Summary of the invention
The purpose of the present invention is to provide a kind of intelligentized renal fibroblast control systems, quick and precisely complete renal fibroblast, keep awayExempt from the generation of major accident during renal fibroblast.
The object of the invention is realized by following technical solution:
A kind of intelligence renal fibroblast control system, including ultrasound scanner, control computer, puncture mechanical arm composition；
The ultrasound scanner is fixed by operative doctor, scans kidney peripheral position, describes ultrasound image；The ultrasound image packetKidney and away from subcutaneous distance；
The control computer obtains the ultrasound image that ultrasound scanner generates, and parsing obtains kidney location parameter and away from subcutaneous distanceParameter sends renal fibroblast instruction；
The puncture mechanical arm is made of mechanical arm, puncture needle, mechanical arm driving；The puncture needle is connected on mechanical arm,It is driven by mechanical arm driving device；The mechanical arm initial position is adjusted by operative doctor and is controlled, and guarantees that puncture needle is pierced on a small quantitySubcutaneous tissue, puncture needle linear direction of travel are kidney, are placed in ultrasound image；
The puncture mechanical arm receives renal fibroblast instruction, and parsing punctures puncture needle forward travel distance in instruction, mechanical arm drivingControl, puncture needle is quickly, stable, precisely puncture obtains biopsy and pulls out needle；
The control computer carries out as follows:
S101, ultrasound image is received, kidney group in ultrasound image is identified using kidney identification model, puncture needle identification model respectivelyIt knits and puncture needle；
S102, according to kidney and puncture needle identification and regression result, establish three-dimensional coordinate using kidney center as origin, determine kidneyWith the coordinate of puncture needle；
S103, puncture needle is calculated apart from kidney linear distance；
S104, estimate puncture needle travelling route and kidney surface pin mark；
S105, will apart from, travelling route and pin mark be labeled and show, wait operative doctor confirmation；
S106, operative doctor confirmation is received, issues renal fibroblast instruction, instruction includes puncture needle travel distance；
S107, control computer repeat S102 ~ S104, persistently monitor puncture needle travelling route and with kidney distance；
The kidney identification model, puncture needle identification model be line under training complete, first in ultrasound image kidney and wearPricker is labeled to form training sample, and CNN network is selected to be iterated study；Obtain renal tissue and puncture in ultrasound imageThe identification of needle and regression model, as kidney identification model, puncture needle identification model；
After the puncture needle extracts biopsy, quick straight line is driven to retreat by puncture mechanical arm, needle is pulled out in completion.
Further, puncture needle identification model returns out needle point and puncture needle and skin intersecting point coordinate, that is, determines and punctureNeedle coordinate.
Further, ultrasound scanner uses three-D ultrasonic instrument, generates three-dimensional ultrasound pattern.
The invention has the following beneficial effects:
The present invention provides a kind of renal fibroblast control systems of semi-automation, under the assistance of operative doctor, by control computer controlSystem punctures mechanical arm, and steadily, at the uniform velocity the traveling of driving puncture needle straight line, steady non-jitter are effectively reduced and are broken to tissueIt is bad, especially to the destruction of renal tissue, avoid causing kidney surface lacerated wound big bleeding occur；Control computer real time monitoring is wornPricker travelling route and with kidney distance, it is ensured that puncture needle as expected route advance, avoid unexpected generation；Semi-automaticRenal fibroblast control system issue puncture instruction before, by puncture needle travel line, kidney pin mark show, and byOperative doctor confirmation, avoids and punctures the big blood vessel situation of needle-penetration.
Embodiment 1
A kind of intelligence renal fibroblast control system, including ultrasound scanner, control computer, puncture mechanical arm composition；Wherein surpassSound scanner obtains the ultrasound image comprising kidney and puncture needle, and control computer receives ultrasound image, and it is straight that parsing obtains puncture needleLine travel distance issues renal fibroblast instruction, punctures mechanical arm and receives renal fibroblast instruction, and control puncture needle is steady, straight line is advanced,Complete renal fibroblast operation.
Under the assistance of operative doctor, as described in Figure 1, renal puncture is completed as follows；
S201: operative doctor scans kidney under ultrasound scanner assistance, and adjustment punctures mechanical arm, guarantees that puncture needle pierces on a small quantityEnter subcutaneous tissue, puncture needle linear direction of travel is kidney, is placed in ultrasound image；
S202: fixed ultrasound scanner probe obtains ultrasound image, is transferred to control computer；
S203: control computer real-time reception ultrasound image identifies ultrasound using kidney identification model, puncture needle identification model respectivelyRenal tissue and puncture needle in image；
S204: according to kidney and puncture needle identification and regression result, three-dimensional coordinate is established using kidney center as origin, determines kidneyWith the coordinate of puncture needle；
S205: calculating puncture needle apart from kidney linear distance, estimate puncture needle travelling route and kidney surface pin mark；
S206: will apart from, travelling route and pin mark be labeled and show, wait operative doctor confirmation；
S207: receiving operative doctor confirmation, issues renal fibroblast instruction, and instruction includes puncture needle travel distance；
S208: puncture mechanical arm receive renal fibroblast instruct and parse, by mechanical arm drive control puncture needle along straight line at the uniform velocity, surelyIt is fixed to advance；
S209: mechanical arm drive control puncture needle along straight line at the uniform velocity, stablize in traveling process, repeat step 3 ~ step 5, it is realWhen monitoring puncture needle travelling route whether coincide with expected；It is controlled if misfitting and punctures mechanical arm stopping, waiting operation doctorRaw confirmation；
S210: puncture needle advances to predeterminated position, completes kidney living body sampling, punctures mechanical arm and controls the quick straight line of puncture needleIt retreats, reduces the damage to tissue；
The kidney identification model, puncture needle identification model are obtained by CNN network training, are needed before training to kidney in ultrasound imageDirty and puncture needle is labeled；Ultrasound image and mark feeding CNN network are iterated study and obtained.