CN113662594B - Mammary gland puncture positioning/biopsy method, device, computer equipment and storage medium - Google Patents
Mammary gland puncture positioning/biopsy method, device, computer equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 71
- 210000005075 mammary gland Anatomy 0.000 title claims abstract description 55
- 238000001574 biopsy Methods 0.000 title claims abstract description 41
- 210000000481 breast Anatomy 0.000 claims abstract description 107
- 230000003902 lesion Effects 0.000 claims description 55
- 210000002445 nipple Anatomy 0.000 claims description 26
- 230000035515 penetration Effects 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 14
- 238000005457 optimization Methods 0.000 claims description 13
- 230000004807 localization Effects 0.000 claims description 12
- 239000011521 glass Substances 0.000 claims description 9
- 238000000605 extraction Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 description 8
- 210000001519 tissue Anatomy 0.000 description 7
- 206010052428 Wound Diseases 0.000 description 6
- 208000027418 Wounds and injury Diseases 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000012774 diagnostic algorithm Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000009607 mammography Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013188 needle biopsy Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B2090/101—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis for stereotaxic radiosurgery
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Abstract
The application relates to a mammary gland puncture positioning/biopsy method, a device, computer equipment and a storage medium. The method comprises the following steps: the computer equipment determines the three-dimensional information of the focus in the mammary gland according to the three-dimensional medical image of the mammary gland, and sends the three-dimensional medical image to the projection equipment so that the projection equipment generates a projection image to display the position of the focus in the mammary gland. In the method, the computer equipment can determine the three-dimensional information of the focus according to the three-dimensional medical image of the breast for contour sketching, so that the user can freely rotate the image or drag the image to observe the focus characteristic on the projected image at multiple angles on the projected image, thereby determining the position of the focus in the breast, and the focus positioning method based on the projected image has higher accuracy because of being determined based on the observation of the user entity.
Description
Technical Field
The present application relates to the field of medical technology, and in particular, to a breast puncture positioning/biopsy method, apparatus, computer device, and storage medium.
Background
In the prior art, when taking a biopsy of a breast lesion, two approaches are generally taken. One is open surgery sampling, positioning a suspicious lesion under image guidance through a positioning guide wire, and resecting the positioned lesion through open surgery; the other is puncture biopsy, the mammary gland is punctured under the guidance of an image, and the suspicious focus is taken out through a puncture sampling needle.
When performing pre-mammary gland puncture positioning or puncture sampling under image guidance, at least two image shots are usually required to be performed to spatially position the focus, and puncture is performed after the focus is spatially positioned, in this process, the situation that the focus is difficult to puncture due to incorrect puncture positioning selection often occurs, and only positioning can be selected again under the situation, so that image exposure is performed on the mammary gland again.
Therefore, in the prior art, in the process of positioning the focus, the puncture position needs to be repeatedly confirmed, namely, the patient needs to receive multiple image radiation, a certain threat is caused to the health of the patient, and the positioning efficiency is low due to multiple image radiation or multiple sampling.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a breast puncture positioning/biopsy method, apparatus, computer device, and storage medium that improve puncture positioning efficiency and accuracy.
In a first aspect, there is provided a breast puncture localization/biopsy method comprising:
Determining three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland;
The three-dimensional medical image is transmitted to the projection device to cause the projection device to generate a projection image to display the location of the lesion in the breast.
In one of the alternative embodiments, the method further comprises:
and determining a virtual puncture path of the mammary gland according to the three-dimensional information of the focus and a preset skin puncture area.
In one of the alternative embodiments, the method further comprises:
Determining a target puncture scheme of the mammary gland based on the projection image and the virtual puncture path; the target penetration protocol includes a penetration angle and a penetration location.
In one alternative embodiment, the three-dimensional information includes a location of a lesion; according to the three-dimensional information of the focus and a preset skin penetrable region, determining a virtual puncture path of the mammary gland comprises the following steps:
constructing at least one candidate penetration path through the skin-penetrable region to the location of the lesion;
and determining a virtual puncture path from at least one candidate puncture path according to preset optimization conditions.
In one alternative embodiment, the predetermined optimization condition includes at least one of a minimum wound caused by the puncture path, a maximum number of lesions traversed by the puncture path, and a minimum puncture path.
In one of the alternative embodiments, the method further comprises:
performing simulated puncture on the virtual puncture path, and determining a puncture result corresponding to the virtual puncture path;
and adjusting the virtual puncture path according to the puncture result.
In one optional embodiment, the projection image is generated by the projection device determining positions of a plurality of reference points according to the acquired two-dimensional image of the breast and performing virtual projection based on the positions of the plurality of reference points; the reference points comprise a nipple, at least two reference points at a preset distance from the nipple.
In one optional embodiment, the projection image is generated by determining positions of a plurality of reference points by the projection device according to the acquired two-dimensional image of the mammary gland, determining a projection angle based on the relative distances between the positions of the plurality of reference points and the projection device, and performing virtual projection based on the projection angle and taking the nipple as a reference; the reference points comprise a nipple, at least two reference points at a preset distance from the nipple.
In one alternative embodiment, determining three-dimensional information of a lesion in a breast from a three-dimensional medical image of the breast includes:
Identifying the three-dimensional medical image based on a feature identification algorithm, and determining the focus position in the three-dimensional medical image;
determining three-dimensional information of a focus according to the focus position and a feature extraction algorithm; the three-dimensional information includes a three-dimensional contour of the lesion.
In a second aspect, there is provided a breast puncture location/biopsy device comprising:
The first determining module is used for determining the three-dimensional information of the focus in the mammary gland according to the three-dimensional medical image of the mammary gland;
And the sending module is used for sending the three-dimensional medical image to the projection equipment so that the projection equipment generates a projection image to display the position of the focus in the mammary gland.
In a third aspect, there is provided a computer device comprising a memory storing a computer program and a processor implementing the method of any of the first aspects described above when the computer program is executed.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the first aspects described above.
The mammary gland puncture positioning/biopsy method, the device, the computer equipment and the storage medium are characterized in that the computer equipment determines the three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland, and sends the three-dimensional medical image to the projection equipment so that the projection equipment generates a projection image to display the position of the focus in the mammary gland. In the method, the computer equipment can determine the three-dimensional information of the focus according to the three-dimensional medical image of the breast for contour sketching, so that the user can freely rotate the image or drag the image to observe the focus characteristic on the projected image at multiple angles on the projected image, thereby determining the position of the focus in the breast, and the focus positioning method based on the projected image has higher accuracy because of being determined based on the observation of the user entity.
Drawings
FIG. 1 is a diagram of an environment in which a breast puncture localization/biopsy method is used in one embodiment;
FIG. 2 is a flow chart of a breast puncture localization/biopsy method in one embodiment;
FIG. 3 is a flow chart of a breast puncture localization/biopsy method in one embodiment;
FIG. 4 is a flow chart of a breast puncture localization/biopsy method in one embodiment;
FIG. 5 is a flow chart of a breast puncture localization/biopsy method in one embodiment;
FIG. 6 is a flow chart of a breast puncture localization/biopsy method in one embodiment;
FIG. 7 is a block diagram of a breast puncture positioning/biopsy device according to an embodiment;
FIG. 8 is a block diagram of a breast puncture positioning/biopsy device according to an embodiment;
FIG. 9 is a block diagram of a breast puncture positioning/biopsy device according to an embodiment;
fig. 10 is a block diagram of the structure of a breast puncture positioning/biopsy device according to an embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
When taking a biopsy of a breast lesion, a physician typically takes two ways. One is open surgical sampling, which requires first image-guided (e.g., X-ray, ultrasound, magnetic resonance, etc.) localization of a suspicious lesion by a localization guidewire, followed by open surgery to ablate the localized lesion; another is needle biopsy, which is performed by puncturing the breast under image guidance, and taking out the suspicious lesion through a puncture sampling needle. When performing pre-mammary gland puncture positioning or puncture biopsy under the guidance of X-rays, at least 2X-ray shots are usually required to be performed to spatially position a focus, puncture is performed after spatial positioning, and multiple X-ray shots are also required to complete positioning or sampling. In addition, it is often the case that the lesion is not easily penetrated because of incorrect selection of the positioning, in which case only the positioning can be reselected to re-X-ray expose the breast.
As can be seen from the above, because accurate positioning of the focus is required, and whether the needle insertion mode and position of the puncture needle can meet the requirements is repeatedly confirmed, the breast is subjected to multiple X-ray radiation in the whole puncture process, so that certain health and safety threats are caused to the human body; in addition, the focus is not necessarily obtained every time the puncture is performed, and the clinical requirement is often that the sampling frequency is increased to ensure that the target focus is obtained, and the physiological and mental burden of the patient is increased.
Based on the above-mentioned problems in the prior art, the present embodiment provides a breast puncture positioning/biopsy method designed to solve the above-mentioned problems. The breast puncture positioning/biopsy method provided by the application can be applied to an application environment shown in fig. 1. In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in FIG. 1. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a breast puncture localization/biopsy method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the architecture shown in fig. 1 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements may be implemented, as a particular computer device may include more or less components than those shown, or may be combined with some components, or may have a different arrangement of components.
The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail by examples and with reference to the accompanying drawings. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. It should be noted that, in the breast puncture positioning/biopsy method provided in the embodiment of fig. 2 to 6 of the present application, the execution main body is a computer device, and may also be a breast puncture positioning/biopsy device, where the breast puncture positioning/biopsy device may be a part or all of the computer device in a manner of software, hardware, or a combination of software and hardware. In the following method embodiments, the execution subject is a computer device.
In one embodiment, as shown in fig. 2, there is provided a breast puncture positioning/biopsy method involving a process in which a computer device determines three-dimensional information of a lesion in a breast from a three-dimensional medical image of the breast, and transmits the three-dimensional medical image to a projection device to cause the projection device to generate a projection image to display a position of the lesion in the breast, comprising the steps of:
s201, determining three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland.
The three-dimensional medical image of the breast may be a tomosynthesis X-ray image (digital breast tomosynthesis, DBT) of the breast. The three-dimensional information of the lesion may include information of tissue characteristics, tissue structure, target location, three-dimensional contour, etc. of the lesion.
In this embodiment, the computer device may input the three-dimensional medical image of the breast into the feature extraction model, and determine three-dimensional information of the lesion in the breast; optionally, the computer device may further identify three-dimensional information of a lesion in the three-dimensional medical image of the breast according to the diagnostic algorithm, and perform breast image report and data system classification (Breast Imaging Reporting AND DATA SYSTEM, BI-RADS classification) on the three-dimensional medical image of the breast, so as to obtain a three-dimensional distribution condition of the lesion.
The method is applied to the mammography to automatically identify the normal structure tissues such as focus, skin, nipple and the like, and the contour of the focus is sketched (the focus can be sketched automatically by a system, can be sketched manually by a doctor, and can be sketched jointly by the system and the doctor)
S202, sending the three-dimensional medical image to projection equipment so that the projection equipment generates a projection image to display the position of a focus in the mammary gland.
The projection device may be a 3D projection device or an image projection device adapted to VR glasses.
In this embodiment, the computer device may send the three-dimensional medical image to the projection device, so that the projection device performs image projection in the space where the patient is located after receiving the three-dimensional medical image, for example, projects the three-dimensional medical image to the breast position of the patient. Alternatively, the projection device may also make a determination of the projected image based on the image acquired by itself.
For example, in one scene, a projection image is generated by a projection device determining positions of a plurality of reference points according to a collected two-dimensional image of a breast and performing virtual projection based on the positions of the plurality of reference points; the reference points comprise a nipple, at least two reference points at a preset distance from the nipple.
In this embodiment, the projection device is a device having an image acquisition device, the projection device may acquire a two-dimensional image of a breast of a patient through the image acquisition device of the projection device, determine, based on an image recognition method, a nipple in the two-dimensional image, and at least two reference points spaced apart from the nipple by a preset distance, wherein positions of the three reference points in the two-dimensional image represent triangles, and project a three-dimensional medical image of the breast onto the compressed breast based on the positions of the reference points, so as to obtain a projection image, and based on the projection image, visually observe a position condition of a focus in the breast based on the breast of a user.
For another example, in another scenario, the projection image is generated by the projection device determining positions of a plurality of reference points according to the acquired two-dimensional image of the breast, determining a projection angle based on the relative distances between the positions of the plurality of reference points and the projection device, and performing virtual projection based on the projection angle and based on the nipple as a reference; the reference points comprise a nipple, at least two reference points at a preset distance from the nipple.
In this embodiment, the projection device may be VR glasses based on the projection of the projection image by the auxiliary projection device, similarly, the VR glasses include an image acquisition device, a two-dimensional image of the breast is acquired by the image acquisition device, a position of a nipple in the two-dimensional image is determined based on an image recognition method, a position of a center of the VR glasses is acquired, a relative projection angle is determined according to the position of the center of the VR glasses and a relative distance between the positions of the nipple, a position of a human eye is acquired when the VR eyes are worn, and the relative projection angle is adjusted based on the position of the human eye, so that a three-dimensional medical image of the breast is projected onto the compressed breast to obtain a projection image, and based on the projection image, a situation that a focus is in the breast can be intuitively observed based on the breast of a user. The method for projecting the three-dimensional medical image of the breast is not limited in this embodiment.
In the mammary gland puncture positioning/biopsy method, the computer equipment determines the three-dimensional information of the focus in the mammary gland according to the three-dimensional medical image of the mammary gland, and sends the three-dimensional medical image to the projection equipment so that the projection equipment generates a projection image to display the position of the focus in the mammary gland. In the method, the computer equipment can determine the three-dimensional information of the focus according to the three-dimensional medical image of the breast for contour sketching, so that the user can freely rotate the image or drag the image to observe the focus characteristic on the projected image at multiple angles on the projected image, thereby determining the position of the focus in the breast, and the focus positioning method based on the projected image has higher accuracy because of being determined based on the observation of the user entity.
The above embodiment achieves the purpose of determining the corresponding projection image obtained based on the projection device according to the three-dimensional medical image of the breast, so as to project the projection image onto the breast of the user, and can intuitively observe the focus problem in the projection image, and in addition, can determine the virtual layer puncture path of the breast based on the three-dimensional medical image of the breast. In an alternative embodiment, the method further comprises:
and determining a virtual puncture path of the mammary gland according to the three-dimensional information of the focus and a preset skin puncture area.
The preset skin penetrable region can be a region determined by a user according to the actual state of a patient; or it may be a pierceable region determined by a computer device based on the location of the lesion.
In this embodiment, a virtual penetration path is constructed through the target site and the optional skin region. The number of virtual puncture paths may be multiple, and an optimal puncture path prompt is set. The principle of the puncture path is as follows: resulting in as few wounds as possible, covering as many suspicious lesions as possible.
In this embodiment, after determining the three-dimensional information of the lesion, the computer device determines a virtual penetration path of the breast according to the information such as the target position, the lesion contour, and the skin-penetrable region. Optionally, in determining the virtual puncture path of the breast, the computer device may perform the construction of the virtual puncture path based on a preset constraint condition; or the computer device may also perform the construction of the virtual puncture path based on the relevant parameters of the puncture path input by the user, where the relevant parameters of the puncture path may include a tissue position, a target point, a start point, an end point, and the like of the puncture path, which is not limited in this embodiment.
In this embodiment, the computer device may determine a virtual puncture path of the breast according to the three-dimensional information of the lesion and the preset puncturable area, and may obtain a virtual puncture condition, such as a puncture position, a puncture length, etc., based on the virtual puncture path, so as to provide data support for determining a puncture scheme in the next step, and improve accuracy of positioning of breast puncture on the side surface.
After determining the virtual puncture path of the breast according to the three-dimensional medical image of the breast, the virtual puncture path may be mapped to a projection image corresponding to the three-dimensional medical image, so as to obtain a virtual puncture path under the projection image, that is, based on the projection image generated by the projection device, to achieve the objective of intuitively observing the virtual puncture path based on the breast of the user, and in an optional embodiment, the method further includes:
Determining a target puncture scheme of the mammary gland based on the projection image and the virtual puncture path; the target penetration protocol includes a penetration angle and a penetration location.
In this embodiment, the computer device determines the puncture angle and puncture location most suitable for the user's mammary gland puncture based on the projected image projected on the user and the determined virtual puncture path. Optionally, to further ensure the feasibility of the lancing scheme, the computer device may also simulate based on the virtual lancing path to determine the lancing effect of the virtual lancing path. Or the computer device may further receive an adjustment parameter of the user based on the projected image and the virtual puncture path, for example, adjusting an angle, a length, a position of the passed tissue structure, etc. of the virtual puncture path, so as to determine a target puncture scheme of the breast, which is not limited in this embodiment.
In this embodiment, the computer device may present the virtual puncture path on the projection image, and the user may rotate the image or drag the image at will to observe the virtual puncture path on the projection image at multiple angles, so as to determine the most appropriate puncture angle and puncture position, determine the target puncture scheme, in this process, the user may intuitively see the relative position of the focus on the breast, improve the accuracy of positioning puncture, and reduce the probability of repeatedly performing scanning radiation in order to confirm the focus position or puncture condition.
In one embodiment of the above step 201, as shown in fig. 3, determining three-dimensional information of a lesion in a breast according to a three-dimensional medical image of the breast includes:
s301, recognizing the three-dimensional medical image based on a feature recognition algorithm, and determining the focus position in the three-dimensional medical image.
In this embodiment, the computer device performs feature recognition on the three-dimensional medical image of the breast according to a preset feature recognition algorithm, and optionally, the result of feature recognition may include feature structure and position information of the lesion in the three-dimensional medical image, which is not limited in this embodiment.
S302, determining three-dimensional information of a focus according to the focus position and a feature extraction algorithm; the three-dimensional information includes a three-dimensional contour of the lesion.
In this embodiment, the computer device determines three-dimensional information of the lesion, for example, information such as coverage area of the lesion, three-dimensional contour of the lesion, etc., according to the feature structure of the lesion, the location information, and the preset feature extraction algorithm determined in step 301.
In this embodiment, the computer device may determine the location information and the three-dimensional information of the lesion in the three-dimensional medical image of the breast according to the feature recognition and feature extraction algorithm, and provide data support for the subsequent determination of the virtual puncture path according to the location information and the three-dimensional information of the lesion.
The specific implementation method for determining the virtual puncture path includes various embodiments, wherein in one embodiment, as shown in fig. 4, the three-dimensional information includes a position of a focus, and the determining the virtual puncture path of the breast according to the three-dimensional information of the focus and a preset skin penetrable region includes:
s401, constructing at least one candidate puncture path which passes through the skin puncturable region to reach the focus.
In this embodiment, the computer device determines a start position of the puncture path in the determined skin-penetrable region, and determines a plurality of candidate puncture paths between two points in accordance with the position information of the lesion in combination with the start position of the puncture path.
S402, determining a virtual puncture path from at least one candidate puncture path according to preset optimization conditions.
The preset optimizing conditions comprise at least one of the smallest wound surface caused by the puncture path, the largest number of focus passed by the puncture path and the shortest puncture path.
In this embodiment, after constructing a plurality of candidate puncture paths based on the position information of the lesion and the start position of the puncture path, the computer device determines candidate puncture paths that meet the optimization conditions according to preset optimization conditions. Optionally, after determining the candidate puncture paths, the computer device may determine the length of each candidate puncture path, the number of tissue structures passed, the number of lesions passed, the size of the resulting lesion. By combining the above optimization conditions, the computer device may determine, as the virtual puncture path, a candidate puncture path that meets the target with the shortest length of the puncture path, the smallest number of passing tissue structures, the smallest number of passing lesions, and the smallest number of wound surfaces, which is not limited in this embodiment.
In this embodiment, after the computer device determines at least one candidate puncture path, the candidate puncture paths are screened according to preset optimization conditions, and the determined virtual puncture paths conform to the optimization conditions, that is, the selected virtual puncture paths conform to medical practice, so that physiological pressure brought to a patient is reduced.
To further increase accuracy of breast penetration, in one embodiment, as shown in fig. 5, the method further comprises:
S501, performing simulated puncture on the virtual puncture path, and determining a puncture result corresponding to the virtual puncture path.
In this embodiment, the virtual puncture path is an optimal path for theoretically puncturing the breast of the patient, but in order to further fit the actual requirement, the computer device may perform simulated puncture based on the virtual puncture path, that is, based on the process of simulating puncture on the computer device by the virtual puncture path, so as to determine a puncture result corresponding to the virtual puncture path, where the puncture result includes a simulated wound size, a simulated number of lesions, a simulated puncture length, and the like caused by the virtual puncture path in the simulated puncture process.
S502, adjusting the virtual puncture path according to the puncture result.
Wherein, confirm puncture point and puncture angle on the skin according to the virtual puncture route that confirms.
In this embodiment, the computer device may output a puncture result of the virtual puncture path, so that the user determines whether to adjust the virtual puncture path based on the puncture result, and if the current virtual puncture path meets the actual requirement, does not make adjustment; if the current virtual puncture path needs to be adjusted in puncture angle or puncture position, acquiring a parameter adjustment instruction triggered by a user based on a display interface of the computer equipment, updating and adjusting the current virtual puncture path according to puncture angle adjustment parameters and puncture position adjustment parameters input by the user, and obtaining an adjusted puncture path, so that the adjusted puncture path is determined as a target puncture scheme, which is not limited in the embodiment.
In this embodiment, the computer device may output a simulated puncture result of the virtual puncture path, and obtain an adjustment instruction based on the simulated puncture result, so as to adjust the virtual puncture path, so that the virtual puncture path may better conform to an actual situation, and the accuracy of performing breast puncture based on the target puncture scheme with the adjusted virtual puncture path as the target puncture scheme is higher.
In order to better illustrate the above method, as shown in fig. 6, the present embodiment provides a breast puncture positioning/biopsy method, which specifically includes:
S101, recognizing a three-dimensional medical image of a breast based on a feature recognition algorithm, and determining the focus position in the three-dimensional medical image;
s102, determining three-dimensional information of a focus according to the focus position and a feature extraction algorithm;
S103, constructing at least one candidate puncture path which passes through the skin puncturable region to reach the focus;
s104, determining a virtual puncture path from at least one candidate puncture path according to a preset optimization condition;
S105, transmitting the three-dimensional medical image to the projection device so that the projection device generates a projection image;
s106, performing simulated puncture on the virtual puncture path, and determining a puncture result corresponding to the virtual puncture path;
S107, adjusting a virtual puncture path according to a puncture result;
s108, determining a target puncture scheme of the mammary gland based on the projection image and the virtual puncture path; the target penetration protocol includes a penetration angle and a penetration location.
In this embodiment, the computer device may determine three-dimensional information of a lesion according to a three-dimensional medical image of a breast, for performing contour sketching, so as to determine a virtual puncture path of the breast according to a preset puncturable area, and present the virtual puncture path on a projection image, and a user may optionally rotate an image or drag the image to observe the virtual puncture path on the projection image at multiple angles, so as to determine the most suitable puncture angle and puncture position.
The breast puncture positioning/biopsy method provided in the above embodiment has similar principle and technical effects to those of the above method embodiment, and will not be described in detail herein.
It should be understood that, although the steps in the flowcharts of fig. 2-6 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2-6 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
In one embodiment, as shown in fig. 7, there is provided a breast puncture positioning/biopsy device comprising: a first determining module 01 and a transmitting module 02, wherein:
the first determining module 01 is used for determining three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland;
And the sending module 02 is used for sending the three-dimensional medical image to the projection device so that the projection device can generate a projection image to display the position of the focus in the mammary gland.
In one alternative embodiment, as shown in fig. 8, the breast puncture location/biopsy device further comprises a second determination module 03;
the second determining module 03 is configured to determine a virtual puncture path of the breast according to the three-dimensional information of the lesion and a preset skin puncturable area.
In one alternative embodiment, as shown in fig. 9, the breast puncture location/biopsy device further comprises a third determination module 04;
a third determining module 04, configured to determine a target puncture scheme of the breast based on the projection image and the virtual puncture path; the target penetration protocol includes a penetration angle and a penetration location.
In one alternative embodiment, the three-dimensional information includes a location of a lesion; a second determining module 03 for constructing at least one candidate penetration path through the skin-penetratable area to the location of the lesion; and determining a virtual puncture path from at least one candidate puncture path according to preset optimization conditions.
In one alternative embodiment, the predetermined optimization condition includes at least one of a minimum wound caused by the puncture path, a maximum number of lesions traversed by the puncture path, and a minimum puncture path.
In one alternative embodiment, as shown in fig. 9, the mammary gland puncture positioning/biopsy device further includes an adjustment module 05, configured to perform simulated puncture on the virtual puncture path, and determine a puncture result corresponding to the virtual puncture path; and adjusting the virtual puncture path according to the puncture result.
In one optional embodiment, the projection image is generated by the projection device determining positions of a plurality of reference points according to the acquired two-dimensional image of the breast and performing virtual projection based on the positions of the plurality of reference points; the reference points comprise a nipple, at least two reference points at a preset distance from the nipple.
In one optional embodiment, the projection image is generated by determining positions of a plurality of reference points by the projection device according to the acquired two-dimensional image of the mammary gland, determining a projection angle based on the relative distances between the positions of the plurality of reference points and the projection device, and performing virtual projection based on the projection angle and taking the nipple as a reference; the reference points comprise a nipple, at least two reference points at a preset distance from the nipple.
In one optional embodiment, the first determining module 01 is configured to identify the three-dimensional medical image based on a feature identification algorithm, and determine a focus position in the three-dimensional medical image; determining three-dimensional information of a focus according to the focus position and a feature extraction algorithm; the three-dimensional information includes a three-dimensional contour of the lesion.
Specific limitations regarding the breast puncture positioning/biopsy device can be found in the above limitations regarding the breast puncture positioning/biopsy method, and will not be described in detail herein. The various modules in the breast puncture localization/biopsy device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
Determining three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland;
The three-dimensional medical image is transmitted to the projection device to cause the projection device to generate a projection image to display the location of the lesion in the breast.
The computer device provided in the foregoing embodiments has similar implementation principles and technical effects to those of the foregoing method embodiments, and will not be described herein in detail.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
Determining three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland;
The three-dimensional medical image is transmitted to the projection device to cause the projection device to generate a projection image to display the location of the lesion in the breast.
The computer readable storage medium provided in the above embodiment has similar principle and technical effects to those of the above method embodiment, and will not be described herein.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A breast puncture localization/biopsy method, the method comprising:
Determining three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland; the three-dimensional medical image comprises a breast tomosynthesis X-ray image;
Transmitting the three-dimensional medical image to a projection device to cause the projection device to generate a projection image to display the location of the lesion in the breast; the projection image is generated by the projection device according to the acquired two-dimensional image of the mammary gland, determining the positions of a plurality of reference points, determining a projection angle based on the relative distance between the positions of the plurality of reference points and the projection device, and performing virtual projection based on the projection angle and by taking a nipple as a reference;
Wherein the projection device is VR glasses; the determining a projection angle based on the relative distances of the locations of the plurality of reference points to the projection device comprises: determining a relative projection angle according to the position of the center of the VR glasses and the relative distance of the nipple position; the method further comprises the steps of: adjusting the relative projection angle based on the position of the human eye;
Obtaining a virtual puncture path of the mammary gland according to the three-dimensional information of the focus and the skin puncture area; the projection image is used for presenting the virtual puncture path; the method further comprises the steps of: the user performs multi-angle observation on the virtual puncture path on the projection image through a rotation image or a drag image so as to determine the position of a focus in the mammary gland, and determine the puncture angle and the puncture position.
2. The method according to claim 1, wherein the method further comprises:
Determining a target penetration plan for the breast based on the projected image and the virtual penetration path; the target penetration protocol includes a penetration angle and a penetration location.
3. The method of claim 1, wherein the three-dimensional information includes a location of the lesion; the determining the virtual puncture path of the mammary gland according to the three-dimensional information of the focus and the preset skin puncture area comprises the following steps:
Constructing at least one candidate penetration path through the skin-penetrable region to the location of the lesion;
and determining the virtual puncture path from the at least one candidate puncture path according to preset optimization conditions.
4. The method of claim 3, wherein the predetermined optimization condition comprises at least one of a minimum wound caused by a puncture path, a maximum number of lesions traversed by the puncture path, and a minimum puncture path.
5. The method according to claim 1, wherein the method further comprises:
Performing simulated puncture on the virtual puncture path, and determining a puncture result corresponding to the virtual puncture path;
and adjusting the virtual puncture path according to the puncture result.
6. The method according to any one of claims 1-5, wherein the projected image is generated by the projection device by determining a plurality of reference points from the acquired two-dimensional image of the breast, and virtually projecting based on the plurality of reference points; the reference points comprise a nipple, at least two reference points at a preset distance from the nipple.
7. The method of any one of claims 1-5, wherein determining three-dimensional information of a lesion in the breast from a three-dimensional medical image of the breast comprises:
Identifying the three-dimensional medical image based on a feature identification algorithm, and determining the focus position in the three-dimensional medical image;
determining three-dimensional information of the focus according to the focus position and the feature extraction algorithm; the three-dimensional information includes a three-dimensional contour of the lesion.
8. A breast puncture location/biopsy device, the device comprising:
The first determining module is used for determining three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland;
the transmitting module is used for transmitting the three-dimensional medical image to a projection device so that the projection device can generate a projection image to display the position of the focus in the mammary gland; the projection image is generated by the projection device according to the acquired two-dimensional image of the mammary gland, determining the positions of a plurality of reference points, determining a projection angle based on the relative distance between the positions of the plurality of reference points and the projection device, and performing virtual projection based on the projection angle and by taking a nipple as a reference;
Wherein the projection device is VR glasses; the determining a projection angle based on the relative distances of the locations of the plurality of reference points to the projection device comprises: determining a relative projection angle according to the position of the center of the VR glasses and the relative distance of the nipple position; further comprises: adjusting the relative projection angle based on the position of the human eye;
The device is also for: obtaining a virtual puncture path of the mammary gland according to the three-dimensional information of the focus and the skin puncture area; the projection image is used for presenting the virtual puncture path; further comprises: the user performs multi-angle observation on the virtual puncture path on the projection image through a rotation image or a drag image so as to determine the position of a focus in the mammary gland, and determine the puncture angle and the puncture position.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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| CN117883179A (en) * | 2024-01-24 | 2024-04-16 | 天津市鹰泰利安康医疗科技有限责任公司 | High-frequency electroporation pulse ablation device and image guiding method thereof |
| CN118039087B (en) * | 2024-04-15 | 2024-06-07 | 青岛山大齐鲁医院（山东大学齐鲁医院（青岛）） | Breast cancer prognosis data processing method and system based on multidimensional information |
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