CN107126258A - A kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle - Google Patents
A kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle Download PDFInfo
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- CN107126258A CN107126258A CN201710516029.9A CN201710516029A CN107126258A CN 107126258 A CN107126258 A CN 107126258A CN 201710516029 A CN201710516029 A CN 201710516029A CN 107126258 A CN107126258 A CN 107126258A
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- flexible needle
- sleeve pipe
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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
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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
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Abstract
The invention provides a kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle, this method includes display unit, image segmentation unit, three-dimensionalreconstruction unit and path planning unit and sleeve pipe flexible needle.Display unit receives the medical image of several DICOM formats gathered by Medical Devices, image segmentation unit carries out image segmentation to the image in the region interested, obtain the area image interested within domains respectively organized, three-dimensionalreconstruction unit is shown to the DICOM volume data information realization 3-D views of input, path planning unit finds out one from feasible path of the pin region to target area is entered, and sleeve pipe flexible needle is bypassed the critical organs such as human vas, bone and nerve fiber；The present invention replaces flexible needle with sleeve pipe flexible needle, be sleeve pipe flexible needle from entry point bypass human body can not crash feature, be accurate to up to target area and provide a kind of planing method.
Description
Technical field
The present invention relates to minimally invasive medical field, more particularly to a kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle.
Background technology
For rigid needle during tissue is punctured avoid obstacle ability, easily encounter it is important in tissue
Tissue, organ and blood vessel etc., scholars propose with the method for flexible pin puncture and to be needled into tissue to substitute rigidity.
Comparatively speaking, flexible needle carries asymmetric needle point, and has enough flexibilities relative to tissue, when it is in human body group
When knitting middle puncture, the interaction force of tissue and needle point makes flexible needle realize curvilinear motion in the tissue of human body.It is soft in order to allow
Property pin bypasses the critical organs such as human vas, bone and nerve fiber, is accurate to up to target area, it is necessary to a kind of planning of system
Method realize flexible needle from point of puncture cut-through thing reach target area can puncture path.But conventional flex pin also has it
Bottleneck problem：Flexible needle is limited by bending radius, and when the target spot that needle point deviates is inside circular arc, error can not be corrected；Pin
Torsional friction is there is between axle and tissue, it is difficult to realize the accurate control to beveled tip corner to have a strong impact on targeting positioning
Precision, causes puncturing operation to fail.
The content of the invention
For problem above, the present invention proposes a kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle, using sleeve pipe
Flexible needle replaces traditional flexible needle, and reaching target area for sleeve pipe flexible needle cut-through thing provides a kind of method.
As preferred technical scheme, the paths planning method of described Minimally Invasive Surgery flexible needle, composition includes display singly
Member, image segmentation unit, three-dimensionalreconstruction unit and path planning unit and sleeve pipe flexible needle；Characterized in that, display unit
Receive the medical image of several DICOM formats gathered by Medical Devices, and be transmitted to image segmentation unit, image segmentation
Unit carries out image segmentation to the image in the region interested, obtains area's image interested within domains respectively organized,
It is three-dimensional and the medical image for the DICOM format that will split by image is converted to data stream information transmission and gives three-dimensionalreconstruction unit
Reconfiguration unit carries out three-dimensional reconstruction to resulting traffic flow information, obtains the relative tertiary location of histoorgan, path planning
Unit finds out one from feasible path of the pin region to target area is entered, enable sleeve pipe flexible needle bypass human vas, bone and
The critical organs such as nerve fiber, sleeve pipe flexible needle is constituted by flexible sleeve and with flexible needle.
As preferred technical scheme, described display unit is CT machines or MRI scan machine, for gathering DICOM lattice
The focus sequence medical image of formula.
As preferred technical scheme, described image segmentation unit takes the semi-automatic segmentation of user intervention, in segmentation
During, user is intervened by computer, is finally completed tissue segmentation, so as to realize the sequence medical science figure of DICOM format
Blood vessel, bone, soft tissue etc. can not collide the segmentation of organ and focal area as in.
As preferred technical scheme, the three-dimensionalreconstruction unit is real to the DICOM volume datas information split by image
Existing 3-D view show, according to reconstructed results obtain can not penetrating area, determine lesions position, and then determination puncture target spot region
With reasonably enter pin mark region.
As preferred technical scheme, described path planning unit is punctured into Rapid-Exploring Random Tree Algorithm
Pin mark reaches a plurality of sample path of target point, then is mutually tied based on path length, segmental arc number, degree of safety and barrier risk stratification
The path evaluation function of conjunction, obtains the optimal path of flexible pin puncture.
As preferred technical scheme, the specific method for entering pin mark of described selection optimal path be it is determined that enter pin
In point region, one optimal path is selected according to path evaluation function from pin mark is singly entered into the N paths of target point, Ran Houxuan
Take M to enter pin mark, the corresponding optimal path that M bars reach target area is respectively obtained according to path evaluation function, finally from M bars road
Optimal path is selected according to path evaluation function in footpath, finally determined into pin mark and target point.
As preferred technical scheme, described sleeve pipe flexible needle is made up of flexible sleeve and flexible needle, flexible sleeve by
One or more flexible sleeve compositions.
As preferred technical scheme, the flexible sleeve and flexible needle of described sleeve pipe flexible needle cooperate can be achieved it is many
Tapping mode is planted, flexible sleeve and flexible needle can be realized autobiography and feeding respectively, can be acted on, can also acted on simultaneously with timesharing.
As preferred technical scheme, using the type of drive of sleeve pipe flexible needle stopping-rotation-advance, by controlling to cover
Pipe and the anglec of rotation of flexible needle and the length realization by adjusting nook closing member stretching sleeve pipe puncture the control of curvature.
The beneficial effects of the invention are as follows：Sleeve pipe flexible needle replaces conventional flex pin, reduces between flexible needle and tissue
Friction, the combination of flexible sleeve and flexible needle can realize a variety of tapping modes, realize the control for puncturing curvature, and there is provided set
Pipe flexible needle paths planning method.
Brief description of the drawings
Accompanying drawing 1, planning process part of the present invention；
Accompanying drawing 2, sleeve pipe flexible needle.
Embodiment
Display unit receives the medical image of several DICOM formats gathered by Medical Devices, and is transmitted to image
Cutting unit, then image progress image segmentation of the image segmentation unit to the region interested, is obtained in the region
The image of each tissue interested, and the medical image for the DICOM format split by image is converted into traffic flow information biography
Three-dimensionalreconstruction unit is defeated by, three-dimensionalreconstruction unit is shown to the DICOM volume data information realization 3-D views of input, obtains each group
Knit the relative tertiary location of organ, path planning unit according to search strategy find out one from enter pin region to target area can
Walking along the street footpath, enables flexible needle to bypass the critical organs such as human vas, bone and nerve fiber, drives piercing mechanism to make sleeve pipe flexible
Flexible sleeve and flexible needle in pin cooperate, and realize and puncture along specified path.
Claims (9)
1. a kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle, composition includes display unit, image segmentation unit, three-dimensional
Reconfiguration unit and path planning unit and sleeve pipe flexible needle；Characterized in that, display unit receives what is gathered by Medical Devices
The medical image of several DICOM formats, and image segmentation unit is transmitted to, image segmentation unit is to the area interested
The image in domain carries out image segmentation, obtains area's image interested within domains respectively organized, and by by image segmentation
The medical image of DICOM format is converted to data stream information transmission and gives three-dimensionalreconstruction unit, and three-dimensionalreconstruction unit is to resulting
Traffic flow information carries out three-dimensional reconstruction, obtains the relative tertiary location of histoorgan, and path planning unit finds out one from entering pin
Region enables sleeve pipe flexible needle to bypass the critical organs such as human vas, bone and nerve fiber to the feasible path of target area,
Sleeve pipe flexible needle is constituted by flexible sleeve and with flexible needle.
2. according to the method described in claim 1, it is characterised in that：Described display unit is CT machines or MRI scan machine, use
In the focus sequence medical image of collection DICOM format.
3. the method according to claim 1,2, it is characterised in that：Described image segmentation unit takes the half of user intervention
Automatic segmentation, in cutting procedure, user is intervened by computer, is finally completed tissue segmentation, so as to realize DICOM lattice
Blood vessel, bone, soft tissue etc. can not collide the segmentation of organ and focal area in the sequence medical image of formula.
4. the method according to claim 1,2,3, it is characterised in that：The three-dimensionalreconstruction unit is to by image segmentation
DICOM volume data information realization 3-D views show, according to reconstructed results obtain can penetrating area, determine lesions position, and then
Determine puncture target spot region and reasonably enter pin mark region.
5. the method according to claim 1,4, it is characterised in that：Described path planning unit is random with fast search
Tree algorithm obtains puncturing into a plurality of sample path that pin mark reaches target point, then based on path length, control cost, safe coefficient
Etc. the integration schedules valuation functions being combined, the optimal path of flexible pin puncture is obtained.
6. the method according to claim 1,5, it is characterised in that：The specific side for entering pin mark of described selection optimal path
Method be it is determined that enter pin mark region, selected from pin mark is singly entered into the N paths of target area according to path evaluation function
One optimal path, then chooses M and enters pin mark, and respectively obtaining M bars according to path evaluation function reaches the corresponding of target area
Optimal path, finally selects optimal path from M paths according to path evaluation function, finally determines into pin mark and target point.
7. according to the method described in claim 1, it is characterised in that：Described sleeve pipe flexible needle is by flexible sleeve and flexible needle group
Into flexible sleeve is made up of one or more flexible sleeves.
8. according to the method described in claim 1, the flexible sleeve of described sleeve pipe flexible needle and flexible needle mutual cooperation can be real
Existing a variety of tapping modes, flexible sleeve and flexible needle can realize autobiography and feeding respectively, can be acted on, can also made simultaneously with timesharing
With.
9. according to the method described in claim 1, using the type of drive of sleeve pipe flexible needle stopping-rotation-advance, pass through control
Sleeve pipe and the anglec of rotation of flexible needle and the length realization by adjusting nook closing member stretching sleeve pipe puncture the control of curvature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710516029.9A CN107126258A (en) | 2017-06-29 | 2017-06-29 | A kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle |
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|---|---|---|---|
| CN201710516029.9A CN107126258A (en) | 2017-06-29 | 2017-06-29 | A kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle |
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| CN107126258A true CN107126258A (en) | 2017-09-05 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928791A (en) * | 2017-12-07 | 2018-04-20 | 上海钛米机器人科技有限公司 | Robot-assisted puncture method, system and device |
| CN108577965A (en) * | 2018-03-19 | 2018-09-28 | 艾瑞迈迪医疗科技（北京）有限公司 | A kind of courses of action method and device for planning |
| CN109345545A (en) * | 2018-09-26 | 2019-02-15 | 广东毅达医疗科技股份有限公司 | A kind of method, apparatus and computer readable storage medium of segmented image generation |
| CN109875659A (en) * | 2019-02-28 | 2019-06-14 | 北京航空航天大学 | Flexible needle plane based on brain emotion learning intelligent control algorithm punctures control device and method |
| CN109908494A (en) * | 2019-03-25 | 2019-06-21 | 天津大学 | The minimally invasive radiotherapy three-dimensional surgical guide designing system of close-range particle |
| CN110083156A (en) * | 2019-04-25 | 2019-08-02 | 北京航空航天大学 | Needle-driven Robot flexible needle trajectory path planning device and method based on wolf pack algorithm |
| CN110619679A (en) * | 2019-09-10 | 2019-12-27 | 真健康（北京）医疗科技有限公司 | Automatic path planning device and method |
| CN112386333A (en) * | 2020-11-03 | 2021-02-23 | 浙江赛弘众智网络科技有限公司 | Method and system for generating argon-helium lung scalpel operation path data |
| CN112700551A (en) * | 2020-12-31 | 2021-04-23 | 青岛海信医疗设备股份有限公司 | Virtual choledochoscope interventional operation planning method, device, equipment and storage medium |
| CN112741688A (en) * | 2020-12-11 | 2021-05-04 | 北京信息科技大学 | Path planning method for minimally invasive surgery software manipulator |
| CN113610824A (en) * | 2021-08-13 | 2021-11-05 | 推想医疗科技股份有限公司 | Puncture path planning method and device, electronic device and storage medium |
| CN114515193A (en) * | 2022-01-30 | 2022-05-20 | 上海术航机器人有限公司 | Parallel robot, system, device and storage medium |
-
2017
- 2017-06-29 CN CN201710516029.9A patent/CN107126258A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928791A (en) * | 2017-12-07 | 2018-04-20 | 上海钛米机器人科技有限公司 | Robot-assisted puncture method, system and device |
| CN108577965A (en) * | 2018-03-19 | 2018-09-28 | 艾瑞迈迪医疗科技（北京）有限公司 | A kind of courses of action method and device for planning |
| CN109345545A (en) * | 2018-09-26 | 2019-02-15 | 广东毅达医疗科技股份有限公司 | A kind of method, apparatus and computer readable storage medium of segmented image generation |
| CN109875659A (en) * | 2019-02-28 | 2019-06-14 | 北京航空航天大学 | Flexible needle plane based on brain emotion learning intelligent control algorithm punctures control device and method |
| CN109908494B (en) * | 2019-03-25 | 2020-10-30 | 天津大学 | Three-dimensional operation guide plate design system for close-range particle minimally invasive radiotherapy |
| CN109908494A (en) * | 2019-03-25 | 2019-06-21 | 天津大学 | The minimally invasive radiotherapy three-dimensional surgical guide designing system of close-range particle |
| CN110083156A (en) * | 2019-04-25 | 2019-08-02 | 北京航空航天大学 | Needle-driven Robot flexible needle trajectory path planning device and method based on wolf pack algorithm |
| CN110619679A (en) * | 2019-09-10 | 2019-12-27 | 真健康（北京）医疗科技有限公司 | Automatic path planning device and method |
| CN110619679B (en) * | 2019-09-10 | 2022-05-31 | 真健康（北京）医疗科技有限公司 | Automatic path planning device and method |
| CN112386333A (en) * | 2020-11-03 | 2021-02-23 | 浙江赛弘众智网络科技有限公司 | Method and system for generating argon-helium lung scalpel operation path data |
| CN112741688A (en) * | 2020-12-11 | 2021-05-04 | 北京信息科技大学 | Path planning method for minimally invasive surgery software manipulator |
| CN112741688B (en) * | 2020-12-11 | 2023-09-29 | 北京信息科技大学 | Path planning method for minimally invasive surgery software manipulator |
| CN112700551A (en) * | 2020-12-31 | 2021-04-23 | 青岛海信医疗设备股份有限公司 | Virtual choledochoscope interventional operation planning method, device, equipment and storage medium |
| CN113610824A (en) * | 2021-08-13 | 2021-11-05 | 推想医疗科技股份有限公司 | Puncture path planning method and device, electronic device and storage medium |
| CN114515193A (en) * | 2022-01-30 | 2022-05-20 | 上海术航机器人有限公司 | Parallel robot, system, device and storage medium |
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Application publication date: 20170905 |
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