CN111202547A - Multi-point biopsy sampling device for minimally invasive breast tumor surgery - Google Patents
Multi-point biopsy sampling device for minimally invasive breast tumor surgery Download PDFInfo
- Publication number
- CN111202547A CN111202547A CN202010087358.8A CN202010087358A CN111202547A CN 111202547 A CN111202547 A CN 111202547A CN 202010087358 A CN202010087358 A CN 202010087358A CN 111202547 A CN111202547 A CN 111202547A
- Authority
- CN
- China
- Prior art keywords
- sleeve
- image
- minimally invasive
- sampling device
- breast tumor
- 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.)
- Pending
Links
- 238000005070 sampling Methods 0.000 title claims abstract description 38
- 208000026310 Breast neoplasm Diseases 0.000 title claims abstract description 31
- 206010006187 Breast cancer Diseases 0.000 title claims abstract description 29
- 238000001574 biopsy Methods 0.000 title claims abstract description 28
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 28
- 238000003825 pressing Methods 0.000 claims abstract description 29
- 230000000903 blocking effect Effects 0.000 claims abstract description 16
- 240000007643 Phytolacca americana Species 0.000 claims abstract description 13
- 210000001519 tissue Anatomy 0.000 claims description 36
- 238000000034 method Methods 0.000 claims description 33
- 238000005520 cutting process Methods 0.000 claims description 28
- 238000012545 processing Methods 0.000 claims description 19
- 230000003902 lesion Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 13
- 238000001914 filtration Methods 0.000 claims description 12
- 210000000481 breast Anatomy 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 10
- 210000004907 gland Anatomy 0.000 claims description 10
- 238000002604 ultrasonography Methods 0.000 claims description 10
- 238000009826 distribution Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 210000005075 mammary gland Anatomy 0.000 claims description 8
- 206010028980 Neoplasm Diseases 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 6
- 239000002245 particle Substances 0.000 claims description 6
- 238000002324 minimally invasive surgery Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000002980 postoperative effect Effects 0.000 claims description 4
- 206010002091 Anaesthesia Diseases 0.000 claims description 3
- 206010018852 Haematoma Diseases 0.000 claims description 3
- 230000037005 anaesthesia Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000001266 bandaging Methods 0.000 claims description 3
- 230000001186 cumulative effect Effects 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 3
- 230000023753 dehiscence Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 208000015181 infectious disease Diseases 0.000 claims description 3
- 230000008595 infiltration Effects 0.000 claims description 3
- 238000001764 infiltration Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims description 3
- 230000000762 glandular Effects 0.000 claims description 2
- 238000009877 rendering Methods 0.000 claims 3
- 238000002560 therapeutic procedure Methods 0.000 claims 1
- 230000001575 pathological effect Effects 0.000 abstract description 14
- 230000036285 pathological change Effects 0.000 description 7
- 231100000915 pathological change Toxicity 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 210000005224 forefinger Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 208000032843 Hemorrhage Diseases 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010827 pathological analysis Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 206010006272 Breast mass Diseases 0.000 description 1
- 229940035676 analgesics Drugs 0.000 description 1
- 239000000730 antalgic agent Substances 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 208000030270 breast disease Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 206010016629 fibroma Diseases 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 238000013188 needle biopsy Methods 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0266—Pointed or sharp biopsy instruments means for severing sample
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0283—Pointed or sharp biopsy instruments with vacuum aspiration, e.g. caused by retractable plunger or by connected syringe
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/006—Artificial life, i.e. computing arrangements simulating life based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20032—Median filtering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30096—Tumor; Lesion
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Pathology (AREA)
- Animal Behavior & Ethology (AREA)
- Theoretical Computer Science (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- General Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Biophysics (AREA)
- Computational Linguistics (AREA)
- Data Mining & Analysis (AREA)
- Evolutionary Computation (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Radiology & Medical Imaging (AREA)
- Surgical Instruments (AREA)
Abstract
The invention belongs to the technical field of medical instruments and discloses a multipoint biopsy sampling device for minimally invasive breast tumor surgery, wherein a sleeve is sleeved with a push rod, the upper end of the push rod is welded with a push handle, and a second spring is clamped between the push handle and the sleeve; a piston is clamped on the push rod, the lower end of the push rod is connected with a connecting rod, the connecting rod is connected with a hook head through a screw, and a hanging thorn is welded on the hook head; the lower end of the sleeve is welded with the cutter through a through hole, the end part of the cutter is welded with the pressing plate, and a first spring is fixed between the pressing plate and the sleeve; a groove is arranged on the left side of the sleeve and corresponds to the position of the cutter; the press plate is clamped with a fixing band and is provided with anti-skid grains; the end part of the sleeve is connected with a blocking cover through a rotating shaft, the blocking cover is provided with an arch-shaped groove, and the left end of the arch-shaped groove is provided with a poke rod; wherein, the arch groove is stuck with an expansion pad. The invention can rapidly cut the pathological tissue and prevent the cut pathological tissue from falling off.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a multipoint biopsy sampling device for minimally invasive breast tumor surgery.
Background
At present, the first minimally invasive surgery for treating mammary gland fibroma is a mamier vacuum assisted minimally invasive rotary cutting system developed and developed by the american powerhouse company, and the most advanced minimally invasive rotary cutting system is a full-automatic rotary cutting system of mammary glands developed by the american bard company. The device mainly comprises a rotary cutter and a vacuum suction pump, can repeatedly cut suspicious breast lesions to obtain histological specimens of the breast, provides more and better methods for discovering and diagnosing the breast cancer, and provides a technical basis for minimally invasive excision of benign tumors. Compared with the traditional operation, the minimally invasive operation has the advantages of small wound, light pain, quick recovery, short hospitalization time and less bleeding, and is widely applied to treating various diseases at present.
Before and after the operation of breast tumor, sampling biopsy is needed as an important basis for pathological diagnosis. Before and after the breast tumor operation, sampling biopsy is needed to be used as an important basis for pathological diagnosis, and due to the heterogeneity of the breast tumor, multiple biopsy sampling is needed to be carried out on pathological tissues to avoid misdiagnosis. The minimally invasive surgery time is short, about 30-60 minutes on average, patients do not need to use analgesics basically, the average hospitalization lasts for 1-3 days, some patients can get home and gather at night after the surgery, the patients can recover the work and social activities early, and great benefits are brought to the whole society and families.
However, in the existing diagnostic process, multi-point sampling is required. In recent years, the incidence rate of breast diseases is rising, benign breast masses belong to common diseases of female patients, operation treatment is mainly adopted, the traditional open operation can completely remove focus, but the operation incision is large, the amount of bleeding during the operation is large, the breast minimally invasive rotary cutting operation which influences the beauty of postoperative breasts is mainly developed on the basis of the hollow needle biopsy technology, and the operation treatment is completed under the guidance of ultrasound; to meet the functional requirements described above, a multipoint biopsy sampler plays a critical role. However, in the sampling process of the multipoint biopsy sampling device for the minimally invasive breast tumor surgery, the pathological tissue is not easy to cut, and the cutting time is prolonged; meanwhile, the existing multipoint biopsy sampling device for minimally invasive breast tumor surgery easily causes the pathological change tissue to fall off in the sampling process, and the progress of the surgery is influenced.
In summary, the problems of the prior art are as follows:
(1) the multipoint biopsy sampling device for the minimally invasive breast tumor surgery is not easy to cut pathological tissues in the sampling process, so that the cutting time is prolonged.
(2) The existing multipoint biopsy sampling device for minimally invasive breast tumor surgery easily causes the pathological change tissue to fall off in the sampling process, and influences the progress of the surgery.
The significance of solving the technical problems is as follows:
the combination of minimally invasive surgery and breast function preservation also shows more and more important influence, and in medical treatment, the endoscopic surgery of the breast can select a small incision at a hidden part of a patient to complete the surgery, so that the aesthetic damage to the breast of the patient is reduced to the maximum extent, the breast-hidden medical treatment method becomes a new surgical treatment method at present, and has great clinical potential and good medical prospect in medicine.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a multi-point biopsy sampling device for minimally invasive breast tumor surgery.
The multipoint biopsy sampling device for the minimally invasive breast tumor surgery is provided with a sleeve, a push rod is sleeved on the sleeve, the upper end of the push rod is in fusion joint with a push handle, and a second spring is clamped between the push handle and the sleeve;
a piston is clamped on the push rod, the lower end of the push rod is connected with a connecting rod, the connecting rod is connected with a hook head through a screw, and a hanging thorn is welded on the hook head; the lower end of the sleeve is welded with the cutter through a through hole, the end part of the cutter is welded with the pressing plate, and a first spring is fixed between the pressing plate and the sleeve; a groove is arranged on the left side of the sleeve and corresponds to the position of the cutter;
the push rod adopts a pressure sensor and a strain gauge, collects the pressure value in the sleeve and transmits the pressure value to a processor for data analysis and processing, the load value of the sleeve is obtained, the load size of the push rod is obtained through force balance calculation according to the data of the load value, a push rod model is led into finite element analysis software by using a finite element method for analysis and calculation, and meanwhile, the stress distribution condition is obtained through comparison and correction of constraint counter force and the load value in the second step;
extracting the discrete gland part through a cutter, modeling the gland structure, preprocessing the discrete gland model, and constructing and generating contents through a texture mapping technology; and improving the acquired content through a fast approximate antialiasing algorithm, performing image processing, taking the picture to be rendered as input, and outputting the picture as a result picture after antialiasing processing.
Furthermore, a fixing device is clamped on the pressing plate, and an anti-skid device is arranged on the pressing plate; the end part of the sleeve is connected with a blocking cover through a rotating shaft, the blocking cover is provided with an arch-shaped groove, and the left end of the arch-shaped groove is provided with a poke rod; wherein, the arch groove is stuck with an expansion pad; the poke rod is provided with a telescopic outer cylinder, and a telescopic inner rod is sleeved in the telescopic outer cylinder;
the telescopic outer barrel is provided with a threaded hole, a fixing bolt is screwed in the threaded hole, and the end part of the fixing bolt is in hard contact with the telescopic inner rod.
Further, in the image processing, the distribution of the image is drawn through an improved ant colony algorithm, and the rapid detection is realized, and the specific method comprises the following steps:
(1) image grayscale conversion, color image conversion to grayscale image:
Y＝0.299R+0.587G+0.114B；
wherein Y is a luminance calculated from the relationship between R, G, B color components and the luminance signal Y in YUV, R, G, B indicating red, green, and blue components, respectively;
(2) binaryzation, namely F (x, y) is an input image, F (x, y) is an output image, a threshold value T is selected, and a binaryzation transformation function expression of the image is obtained;
in the formula, the threshold value T divides the image F (x, y) into two parts, the pixel points which are larger than T are set to be white, and the area which is smaller than T is black.
Further, the image denoising further comprises one-dimensional median filtering:
Zk＝med(xk-N,xk-N+1,…,xk,…,xk+N)；
wherein med represents performing a median operation on pixels in the image; in the formula, 2N +1 pixels are sorted, and finally, the output pixel is the median of the pixel sequence;
two-dimensional median filtering is applied to a two-dimensional matrix of pixels, giving the definition of two-dimensional median filtering:
further, the input image is subjected to low-illumination processing, and Gamma conversion enhancement is adopted as a method for low-illumination processing: adjusting the mean value of the original image to 0 and the variance to 1; preliminarily judging whether the current image belongs to a high-light or low-light type according to the distribution characteristics of the cumulative histogram, carrying out preliminary fine adjustment on the gray scale according to the corresponding type, and carrying out Gamma correction on the image; transforming the formula:
further, the texture mapping method includes generating a texture atlas for a plurality of textures including a texture for drawing used for drawing a polygon as a polygon region, generating arrangement information indicating an arrangement of the texture for drawing in the texture atlas, and processing data using a two-dimensional gaussian function;
the two-dimensional gaussian function is:
for a gray image, the filtering process is equivalent to the convolution process:
further, the glandular structure modeling is realized by utilizing a particle swarm optimization algorithm, and the PSO algorithm based on the particle swarm optimization algorithm is as follows:
minfj(x) j＝1,2…n；
wherein f isj(m) is an optimal value representing the result of the j-th objective function calculation to the m-th generation;
Further, the method for introducing the push rod model by the finite element method further comprises the steps of carrying out ultrasound-assisted downlink minimally invasive mammary gland rotary cutting, sucking the lesion tissues into the cutting groove by using a vacuum suction pump, carrying out high-speed suction rotary cutting, not withdrawing the outer sleeve needle, sucking the specimen out of the body by using the inner sleeve needle conveying device, and repeatedly sucking and rotary cutting until the tumor is completely removed; the incidence rate of postoperative local hematoma, incision infection, mammary gland deformity, incision dehiscence and other complications of patients in the observation group is obviously lower than that of patients in the control group.
Further, the acquisition process of the acquisition sleeve also comprises the implementation of electrocardiographic monitoring, the pressurization, bandaging and suturing are carried out after the operation is finished, the minimally invasive ultrasound vacuum rotary cutting operation treatment of the mammary gland is adopted, the position of the breast tumor is determined by using three-dimensional ultrasound, and the number, the size and the pathological change position of the tumor are recorded in detail; after selecting a proper puncture site, local infiltration anesthesia is given, and an incision is made at the puncture site.
Another object of the present invention is to provide a sampling system equipped with any one of the above multi-point biopsy sampling devices for minimally invasive breast tumor surgery.
The invention has the advantages and positive technical effects that:
(1) pressing the push handle by hand to insert the hook head into the pathological tissue; the hook head hooks the lesion tissue to move upwards due to the restoring force of the second spring; sleeving the forefinger in the fixing band, pressing the pressing plate with the forefinger, and cutting the pathological tissue by using the cutter; through being provided with the recess, supplementary cutter effectively amputates pathological change tissue. The second spring has restoring force and drives the piston to move upwards; during the upward movement of the piston, corresponding suction is generated to suck the pathological tissue into the sleeve, so that the cut tissue is prevented from falling off. The invention can rapidly cut the pathological tissue and prevent the cut pathological tissue from falling off. The medical staff can realize the traction and the cutting of the lesion tissue by pressing with one hand, and the other hand can perform other operations such as hemostasis and the like, so that the labor is saved; moreover, the sampling steps are simplified, and the sampling efficiency is improved.
(2) The fixing belt is arranged on the pressing plate, so that the hand is prevented from being separated from the pressing plate; simultaneously through being provided with anti-skidding line, prevent the phenomenon that the hand skidded, improve the stability of cutting.
(3) The blocking cover is rotated to the lower port of the sleeve through the poke rod, and the lower port of the sleeve is clamped in the arch-shaped groove; because the expansion pad in the arch-shaped groove has an expansion effect, the expansion pad is tightly attached to the lower end opening of the sleeve, and the cut tissue is effectively prevented from falling off.
(4) A pixel coordinate calculation unit that detects pixel coordinates representing pixels corresponding to the polygon and calculates coordinates corresponding to the pixel coordinates in an image drawn on the polygon as pixel-corresponding texture coordinates; according to the size of the palm of the doctor, the relative position of the telescopic inner rod in the telescopic outer cylinder is adjusted, and after the adjustment is completed, the fixing bolt is rotated to carry out relative fixing.
Drawings
Fig. 1 is a schematic structural diagram of a multi-point biopsy sampling device for minimally invasive breast tumor surgery according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a blocking cover according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a pressing plate structure provided by the embodiment of the invention.
Fig. 4 is a schematic structural diagram of a tap lever according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a hook head provided by an embodiment of the invention.
In the figure: 1. a push handle; 2. a sleeve; 3. a push rod; 4. a piston; 5. a connecting rod; 6. a first spring; 7. a hook head; 8. a groove; 9. fixing belts; 10. pressing a plate; 11. a cutter; 12. a blocking cover; 13. a bow-shaped groove; 14. a poke rod; 15. a rotating shaft; 16. anti-skid lines; 17. a second spring; 18. a telescopic outer cylinder; 19. a telescopic inner rod; 20. fixing the bolt; 21. hanging thorns.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
In order to solve the above technical problems, the following detailed description of the present invention is provided with reference to the accompanying drawings and specific embodiments.
The sleeve 2 is sleeved with the push rod 3, the upper end of the push rod 3 is welded with the push handle 1, and a second spring 17 is clamped between the push handle 1 and the sleeve 2.
The piston 4 is clamped on the push rod 3, the lower end of the push rod 3 is connected with the connecting rod 5, the connecting rod 5 is connected with the hook head 7 through a screw, and the hook head 7 is welded with the hanging thorn 21.
The lower end of the sleeve 2 is welded with a cutter 11 through a through hole, the end part of the cutter 11 is welded with a pressing plate 10, and a first spring 6 is fixed between the pressing plate 10 and the sleeve 2; the left side of the sleeve 2 is provided with a groove 8, and the groove 8 corresponds to the position of the cutter 11.
The push rod adopts a pressure sensor and a strain gauge, collects the pressure value in the sleeve and transmits the pressure value to a processor for data analysis and processing, the load value of the sleeve is obtained, the load size of the push rod is obtained through force balance calculation according to the data of the load value, a push rod model is led into finite element analysis software by using a finite element method for analysis and calculation, and meanwhile, the stress distribution condition is obtained through comparison and correction of constraint counter force and the load value in the second step;
extracting the discrete gland part through a cutter, modeling the gland structure, preprocessing the discrete gland model, and constructing and generating contents through a texture mapping technology; and improving the acquired content through a fast approximate antialiasing algorithm, performing image processing, taking the picture to be rendered as input, and outputting the picture as a result picture after antialiasing processing. Pressing the push handle 1 by hand to insert the hook head 7 into the pathological tissue; due to the restoring force of the second spring 17, the hook head 7 moves upward catching the lesion tissue; sleeving the forefinger in the fixing band, pressing the pressing plate 10 with the forefinger, and cutting the pathological tissue by using the cutter 11; by being provided with the groove 8, the auxiliary cutter 11 effectively cuts the lesion tissue. The second spring 17 has restoring force to move the piston 4 upwards; during the upward movement of the piston 4, a corresponding suction is generated, which sucks the lesion tissue into the sleeve 2, preventing the excised tissue from falling out. The invention can rapidly cut the pathological change tissue and prevent the cut pathological change tissue from falling off.
The pressing plate is clamped with a fixing device and provided with an anti-skid device; the end part of the sleeve is connected with a blocking cover through a rotating shaft, the blocking cover is provided with an arch-shaped groove, and the left end of the arch-shaped groove is provided with a poke rod; wherein, the arch groove is stuck with an expansion pad; the poke rod is provided with a telescopic outer cylinder, and a telescopic inner rod is sleeved in the telescopic outer cylinder;
the telescopic outer barrel is provided with a threaded hole, a fixing bolt is screwed in the threaded hole, and the end part of the fixing bolt is in hard contact with the telescopic inner rod.
In the image processing, the distribution of the image is drawn through an improved ant colony algorithm, and the rapid detection is realized, and the specific method comprises the following steps:
(1) image grayscale conversion, color image conversion to grayscale image:
Y＝0.299R+0.587G+0.114B；
wherein Y is a luminance calculated from the relationship between R, G, B color components and the luminance signal Y in YUV, R, G, B indicating red, green, and blue components, respectively;
(2) binaryzation, namely F (x, y) is an input image, F (x, y) is an output image, a threshold value T is selected, and a binaryzation transformation function expression of the image is obtained;
in the formula, the threshold value T divides the image F (x, y) into two parts, the pixel points which are larger than T are set to be white, and the area which is smaller than T is black.
The image denoising further comprises one-dimensional median filtering:
Zk＝med(xk-N,xk-N+1,…,xk,…,xk+N)；
wherein med represents performing a median operation on pixels in the image; in the formula, 2N +1 pixels are sorted, and finally, the output pixel is the median of the pixel sequence;
two-dimensional median filtering is applied to a two-dimensional matrix of pixels, giving the definition of two-dimensional median filtering:
the method comprises the following steps of carrying out low-illumination processing on an input image, and adopting Gamma conversion enhancement as a low-illumination processing method: adjusting the mean value of the original image to 0 and the variance to 1; preliminarily judging whether the current image belongs to a high-light or low-light type according to the distribution characteristics of the cumulative histogram, carrying out preliminary fine adjustment on the gray scale according to the corresponding type, and carrying out Gamma correction on the image; transforming the formula:
the texture mapping method includes generating a texture atlas for a plurality of textures including a texture for drawing used for drawing a polygon as a polygon region, generating arrangement information indicating an arrangement of the texture for drawing in the texture atlas, and processing data using a two-dimensional Gaussian function;
the two-dimensional gaussian function is:
for a gray image, the filtering process is equivalent to the convolution process:
the gland structure modeling is realized by utilizing a particle swarm optimization algorithm, and the PSO algorithm based on the particle swarm optimization algorithm is as follows:
minfj(x) j＝1,2…n；
wherein f isj(m) is an optimal value representing the result of the j-th objective function calculation to the m-th generation;
The method for introducing the push rod model by the finite element method also comprises the following steps of carrying out ultrasound-assisted downlink minimally invasive mammary gland rotary cutting, sucking lesion tissues into the cutting groove by using a vacuum suction pump, carrying out high-speed suction rotary cutting, not withdrawing the outer sleeve needle, sucking the specimen out of the body by using the inner sleeve needle conveying device, and repeatedly sucking and rotary cutting until the tumor is completely removed; the incidence rate of postoperative local hematoma, incision infection, mammary gland deformity, incision dehiscence and other complications of patients in the observation group is obviously lower than that of patients in the control group.
The collecting process of the collecting sleeve further comprises implementing electrocardiographic monitoring, carrying out pressurization bandaging and suturing after the operation is finished, adopting minimally invasive breast ultrasound vacuum rotary cutting treatment, using three-dimensional ultrasound to determine the position of the breast tumor, and recording the number, size and pathological change position of the tumor in detail; after selecting a proper puncture site, local infiltration anesthesia is given, and an incision is made at the puncture site.
Another object of the present invention is to provide a sampling system equipped with the multi-point biopsy sampling device for minimally invasive breast tumor surgery.
In order to rapidly cut off the hooked lesion tissue and improve the cutting stability; the fixing belt 9 is clamped on the pressing plate 10, and the pressing plate 10 is provided with anti-skid grains 16.
The fixing belt 9 is arranged on the pressing plate 10 to prevent the hand from separating from the pressing plate 10; meanwhile, the anti-slip lines 16 are arranged, so that the hand slipping phenomenon is prevented, and the cutting stability is improved.
To prevent the excised tissue from falling out; the end part of the sleeve 2 is connected with a blocking cover 12 through a rotating shaft 15, the blocking cover 12 is provided with an arch-shaped groove 13, and the left end of the arch-shaped groove 13 is provided with a poke rod 14. Wherein the arch-shaped groove 13 is stuck with an expansion pad.
The blocking cover 12 is rotated to the lower port of the sleeve 2 through the poke rod 14, and the lower port of the sleeve is clamped in the arch-shaped groove 13; because the expansion pad in the arch-shaped groove 13 has an expansion effect, the expansion pad is tightly attached to the lower end opening of the sleeve 2, and the cut tissue is effectively prevented from falling off.
The blocking cover is convenient to pull; the poke rod 14 is provided with a telescopic outer cylinder 18, and a telescopic inner rod 19 is sleeved inside the telescopic outer cylinder 18; the telescopic outer cylinder 18 is provided with a threaded hole, a fixing bolt 20 is screwed in the threaded hole, and the end part of the fixing bolt 20 is in hard contact with the telescopic inner rod 19.
The relative position of the telescopic inner rod 19 in the telescopic outer cylinder 18 is adjusted according to the size of the palm of the doctor, and after the adjustment is finished, the fixing bolt 20 is rotated to carry out relative fixing.
The working principle of the invention is as follows: the relative position of the telescopic inner rod 19 in the telescopic outer cylinder 18 is adjusted according to the size of the palm of the doctor, and after the adjustment is finished, the fixing bolt 20 is rotated to carry out relative fixing.
After the adjustment is finished, the pushing handle 1 is pressed by hand, so that the hook head 7 is inserted into the pathological tissue; due to the restoring force of the second spring 17, the hook head 7 moves upward catching the lesion tissue; sleeving the forefinger in the fixing band, pressing the pressing plate 10 with the forefinger, and cutting the pathological tissue by using the cutter 11; by being provided with the groove 8, the auxiliary cutter 11 effectively cuts the lesion tissue. The second spring 17 has restoring force to move the piston 4 upwards; during the upward movement of the piston 4, a corresponding suction is generated, which sucks the lesion tissue into the sleeve 2, preventing the excised tissue from falling out.
After sampling is finished, the blocking cover 12 is rotated to the lower port of the sleeve 2 through the poke rod 14, and the lower port of the sleeve is clamped in the arch-shaped groove 13; because the expansion pad in the arch-shaped groove 13 has an expansion effect, the expansion pad is tightly attached to the lower end opening of the sleeve 2, and the cut tissue is effectively prevented from falling off.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. A multipoint biopsy sampling device for minimally invasive breast tumor surgery is characterized in that the multipoint biopsy sampling device for minimally invasive breast tumor surgery is provided with a sleeve, a push rod is sleeved on the sleeve, the upper end of the push rod is welded with a push handle, and a second spring is clamped between the push handle and the sleeve;
a piston is clamped on the push rod, the lower end of the push rod is connected with a connecting rod, the connecting rod is connected with a hook head through a screw, and a hanging thorn is welded on the hook head; the lower end of the sleeve is welded with the cutter through a through hole, the end part of the cutter is welded with the pressing plate, and a first spring is fixed between the pressing plate and the sleeve; a groove is arranged on the left side of the sleeve and corresponds to the position of the cutter;
the push rod adopts a pressure sensor and a strain gauge, collects the pressure value in the sleeve and transmits the pressure value to a processor for data analysis and processing, the load value of the sleeve is obtained, the load size of the push rod is obtained through force balance calculation according to the data of the load value, a push rod model is led into finite element analysis software by using a finite element method for analysis and calculation, and meanwhile, the stress distribution condition is obtained through comparison and correction of constraint counter force and the load value in the second step;
extracting the discrete gland part through a cutter, modeling the gland structure, preprocessing the discrete gland model, and constructing and generating contents through a texture mapping technology; and improving the acquired content through a fast approximate antialiasing algorithm, performing image processing, taking the picture to be rendered as input, and outputting the picture as a result picture after antialiasing processing.
2. The multi-point biopsy sampling device for minimally invasive breast tumor surgery of claim 1, wherein the pressing plate is clamped with a fixing device and provided with an anti-slip device; the end part of the sleeve is connected with a blocking cover through a rotating shaft, the blocking cover is provided with an arch-shaped groove, and the left end of the arch-shaped groove is provided with a poke rod; wherein, the arch groove is stuck with an expansion pad; the poke rod is provided with a telescopic outer cylinder, and a telescopic inner rod is sleeved in the telescopic outer cylinder;
the telescopic outer barrel is provided with a threaded hole, a fixing bolt is screwed in the threaded hole, and the end part of the fixing bolt is in hard contact with the telescopic inner rod.
3. The multi-point biopsy sampling device for minimally invasive breast tumor surgery according to claim 1, wherein in the image processing, the distribution of the image is drawn through improved ant colony algorithm, and rapid detection is realized by the following specific methods:
(1) image grayscale conversion, color image conversion to grayscale image:
Y＝0.299R+0.587G+0.114B；
wherein Y is a luminance calculated from the relationship between R, G, B color components and the luminance signal Y in YUV, R, G, B indicating red, green, and blue components, respectively;
(2) binaryzation, namely F (x, y) is an input image, F (x, y) is an output image, a threshold value T is selected, and a binaryzation transformation function expression of the image is obtained;
in the formula, the threshold value T divides the image F (x, y) into two parts, the pixel points which are larger than T are set to be white, and the area which is smaller than T is black.
4. The multi-point biopsy sampling device for minimally invasive breast tumor surgery of claim 3, wherein said image denoising further comprises one-dimensional median filtering:
Zk＝med(xk-N,xk-N+1,…,xk,…,xk+N)；
wherein med represents performing a median operation on pixels in the image; in the formula, 2N +1 pixels are sorted, and finally, the output pixel is the median of the pixel sequence;
two-dimensional median filtering is applied to a two-dimensional matrix of pixels, giving the definition of two-dimensional median filtering:
5. the multi-point biopsy sampling device for minimally invasive breast tumor surgery of claim 3, wherein the input image is processed with low illumination, and Gamma transform enhancement is adopted as the method of low illumination processing: adjusting the mean value of the original image to 0 and the variance to 1; preliminarily judging whether the current image belongs to a high-light or low-light type according to the distribution characteristics of the cumulative histogram, carrying out preliminary fine adjustment on the gray scale according to the corresponding type, and carrying out Gamma correction on the image; transforming the formula:
6. the multipoint biopsy sampling device for minimally invasive breast tumor surgery according to claim 1, wherein the texture mapping method includes generating a texture atlas for a plurality of textures including a texture for rendering used for rendering a polygon as a polygon region, and generating configuration information indicating a configuration of the texture for rendering in the texture atlas, and performing data processing using a two-dimensional gaussian function;
the two-dimensional gaussian function is:
for a gray image, the filtering process is equivalent to the convolution process:
7. the multi-point biopsy sampling device for minimally invasive surgery on breast tumors according to claim 1, wherein the glandular structure modeling is implemented by means of a particle swarm optimization algorithm, and the PSO algorithm based on the particle swarm optimization algorithm is as follows:
minfj(x)j＝1,2…n；
wherein f isj(m) is an optimal value representing the result of the j-th objective function calculation to the m-th generation;
8. The multi-point biopsy sampling device for minimally invasive breast tumor surgery according to claim 1, wherein the method for performing push rod model introduction by the finite element method further comprises performing high-speed rotary suction cutting by sucking lesion tissues into the cutting groove by using a vacuum suction pump in ultrasound-assisted downlink minimally invasive breast rotary cutting, sucking the specimen out of the body by an inner trocar delivery device without withdrawing an outer trocar, and repeatedly performing rotary suction cutting until the tumor is completely removed; the incidence rate of postoperative local hematoma, incision infection, mammary gland deformity, incision dehiscence and other complications of patients in the observation group is obviously lower than that of patients in the control group.
9. The multi-point biopsy sampling device for minimally invasive breast tumor surgery according to claim 1, wherein the collection process of the collection sleeve further comprises performing electrocardiographic monitoring, performing pressure bandaging and suturing after the surgery is completed, performing minimally invasive breast ultrasound vacuum rotary cutting therapy, determining the position of a breast tumor by using three-dimensional ultrasound, and recording the number, size and lesion position of the tumor in detail; after selecting a proper puncture site, local infiltration anesthesia is given, and an incision is made at the puncture site.
10. A sampling system equipped with a multipoint biopsy sampling device for minimally invasive surgery of breast tumors according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010087358.8A CN111202547A (en) | 2020-02-11 | 2020-02-11 | Multi-point biopsy sampling device for minimally invasive breast tumor surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010087358.8A CN111202547A (en) | 2020-02-11 | 2020-02-11 | Multi-point biopsy sampling device for minimally invasive breast tumor surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111202547A true CN111202547A (en) | 2020-05-29 |
Family
ID=70780964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010087358.8A Pending CN111202547A (en) | 2020-02-11 | 2020-02-11 | Multi-point biopsy sampling device for minimally invasive breast tumor surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111202547A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5111828A (en) * | 1990-09-18 | 1992-05-12 | Peb Biopsy Corporation | Device for percutaneous excisional breast biopsy |
| CN104408459A (en) * | 2014-10-27 | 2015-03-11 | 国家电网公司 | Image identification method applied to power equipment monitoring |
| CN104599326A (en) * | 2014-12-11 | 2015-05-06 | 北京航空航天大学 | Real-time realistic drawing method of human heart |
| CN106404253A (en) * | 2016-08-31 | 2017-02-15 | 山推工程机械股份有限公司 | Bulldozer push rod stress measurement method |
| CN207804282U (en) * | 2017-09-14 | 2018-09-04 | 遵义医学院附属医院 | A kind of sampler of tumor of base of skull |
| CN109064426A (en) * | 2018-07-26 | 2018-12-21 | 电子科技大学 | A kind of method and device for inhibiting dazzle in low-light (level) image and enhancing image |
| CN109498070A (en) * | 2019-01-04 | 2019-03-22 | 山东省肿瘤防治研究院（山东省肿瘤医院） | A kind of multiple punch biopsy sampler for tumor of breast Minimally Invasive Surgery |
-
2020
- 2020-02-11 CN CN202010087358.8A patent/CN111202547A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5111828A (en) * | 1990-09-18 | 1992-05-12 | Peb Biopsy Corporation | Device for percutaneous excisional breast biopsy |
| CN104408459A (en) * | 2014-10-27 | 2015-03-11 | 国家电网公司 | Image identification method applied to power equipment monitoring |
| CN104599326A (en) * | 2014-12-11 | 2015-05-06 | 北京航空航天大学 | Real-time realistic drawing method of human heart |
| CN106404253A (en) * | 2016-08-31 | 2017-02-15 | 山推工程机械股份有限公司 | Bulldozer push rod stress measurement method |
| CN207804282U (en) * | 2017-09-14 | 2018-09-04 | 遵义医学院附属医院 | A kind of sampler of tumor of base of skull |
| CN109064426A (en) * | 2018-07-26 | 2018-12-21 | 电子科技大学 | A kind of method and device for inhibiting dazzle in low-light (level) image and enhancing image |
| CN109498070A (en) * | 2019-01-04 | 2019-03-22 | 山东省肿瘤防治研究院（山东省肿瘤医院） | A kind of multiple punch biopsy sampler for tumor of breast Minimally Invasive Surgery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106097305B (en) | The intratracheal tree dividing method that two-pass region growing combining form is rebuild | |
| JP6231885B2 (en) | Medical device for examining the neck | |
| CN107595390B (en) | Real-time matching fusion method of ultrasonic image and CT image | |
| CN109377534B (en) | Nonlinear oral cavity CT panoramic image synthesis method capable of automatically sampling thickness detection | |
| CN105654490A (en) | Lesion region extraction method and device based on ultrasonic elastic image | |
| Hsieh et al. | Combining VGG16, Mask R-CNN and Inception V3 to identify the benign and malignant of breast microcalcification clusters | |
| CN114820663B (en) | Assistant positioning method for determining radio frequency ablation therapy | |
| CN110575161B (en) | Atrial fibrillation analysis prediction method based on cardiac mapping activation sequence diagram | |
| Ulanow et al. | Fine needle aspiration in the diagnosis and management of solid breast lesions | |
| CN105869151B (en) | Tongue segmentation and tongue fur tongue nature separation method | |
| Howlett et al. | Evaluation: fine needle aspiration cytology, ultrasound-guided core biopsy and open biopsy techniques | |
| CN105678758A (en) | Image feature automatic identifying and extracting method | |
| CN111202547A (en) | Multi-point biopsy sampling device for minimally invasive breast tumor surgery | |
| Zhang et al. | Jaw Segmentation from CBCT Images | |
| Mehlhorn et al. | Computer-assisted diagnosis in colposcopy: results of a preliminary experiment? | |
| Supriyanti et al. | Comparing edge detection methods to localize uterus area on ultrasound image | |
| CN101766495A (en) | Method for identifying sex of sturgeon by ultrasonic waves | |
| CN110009645B (en) | Double-layer contour segmentation method for liver cancer focus image | |
| CN112037234A (en) | Method for separating liver from muscle in CT image by using bone information | |
| CN109646777A (en) | Auxiliary instrument self-adaptive switch mechanism | |
| CN113177963B (en) | CT (computed tomography) sickbed removing method | |
| CN109993754B (en) | Method and system for skull segmentation from images | |
| CN205644655U (en) | Electrosurgery generator impedance and image intelligent recognition system under speculum | |
| CN107025643A (en) | Electrosurgical generator impedance and digital image recognition system under a kind of sight glass | |
| Li et al. | Analysis of the gastrointestinal status from wireless capsule endoscopy images using local color feature |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200529 |