO2023169578A1 (en) * | 2022-03-11 | 2023-09-14 | 武汉联影智融医疗科技有限公司 | Image processing method, system and apparatus for interventional surgery |
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