CN107296645A - Lung puncture operation optimum path planning method and lung puncture operation guiding system - Google Patents
Lung puncture operation optimum path planning method and lung puncture operation guiding system Download PDFInfo
- Publication number
- CN107296645A CN107296645A CN201710654057.7A CN201710654057A CN107296645A CN 107296645 A CN107296645 A CN 107296645A CN 201710654057 A CN201710654057 A CN 201710654057A CN 107296645 A CN107296645 A CN 107296645A
- Authority
- CN
- China
- Prior art keywords
- path
- puncture
- lung
- angle
- vitals
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- A61B17/3403—Needle locating or guiding means
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The present invention discloses a kind of lung puncture operation optimum path planning method, is related to field of computer technology.This method comprises the following steps：S1, the restrictive condition quantitative analysis based on the preoperative CT images progress lung puncture operation clinical criteria of patient, and the puncturing operation path for being unsatisfactory for restrictive condition is screened out；S2, the Objective condition quantitative analysis based on the preoperative CT images progress lung puncture operation clinical criteria of patient, and set up the specific item scalar functions based on path risk；S3, optimal path model set up based on above-mentioned restrictive condition and Objective condition, try to achieve the disaggregation of optimal path.Meanwhile, invention additionally discloses a kind of lung puncture operation guiding system in optimum path planning method planning pre-operative surgical path of being performed the operation with above-mentioned lung puncture.The present invention need not be manually set the weight parameter between sub-goal and try to achieve the optimal path disaggregation that lung puncture is performed the operation, it is to avoid interference caused by subjective factors, and optimal operation pathway guiding is provided for lung puncture surgical navigational.
Description
Technical field
The invention belongs to field of computer technology, it is related to a kind of lung puncture operation optimum path planning method, and use
The lung puncture operation guiding system in above-mentioned lung puncture operation optimum path planning method planning pre-operative surgical path.
Background technology
CT (Computed Tomography) be using Accurate collimation X-ray beam and the high detector of sensitivity together
Profile scanning one by one is done around a certain position of human body, the suction of organ and tissue to x-ray is represented with different gray scales
Receipts degree, for example, on chest CT image, the region representation tracheae of low-density, pulmonary parenchyma, highdensity region representation blood vessel,
Thoracic cavity, bone etc., it is fast with sweep time, it is doctor's inspections and examinations available for the inspection of a variety of diseases the features such as image clearly
Disease provides convenient and reliable foundation.
Lung cancer is that have one of disease of the highest death rate in the world, and lung bioplsy is lung tumors qualitatively goldstandard.Often
The lung bioplsy of rule needs to carry out lung puncture operation under ct guidance to take out biological tissue progress pathologic finding, relies primarily on doctor
Raw experience carries out clinical manipulation.Due to CT can not in art real time imagery, to successfully get biological tissue, it is necessary to enter to patient
Row is repeatedly punctured and CT scan confirms.Lung puncture operation guiding system can solve this problem.And lung puncture surgical navigational
Operation carry out puncture path planning firstly the need of based on the preoperative CT images of patient, then by the CT images with path planning
Space is registering with patient space's progress, so as to realize the purpose performed the operation in CT images and planning puncture path guide operation, it will
Greatly reduce puncture time suffered by patient and radioactive radiation, improve success rate of operation.
The path planning of lung puncture operation needs to determine on the preoperative CT images of patient to enter thorn point to tumour mesh by skin
The path of punctuate, to guide surgical navigational to operate.And the selection in path clinically has certain standard, including lung puncture hand
The standard that art must be observed, is referred to as restrictive condition, and weigh the good and bad standard of lung puncture operation pathway, referred to as Objective bar
Part.And lung puncture operation optimum path planning is namely based on the multi-restriction Multi-Objective optimization problem of these operation standards.
At present, the research to paths planning method of performing the operation has been achieved for some initial achievements.Some automatic path plannings
Method, different weights can be assigned to multiple operation standards；The method of some path plannings is automanual, it is necessary to by outer
Section doctor interaction is carried out.But the method for these multiple target multiple-constrained paths optimization usually needs to determine many mesh according to certain strategy
Balance mode between mark, is converted to multiple different single-objective problems, and asked with these single object optimizations by multi-objective problem
The optimal disaggregation being deconstructed into of topic goes the optimal solution of approximate multi-objective problem.And the balance mode of multiple targets is subjective by doctor
Setting, therefore, using different balance modes, the result of path computing may be entirely different, is influenceed larger by subjective factor.
In addition, these planing methods are the paths planning method for belly or head puncturing operation mostly, and lung puncture operation has it
Distinctive clinical criteria, there is presently no disclose a kind of optimum path planning method performed the operation for lung puncture.
The content of the invention
(1) technical problem to be solved
In order to solve the above mentioned problem of prior art, the present invention provides a kind of lung puncture operation optimum path planning method,
This method need not be manually set the weight parameter between sub-goal and try to achieve optimal path disaggregation, it is to avoid interference caused by subjective factors, be
Lung puncture surgical navigational provides optimal operation pathway guiding.
The present invention also provides a kind of utilization above-mentioned lung puncture operation optimum path planning method planning pre-operative surgical path
Lung puncture operation guiding system.
(2) technical scheme
In order to achieve the above object, the main technical schemes that the present invention is used include：
A kind of lung puncture operation optimum path planning method, comprises the following steps：
S1, the restrictive condition quantitative analysis based on the preoperative CT images progress lung puncture operation clinical criteria of patient,
And screen out the puncturing operation path for being unsatisfactory for restrictive condition；
S2, the Objective condition quantitative analysis based on the preoperative CT images progress lung puncture operation clinical criteria of patient,
And set up the specific item scalar functions based on path risk；
S3, optimal path model set up based on above-mentioned restrictive condition and Objective condition, try to achieve the disaggregation of optimal path.
It is preferred that, the step S1 comprises the following steps：
S11, the CT image preoperative to patient carry out vitals avoidance constraint quantitative analysis, based on organ segmentation's result
And the constraint of vitals avoidance is screened to path；
S12, the CT image preoperative to patient carry out puncture needle and constrain quantitative analysis up to job area, based on puncture needle
Length path is screened；
S13, the CT image preoperative to patient are carried out into thorn angle restriction quantitative analysis, based on puncture needle and skin and lung
Angle of the essence at point of puncture is screened to path.
Further, the step S11 is：
On the preoperative CT images of patient, institute's collection a little on skin surface is set to be combined into S, arbitrfary point P in gathering based on S
(x, y, z) and target point O (xo,yo,zo) determine the direction vector in puncturing operation path
On the preoperative CT images of patient, from point P (x, y, z) along direction vectorDirection search puncture hand
Next tissue points on art path, if next tissue points are not bone, three vitals of interlobar fissure and vertical diaphragm, continue
Search；If then exiting the search in the path；
If the path searches target point always, this path meets vitals without above three vitals
The condition of avoidance constraint limitation；
Wherein, the segmentation result of above three vitals is obtained by the dividing method based on chest CT image.
Further, the step S12 is：
On the preoperative CT images of patient, according to the length of puncture needle, from the target point O (x where tumor centero,yo,
zo) set out, the extreme position of puncture needle job area is determined, the puncture needle that extreme position is surrounded enters thorn point and arrives target point O (xo,
yo,zo) path distance to be less than or equal to the skin points region of needle length be puncture needle up to job area, screen out more than wearing
Skin points of the pricker up to job area.
It is preferred that, the step S13 is：
On the preoperative CT images of patient, calculate puncture path and skin and pulmonary parenchyma are big in the surface normal of point of intersection
It is small, the direction vector of puncture path and the angle of surface normal are calculated, the complementary angle of the angle is for path with surface in point of puncture
The angle at place, that is, enter to pierce angle；
When entering to pierce angle satisfaction more than set angle, puncture angle constraints is met, screens out and is unsatisfactory for puncture angle about
The corresponding puncturing operation path of beam condition.
It is preferred that, the step S2 comprises the following steps：
S21, the CT image preoperative to patient carry out the quantitative analysis of path correlation length sub-goal, are divided into the overall length in path
The length of degree and path in intrapulmonary；
S22, preoperative to patient CT images carry out the quantitative analysis of path correlation distance sub-goal, be divided into path with it is important
The distance of organ and the distance of path extended line and vitals；
S23, the CT image preoperative to patient carry out the quantitative analysis of path related angle sub-goal, are divided into path and skin
Enter to pierce angle and path and pulmonary parenchyma to enter to pierce angle.
Further, the step S21 is：
The total length per paths and the length per paths in intrapulmonary are calculated, using min-max standardized methods to this
Two length are normalized, and define path path risk under the conditions of the length condition and path total length of intrapulmonary
Specific item scalar functions.
Further, the step S22 is：
Calculate beeline and every paths extended line and the setting per paths between the vitals of setting
Beeline between vitals, defines path and vitals beeline condition and path extended line and vitals
The specific item scalar functions of path risk under the conditions of beeline.
Further, the step S23 is：
Calculate and enter to pierce angle and per paths and pulmonary parenchyma enters to pierce angle per paths and skin, define path and skin
Enter to pierce the specific item scalar functions that corner condition and path enter to pierce path risk under corner condition with pulmonary parenchyma.
It is preferred that, the step S3 comprises the following steps：
S31, based on the minimum target of path risk, with vitals avoidance, puncture needle is up to job area and enters thorn
Angle is constraint, and foundation makes the optimal optimal path model of each sub-goal；
S32, optimal path model is solved, obtain lung puncture operation optimal path disaggregation.
Further, the step S31 is：
Based on the constraint of vitals avoidance, puncture needle constrains up to job area and enters to pierce angle restriction, and path
Total length sub-goal and path intrapulmonary length sub-goal, path and vitals apart from sub-goal and path extended line with
Vitals apart from sub-goal, what path and skin entered to pierce silver coin target and path and pulmonary parenchyma enters to pierce silver coin target, foundation
The optimal path model of lung puncture operation.
Further, the step S32 is：
The disaggregation of lung puncture operation optimal path is solved with Pareto optimization method.
The present invention also provides a kind of lung puncture operation guiding system, and the lung puncture operation guiding system uses such as to take up an official post
Lung puncture operation optimum path planning method planning pre-operative surgical path described in one scheme.
(3) beneficial effect
The beneficial effects of the invention are as follows：
The lung puncture that the present invention is provided performs the operation optimum path planning approach application in the preoperative of lung puncture operation guiding system
In operation pathway planning process, distinctive clinical criteria that lung puncture can be performed the operation carries out quantitative analysis, intelligently to not
The puncture path for meeting restrictive condition in lung puncture operation standard is screened, and based on the target in lung puncture operation standard
Property condition set up puncture path risk specific item scalar functions, to path carry out multi-restriction Multi-Objective optimization, need not can be manually set
Weight parameter between sub-goal and try to achieve optimal path disaggregation, it is to avoid interference caused by subjective factors, provided for lung puncture surgical navigational
Optimal operation pathway guiding.
Brief description of the drawings
Fig. 1 is the flow chart of lung puncture operation optimum path planning method in the preferred embodiment for the present invention.
Fig. 2 be method in the preferred embodiment for the present invention step 11 in vitals avoidance constrain schematic diagram.
Fig. 3 be method in the preferred embodiment for the present invention step 12 in the signal that is constrained up to job area of puncture needle
Figure.
Fig. 4 is to enter to pierce the schematic diagram of angle restriction in the step 13 of method in the preferred embodiment for the present invention.
Fig. 5 carries out optimal path resolution principle for Pareto optimization in the step 32 of method in the preferred embodiment for the present invention
Schematic diagram.
Embodiment
In order to preferably explain the present invention, in order to understand, below in conjunction with the accompanying drawings, by embodiment, to this hair
It is bright to be described in detail.
Preferred embodiment
Present embodiments provide for a kind of lung puncture operation optimum path planning method, lung puncture operation optimal path rule
The method of drawing is applied to during the pre-operative surgical path planning of lung puncture operation guiding system.In the present embodiment, with based on
It is described in detail exemplified by the lung puncture operation pathway planning of chest CT image, specifically as described below.
A kind of lung puncture operation optimum path planning method based on chest CT image operates in Visual Studio and put down
Platform, it is adaptable to during the pre-operative surgical path planning of lung puncture operation guiding system, realizes that the lung based on chest CT image is worn
Needle-holding hand art optimum path planning method, as shown in figure 1, this method comprises the following steps：
Step 1, the restrictive condition quantification point based on the preoperative CT images progress lung puncture operation clinical criteria of patient
Analysis, and the puncturing operation path for being unsatisfactory for restrictive condition is screened out.
Step 1 specifically includes following steps：
Step 11, the CT image preoperative to patient carry out vitals avoidance constraint quantitative analysis, based on organ segmentation
As a result and vitals avoidance constraint path is screened.
The path of lung puncture operation is needed by thoracic cavity, and has numerous tissues and organ in the thoracic cavity of people, some tissues
If being punctured pin with organ to pass through, it will bring larger injury to human body.Lung puncture operation needs the chest avoided important
Organ includes bone, interlobar fissure and vertical diaphragm.Based on these vitals segmentation results and the constraint of vitals avoidance to puncturing hand
Screened in art path.
Fig. 2 is that vitals avoidance constrains schematic diagram.White point is tumor target point, 1,2,3 three skins of mark in Fig. 2
On region be to avoid that the region of pin can be entered on the skin that the rib that can not be punctured is obtained.Similarly, indulge diaphragm and interlobar fissure exists
It is also required to all avoid during path computing.
Specifically, on the preoperative CT images of patient, the collection of institute a little on skin surface is set to be combined into S, in S set arbitrarily
Point P (x, y, z) and the target point O (x where tumor centero,yo,zo) direction vector in puncturing operation path can be determinedFrom point P (x, y, z) along direction vectorDirection search puncturing operation path on next voxel
Point, if next tissue points are not bone, three vitals of interlobar fissure and vertical diaphragm, is continued search for；If then exiting the road
The search in footpath.If the path searches target point always, prove that this path, without these three vitals, meets important device
The condition of official's avoidance constraint limitation.On CT images, above-mentioned bone, the segmentation result of three vitals of interlobar fissure and vertical diaphragm are
Obtained by the dividing method based on chest CT image.
Step 12, preoperative to patient CT images carry out puncture needle and constrain quantitative analysis up to job area, based on wearing
The length of pricker is screened to path.
Limited by needle length, operation needs to be operated in the reachable job area of puncture needle.Based on puncture needle
Path is screened up to job area constraint.
Specifically, as shown in figure 3, white point be tumor target point, from tumor target point, find puncture needle operation model
Path shown in the straight line of the extreme position enclosed, i.e., two.The left side that extreme position is surrounded is labeled as the skin points of White curves
(any puncture needle enters thorn point to target point O (x in the region in regiono,yo,zo) path distance be less than or equal to needle length),
It enters thorn point and meets puncture needle up to job area to the path of tumour.And the unlabelled skin points region in right side, distance objective
Point is too remote, more than puncture needle coverage, it is impossible to puncture successfully, it is necessary to which the partial dot is screened out.
Arbitrfary point P (x, y, z) and target point O (x on skin surfaceo,yo,zo) the distance between be path length d, d
Calculation formula be：
Then think that point P (x, y, z) meets puncture needle and constrains bar up to job area when d is less than or equal to needle length
Part, by condition is not satisfied, corresponding puncturing operation path is screened out.
Step 13, the CT image preoperative to patient are carried out into thorn angle restriction quantitative analysis, based on puncture needle and skin
Path is screened with angle of the pulmonary parenchyma at point of puncture.
It is into piercing angle to define path and angle of the surface at point of puncture.In puncturing operation, puncture needle mainly needs to wear
Saturating surface is the surface of skin surface and pulmonary parenchyma.To avoid puncture needle from being slided on surface, it is necessary to be carried out about to entering to pierce angle
Beam, when entering to pierce angle satisfaction more than set angle, meets puncture angle constraints, is just accorded with for example, setting and being more than 20 ° into thorn angle
Close and require.
Be illustrated in figure 4 puncture path and skin and pulmonary parenchyma surface enters to pierce angle, and wherein angle α is that skin enters to pierce angle,
Angle β is that lung enters to pierce angle, and the two angles need to meet into the constraint of thorn angle.
Enter to pierce angle, it is necessary on the preoperative CT images of patient to calculate puncture path and skin surface, lung surface,
Calculate the surface normal size of puncture path and skin and pulmonary parenchyma in point of intersection first, further according to path direction vector with
Surface normal is asked into thorn angle.Based on point of intersection neighborhood N (such as N is 26) individual surface voxel point, it is fitted with the principle of least square
Into plane, the surface normal of point of intersection is obtained, the direction vector in puncturing operation path and the folder of surface normal is then tried to achieve
Angle, enters to pierce the complementary angle that angle is this angle.
Setting skin enters to pierce angle α less than 20 °, and lung is unsatisfactory for puncture angle constraints when entering to pierce angle beta less than 20 °, needs
Corresponding puncturing operation path is screened out.
Step 2, the Objective condition quantification point based on the preoperative CT images progress lung puncture operation clinical criteria of patient
Analysis, and set up the specific item scalar functions based on path risk.
Step 2 specifically includes following steps：
Step 21, the CT image preoperative to patient carry out the quantitative analysis of path correlation length sub-goal, are divided into path
The length of total length and path in intrapulmonary.
Need to calculate the total length of every paths and the length per paths in intrapulmonary, and be defined on road under the conditions of the two
The object function of footpath risk, is used as two Objective conditions of path optimization.
Path i and the intersection point on pulmonary parenchyma surface are Pi(xi,yi,zi), it is Q that corresponding skin, which enters thorn point,i(ai,bi,ci), swell
Knurl target point is O (xo,yo,zo), then (i.e. puncture path is in the length of intrapulmonary, Trajectory for intrapulmonary puncture path length
Length in Lung, TLL) be：
The total length (Trajectory Length, TL) of puncture path is：
The two length are normalized using min-max standardized methods, puncture path are defined in intrapulmonary
The specific item scalar functions of path risk under the conditions of length condition and puncture path total length, calculation formula is as follows：
Wherein, L1i,L2iIt is current path i intrapulmonary distance (i.e. length of the current path i in intrapulmonary) and total length
(i.e. current path i total lengths), L1min,L2minBe all paths for meeting restrictive condition intrapulmonary distance it is (i.e. all to meet about
Length of the path of beam condition in intrapulmonary) and total length (i.e. all path total lengths for meeting restrictive condition) minimum
Value, L1max,L2maxBe all paths for meeting restrictive condition intrapulmonary distance (i.e. all paths for meeting restrictive condition exist
The length of intrapulmonary) and total length (i.e. all path total lengths for meeting restrictive condition) maximum.It can draw, path
Intrapulmonary distance (i.e. length of the path in intrapulmonary) and total length (i.e. path total length) it is bigger, the value of specific item scalar functions is got over
Greatly, the risk of respective path is higher.
Step 22, preoperative to patient CT images carry out the quantitative analysis of path correlation distance sub-goal, be divided into path with
The distance of vitals and the distance of path extended line and vitals.
Calculate per the beeline between paths and set vitals, and define path wind under this condition
The specific item scalar functions of danger, are used as one of Objective condition of path optimization.Path extended line and set vitals are most
Short distance can also reflect operation risk, and it is referred on the direction of path extended line, from target point to vitals (including
Vertical diaphragm and interlobar fissure) distance.The beeline of path extended line and vitals is calculated, and defines path under this condition
The specific item scalar functions of risk, also serve as one of Objective condition of path optimization.
In the beeline solution procedure of path and vitals, united using vertical diaphragm, interlobar fissure and bone as an entirety
One is labeled as vitals, and path then is carried out into expansive working, encounters first and marks the tissue points for being to stop,
This point is the vitals tissue points nearest apart from path, all voxels on the path before calculating this point and being unexpanded
The distance between point, and try to achieve beeline.Beeline (Distance of this distance as between path and vitals
To Important Structures, DIS).Path wind under beeline constraints is defined between path and vitals
Danger specific item scalar functions be：
Wherein, D1iIt is the beeline of current path i and vitals, D1minIt is all paths for meeting restrictive condition
With the minimum value of vitals beeline, D1maxIt is all paths for meeting restrictive condition and vitals beeline
Maximum.It can draw, the beeline of path and vitals is bigger, the value of specific item scalar functions is smaller, the wind of respective path
Danger is smaller.
It is that vertical diaphragm and interlobar fissure is unified as an entirety and the beeline of path extended line and vitals is solved
Labeled as vitals.Path is scanned for along extended line direction since the tumor target point, first encountered mark
It is to stop for the point of vitals.This point is calculated to the distance of tumor target point, as path extended line and vitals
Beeline (Extend Distance to Important Structures, EDIS).Define the path extended line with it is important
The specific item scalar functions of path risk are under the conditions of organ beeline：
Wherein, D2iIt is current path i extended line and the beeline of vitals, D2minIt is all to meet restrictive bar
The path extended line of part and the minimum value of vitals beeline, D2maxIt is all path extended lines for meeting restrictive condition
With the maximum of vitals beeline.It can draw, the beeline of path extended line and vitals is bigger, target letter
Several values is smaller, and the risk of respective path is lower.
Step 23, preoperative to patient CT images carry out the quantitative analysis of path related angle sub-goal, be divided into path with
Skin enters to pierce angle and path and pulmonary parenchyma and enters to pierce angle.
Calculate and enter to pierce angle and per paths and pulmonary parenchyma enters to pierce angle per paths and skin, define skin and enter to pierce angle
Condition (Insert Angle of Skin, IAS) and pulmonary parenchyma enter to pierce corner condition (Insert Angle of Lung, IAL)
The specific item scalar functions of lower path risk, calculation formula is as follows：
Wherein, αiAnd βiIt is that enter to pierce angle and current path i and the pulmonary parenchyma of current path i and skin enters to pierce angle respectively, it
Be all higher than 20 °.Can draw, skin enters to pierce angle and pulmonary parenchyma to enter to pierce angle bigger, closer to vertical, the value of specific item scalar functions is got over
Small, the risk of respective path is lower.
Step 3, optimal path model set up based on above-mentioned restrictive condition and Objective condition, try to achieve the solution of optimal path
Collection.
Step 3 specifically includes following steps：
Step 31, set up based on above-mentioned restrictive condition and each sub-goal lung puncture operation optimal path model.With path
The minimum target of risk, using vitals avoidance, puncture needle is up to job area and enters to pierce angle as constraint, and foundation makes six
The optimal optimal path model of sub-goal, i.e. make path total length sub-goal and path in the length sub-goal of intrapulmonary, path
With vitals apart from sub-goal and path extended line and vitals apart from sub-goal, path enters to pierce silver coin mesh with skin
Mark and path and pulmonary parenchyma enter to pierce that silver coin target is optimal, set up the optimal path model that lung puncture is performed the operation.
Lung puncture operation optimal path model be：
P*=choose (P0,P1,......,Pn-1,L1,L2,D1,D2,A1,A2,a,b,c) (10)
Wherein P*The path obtained for final optimization pass, P0,P1,......,Pn-1For path candidate, L1,L2,D1,D2,A1,A2
L is represented respectivelyTL(i), LTLL(i), DDIS(i), DEDIS(i), AIAS(i), AIAL(i) this six sub- object functions, a, b, c difference tables
Show vitals avoidance, puncture needle up to job area and enter to pierce the restrictive condition of angle three, the work(of choose () function
Can be that, first by constraints a, b, c enters thorn point to all skins and screened, and the skin in the case where meeting constraints enters thorn
In the corresponding path of point, finding makes each specific item be designated as optimal path.
Step 32, optimal path model is solved, obtain lung puncture operation optimal path disaggregation.By Pareto optimization
Method is used in lung puncture operation optimal path solution, can be not based on weight and is estimated come the risk to path.Carrying out
During the optimum path planning of lung puncture, using six sub-goals as Pareto optimization six object functions.
Thrown as shown in figure 5, value of all puncturing operation paths of restrictive condition under two sub- object functions will be met
Shadow is represented under Pareto coordinate system per paths with black prismatic point.Path optimization is carried out using Pareto optimization method.Institute
The path optimum point of definition is, meets the puncturing operation path of restrictive condition all, compares entirely in the absence of two sub-goals
The more preferable point of the point, then think that this point belongs to Pareto optimality point, also cry Pareto forward position.P in Fig. 51-P5As exist
Pareto optimality point under two sub-goals of beeline of path length and path and vitals, the black that they are constituted is bent
Line is Pareto forward position.In addition it is also possible to specify a paths P according to custom and experience by doctorc, such as dark circles in Fig. 5
Point is shown, and the puncture path representated by the point in the square frame in the lower right corner is all to compare PcMore excellent.Handkerchief is found in the range of square frame
Tired support forward position point, as P1-P3These three points, they are the optimum points under scope specified by doctor.
Six sub- object functions based on path risk assessment, set up Pareto coordinate system two-by-two.Meet constraint to all
The path of property condition is projected under these coordinate systems respectively, and solves the corresponding optimal path in Pareto forward position.Then will
Optimal path disaggregation under all Pareto coordinate systems seeks common ground, and is the balanced final optimal considered under all specific item scalar functions
Path disaggregation, so as to realize the solution to optimal path model.
From above-mentioned principle, carry out that optimal path model solution is most important to be to determine Pareto based on Pareto optimization
Forward position.If the corresponding skin point set in all paths for meeting restrictive condition is S, Pareto forward position point set is M, Pareto forward position
Solution according to first searching for Y-axis, then search the mode of plain X-axis and carry out, concretely comprise the following steps：
1st, a little will in the Y-axis direction it be ranked up in point set S first, wherein optimal point is designated as A, this point is Y
Optimal point on direction of principal axis, belongs to one of Pareto forward position point, adds Pareto forward position point set M；
2nd, in point set S search for X-direction on point more worse than A, these point be two sub-goals all than A point difference point,
It is deleted from point set S；
3rd, according to the sequence of Y direction, point B optimal in addition to A in Y-direction is found in the remaining points of S, is added into
Pareto forward position point set M；
4th, point more worse than B in X-direction is searched in S left points, it is deleted from point set S.If searching in the Y-axis direction
Suo Shi, has multiple Y values identical, then select these put in X values optimal one as Pareto forward position point, remaining is put from point set
Deleted in S.Aforesaid operations are repeated until the point included in point set S is identical with the point in point set M, then are completed to institute in point set S
There is skin to enter the judgement of thorn point.Now, what two points were centrally stored is Pareto forward position point.Obtained often according to same step
Pareto forward position point under individual Pareto coordinate system, it is all sub-goals is reached that a solution is pierced in comprehensive optimal entering to take after occuring simultaneously
Collection.
In summary, the lung puncture that the present invention is provided performs the operation optimum path planning approach application in lung puncture surgical navigational system
During the pre-operative surgical path planning of system, distinctive clinical criteria that lung puncture can be performed the operation carries out quantitative analysis, intelligence
Change ground to screen the puncture path for not meeting restrictive condition in lung puncture operation standard, and based on lung puncture operation standard
In Objective condition set up puncture path risk specific item scalar functions, multi-restriction Multi-Objective optimization is carried out to path, can need not
The weight parameter that is manually set between sub-goal and try to achieve optimal path disaggregation, it is to avoid interference caused by subjective factors, is lung puncture operation
Navigation provides optimal operation pathway guiding.
It is to be appreciated that the description carried out above to the specific embodiment of the present invention is simply to illustrate that the skill of the present invention
Art route and feature, its object is to allow those skilled in the art to understand present disclosure and implement according to this, but
The present invention is not limited to above-mentioned particular implementation.Every various change made within the scope of the claims is repaiied
Decorations, should all cover within the scope of the present invention.
Claims (13)
- A kind of optimum path planning method 1. lung puncture is performed the operation, it is characterised in that comprise the following steps：S1, the restrictive condition quantitative analysis based on the preoperative CT images progress lung puncture operation clinical criteria of patient, and will The puncturing operation path for being unsatisfactory for restrictive condition is screened out；S2, the Objective condition quantitative analysis based on the preoperative CT images progress lung puncture operation clinical criteria of patient, and build The specific item scalar functions for the path risk that is based on；S3, optimal path model set up based on above-mentioned restrictive condition and Objective condition, try to achieve the disaggregation of optimal path.
- The optimum path planning method 2. lung puncture according to claim 1 is performed the operation, it is characterised in that：The step S1 includes Following steps：S11, the CT image preoperative to patient carry out vitals avoidance constraint quantitative analysis, based on organ segmentation's result and again The constraint of organ avoidance is wanted to screen path；S12, the CT image preoperative to patient carry out puncture needle and constrain quantitative analysis, the length based on puncture needle up to job area Degree is screened to path；S13, the CT image preoperative to patient are carried out into thorn angle restriction quantitative analysis, based on puncture needle and skin and pulmonary parenchyma Angle at point of puncture is screened to path.
- The optimum path planning method 3. lung puncture according to claim 2 is performed the operation, it is characterised in that：The step S11 is：On the preoperative CT images of patient, institute's collection a little on skin surface is set to be combined into S, arbitrfary point P in being gathered based on S (x, Y, z) with tumor center where target point O (xo,yo,zo) determine the direction vector in puncturing operation pathOn the preoperative CT images of patient, from point P (x, y, z) along direction vectorDirection search puncturing operation road Next tissue points on footpath, if next tissue points are not bone, three vitals of interlobar fissure and vertical diaphragm, continue to search Rope；If then exiting the search in the path；If the path searches target point always, this path meets vitals avoidance without above three vitals Constrain the condition of limitation；Wherein, the segmentation result of above three vitals is obtained by the dividing method based on chest CT image.
- The optimum path planning method 4. lung puncture according to claim 3 is performed the operation, it is characterised in that：The step S12 is：On the preoperative CT images of patient, according to the length of puncture needle, from the target point O (x where tumor centero,yo,zo) go out Hair, determines the extreme position of puncture needle job area, and the puncture needle that extreme position is surrounded enters thorn point and arrives target point O (xo,yo, zo) path distance be less than or equal to needle length skin points region for puncture needle up to job area, screen out more than puncture Skin points of the pin up to job area.
- The optimum path planning method 5. lung puncture according to claim 4 is performed the operation, it is characterised in that：The step S13 is：On the preoperative CT images of patient, the surface normal size of puncture path and skin and pulmonary parenchyma in point of intersection is calculated, Calculate the direction vector of puncture path and the angle of surface normal, the complementary angle of the angle for path with surface at point of puncture Angle, that is, enter to pierce angle；When entering to pierce angle satisfaction more than set angle, puncture angle constraints is met, screens out and is unsatisfactory for puncture angle constraint bar The corresponding puncturing operation path of part.
- The optimum path planning method 6. lung puncture according to claim 5 is performed the operation, it is characterised in that：The step S2 includes Following steps：S21, preoperative to patient CT images carry out the quantitative analysis of path correlation length sub-goal, be divided into path total length and Length of the path in intrapulmonary；S22, the CT image preoperative to patient carry out the quantitative analysis of path correlation distance sub-goal, are divided into path and vitals Distance and path extended line and vitals distance；S23, the CT image preoperative to patient carry out the quantitative analysis of path related angle sub-goal, are divided into path and enter thorn with skin Angle and path and pulmonary parenchyma enter to pierce angle.
- The optimum path planning method 7. lung puncture according to claim 6 is performed the operation, it is characterised in that：The step S21 is：The total length per paths and the length per paths in intrapulmonary are calculated, using min-max standardized methods to the two Length is normalized, and defines the sub-goal of path path risk under the conditions of the length condition and path total length of intrapulmonary Function.
- The optimum path planning method 8. lung puncture according to claim 7 is performed the operation, it is characterised in that：The step S22 is：Calculate beeline between the vitals per paths and setting and important with setting per paths extended line Beeline between organ, defines path and vitals beeline condition and path extended line and vitals are most short The specific item scalar functions of path risk under distance condition.
- The optimum path planning method 9. lung puncture according to claim 8 is performed the operation, it is characterised in that：The step S23 is：Calculate and enter to pierce angle and per paths and pulmonary parenchyma enters to pierce angle per paths and skin, define path and enter thorn with skin Corner condition and path enter to pierce the specific item scalar functions of path risk under corner condition with pulmonary parenchyma.
- The optimum path planning method 10. lung puncture according to claim 9 is performed the operation, it is characterised in that：The step S3 bags Include following steps：S31, based on the minimum target of path risk, with vitals avoidance, puncture needle is up to job area and enters to pierce angle For constraint, foundation makes the optimal optimal path model of each sub-goal；S32, optimal path model is solved, obtain lung puncture operation optimal path disaggregation.
- The optimum path planning method 11. lung puncture according to claim 10 is performed the operation, it is characterised in that：The step S31 For：Based on vitals avoidance constraint, puncture needle up to job area constrain and enter to pierce angle restriction, and path overall length Spend the length sub-goal of sub-goal and path in intrapulmonary, path and vitals apart from sub-goal and path extended line with it is important Organ apart from sub-goal, what path and skin entered to pierce silver coin target and path and pulmonary parenchyma enters to pierce silver coin target, sets up lung and wears The optimal path model of needle-holding hand art.
- The optimum path planning method 12. lung puncture according to claim 11 is performed the operation, it is characterised in that：The step S32 For：The disaggregation of lung puncture operation optimal path is solved with Pareto optimization method.
- 13. a kind of lung puncture operation guiding system, it is characterised in that the lung puncture operation guiding system uses such as claim Lung puncture operation optimum path planning method planning pre-operative surgical path described in any one of 1-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710654057.7A CN107296645B (en) | 2017-08-03 | 2017-08-03 | Optimal path planning method for lung puncture operation and lung puncture operation navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710654057.7A CN107296645B (en) | 2017-08-03 | 2017-08-03 | Optimal path planning method for lung puncture operation and lung puncture operation navigation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107296645A true CN107296645A (en) | 2017-10-27 |
| CN107296645B CN107296645B (en) | 2020-04-14 |
Family
ID=60134249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710654057.7A Active CN107296645B (en) | 2017-08-03 | 2017-08-03 | Optimal path planning method for lung puncture operation and lung puncture operation navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107296645B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108648821A (en) * | 2018-03-21 | 2018-10-12 | 北京理工大学 | Intelligent operation decision system and its application process towards puncturing operation robot |
| CN109171901A (en) * | 2018-09-20 | 2019-01-11 | 张磊 | A kind of multi-functional piercing types medical equipment for gynemetrics's interventional therapy |
| CN109325721A (en) * | 2018-10-10 | 2019-02-12 | 江苏电力信息技术有限公司 | A kind of undercarriage method on goods and materials based on intelligent analysis process |
| CN109394317A (en) * | 2018-12-14 | 2019-03-01 | 清华大学 | Puncture path device for planning and method |
| CN110013306A (en) * | 2019-03-22 | 2019-07-16 | 北京工业大学 | CT guides liver tumour thermal ablation therapy puncture path planing method |
| CN110623689A (en) * | 2018-06-21 | 2019-12-31 | 通用电气公司 | Systems and methods for contact management of biopsy devices |
| CN110993065A (en) * | 2019-11-19 | 2020-04-10 | 浙江工业大学 | Brain tumor keyhole surgery path planning method based on image guidance |
| WO2020107166A1 (en) * | 2018-11-26 | 2020-06-04 | 苏州朗开医疗技术有限公司 | Lung biopsy device and system |
| CN111631813A (en) * | 2020-05-27 | 2020-09-08 | 武汉联影智融医疗科技有限公司 | Automatic sequencing method, sequencing system, equipment and computer-readable storage medium for implantable electrodes |
| CN113018064A (en) * | 2021-04-27 | 2021-06-25 | 吴冬梅 | Intelligent control method for physical therapy bed for endocrinology department |
| CN113081258A (en) * | 2021-03-09 | 2021-07-09 | 扬州大学 | Method for calibrating optimal point of hydrops aspiration by puncture in joint cavity treatment |
| CN113456219A (en) * | 2021-06-15 | 2021-10-01 | 艾瑞迈迪医疗科技（北京）有限公司 | Liver cancer radio frequency ablation operation path planning method and device based on CT image |
| CN113516624A (en) * | 2021-04-28 | 2021-10-19 | 武汉联影智融医疗科技有限公司 | Determination of puncture forbidden zone, path planning method, surgical system and computer equipment |
| CN113876420A (en) * | 2021-09-08 | 2022-01-04 | 上海微创医疗机器人（集团）股份有限公司 | Path planning method, system, device and medium for planning surgical path |
| CN114022471A (en) * | 2021-11-16 | 2022-02-08 | 推想医疗科技股份有限公司 | Method and device for determining puncture point, electronic device and storage medium |
| CN114305680A (en) * | 2021-12-02 | 2022-04-12 | 杭州堃博生物科技有限公司 | Data processing method, device and navigation system for in vivo path planning and navigation |
| CN114550943A (en) * | 2022-04-21 | 2022-05-27 | 武汉烽火凯卓科技有限公司 | Shock wave incident point simulation planning method and system based on medical image |
| WO2022199650A1 (en) * | 2021-03-24 | 2022-09-29 | 上海微创医疗机器人（集团）股份有限公司 | Computer-readable storage medium, electronic device, and surgical robot system |
| CN115590623A (en) * | 2022-12-15 | 2023-01-13 | 苏州国科康成医疗科技有限公司（Cn） | Puncture path planning method and system |
| CN117017486A (en) * | 2023-09-28 | 2023-11-10 | 天津佰旺达科技有限公司 | Lung nodule puncture path planning method based on medical image |
| WO2024032570A1 (en) * | 2022-08-08 | 2024-02-15 | 武汉联影智融医疗科技有限公司 | Interventional planning system, method and apparatus, and a storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110230758A1 (en) * | 2008-12-03 | 2011-09-22 | Uzi Eichler | System and method for determining the position of the tip of a medical catheter within the body of a patient |
| CN102949240A (en) * | 2011-08-26 | 2013-03-06 | 高欣 | Image-guided lung interventional operation system |
| CN105286988A (en) * | 2015-10-12 | 2016-02-03 | 北京工业大学 | CT image-guided liver tumor thermal ablation needle location and navigation system |
-
2017
- 2017-08-03 CN CN201710654057.7A patent/CN107296645B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110230758A1 (en) * | 2008-12-03 | 2011-09-22 | Uzi Eichler | System and method for determining the position of the tip of a medical catheter within the body of a patient |
| CN102949240A (en) * | 2011-08-26 | 2013-03-06 | 高欣 | Image-guided lung interventional operation system |
| CN105286988A (en) * | 2015-10-12 | 2016-02-03 | 北京工业大学 | CT image-guided liver tumor thermal ablation needle location and navigation system |
Non-Patent Citations (1)
| Title |
|---|
| 陈宇: "基于肺穿刺手术导航的精度提升与路径规划研究", 《中国优秀硕士学位论文数据库 医药卫生科技辑》 * |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108648821B (en) * | 2018-03-21 | 2020-12-01 | 北京理工大学 | Intelligent operation decision system for puncture operation robot and application method thereof |
| CN108648821A (en) * | 2018-03-21 | 2018-10-12 | 北京理工大学 | Intelligent operation decision system and its application process towards puncturing operation robot |
| CN110623689A (en) * | 2018-06-21 | 2019-12-31 | 通用电气公司 | Systems and methods for contact management of biopsy devices |
| CN109171901A (en) * | 2018-09-20 | 2019-01-11 | 张磊 | A kind of multi-functional piercing types medical equipment for gynemetrics's interventional therapy |
| CN109325721A (en) * | 2018-10-10 | 2019-02-12 | 江苏电力信息技术有限公司 | A kind of undercarriage method on goods and materials based on intelligent analysis process |
| CN109325721B (en) * | 2018-10-10 | 2020-08-21 | 江苏电力信息技术有限公司 | Material racking and racking method based on intelligent analysis algorithm |
| WO2020107166A1 (en) * | 2018-11-26 | 2020-06-04 | 苏州朗开医疗技术有限公司 | Lung biopsy device and system |
| CN109394317A (en) * | 2018-12-14 | 2019-03-01 | 清华大学 | Puncture path device for planning and method |
| CN110013306A (en) * | 2019-03-22 | 2019-07-16 | 北京工业大学 | CT guides liver tumour thermal ablation therapy puncture path planing method |
| CN110013306B (en) * | 2019-03-22 | 2021-04-02 | 北京工业大学 | Puncture path planning method for CT-guided hepatic tumor thermal ablation treatment |
| CN110993065A (en) * | 2019-11-19 | 2020-04-10 | 浙江工业大学 | Brain tumor keyhole surgery path planning method based on image guidance |
| CN110993065B (en) * | 2019-11-19 | 2023-07-25 | 浙江工业大学 | Brain tumor keyhole surgery path planning method based on image guidance |
| CN111631813A (en) * | 2020-05-27 | 2020-09-08 | 武汉联影智融医疗科技有限公司 | Automatic sequencing method, sequencing system, equipment and computer-readable storage medium for implantable electrodes |
| CN113081258A (en) * | 2021-03-09 | 2021-07-09 | 扬州大学 | Method for calibrating optimal point of hydrops aspiration by puncture in joint cavity treatment |
| WO2022199650A1 (en) * | 2021-03-24 | 2022-09-29 | 上海微创医疗机器人（集团）股份有限公司 | Computer-readable storage medium, electronic device, and surgical robot system |
| CN113018064A (en) * | 2021-04-27 | 2021-06-25 | 吴冬梅 | Intelligent control method for physical therapy bed for endocrinology department |
| CN113516624A (en) * | 2021-04-28 | 2021-10-19 | 武汉联影智融医疗科技有限公司 | Determination of puncture forbidden zone, path planning method, surgical system and computer equipment |
| CN113456219A (en) * | 2021-06-15 | 2021-10-01 | 艾瑞迈迪医疗科技（北京）有限公司 | Liver cancer radio frequency ablation operation path planning method and device based on CT image |
| CN113876420A (en) * | 2021-09-08 | 2022-01-04 | 上海微创医疗机器人（集团）股份有限公司 | Path planning method, system, device and medium for planning surgical path |
| CN113876420B (en) * | 2021-09-08 | 2024-04-26 | 上海微创微航机器人有限公司 | Path planning method, system, device and medium for planning surgical path |
| CN114022471A (en) * | 2021-11-16 | 2022-02-08 | 推想医疗科技股份有限公司 | Method and device for determining puncture point, electronic device and storage medium |
| CN114305680A (en) * | 2021-12-02 | 2022-04-12 | 杭州堃博生物科技有限公司 | Data processing method, device and navigation system for in vivo path planning and navigation |
| CN114550943B (en) * | 2022-04-21 | 2022-07-29 | 武汉烽火凯卓科技有限公司 | Shock wave incident point simulation planning method and system based on medical image |
| CN114550943A (en) * | 2022-04-21 | 2022-05-27 | 武汉烽火凯卓科技有限公司 | Shock wave incident point simulation planning method and system based on medical image |
| WO2024032570A1 (en) * | 2022-08-08 | 2024-02-15 | 武汉联影智融医疗科技有限公司 | Interventional planning system, method and apparatus, and a storage medium |
| CN115590623A (en) * | 2022-12-15 | 2023-01-13 | 苏州国科康成医疗科技有限公司（Cn） | Puncture path planning method and system |
| CN117017486A (en) * | 2023-09-28 | 2023-11-10 | 天津佰旺达科技有限公司 | Lung nodule puncture path planning method based on medical image |
| CN117017486B (en) * | 2023-09-28 | 2024-03-29 | 天津佰旺达科技有限公司 | Lung nodule puncture path planning method based on medical image |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107296645B (en) | 2020-04-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107296645A (en) | Lung puncture operation optimum path planning method and lung puncture operation guiding system | |
| JP6073971B2 (en) | Medical image processing device | |
| US5289373A (en) | Method and apparatus for real-time tracking of catheter guide wires in fluoroscopic images during interventional radiological procedures | |
| CN101076282B (en) | Dynamic tracking of moving targets | |
| US8942460B2 (en) | Medical image processing apparatus that normalizes a distance between an inner wall and outer wall of the myocardial region | |
| CN103959331B (en) | The workflow of the fuzzy guided interaction formula segmentation of the lobe of the lung | |
| US20050251021A1 (en) | Methods and systems for generating a lung report | |
| CN102473303A (en) | Generating object data | |
| CN1989527A (en) | Automatic determination of parameters of an imaging geometry | |
| CN101273919A (en) | Sequential image acquisition with updating method and system | |
| CN103732151A (en) | Medical imaging equipment and medical image-constructing method | |
| CN102968783B (en) | Automatically the method and system of skeleton are split from abdomen image data | |
| CN107596578A (en) | The identification and location determining method of alignment mark, imaging device and storage medium | |
| CN114129240A (en) | Method, system and device for generating guide information and electronic equipment | |
| WO2023186133A1 (en) | System and method for puncture path planning | |
| CN101449291A (en) | Process and system for automatically recognising preneoplastic abnormalities in anatomical structures, and corresponding computer program | |
| CN106999130A (en) | For the device for the position for determining to intervene instrument in projected image | |
| US20220207771A1 (en) | Heart Position Estimation | |
| CN107209241A (en) | The automatic packet of MRI | |
| CN102483862A (en) | Improvements To Curved Planar Reformation | |
| CN104217423B (en) | Select automatically generating for image data set | |
| CN109984766A (en) | X ray CT device, X-ray CT system | |
| CN103732149B (en) | X ray CT device | |
| CN104915989A (en) | CT image-based blood vessel three-dimensional segmentation method | |
| CN104217432B (en) | A kind of intracranial vessel bounding box automatic planning and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |