CN113662592B

CN113662592B - Puncture path planning method, medical image acquisition system, device and medium

Info

Publication number: CN113662592B
Application number: CN202110930978.8A
Authority: CN
Inventors: 高毅; 黄�俊; 宋宏萍
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2023-11-21
Anticipated expiration: 2041-08-13
Also published as: CN113662592A

Abstract

The embodiment of the invention discloses a puncture path planning method, a medical image acquisition system, equipment and a medium, wherein the method is executed by a puncture path guiding device and comprises the following steps: acquiring an initial medical image of a target object based on a scanning device; determining a target puncture position of a puncture needle according to the initial medical image, determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position, and determining a target first hole in the target first area; determining a target second hole corresponding to the target first hole on the second substrate based on the target puncture position, the target first hole and the second substrate; determining a target depth based on the target first hole and the target penetration position; based on the target first hole, the target second hole, and the target depth, guiding information of a target penetration path of the penetration needle is generated. By the technical scheme provided by the embodiment of the invention, the technical effect of accurate planning of the puncture path is realized.

Description

Puncture path planning method, medical image acquisition system, device and medium

Technical Field

The embodiment of the invention relates to the technical field of medical treatment, in particular to a puncture path planning method, a medical image acquisition system, medical image acquisition equipment and a medium.

Background

Currently, breast biopsy treatment methods rely on either non-stationary two-dimensional hand-held ultrasound images, or image information of a radioactive molybdenum target image of the breast for needle guidance.

When the puncture needle is guided based on the image information of the molybdenum target image of the mammary gland, the mammary gland area is fixed in the scanning process, and the accurate positioning and path planning can be realized theoretically, however, due to the radioactivity of the molybdenum target scanning, the molybdenum target is easy to cause additional injury to patients and medical staff. In addition, the molybdenum target scanning and the puncture operation are not performed simultaneously, so that the problem of inaccurate spatial positioning can be caused by the movement of the breast area.

The two-dimensional handheld ultrasonic image has no radioactivity, and can conduct operation guidance in real time in the puncture process. However, this method requires the operation experience of the doctor due to the non-stationarity of the breast area. In addition, noise is included in the two-dimensional ultrasonic imaging process, so that the problems of inaccurate puncture path and ambiguous puncture depth in the puncture guiding process are caused, and secondary injury to a patient is easy to cause.

Disclosure of Invention

The embodiment of the invention provides a puncture path planning method, a medical image acquisition system, medical image acquisition equipment and a medium, so as to realize the technical effect of accurate puncture path planning.

In a first aspect, an embodiment of the present invention provides a puncture path planning method, which is applied to a medical image acquisition system, where the medical image acquisition system includes: puncture path guiding device, scanning device and set up in puncture path planning device on scanning probe of scanning device, puncture path planning device includes: the puncture device comprises a puncture gun, a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate; the puncture gun comprises a puncture needle, and the first substrate and the second substrate are arranged in parallel; at least one first hole is formed in the first substrate; at least one second hole is formed in the second substrate;

the method is performed by the puncture path guiding device, comprising:

acquiring an initial medical image of a target object based on the scanning device; wherein the first substrate of the puncture path planning device is close to the target object;

determining a target puncture position of the puncture needle according to the initial medical image, determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position, and determining a target first hole in the target first area; wherein the target first region comprises at least one first hole in the first substrate;

Determining a target second hole corresponding to the target first hole on the second substrate based on the target puncture position, the target first hole and the second substrate;

determining a target depth based on the target first hole and the target penetration position;

and generating guiding information of a target puncture path of the puncture needle based on the target first hole, the target second hole and the target depth.

In a second aspect, an embodiment of the present invention further provides a medical image acquisition system including: puncture path guiding device, scanning device and set up in puncture path planning device on scanning probe of scanning device, puncture path planning device includes: the puncture device comprises a puncture gun, a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate; the puncture gun comprises a puncture needle, and the first substrate and the second substrate are arranged in parallel; at least one first hole is formed in the first substrate; at least one second hole is formed in the second substrate;

the puncture path guiding device includes:

an initial medical image acquisition module for acquiring an initial medical image of a target object based on the scanning device; wherein the first substrate of the puncture path planning device is close to the target object;

The target first hole determining module is used for determining a target puncture position of the puncture needle according to the initial medical image, determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position, and determining a target first hole in the target first area; wherein the target first region comprises at least one first hole in the first substrate;

the target second hole determining module is used for determining a target second hole corresponding to the target first hole on the second substrate based on the target puncture position, the target first hole and the second substrate;

the target depth determining module is used for determining target depth based on the target first hole and the target puncture position;

the target puncture path determining module is used for generating guiding information of a target puncture path of the puncture needle based on the target first hole, the target second hole and the target depth.

In a third aspect, an embodiment of the present invention further provides an electronic device, including:

one or more processors;

storage means for storing one or more programs,

The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the puncture path planning method according to any one of the embodiments of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements a puncture path planning method according to any one of the embodiments of the present invention.

According to the technical scheme, the initial medical image of the target object is acquired through the scanning device, the target puncture position of the puncture needle is determined according to the initial medical image, the target first area corresponding to the target puncture position on the first substrate is determined according to the target puncture position, the target first hole in the target first area is determined, the target second hole corresponding to the target first hole on the second substrate is determined based on the target puncture position, the target first hole and the second substrate, the target depth is determined based on the target first hole and the target puncture position, the guiding information of the target puncture path of the puncture needle is generated based on the target first hole, the target second hole and the target depth, the problem of inaccurate space positioning caused by movement of human tissues and the problem of inaccurate puncture path caused by system noise are solved, and the technical effect of accurate planning of the puncture path is achieved.

Drawings

In order to more clearly illustrate the technical solution of the exemplary embodiments of the present invention, a brief description is given below of the drawings required for describing the embodiments. It is obvious that the drawings presented are only drawings of some of the embodiments of the invention to be described, and not all the drawings, and that other drawings can be made according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a puncture path planning method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a puncture path planning device according to an embodiment of the present invention;

fig. 3 is a flow chart of a puncture path planning method according to a second embodiment of the present invention;

fig. 4 is a schematic structural diagram of a medical image acquisition system according to a third embodiment of the present invention;

fig. 5 is a schematic structural view of a puncture path guiding device according to a third embodiment of the present invention;

FIG. 6 is a schematic diagram of a first hole and a second hole according to a third embodiment of the present invention;

FIG. 7 is a schematic diagram of a second first hole and a second hole according to a third embodiment of the present invention;

FIG. 8 is a schematic diagram of a third embodiment of a first hole and a second hole according to the present invention;

FIG. 9 is a schematic diagram of a first substrate position code according to a third embodiment of the present invention;

fig. 10 is a schematic structural diagram of a fixing frame disposed on a first substrate and a second substrate according to a third embodiment of the present invention;

FIG. 11 is a schematic structural view of a piercing gun according to a third embodiment of the present invention;

FIG. 12 is a schematic view of a piercing gun according to a third embodiment of the present invention passing through a first hole and a second hole;

fig. 13 is a schematic diagram illustrating connection between a scanning probe and a first substrate and a second substrate according to a third embodiment of the present invention;

fig. 14 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

Example 1

Fig. 1 is a schematic flow chart of a puncture path planning method according to an embodiment of the present invention, where the method may be applied to a case of puncture path planning before puncture is performed, and the method may be performed by a puncture path guiding device of a medical image acquisition system, where the device may be implemented in the form of software and/or hardware, where the hardware may be an electronic device, optionally, the electronic device may be a PC terminal, etc.

Before describing the technical scheme of the embodiment of the invention, a specific structure of the puncture path planning device used in the embodiment of the invention is described. Fig. 2 is a schematic structural diagram of a puncture path planning device according to an embodiment of the present invention.

As shown in fig. 2, the puncture path planning device includes: the puncture gun 101, wherein the puncture gun 101 comprises a puncture needle 1011. The apparatus further comprises: a first substrate 102, a second substrate 103 and a support 104 disposed between the first and second substrates.

The first substrate 102 and the second substrate 103 are disposed in parallel, at least one first hole 1021 is disposed on the first substrate 102, and only at least one second hole 1031 is disposed on the second substrate 103.

The puncture gun 101 is a puncture device used for puncturing, and may be, for example, a biopsy gun. The lancing gun 101 generally includes a hand-held portion and a lancing needle 1011 that enters the human body during lancing. The first substrate 102 and the second substrate 103 may be oppositely arranged planar plates with holes to facilitate subsequent determination of the penetration path from the first substrate 102 and the second substrate 103. The first holes 1021 are holes on the first substrate 102, and the shape and number thereof can be selected according to the requirements of actual puncturing. The second holes 1031 are holes on the second substrate 103, and the shape and number thereof can be selected according to the requirements of actual puncturing.

The materials of the first substrate 102 and the second substrate 103 are not particularly limited in this embodiment, and may be any hard material that does not damage the human body.

The shape and size of the first substrate 102 and the second substrate 103 may be set according to the size of other devices connected in actual use, and are not particularly limited in this embodiment.

Illustratively, the opposing faces of the first substrate 102 and the second substrate 103 may be provided as squares, rounded rectangles, or the like. The specific dimensions of the first substrate 102 and the second substrate 103 may be set according to actual requirements. For example, the opposite surfaces of the first substrate 102 and the second substrate 103 are square, and the side length thereof may be 10 cm. The first substrate 102 and the second substrate 103 have a height or thickness of 5 mm.

Optionally, the positions and/or angles of the first substrate 102 and the second substrate 103 may be adjusted by knob bolts or a transmission belt corresponding to the stepper motor, or the like.

The support frame 104 may be understood as a support structure for fixing the first substrate 102 and the second substrate 103. Optionally, the support frame 104 is formed by at least one support bar. The specific number of the support bars may be set according to the requirements, for example, may be determined according to the shapes of the first substrate 102 and the second substrate 103, the materials of the support bars, the stability of the first substrate 102 and the second substrate 103 after fixing, and the like, and the number is not limited herein. In addition, the setting mode of the support rod is not particularly limited in the embodiment of the invention, and the setting mode of the support rod can be set according to the requirement, so that the stability requirement of a user can be met on the premise of not influencing puncture. For example, the number of the support bars may be 4, and may be disposed at four top corners of the first and second substrates 102 and 103, respectively, or at edges of the first and second substrates 102 and 103 in the manner shown in fig. 2.

Alternatively, the support frame 104 may also be an annular support structure, where the annular support structure does not cover the first hole 1021 and the second hole 1031, and the annular support structure may ensure stability of connection between the first substrate 102 and the second substrate 103, and the support frame 104 may also be any other support structure that functions to connect the first substrate 102 and the second substrate 103.

It should be noted that, in order to facilitate adjustment of the distance between the first substrate 102 and the second substrate 103, the support frame 104 may be configured to be adjustable in a lifting manner. By way of example, the distance between the first substrate 102 and the second substrate 103 may be set to 5 cm or more and 8 cm or less, or the like.

As shown in fig. 1, the method of this embodiment specifically includes the following steps:

s110, acquiring an initial medical image of a target object based on a scanning device.

The first substrate of the puncture path planning device is close to the target object, and the second substrate of the puncture path planning device is close to the scanning device. The target object may be a patient being scanned or the like. The initial medical image may be a medical image obtained by scanning a target object by a scanning device, for example: ultrasound images, and the like.

Specifically, the internal condition of the human tissue of the target object can be scanned by a scanning probe on the scanning device, and the scanned image is displayed on the medical image acquisition system, so that the image can be used as an initial medical image.

S120, determining a target puncture position of the puncture needle according to the initial medical image, determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position, and determining a target first hole in the target first area.

The target puncture position may be a target position of a target object that the puncture needle needs to puncture. The target first region may be a region corresponding to the target puncture location, the target first region including at least one first hole in the first substrate. The target first hole may be one of the first holes in the target first region for subsequent determination of the penetration path.

Specifically, the position of the target object, at which the puncture treatment is required, can be determined by performing image processing on the initial medical image, and the position is taken as the target puncture position. Further, the target puncture position is projected in the direction of the first substrate, and the target first region corresponding to the target puncture position can be specified. And, one first hole may be selected from the target first region as the target first hole.

The second substrate of the puncture path planning device is mounted on the scanning probe of the scanning device, and the second substrate is located between the scanning probe and the first substrate. Since the human tissue region corresponding to the initial medical image is a region corresponding to the projection of the scanning probe to the target object, the initial medical image corresponds to the position of the scanning probe, that is, the position of the scanning probe corresponds to the position of the first substrate and the position of the second substrate, and thus the initial medical image may correspond to the position of the first substrate.

S130, determining a target second hole corresponding to the target first hole on the second substrate based on the target puncture position, the target first hole and the second substrate.

The target second hole may be a second hole on the second substrate for subsequent determination of the puncture path.

Specifically, the target penetration location and the target first hole may determine the penetration direction. However, since the target puncture position is located inside the target object, it is difficult to fix the puncture direction of the puncture needle only according to the target first hole. The puncture path guiding device can determine a straight line between the target puncture position and the first hole of the target, and takes a second hole intersecting the straight line with the second substrate as a second hole of the target. The puncture direction may then be determined via the target first hole and the target second hole.

And S140, determining the target depth based on the target first hole and the target puncture position.

The target depth may be the depth at which the needle needs to penetrate into the target object.

Specifically, since the first substrate is attached to the skin tissue of the target object, the distance between the first hole of the target and the target penetration position can be used as the depth of penetration of the subsequent penetration needle into the target object, i.e. the target depth.

And S150, generating guiding information of a target puncture path of the puncture needle based on the target first hole, the target second hole and the target depth.

The guiding information can be voice information, text information, animation information and the like, and the guiding information can comprise a target first hole, a target second hole and a target depth. The target puncture path may be path information corresponding to the puncture needle penetrating to the target puncture position.

Specifically, after determining the target first hole, the target second hole, and the target depth, guiding information may be generated according to the above information, for guiding a doctor to determine the target puncture path.

The guidance information may include information about the puncture direction and the puncture depth. The puncture direction can be determined according to the target first hole and the target second hole, and the puncture depth can be determined according to the target depth. For example: the guiding information may be "penetrating into the target depth with the target second hole on the second substrate at the position of the code C1×D1 as the starting point and the target first hole on the first substrate at the position of the code D1×E1 as the midpoint. "

Example two

Fig. 3 is a flow chart of a puncture path planning method according to a second embodiment of the present invention, and the determination method for the target depth according to the present embodiment can be referred to the technical solution of the present embodiment based on the foregoing embodiments. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.

As shown in fig. 3, the method of this embodiment specifically includes the following steps:

s210, acquiring an initial medical image of a target object based on a scanning device.

S220, determining the target puncture position of the puncture needle according to the initial medical image.

Specifically, image processing of the initial medical image may determine a target puncture location in the target object where a puncture treatment is required.

Alternatively, the target puncture location of the puncture needle may be determined according to the following steps:

step one, inputting an initial medical image into a convolutional neural network which is trained in advance to determine at least one segmented image corresponding to the initial medical image.

The convolutional neural network which is trained in advance is obtained by training based on at least one segmented image corresponding to the sample medical image and is used for carrying out segmentation processing on the medical image so as to determine a lesion area. The sample medical image may be a pre-acquired medical image for training a convolutional neural network. The segmented image may be a plurality of region images of the medical image, each region image may or may not contain a lesion region.

Specifically, the initial convolutional neural network may be trained by at least one segmented image corresponding to the sample medical image to obtain a convolutional neural network trained in advance. Furthermore, the initial medical image may be input into a convolutional neural network trained in advance, and the initial medical image may be processed to obtain at least one segmented image corresponding to the initial medical image.

It should be noted that, in the process of training the initial convolutional neural network, the sample medical image including the lesion area can be determined by a monte carlo markov chain random sampling method (Markov Chain Monte Carlo, MCMC), so as to improve the training effect of the network in the process of training the convolutional neural network. In the process of training the initial convolutional neural network, the initial convolutional neural network can be trained by adopting all sample medical images containing the lesion area and not containing the lesion area, and in this case, the convolutional neural network which is trained in advance can be obtained. Therefore, whether or not the MCMC is used to sample the specimen medical image is not particularly limited in this embodiment.

And step two, removing false positive areas in each segmented image based on an image morphology method to obtain a target puncture area.

The image morphology method refers to an image processing technology for processing image shape features. The false positive areas may be areas that are non-diseased. The target puncture region may be a region including a lesion after removing the false positive region.

Specifically, each of the divided images may be processed by an image morphology method, for example: part of the false positive region is removed by the open/close operation, and the part of the false positive region is removed by using the gradation threshold value. And taking the area remained after the false positive area is removed as a target puncture area.

And step three, determining the target puncture position according to the target puncture area.

Specifically, since the target puncture region includes a lesion region, any position in the target puncture region may be used as the target puncture position.

For a more accurate and safe target puncture location, alternatively, the target puncture location may be determined by:

and determining an circumscribed area of the target puncture area, and determining the target puncture position based on the circumscribed area.

The circumscribed area may be a circumscribed rectangular area of the target puncture area, or the like.

Specifically, since the target puncture area may be an irregularly shaped area, in order to facilitate determination of the target puncture position, the circumscribed rectangular area of the target puncture area may be regarded as a regular circumscribed area. Further, an appropriate position may be selected as the target puncture position in the circumscribed area.

Alternatively, in order to enhance the safety of the target puncture position, avoidance conditions may be set in advance, for example: avoiding important vascular regions, important organ tissue regions, etc. According to preset avoidance conditions, a proper position can be selected from the external connection area to serve as a target puncture position.

It should be noted that, when the position manually selected by the user in the initial medical image is detected, the position is received and the position to be used as the target puncture position may also be determined. Wherein the manually selected position of the user in the initial medical image may comprise: the user defines the target puncture position in the initial medical image, or selects the target puncture position in a three-dimensional coordinate mode, and the like.

S230, determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position, and determining a target first hole in the target first area.

Specifically, the target puncture position is projected in the direction of the first substrate, so that the target first region corresponding to the target puncture position can be determined. And, one first hole may be selected from the target first region as the target first hole.

Alternatively, the target first region may be accurately determined by:

step one, determining a target needle inserting position according to a target puncture position.

The target needle insertion position may be a position corresponding to the target puncture position, located on the surface of the target object, and used for a subsequent puncture needle to penetrate.

Specifically, the puncture avoidance condition may be preset, for example: the puncture path needs to avoid important vascular areas, important organ tissue areas, etc. According to the puncture avoidance condition, a path from the target puncture position to the target object surface can be determined, and an intersection point of the path and the target object surface can be used as the target needle insertion position.

And secondly, determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position and the target needle insertion position projection.

Specifically, the direction from the target puncture position to the target insertion position is set as the projection direction, the target puncture position is set as the projection start point, the projection is performed from the target puncture position to the first substrate via the target insertion position, and the projection area is set as the target first area.

It should be noted that, the first hole closest to the center of the target first area may be used as the target first hole. The projection area may also be enlarged in order to include at least one first hole in the target first area, for example: the target first area comprises 9 first holes, and one of the first holes is used as a target first hole for subsequent use.

S240, determining a target second hole corresponding to the target first hole on the second substrate based on the target puncture position, the target first hole and the second substrate.

Optionally, the target second hole may be accurately determined by:

step one, determining a first straight line according to a target puncture position and a target first hole.

Specifically, since a straight line can be determined according to two points in the space, a straight line can be determined as a first straight line according to the target puncture position and the target first hole.

And step two, taking the hole corresponding to the intersection point of the first straight line and the second substrate as a target second hole corresponding to the target first hole on the second substrate.

Specifically, after the first straight line is determined, an intersection point of the first straight line and the second substrate may be further determined, and a second hole on the second substrate closest to the intersection point may be used as the target second hole.

S250, determining initial three-dimensional coordinate information corresponding to the first hole of the target and target three-dimensional coordinate information corresponding to the target puncture position.

The initial three-dimensional coordinate information may be three-dimensional coordinate information of the first hole of the target. The target three-dimensional coordinate information may be three-dimensional coordinate information of a target puncture location.

Specifically, according to a space coordinate system pre-established in the physical space, three-dimensional coordinate information of the target first hole and the target puncture position in the physical space may be respectively determined, for example: the initial three-dimensional coordinate information is (X _k1 ，Y _k1 ，Z _k1 ) The three-dimensional coordinate information of the object is (X _u ，Y _u ，Z _u )。

It should be noted that, the space coordinate system pre-established in the physical space may be a space coordinate system established near the scan area corresponding to the initial medical image, or may be a space coordinate system established at any position in space, and the specific establishing manner is not specifically limited in this embodiment.

And S260, determining the target depth according to the initial three-dimensional coordinate information and the target three-dimensional coordinate information.

Alternatively, three-dimensional coordinate information of two points in space may determine the distance between the two points, and thus, the target depth may be determined based on the following formula:

wherein D represents the target depth, and the initial three-dimensional coordinate information is (X _k1 ，Y _k1 ，Z _k1 ) The three-dimensional coordinate information of the object is (X _u ，Y _u ，Z _u )。

S270, based on the first hole, the second hole and the target depth, guiding information of a target puncture path of the puncture needle is generated.

Optionally, the following doctor may determine the target puncture path according to the guiding information, which may specifically be: taking the target second hole as a starting point, taking the target first hole as a middle point, and determining a target puncture direction according to the starting point and the middle point; determining the intersection point of the puncture needle and the skin as a target starting point based on the target puncture direction; determining a target end point based on the target start point and the target depth; a target penetration path is determined based on the target start point and the target end point.

In short, the doctor can transfer the puncture needle from the target second hole to the subcutaneous target depth through the target first hole according to the target first hole, the target second hole and the target depth prompted by the guiding information, so as to complete the puncture of the puncture needle.

According to the technical scheme, the initial medical image of the target object is acquired through the scanning device, the target puncture position of the puncture needle is determined according to the initial medical image, the target first area corresponding to the target puncture position on the first substrate is determined according to the target puncture position, the target first hole in the target first area is determined, the target second hole corresponding to the target first hole on the second substrate is determined based on the target puncture position, the target first hole and the second substrate, further, the initial three-dimensional coordinate information corresponding to the target first hole and the target three-dimensional coordinate information corresponding to the target puncture position are determined, the target depth is determined according to the initial three-dimensional coordinate information and the target three-dimensional coordinate information, the guide information of the target puncture path of the puncture needle is generated based on the target first hole, the target second hole and the target depth, the problem of inaccurate space positioning caused by movement of human tissues and the problem of inaccurate puncture path caused by system noise are solved, and the accurate planning of the puncture path is realized.

Example III

Fig. 4 is a schematic structural diagram of a medical image acquisition system according to a third embodiment of the present invention, where the system includes: the puncture path guiding device 30, the scanning device, and the puncture path planning device 10 provided on the scanning probe 201 of the scanning device 20.

Fig. 5 is a schematic structural view of a puncture path guiding device according to a third embodiment of the present invention, where the device includes: an initial medical image acquisition module 310, a target first hole determination module 320, a target second hole determination module 330, a target depth determination module 340, and a target penetration path determination module 350.

The initial medical image acquisition module is used for acquiring an initial medical image of the target object based on the scanning device; wherein the first substrate of the puncture path planning device is close to the target object; the target first hole determining module is used for determining a target puncture position of the puncture needle according to the initial medical image, determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position, and determining a target first hole in the target first area; wherein the target first region comprises at least one first hole in the first substrate; the target second hole determining module is used for determining a target second hole corresponding to the target first hole on the second substrate based on the target puncture position, the target first hole and the second substrate; the target depth determining module is used for determining target depth based on the target first hole and the target puncture position; the target puncture path determining module is used for generating guiding information of a target puncture path of the puncture needle based on the target first hole, the target second hole and the target depth.

Optionally, the target first hole determining module is used for inputting the initial medical image into a convolutional neural network which is trained in advance to determine at least one segmented image corresponding to the initial medical image; the convolutional neural network which is trained in advance is obtained based on at least one segmented image corresponding to a sample medical image; removing false positive areas in each segmented image based on an image morphology method to obtain a target puncture area; and determining the target puncture position according to the target puncture area.

Optionally, the first hole determining module is configured to determine an circumscribed area of the target puncture area, and determine the target puncture position based on the circumscribed area.

Optionally, the first hole determining module of the goal is used for determining the needle insertion position of the goal according to the puncture position of the goal; and determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position and the target needle insertion position projection.

Optionally, the target second hole determining module is configured to determine a first straight line according to the target puncture position and the target first hole; and taking the hole corresponding to the intersection point of the first straight line and the second substrate as a target second hole corresponding to the target first hole on the second substrate.

Optionally, the target depth determining module is configured to determine initial three-dimensional coordinate information corresponding to the first hole of the target and target three-dimensional coordinate information corresponding to the target puncture position; and determining the target depth according to the initial three-dimensional coordinate information and the target three-dimensional coordinate information.

Optionally, the target depth determining module is configured to determine the target depth based on the following formula:

wherein D represents the target depth, and the initial three-dimensional coordinate information is (X _k1 ，Y _k1 ，Z _k1 ) The three-dimensional coordinate information of the object is (X) _u ，Y _u ，Z _u )。

Fig. 6 is a schematic structural diagram of a first hole and a second hole according to a third embodiment of the present invention, and as shown in fig. 6, optionally, the first hole 1021 and/or the second hole 1031 are circular holes.

Since the puncture needle 1011 is formed of a cylindrical needle body and a tapered needle tip, the first hole 1021 and the second hole 1031 are formed as circular holes so that the puncture needle 1011 can pass through.

Optionally, as shown in fig. 7, the first hole 1021 and/or the second hole 1031 are oval holes.

Optionally, as shown in fig. 8, the first hole 1021 and/or the second hole 1031 are polygonal holes, and a square is taken as an example in fig. 8.

Note that the hole shapes of the first hole 1021 and the second hole 1031 may be the same or different. If the hole shapes of the first hole 1021 and the second hole 1031 are the same, the subsequent determination of the puncture path according to the first substrate 102 and the second substrate 103 is facilitated. If the hole shapes of the first hole 1021 and the second hole 1031 are different, then corresponding adjustment is needed when determining the puncture path according to the first substrate 102 and the second substrate 103. For example, the first hole 1021 is circular in shape, and the second hole 1031 is elliptical in shape, or the like.

Optionally, the number of the first holes 1021 is equal to the number of the second holes 1031, and the arrangement manner of the first holes 1021 and the second holes 1031 is the same.

Specifically, if the number of the first holes 1021 is equal to the number of the second holes 1031, the first holes 1021 and the second holes 1031 may be arranged in the same manner.

If the arrangement of the first holes 1021 and the second holes 1031 is the same, it is convenient to determine that the first holes 1021 on the first substrate 102 and the second holes 1031 on the second substrate 103 need to be used according to the arrangement of the holes.

Alternatively, if the number of the first holes 1021 is not equal to the number of the second holes 1031. Similarly, the arrangement of the first holes 1021 and the second holes 1031 may be different. In the subsequent determination of the first holes 1021 to be used and the second holes 1031 to be used, calculation and determination may be performed according to the number of holes and the arrangement of the holes.

Optionally, the first holes 1021 are uniformly arranged at preset intervals, and the second holes 1031 are uniformly arranged at preset intervals.

Specifically, in order to facilitate position encoding and position determining of each first hole 1021 on the first substrate 102 and position encoding and position determining of each second hole 1031 on the second substrate 103, the first holes 1021 may be uniformly arranged at preset intervals, and the second holes 1031 may be uniformly arranged at preset intervals.

Illustratively, the first holes 1021 are uniformly arranged at intervals of 2 mm, and the second holes 1031 are uniformly arranged at intervals of 2 mm.

It can be appreciated that, in order to make the puncture path planning more accurate, the puncture needle is more convenient to control when being used for puncturing, the smaller the areas of the first hole 1021 and the second hole 1031 are, the more compact the first hole 1021 and the second hole 1031 are arranged, and the better the first hole 1021 and the second hole 1031 can be on the premise that the first hole 1021 and the second hole 1031 can accommodate the puncture needle 1011 to pass through. Alternatively, the most compact arrangement may be made with the second bore 1031 capable of receiving the needle 1011 therethrough.

It should be noted that, the position encoding manner of each first hole 1021 on the first substrate 102 may be: the first holes 1021 are divided by a size of 3×3 and arranged by english alphabets for each row and each column as shown in fig. 9. According to the above-mentioned position coding method, the position code of the first hole 1021 marked with solid symbols in fig. 9 is c1×d1, which represents the first hole 1021 in the C1 row and the D1 column.

The second holes 1031 on the second substrate 103 may be position-coded according to the above-mentioned position-coding method.

It should be noted that, other position coding methods may be used to perform position coding on each first hole 1021 on the first substrate 102 and each second hole 1031 on the second substrate 103, for example: encoding using sequential ascending numbers, etc.

Fig. 10 is a schematic structural diagram of a fixing frame disposed on a first substrate and a second substrate according to a third embodiment of the present invention, and as shown in fig. 10, optionally, at least one fixing frame 105 is disposed at an edge of the first substrate 102 and/or the second substrate 103.

Specifically, the first substrate 102 and the second substrate 103 may be fixed to other cooperatively used devices by at least one fixing frame 105 disposed at an edge of the first substrate 102 and/or the second substrate 103, for example: on a scanning probe of a scanning device, etc.

The fixing frames 105 shown in fig. 10 are provided in such a manner as to be mounted on the four corners of the first substrate 102 and the second substrate 103, respectively. The holders 105 may be mounted on only four corners of the first substrate 102 or the holders 105 may be mounted on only four corners of the second substrate 103.

It should be noted that, the fixing frame 105 may also be mounted on an edge of the first substrate 102 and/or the second substrate 103, and the fixing frame 105 may also be an annular fixing structure that is matched with the first substrate 102 and/or the second substrate 103 in size, or may be any structure that is mounted on the first substrate 102 and/or the second substrate 103, so that the first substrate 102 and/or the second substrate 103 can be connected with other devices, and the puncture path planning device is not affected.

In addition, if the fixing frame 105 is not used, the first substrate 102 and the second substrate 103 may be connected to other devices by electromagnetic connection or the like.

If the fixing frame 105 is mounted on the first substrate 102 and the second substrate 103, the first substrate 102 or the second substrate 103 may be mounted on another device later, and in this case, the first substrate 102 and the second substrate 103 are not in sequence. If the mount 105 is mounted on only the first substrate 102, the first substrate 102 may be mounted on another device, and in this case, the first substrate 102 is located between the second substrate 103 and the other device. If the holder 105 is mounted on only the second substrate 103, the second substrate 103 may be mounted on another device, and in this case, the second substrate 103 is located between the first substrate 102 and the other device.

Fig. 11 is a schematic structural diagram of a puncture gun according to a third embodiment of the present invention, and as shown in fig. 11, optionally, a puncture needle 1011 of the puncture gun 101 is marked with scale values.

Specifically, according to the scale value on the puncture needle 1011, the corresponding depth value when the puncture enters human tissue can be conveniently determined, so as to avoid the condition that the puncture failure caused by the correct puncture direction and incorrect puncture depth causes unnecessary injury to the human body.

Alternatively, the area of the first hole 1021 and the area of the second hole 1031 may be equal or unequal.

It can be appreciated that the first hole 1021 and the second hole 1031 are used to locate the piercing path of the piercing needle 1011 of the piercing gun 101, and the piercing needle 1011 needs to penetrate the first hole 1021 and the second hole 1031 for piercing. That is, the first hole 1021 and the second hole 1031 can accommodate the penetration needle 1011. For example, if the first hole 1021 and the second hole 1031 are both circular in shape, the diameters of the first hole 1021 and the second hole 1031 are both larger than the diameter of the puncture needle 1011. If the first hole 1021 and the second hole 1031 are elliptical, the short axes of the first hole 1021 and the second hole 1031 are longer than the diameter of the puncture needle 1011.

Fig. 12 is a schematic diagram of a puncture gun according to a third embodiment of the present invention penetrating through a first hole and a second hole, wherein the solid holes represent a first hole 1021 on a first substrate 102 and a second hole 1031 on a second substrate 103 corresponding to a determined puncture path. The puncture needle 1011 passes through the solid holes on the first substrate 102 and the second substrate 103 to fix the puncture direction.

As in the medical image acquisition system shown in fig. 4, alternatively, the puncture path planning device 10 may be mounted on the scanning probe 201 of the scanning device 20, and the first substrate 102 or the second substrate 103 in the puncture path planning device 10 may be mounted on the scanning probe 201.

Specifically, the puncture path planning device 10 is mounted on the scanning probe 201 of the scanning device 20, so that when the ultrasound system scans through the scanning device 20 to acquire images, the puncture path planning device 10 determines the puncture path, i.e. the puncture direction and the puncture depth, in real time according to the scanning result of the scanning device 20.

The reason why the puncture path planning device 10 is mounted on the scanning probe 201 of the scanning device 20 is that: the ultrasonic system scans through the scanning device 20, the scanning probe 201 of the scanning device 20 presses the skin of the human body corresponding to the part to be punctured so as to scan the part to be punctured, and the puncture path planning device 10 is arranged on the scanning probe 201 so that the subcutaneous tissue of the human body corresponding to the puncture path planning device 10 corresponds to the ultrasonic image scanned by the scanning device 20, thereby avoiding the problem that the puncture path planned by the puncture path planning device 10 is inaccurate when the scanning device 20 or the human tissue is deformed.

In order to improve the fit between the puncture path planning device 10 and the scanning device 20 and to allow the puncture path planning device 10 to cover the scanning area, the shapes of the first substrate 102 and the second substrate 103 may be identical to those of the scanning probe 201. Alternatively, the areas of the first substrate 102 and the second substrate 103 are greater than or equal to the area of the scanning probe 201.

Alternatively, the first substrate 102 and the second substrate 103 may be identical in shape and area to the scanning probe 201, so that the penetration path planning apparatus 10 can be exactly adapted to the scanning probe 201 of the scanning apparatus 20.

Fig. 13 is a schematic diagram illustrating connection between a scanning probe and a first substrate and a second substrate according to a third embodiment of the present invention. At least one fixing frame 105 is disposed at the edge of the first substrate 102 and/or the second substrate 103, and the scanning probe 201 is connected with the first substrate 102 and the second substrate 103 through the at least one fixing frame 105.

Specifically, as shown in fig. 13, the scanning probe 201 can be connected to the second substrate 103 by at least one fixing frame 105, and since the second substrate 103 and the first substrate 102 are connected by the supporting frame 104, the scanning probe 201 can be connected to the first substrate 102 and the second substrate 103 by at least one fixing frame 105. It should be noted that at least one fixing frame 105 may be mounted on the first substrate 102 to complete the connection between the scanning probe 201 and the first substrate 102 and the second substrate 103.

Alternatively, the fixing frame 105 may be a fastening structure disposed on an edge of the first substrate 102 or the second substrate 103, or may be an electromagnetic structure disposed on an edge of the first substrate 102 or the second substrate 103, so as to facilitate the installation and the removal of the puncture path planning device.

It is understood that the scanning probe 201 may be connected to the first substrate 102 or the second substrate 103 by at least one fixing frame 105 to be connected to the first substrate 102 and the second substrate 103. In addition, a fixing member may be provided on the scanning device to fixedly connect the scanning probe 201 with the first substrate 102 or the second substrate 103.

The first substrate 102 and the second substrate 103 may be arranged along the scanning direction of the scanning probe 201. Alternatively, the first substrate 102 and the second substrate 103 are disposed parallel to the probe plane of the scanning probe 201.

The puncture path guiding device provided by the embodiment of the invention can execute the puncture path planning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

It should be noted that, each unit and module included in the puncture path guiding device are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be realized; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present invention.

Example IV

Fig. 14 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. Fig. 14 shows a block diagram of an exemplary electronic device 40 suitable for use in implementing the embodiments of the present invention. The electronic device 40 shown in fig. 14 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in fig. 14, the electronic device 40 is in the form of a general purpose computing device. Components of electronic device 40 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, a bus 403 that connects the various system components (including the system memory 402 and the processing units 401).

Bus 403 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 40 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 40 and includes both volatile and non-volatile media, removable and non-removable media.

The system memory 402 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 404 and/or cache memory 405. Electronic device 40 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 406 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 14, commonly referred to as a "hard drive"). Although not shown in fig. 14, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 403 through one or more data medium interfaces. The system memory 402 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.

A program/utility 408 having a set (at least one) of program modules 407 may be stored in, for example, system memory 402, such program modules 407 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 407 generally perform the functions and/or methods of the described embodiments of the invention.

The electronic device 40 may also communicate with one or more external devices 409 (e.g., keyboard, pointing device, display 410, etc.), one or more devices that enable a user to interact with the electronic device 40, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 40 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 411. Also, electronic device 40 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 412. As shown, network adapter 412 communicates with other modules of electronic device 40 over bus 403. It should be appreciated that although not shown in fig. 14, other hardware and/or software modules may be used in connection with electronic device 40, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processing unit 401 executes various functional applications and data processing by running a program stored in the system memory 402, for example, implements the puncture path planning method provided by the embodiment of the present invention.

Example five

A fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a puncture path planning method, applied to a medical image acquisition system, the medical image acquisition system comprising: puncture path guiding device, scanning device and set up in puncture path planning device on scanning probe of scanning device, puncture path planning device includes: the puncture device comprises a puncture gun, a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate; the puncture gun comprises a puncture needle, and the first substrate and the second substrate are arranged in parallel; at least one first hole is formed in the first substrate; at least one second hole is formed in the second substrate;

the method is performed by the puncture path guiding device, comprising:

The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

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

Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. A puncture path planning method, characterized by being applied to a medical image acquisition system, the medical image acquisition system comprising: puncture path guiding device, scanning device and set up in puncture path planning device on scanning probe of scanning device, puncture path planning device includes: the puncture device comprises a puncture gun, a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate; the puncture gun comprises a puncture needle, and the first substrate and the second substrate are arranged in parallel; at least one first hole is formed in the first substrate; at least one second hole is formed in the second substrate;

The method is performed by the puncture path guiding device, comprising:

acquiring an initial medical image of a target object based on the scanning device; wherein the first substrate of the puncture path planning device is close to the target object; the initial medical image corresponds to a position of the first substrate;

determining a target puncture position of the puncture needle according to the initial medical image, wherein the determining the target puncture position of the puncture needle according to the initial medical image comprises the following steps: inputting the initial medical image into a pre-trained convolutional neural network to determine at least one segmented image corresponding to the initial medical image; the convolutional neural network which is trained in advance is obtained based on at least one segmented image corresponding to a sample medical image; removing false positive areas in each segmented image based on an image morphology method to obtain a target puncture area; determining a target puncture position according to the target puncture area;

determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position, and determining a target first hole in the target first area; the determining, according to the target puncture position, a target first area on the first substrate corresponding to the target puncture position includes: determining a target needle insertion position according to the target puncture position; determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position and the target needle insertion position projection; wherein the target first region comprises at least one first hole in the first substrate;

generating guiding information of a target puncture path of the puncture needle based on the target first hole, the target second hole and the target depth;

the determining, based on the target puncture location, the target first hole and the second substrate, a target second hole on the second substrate corresponding to the target first hole, includes:

determining a first straight line according to the target puncture position and the target first hole;

taking a hole corresponding to the intersection point of the first straight line and the second substrate as a target second hole corresponding to the target first hole on the second substrate;

the determining a target depth based on the target first hole and the target penetration position includes:

determining initial three-dimensional coordinate information corresponding to the first hole of the target and target three-dimensional coordinate information corresponding to the target puncture position;

Determining a target depth according to the initial three-dimensional coordinate information and the target three-dimensional coordinate information;

the determining the target depth according to the initial three-dimensional coordinate information and the target three-dimensional coordinate information includes:

determining the target depth based on the following formula:

2. The method of claim 1, wherein said determining a target puncture location from said target puncture region comprises:

and determining an circumscribed area of the target puncture area, and determining a target puncture position based on the circumscribed area.

3. A medical image acquisition system comprising: puncture path guiding device, scanning device and set up in puncture path planning device on scanning probe of scanning device, puncture path planning device includes: the puncture device comprises a puncture gun, a first substrate, a second substrate and a support frame arranged between the first substrate and the second substrate; the puncture gun comprises a puncture needle, and the first substrate and the second substrate are arranged in parallel; at least one first hole is formed in the first substrate; at least one second hole is formed in the second substrate;

The puncture path guiding device includes:

an initial medical image acquisition module for acquiring an initial medical image of a target object based on the scanning device; determining a target puncture position of a puncture needle according to the initial medical image; wherein the first substrate of the puncture path planning device is close to the target object; the target second hole determining module is used for determining a target second hole corresponding to the target first hole on the second substrate based on the target puncture position, the target first hole and the second substrate; the target depth determining module is used for determining target depth based on the target first hole and the target puncture position; the target puncture path determining module is used for generating guiding information of a target puncture path of the puncture needle based on the target first hole, the target second hole and the target depth;

a target first hole determining module for inputting the initial medical image into a convolutional neural network which is trained in advance to determine at least one segmented image corresponding to the initial medical image; the convolutional neural network which is trained in advance is obtained based on at least one segmented image corresponding to a sample medical image; removing false positive areas in each segmented image based on an image morphology method to obtain a target puncture area; determining a target puncture position according to the target puncture area;

The target first hole determining module is used for determining a target needle inserting position according to the target puncture position; determining a target first area corresponding to the target puncture position on the first substrate according to the target puncture position and the target needle insertion position projection, and determining a target first hole in the target first area; wherein the target first region comprises at least one first hole in the first substrate;

the target second hole determining module is used for determining a first straight line according to the target puncture position and the target first hole; taking a hole corresponding to the intersection point of the first straight line and the second substrate as a target second hole corresponding to the target first hole on the second substrate;

the target depth determining module is used for determining initial three-dimensional coordinate information corresponding to the first hole of the target and target three-dimensional coordinate information corresponding to the target puncture position; determining a target depth according to the initial three-dimensional coordinate information and the target three-dimensional coordinate information;

a target depth determination module for determining the target depth based on the following formula:

4. An electronic device, the electronic device comprising:

one or more processors;

a storage means for storing one or more programs;

when executed by the one or more processors, causes the one or more processors to implement the puncture path planning method of any of claims 1-2.

5. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the puncture path planning method according to any of claims 1-2.