Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
Unless defined otherwise, all terms (including technical and scientific terms) used in the embodiments of the disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined by the presently disclosed embodiments.
The terms "first," "second," and the like, as used in embodiments of the present disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Nor does the terms "a," "an," or "the" or similar terms mean a limitation of quantity, but rather that at least one is present. Likewise, the word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
The target tissue in the present disclosure refers to an organ or a portion of an organ, e.g., a prostate, liver, pancreas, heart, etc., and the lesion is located within the target tissue.
Puncture biopsy is a main method for obtaining histopathological diagnosis of bone and soft tissue tumors, for example, after puncture biopsy is performed on target tissues, focal areas can be obtained. However, some navigation systems currently use binocular vision positioning devices to display the three-dimensional position relationship between the puncture needle and the tumor in real time by arranging optical markers capable of performing optical positioning on the puncture needle and the ultrasonic probe. However, if the method is adopted, not only a binocular vision positioning device is needed, but also optical markers are needed to be arranged on the puncture needle and the ultrasonic probe, so that the cost is high, the structures of the ultrasonic probe and the puncture needle are more complex, and great inconvenience is brought to the operation of an operator.
At least one embodiment of the present disclosure provides a lancing navigation system for a lancing device that includes a base, a lancing needle, an ultrasonic probe, and a lancing control with at least one lancing control. The puncture navigation system comprises a positioning module, an ultrasonic image acquisition module, a puncture planning module, a coordinate system conversion module, a first motion path determination module, a second motion path determination module and a navigation processing module. The positioning module is configured to position the puncture needle based on the base, and to determine first three-dimensional coordinate information of the puncture needle in a spatial coordinate system established based on the base. The ultrasonic image acquisition module is configured to acquire a group of ultrasonic images of the target tissue acquired by the ultrasonic probe to determine a three-dimensional ultrasonic image corresponding to the group of ultrasonic images. The puncture planning module is configured to perform puncture planning for the puncture needle based on the three-dimensional ultrasound image to determine puncture planning information, wherein the puncture planning information includes a needle insertion point position of the puncture needle, a needle insertion direction of the puncture needle, and a target puncture point position of the puncture needle. The coordinate system conversion module is configured to establish a conversion relationship between an image coordinate system and a spatial coordinate system of the ultrasound image such that a real-time image position of the first three-dimensional coordinate information within the image coordinate system is determined based on the conversion relationship to visualize a relative position between the puncture needle and the target puncture point position in the image coordinate system in real time. The first motion path determination module is configured to determine a first motion path of the puncture needle based on a relative position between the puncture needle and a target puncture point position in an image coordinate system. The second motion path determination module is configured to determine a second motion path of the penetration guide in the spatial coordinate system having a predetermined positional relationship with the penetration needle based on the first motion path in the image coordinate system. The navigation processing module is configured to navigate the puncture needle through the at least one puncture control based on the second motion path in the spatial coordinate system. And then, based on the second movement path, the puncture needle is navigated, and after the puncture biopsy is performed on the target tissue, the focus area can be obtained.
The puncture navigation method comprises the steps of establishing a space coordinate system, determining a first three-dimensional coordinate information of a puncture needle in the space coordinate system based on a base, acquiring a group of ultrasonic images of target tissues acquired by an ultrasonic probe to determine a three-dimensional ultrasonic image corresponding to the group of ultrasonic images, performing puncture planning for the puncture needle based on the three-dimensional ultrasonic images to determine puncture planning information, wherein the puncture planning information comprises a needle inlet position of the puncture needle, a needle inlet direction of the puncture needle and a target puncture point position of the puncture needle, establishing a conversion relation between an image coordinate system of the ultrasonic images and the space coordinate system, determining a real-time image position of the first three-dimensional coordinate information in the image coordinate system based on the conversion relation, so that a relative position between the puncture needle and the target puncture point position is visualized in the image coordinate system in real time, determining a first movement path of the puncture needle based on the relative position between the puncture needle and the target puncture point position in the image coordinate system, determining a first movement path of the puncture needle based on the first movement path in the image coordinate system and a second movement path in the space coordinate system, and determining a puncture path in the space coordinate system based on the first movement path.
The puncture navigation system or the puncture navigation method are suitable for navigation of various puncture devices with puncture bodies and ultrasonic probes, and can acquire and visualize the position relationship between the puncture needles and target puncture points in real time without adopting a binocular vision positioning device or arranging optical markers on the puncture needles and the ultrasonic probes, so that the cost can be saved, the complexity of the ultrasonic and puncture needle structures can be reduced, and the operation of operators is facilitated.
Embodiments of the present disclosure and examples thereof are described in detail below with reference to the attached drawing figures.
Fig. 1A-1B are schematic structural views of a puncturing device according to some embodiments of the present disclosure. Fig. 2 is a schematic partial structure of a puncture device according to some embodiments of the present disclosure.
At least one embodiment of the present disclosure provides a lancing device including a base, a lancet, an ultrasonic probe, and a lancing control. For clarity and conciseness of the description of the present disclosure, the puncturing device illustrated in fig. 1A, 1B, and 2 will be described below as an example, but the navigation system and navigation method of the present disclosure are not limited to the structure or configuration of the puncturing device and the like to which the present disclosure is applied.
For example, as shown in fig. 1A and 1B, the puncture device 1000 may include an ultrasonic assembly 1100, a puncture needle 1200 and a puncture control part, and an ultrasonic image is acquired through the ultrasonic assembly 1100, so as to guide the puncture needle 1200 to perform puncture positioning and puncture to a predetermined depth under the control of the puncture control part, so as to realize navigation of the puncture needle 1200, thereby realizing puncture biopsy of target tissue.
In some examples, the penetration control may include at least one penetration control, e.g., the penetration control may include one penetration control, two penetration controls, or more penetration controls, etc. For example, when the penetration control includes more than two penetration controls, the penetration controls may have a linkage relationship with each other to more flexibly navigate the penetration needle 1200. Of course, embodiments of the present disclosure are not limited thereto, and the penetration controls may not have a linkage relationship with each other, so long as navigation of the penetration needle 1200 is enabled.
In some examples, each of the at least one penetration control of the penetration control is configured to be coupled to and directly driven in motion by a drive mechanism to effect navigation of the penetration needle 1200.
The embodiments of the present disclosure do not limit the connection or the relative positional relationship between the puncture control member of the puncture control portion and the puncture needle 1200, for example, the puncture control member may be connected to the puncture needle 1200 or may not be connected, for example, the puncture needle 1200 may be located on the puncture control member or may not be located on the puncture control member, and specifically may be freely adjusted according to the actual situation, so long as the puncture positioning and the puncture depth control of the puncture needle 1200 can be achieved, which is not exhaustive and not described any more.
In some examples, as shown in fig. 1A, 1B, and 2, lancing apparatus 1000 can further include a lancing guide release mechanism 1300 and a lancing positioning arm set 1600.
For example, the puncture guide release mechanism 1300 includes a puncture needle guide arm 1310 and an opening and closing flap 1320 on the side of the puncture needle guide arm 1310, the opening and closing flap 1320 having a through hole 1330 for the puncture needle 1200 to pass through when closed. Needle guide arm 1310 includes a guide cartridge 1360 with an opening and closing flap 1320 disposed over guide cartridge 1360. Puncture positioning arm 1600 is configured to move puncture needle guide arm 1310 to a puncture location in response to a control signal. The puncture guide release mechanism 1300 may further include a puncture depth control guard 1340, where the puncture depth control guard 1340 is slidably disposed on the side of the puncture needle guide arm 1310 along the axial direction of the puncture needle guide arm 1310, for example, by a sliding mechanism such as a chute, and the puncture depth control guard 1340 has a non-closed positioning hole 1350 for the puncture needle 1200 to pass through. The penetration depth control flap 1340 is disposed behind the opening and closing flap 1320, and the non-closing positioning hole 1350 of the penetration depth control flap 1340 is opposite to the via 1330 formed by closing the opening and closing flap 1320.
In some examples, lancing device 1000 can also include a lancing plate 1400. The puncture plate 1400 can fix the puncture needle 1200 outside the body, and by fixing the puncture needle 1200 outside the body, the stability of the needle body is improved, and the operation quality is improved.
For example, the ultrasound assembly 1100 includes an ultrasound probe and a probe control assembly configured to control a probe position and a probe direction of the ultrasound probe such that the ultrasound probe acquires an ultrasound image.
In some examples, an ultrasound image is acquired by an ultrasound probe and based on the ultrasound image, the set of puncture positioning arms 1600 are controlled to perform puncture positioning, move the needle guide arm 1310 to a puncture position, and also control the puncture depth control flap 1340 to slide to a corresponding position. At this time, the opening/closing flap 1320 closes to form the via hole 1330, the puncture needle 1200 is attached to the side wall of the non-closed positioning hole 1350 of the puncture depth control plate 1340, and is inserted into the target puncture point through the puncture plate 1400 after penetrating out of the via hole 1330.
In some examples, because the relative position between the non-closed positioning hole 1350 of the penetration depth control stop 1340 and the needle tip of the penetration needle is fixed, e.g., the target puncture point position of the needle tip of the penetration needle minus the actual physical gauge of the penetration needle 1200 may result in the target end point position that the non-closed positioning hole 1350 needs to reach, some embodiments of the present disclosure may insert the needle tip of the penetration needle 1200 into the target puncture point by moving the non-closed positioning hole 1350 from a starting position to an end point position and engaging the penetration needle 1200 with the sidewall of the non-closed positioning hole 1350 of the penetration depth control stop 1340 and penetrating out of the via 1330, puncturing in a direction that leads to the instrument box 1360.
In some examples, at least one penetration control of the penetration control includes a penetration positioning arm set 1600 and a penetration depth control barrier 1340.
For example, the puncture positioning arm 1600 is coupled to a corresponding drive mechanism such that the puncture positioning arm 1600 is driven by the drive mechanism to move the puncture needle guide arm 1310 to the puncture position. For example, the penetration depth control shutter 1340 is connected with a corresponding driving mechanism such that the penetration depth control shutter 1340 is controlled to slide to the corresponding position.
In some examples, the puncture positioning arm 1600 can be a linkage mechanism, where one portion (denoted as a first portion) of the puncture positioning arm 1600 can be coupled to the drive mechanism for direct drive movement and another portion (denoted as a second portion) of the puncture positioning arm 1600 can be driven for movement by movement of the first portion of the puncture positioning arm 1600 without being directly coupled by the drive mechanism. As such, the lancing control of the lancing control includes a first portion of the lancing positioning arm set 1600. Of course, this is merely exemplary, and is not a limitation of the present disclosure, and may depend on the structure of the puncture positioning arm 1600 of the specific structural form of the puncture device, which is not described herein.
In some examples, lancing device 1000 can further include a base 1500 for supporting a lancing device body. Puncture positioning arm 1600 is disposed on base 1500. An ultrasonic assembly 1100 is disposed on the base 1500. For example, the ultrasonic probe is movably disposed on the base 1500. For example, the fixed end of the puncture positioning arm 1600 is movably coupled to the base 1500.
In some examples, the probe control assembly of the ultrasound assembly 1100 includes an ultrasound feed stage 1110 and an ultrasound swivel stage (not shown), the ultrasound feed stage 1110 can move the ultrasound probe along the axis of the ultrasound probe, and the ultrasound swivel stage can rotate the ultrasound probe along the axis of the ultrasound probe, thereby controlling the depth and angle of the ultrasound probe.
In some examples, at least one penetration control of the penetration control is three penetration controls, two of the three penetration controls are two penetration controls (e.g., denoted as first penetration control and second penetration control) in the penetration positioning arm set 1600 and the third penetration control is the penetration depth control barrier 1340. For example, the first puncture control and the second puncture control of the three puncture controls are respectively a puncture positioning arm movably connected with the base 1500 through a rotating shaft and another transmission rod rotatable based on the rotating shaft. This is merely exemplary, and is not a limitation of the present disclosure, and the number and configuration of the puncture control members included in the puncture positioning arm 1600 can be freely adjusted according to the actual situation, so this is not an important point of the present disclosure and will not be repeated herein.
For clarity and conciseness of the description of the present disclosure, the puncture device illustrated in fig. 1A, 1B and 2 is mainly described herein as an example, but the navigation system and the navigation method of the present disclosure are not limited to the structure or configuration of the puncture device, and the like, and may be applied to other structures or configurations of the puncture device having a base, a puncture needle, a puncture control unit and an ultrasonic probe. It should be further noted that, in view of the specific structure of the puncturing device, the description is not repeated herein for the important matters of the disclosure.
Fig. 3 is a flowchart of a puncture navigation method provided in some embodiments of the present disclosure.
For example, as shown in fig. 3, a puncture navigation method for a puncture device according to at least one embodiment of the present disclosure includes steps S1 to S6.
In step S1, a spatial coordinate system is established, where the spatial coordinate system may be established based on the base 1500, for example, a world coordinate system established based on the base 1500.
Step S2, determining first three-dimensional coordinate information of the puncture needle 1200 in the spatial coordinate system based on the base 1500.
And S3, acquiring a group of ultrasonic images of the target tissue acquired by the ultrasonic probe to determine a three-dimensional ultrasonic image corresponding to the group of ultrasonic images.
Step S4, performing puncture planning for the puncture needle 1200 based on the three-dimensional ultrasonic image to determine puncture planning information, wherein the puncture planning information comprises a needle insertion point position of the puncture needle 1200, a needle insertion direction of the puncture needle 1200 and a target puncture point position of the puncture needle 1200.
Step S5, establishing a conversion relation between an image coordinate system and a space coordinate system of the ultrasonic image, so that the real-time image position of the first three-dimensional coordinate information in the image coordinate system is determined based on the conversion relation between the image coordinate system and the space coordinate system, and the relative position between the puncture needle 1200 and the target puncture point position is visualized in the image coordinate system in real time.
In step S6, in the image coordinate system, the first movement path of the puncture needle 1200 is determined based on the relative position between the puncture needle 1200 and the target puncture point position.
Step S7, determining a second movement path of the puncture guide (e.g., puncture guide is the non-closed positioning hole 1350 of the puncture depth control baffle 1340, see below) having a predetermined positional relationship with the puncture needle 1200 based on the first movement path in the image coordinate system.
Step S8, in the spatial coordinate system, navigation of the puncture needle 1200 is performed by at least one puncture control based on the second movement path of the puncture guide.
According to the puncture navigation method, under the condition that the binocular vision positioning device is not adopted and the optical markers are not arranged on the puncture needle and the ultrasonic probe, the relative position relation between the puncture needle and the target puncture point can be obtained in real time, so that the cost can be saved, the complexity of the ultrasonic and puncture needle structures can be reduced, and the operation of an operator is facilitated.
According to the embodiment of the disclosure, the puncture needle is converted from the space coordinate system to the image coordinate system, so that the relative position between the puncture needle and the target puncture point can be visualized, the puncture needle is intuitively displayed, automatic compensation is performed on puncture navigation through visual display, the accuracy of puncture navigation is improved, and more accurate treatment is realized.
The embodiment of the disclosure is based on coordinate system conversion and image puncture planning, can skillfully realize the navigation of the puncture needle, is easy to achieve the expected effect, is simple and convenient to operate, and avoids the increase of extra cost.
Fig. 4 is a flowchart of step S8 in fig. 3 provided in some embodiments of the present disclosure.
For example, as shown in fig. 4, step S8 includes steps S81 to S82.
Step S81, determining a motion trajectory of each of at least one penetration control of the penetration control based on the penetration device 1000 and the second motion path.
Step S82, each of the at least one puncture control of the puncture control is driven to move along the corresponding movement track to navigate the puncture needle 1200.
According to the puncture navigation method, the second movement path corresponding to the selected puncture guide piece is determined according to the relative position between the puncture needle and the target puncture point, so that the movement track of each part needing to move in the puncture device is determined to realize puncture navigation, the range of the applicable puncture device is wider, the operation is simple and convenient, and the cost is low.
For example, for clarity and convenience, the coordinate information of one point on the base 1500 of the lancing device 1000 in step S1 is denoted as (0, 0), and the first three-dimensional coordinate information in step S2 is denoted as (x 1, y1, z 1).
In some examples, the first three-dimensional coordinate information (x 1, y1, z 1) of the needle 1200 includes three-dimensional coordinate information of the tip of the needle 1200 within a spatial coordinate system. Thus, the first path of movement of the needle 1200 includes the first path of movement of the tip of the needle 1200. The embodiment of the disclosure utilizes the needle tip of the puncture needle to position the three-dimensional coordinate information of the puncture needle, and the three-dimensional coordinate information of the puncture needle is easy to obtain because the position of the needle tip of the puncture needle is easy to obtain, so that the realization of the navigation of the puncture needle is facilitated.
In some examples, the real-time image position of the first three-dimensional coordinate information of the puncture needle in the image coordinate system may be regarded as a starting position, and the target puncture point position may be regarded as a target end position corresponding to the starting position, so that a movement path plan of the puncture needle between the starting position and the target end position may be determined in the image coordinate system according to the starting position and the target end position.
In some examples, step S2 may be performed before step S3, or may be performed after step S3, or step S2 and step S3 may be performed simultaneously, and the order of performing the two steps is not limited by the embodiments of the present disclosure.
A non-limiting description will now be given of a puncture navigation method in the case where the puncture guide is a non-closed positioning hole 1350 in the embodiment of the present disclosure with reference to fig. 5 to 18.
FIG. 5 is a flowchart of step S7 of FIG. 3 provided in some embodiments of the present disclosure
For example, as shown in fig. 5, in response to the piercing guide being a non-closed locating hole 1350, step S7 includes steps S71 through S72.
Step S71, determining a third movement path of the non-closed positioning hole 1350 in the image coordinate system based on the puncture needle image specification and the first movement path of the puncture needle 1200 in the image coordinate system.
Step S72, determining a second motion path of the non-closed positioning hole 1350 in the spatial coordinate system based on the conversion relation between the image coordinate system and the spatial coordinate system and the third motion path in the image coordinate system.
According to the embodiment of the disclosure, the movement path for guiding the puncture needle to navigate can be determined according to the non-closed positioning holes serving as the determined quantity in the puncture device, the navigation solution is simple and convenient, the application range is wide, and the realization of the navigation of the puncture needle is facilitated.
In some examples, for step S7, the puncture guide may be the non-closed positioning hole 1350 of the puncture depth control baffle 1340, but the puncture guide of the embodiment of the disclosure is not limited thereto, and may be, for example, the puncture needle guide arm 1310 or the via 1330 or other suitable position for puncture guide on the puncture guide releasing mechanism 1300, as long as it is a reasonable position having a certain relative positional relationship with the puncture needle 1200, which will not be described herein. For clarity and brevity herein, the following description will mainly be given by taking the puncture guide as the non-closed positioning hole 1350 of the puncture depth control baffle 1340.
In some examples, step S2 of the puncture navigation method comprises a process or step of determining first three-dimensional coordinate information of the puncture needle 1200 based on the three-dimensional coordinate information of the non-closed positioning hole 1350 in the spatial coordinate system and the needle gauge of the puncture needle 1200 in the spatial coordinate system (i.e., the actual physical gauge of the puncture needle) such that the first three-dimensional coordinate information comprises the three-dimensional coordinate information of the puncture needle 1200 in the spatial coordinate system. For example, the needle gauge of the needle 1200 in the spatial coordinate system may be noted as the actual physical gauge of the needle.
In some examples, the actual physical gauge of the needle 1200 includes the exposed length of the needle, which may represent the actual physical dimensions of the needle 1200 in a spatial coordinate system. The lancet image specification represents the image size of the lancet 1200 in the image coordinate system, which is a specification based on the actual physical specification of the lancet that is mapped to the image coordinate system, e.g., the actual physical specification of the lancet is mapped to the image coordinate system in terms of image resolution to determine the lancet image specification.
According to the embodiment of the disclosure, the three-dimensional coordinate information of the puncture needle can be determined according to the non-closed positioning hole serving as the determination quantity in the puncture device, so that the three-dimensional coordinate information of the puncture needle is accurate and easy to obtain, the realization of the navigation of the puncture needle is facilitated, and the application range is wide.
In some examples, the puncture navigation method further comprises the step of visualizing in real time at least one of the ultrasound image, the three-dimensional ultrasound image, the needle tip of the puncture needle 1200, the relative position between the needle tip of the puncture needle 1200 and the target puncture point location, the first motion path of the puncture needle 1200.
The embodiment of the disclosure can visualize the ultrasonic related image, the relative position between the puncture needle and the target puncture point and the like, intuitively display the ultrasonic related image and the relative position to the target puncture point in real time, conveniently and accurately monitor the navigation condition of the puncture needle in real time, and has a certain guiding effect on puncture navigation.
Fig. 6 is a schematic illustration of an original image of an ultrasound image provided by some embodiments of the present disclosure.
For example, in step S3, the acquired set of ultrasound images includes a plurality of ultrasound images. For example, as shown in fig. 6, each ultrasound image is a two-dimensional image. For example, the ultrasound image includes a lesion area to be segmented.
In some examples, in step S3, embodiments of the present disclosure control an ultrasonic probe to move from tip to bottom at a fixed acquisition pitch according to acquired tip and bottom position information of a prostate, and intercept a prostate image of each pitch, completing a two-dimensional acquisition task of the ultrasonic image.
In some examples, in step S3, embodiments of the present disclosure obtain a three-dimensional ultrasound image by outlining the acquired two-dimensional ultrasound image (e.g., including lesion contours and outer contours) and then performing a three-dimensional reconstruction based on the image coordinate system.
For example, in step S4, the target puncture point position refers to a target puncture position to which puncture is required, which may be determined according to the specific situation of the focal region of the target tissue. For example, in step S5, the real-time image position means that the first three-dimensional coordinate information of the puncture needle 1200 corresponds to the real-time position in the image coordinate system through the conversion relationship between the image coordinate system and the spatial coordinate system.
For clarity and brevity, the description is mainly given herein taking a puncturing device for a prostate and a prostate ultrasound image as an example, for example, fig. 6 shows a prostate ultrasound image, but the disclosure is not limited to a puncturing position suitable for the disclosure, and may be applied to other application scenarios in which navigation for realizing puncturing is required, which is not repeated in the disclosure.
For example, in step S61, the second movement path is a vector path, for example, the second movement path of the non-closed positioning hole 1350 in the spatial coordinate system indicates a spatial feature of an action formed by the non-closed positioning hole 1350 moving under the grip of the puncture control unit to the target spatial position to be reached under the planning, for example, each point in the second movement path of the non-closed positioning hole 1350 includes information such as a position and an attitude.
Fig. 7 is a schematic diagram of a second motion path of a non-closed positioning hole in a spatial coordinate system according to some embodiments of the present disclosure.
For example, as shown in fig. 7, a black solid dot O1 represents a start position of the non-closed positioning hole 1350 of the penetration depth control shutter 1340 in the spatial coordinate system, i.e., a start position of the second movement path, and a non-solid dot O2 represents a target end position of the non-closed positioning hole 1350 of the penetration depth control shutter 1340 in the spatial coordinate system, i.e., a target end position of the second movement path. The movement path from the dot O1 to the dot O2 is a second movement path of the non-closed positioning hole 1350 in a space coordinate system, which may be a straight line or a curve, and may be specific according to practical situations. Thus, after the non-closed positioning hole 1350 moves from the dot O1 to the dot O2, the puncture needle 1200 is engaged with the sidewall of the non-closed positioning hole 1350 of the puncture depth control guard 1340 and is penetrated out of the via 1330, through the puncture plate 1400, such that the tip of the puncture needle 1200 is inserted into the target puncture point in the spatial coordinate system.
In some examples, embodiments of the present disclosure may set the center of the base 1500 as the origin (0, 0) of the spatial coordinate system, at which time the spatial coordinate system may be established with the horizontal direction of the base 1500 as the horizontal axis of the spatial coordinate system, the vertical direction of the base 1500 as the vertical axis of the spatial coordinate system, and the forward direction of the ultrasound assembly 1100 as the vertical axis of the spatial coordinate system. For another example, the location on the base 1500 where the puncture control is connected may be referred to as the origin (0, 0) of the spatial coordinate system, and the directions of the horizontal axis, the vertical axis, and the longitudinal axis of the spatial coordinate system may be similar to those of the previous example, and will not be repeated herein. Of course, this is merely exemplary, and is not a limitation of the present disclosure, as long as the base 1500 is at any reasonable point, and will not be described in detail herein.
In some examples, the fixed end of the puncture positioning arm 1600 is movably connected to the base 1500, and the position on the base 1500 where the puncture positioning arm 1600 is movably connected is referred to as a base connection, so that the movement of the puncture positioning arm 1600 (e.g., the puncture positioning arm 1600 may be a link mechanism) may be calculated based on the base connection of the base 1500, and since the position on the base 1500 where the origin is selected as the spatial coordinate system is relatively fixed with respect to the base connection, the position between the spatial coordinate system established based on the base 1500 and the puncture positioning arm 1600 is relatively fixed, so that the movement of the puncture positioning arm 1600 may also be calculated based on the spatial coordinate system. For example, the base connection point on the base 1500 is used as an origin to establish a spatial coordinate system, so that the origin of the spatial coordinate system can be coincident with the base connection point of the position where the puncture positioning arm 1600 is movably connected with the base 1500, which is beneficial to simplifying the calculation of the motion trail of the puncture control.
In some examples, embodiments of the present disclosure implement a second motion path based on the specific structure of the lancing device and the non-closed positioning hole 1350 by robotic kinematics to reverse the motion trajectory of each lancing control (see below in detail), which is applicable to lancing devices of any structural composition and is robust.
For example, in step S82, each piercing control of the piercing device 1000 is respectively connected to a set of driving mechanisms to move the piercing control along a corresponding movement track. Therefore, the driving mechanism of the navigation system has lower complexity, and the operation is simple and convenient. For example, the driving mechanism is mainly composed of a driver, a direct current motor and a speed reducer, which is only exemplary and not limiting of the disclosure, so long as the corresponding puncture control member can be driven to move, and the description is omitted herein.
In some examples, the lancing control members of embodiments of the present disclosure refer to components of the lancing apparatus that are connected to and directly driven by a driving mechanism, for components of the lancing apparatus that are not directly driven by a driving mechanism, the coupling relationship has been decoupled in an algorithm that counter-decouples the motion profile of each of the at least one lancing control member, such that the motion profile of each lancing control member can be directly obtained. It should be noted that, since the embodiment of the present disclosure does not limit the structure of the applicable puncturing device, the specific division between the puncturing control member connected to the driving mechanism and directly driven to move and other components not connected to the driving mechanism and directly driven to move in the embodiment of the present disclosure may be freely adjusted according to the actual situation, and will not be repeated here.
In some examples, the penetration navigation method further includes the step or process of determining second three-dimensional coordinate information of the ultrasound probe within the spatial coordinate system based on positioning the ultrasound probe by the base 1500. Thus, the conversion relation between the image coordinate system and the space coordinate system is conveniently acquired, and the relative position between the puncture needle and the target puncture point under the space coordinate system is determined. For example, for clarity and convenience of description, the second three-dimensional coordinate information may be denoted as (x 2, y2, z 2), which represents the actual physical positional relationship between the ultrasound probe and the base 1500.
In some examples, the ultrasound probe is a smaller-sized cylinder-like structure, and the second three-dimensional coordinate information of the ultrasound probe includes three-dimensional coordinate information of a center of the ultrasound probe within a spatial coordinate system. This is merely exemplary and is not a limitation of the present disclosure.
For example, in step S5, establishing a conversion relationship between the image coordinate system and the spatial coordinate system of the ultrasound image includes the step or process of converting the image coordinate system of the ultrasound image to the spatial coordinate system based on the second three-dimensional coordinate information (x 2, y2, z 2) of the ultrasound image and the ultrasound probe to establish a conversion relationship between the image coordinate system and the spatial coordinate system.
The embodiment of the disclosure realizes the conversion between the image coordinate system and the space coordinate system through the coordinate system conversion, so that the relative position relationship between the puncture needle (such as the needle tip of the puncture needle) and the target puncture point position can be simply and effectively determined in real time and visualized under the image coordinate system without adopting a binocular vision positioning device or arranging optical markers on the puncture needle and the ultrasonic probe, thereby realizing the navigation of the puncture needle, having simple and convenient operation and avoiding the increase of additional cost.
For example, for step S5, after the conversion relationship between the image coordinate system and the space coordinate system is established, the first three-dimensional coordinate information determined in the space coordinate system may be obtained in real time to obtain the corresponding real-time image position in the image coordinate system based on the established conversion relationship between the image coordinate system and the space coordinate system.
Fig. 8 is a flow chart of transferring an image coordinate system to a space coordinate system according to some embodiments of the present disclosure.
For example, as shown in fig. 8, in some examples, for converting an image coordinate system of an ultrasound image to a space coordinate system based on second three-dimensional coordinate information of the ultrasound image and the ultrasound probe, a conversion relationship between the image coordinate system and the space coordinate system is established, including steps S51 to S54.
And step S51, performing morphological image processing on the ultrasonic image to determine a target image area.
Step S52, based on the target image area, obtaining pixel statistical distribution.
Step S53, based on the pixel statistical distribution diagram and the predetermined diameter of the ultrasonic probe, determining the conversion ratio between the diameter of the ultrasonic probe and the number of pixel intervals occupied by the diameter of the ultrasonic probe.
Step S54, converting the image coordinate system to a space coordinate system based on the conversion ratio and the second three-dimensional coordinate information.
The embodiment of the disclosure realizes the conversion of the image coordinate system and the space coordinate system by combining the image feature extraction and the information of the actual physical distance, has lower operation difficulty, low resolving complexity, high accuracy, simplicity and effectiveness and good application prospect.
In some examples, embodiments of the present disclosure may implement both conversion of an image coordinate system to a spatial coordinate system and conversion of a spatial coordinate system to an image coordinate system based on a conversion relationship between the image coordinate system and the spatial coordinate system.
Fig. 9 is a flowchart of step S51 in fig. 8 provided in some embodiments of the present disclosure.
For example, as shown in fig. 9, step S51 includes step S511 and step S512.
Step S511, binarizing the ultrasound image to obtain a first processed image.
Step S512, performing region communication and marking on the first processed image to obtain a plurality of identifier communication regions to obtain a second processed image, and determining a target image region from the plurality of identifier communication regions to obtain a third processed image. For example, the target image area includes two target identification communication areas, which are the largest and the next largest of the plurality of identification communication areas.
The embodiment of the disclosure obtains the geometric parameters of each block area of the image through the connected area mark of the binary image analysis, and has the advantages of simplicity, convenience and wide application range.
Fig. 10 is a schematic diagram of a second processed image provided by some embodiments of the present disclosure. Fig. 11 is a schematic diagram of a third processed image provided by some embodiments of the present disclosure.
In some examples, the first processed image is an initial binary image obtained after a binarization process of an original image of an ultrasound image (e.g., the original image of the ultrasound image shown in fig. 6). The second processed image and the third processed image are processed binary images obtained after the labeling process of the initial binary image.
In some examples, the second processed image shown in fig. 10 may be obtained after the original image of the ultrasound image shown in fig. 6 is subjected to binarization and region-communicating and marking processing, and the second processed image shown in fig. 10 may be obtained after the selection and discarding of the marker-communicating region is completed.
In some examples, the process of selecting the target logo connected region and discarding the smaller logo connected region is part of the overall labeling process as part of the overall labeling process.
For example, since the gray scale value of the image ranges from 0 to 255, black from 0, and white from 255, 1 of 120 or more and 0 of 120 or less can be obtained during the binarization processing, thereby obtaining an initial binary image. Of course, this is merely exemplary and is not a limitation of the present disclosure.
In some examples, the plurality of logo-connected areas in fig. 10 include an area A1, an area A2, and an area A3, and other areas, and the target image area includes an area A1 and an area A2.
In some examples, the area A1 and the area A2 in fig. 11 are the largest two areas (one of which is denoted as the largest area and the other is denoted as the next largest area) among all the identification communication areas, and the area sizes of the area A1 and the area A2 may be the same or different, as the case may be.
For example, in the process of performing region communication and marking on the first processed image, the connection of the labeled 1 is performed together to form a communication region in step S512. For example, in the process of communicating the regions with the marks, 4-adjacent communication may be adopted, or 8-adjacent communication may be adopted, so that a plurality of communicating regions are defined. Among the determined plurality of connected regions, the largest and/or next largest connected region may be determined. And meanwhile, each communication area can be marked so as to obtain a corresponding identification communication area, for example, the first communication area is marked as 1, the second communication area is marked as 2, the third communication area is marked as 3, and the like. Of course, this is merely exemplary and is not a limitation of the present disclosure.
Fig. 12 is a flowchart of step S512 in fig. 9 provided in some embodiments of the present disclosure.
For example, as shown in fig. 12, step S512 includes steps S5121 to S5123.
Step S5121, based on the second processed image, the identification communication areas of the first side and the second side of the second processed image, which are opposite in the longitudinal direction, are removed.
Step S5122, selecting two target logo connected areas with the largest area and the next largest area from the plurality of logo connected areas.
Step S5123, discarding the pixels in the plurality of identification connected regions and the identification connected region smaller than the preset value, and acquiring a third processed image.
The embodiment of the disclosure obtains the processing image of the two target image areas basically only with the largest remaining target image areas by selecting and discarding the communication areas, so that the subsequent processing process can be simplified, and the accuracy and the efficiency of coordinate system conversion can be improved.
For example, in step S5121, if it is determined that the reference numeral on the upper side of the second processed image is the connected region 5 based on the position of the ultrasound image, all the connected regions of reference numeral 5 are removed, that is, the values of all the connected regions of reference numeral 5 are modified to 0. Of course, this is merely exemplary and is not a limitation of the present disclosure.
For example, in step S5121, the longitudinal direction of the second processed image is the up-down direction of the drawing direction of fig. 9 to 10, and the first side and the second side in the longitudinal direction of the second processed image are the upper side and the lower side, respectively. It should be noted that, the directions of "longitudinal", "up", "down", and the like in the embodiments of the present disclosure are all for convenience and simplicity in description of the present disclosure, and are not limitations on the actual directions.
For example, in step S5123, the preset value may be set to around 1000, so that smaller connected regions among the plurality of identified connected regions may be discarded. This is merely exemplary, and is not a limitation of the present disclosure, and may be freely adjusted according to practical situations, which will not be described herein.
Fig. 13 is a schematic diagram of a pixel statistical distribution provided by some embodiments of the present disclosure.
For example, in step S52, the pixel statistical distribution includes a distribution of pixel sums in a longitudinal direction (e.g., denoted as y) on the third processed image. The longitudinal direction of the third processed image is the same as the longitudinal direction of the second processed image, and reference may be made to the above description, and details are not repeated here.
For example, as shown in fig. 13, the pixel statistical distribution is a number in which pixels of each row are not 0 in the longitudinal direction of the third processed image. In the example of fig. 13, the abscissa (X-axis) of the pixel statistical distribution map is a pixel value, that is, a value of Y, and the ordinate (Y-axis) of the pixel statistical distribution map is a sum of the number of pixels, that is, the number of binarized 1.
For example, in the example of fig. 13, for an abscissa of 100, the number of corresponding ordinate is M, that is, M1 s indicate the row corresponding to a pixel value of 100 in the y direction. Of course, this is merely exemplary and is not a limitation of the present disclosure.
Fig. 14 is a flowchart of step S53 in fig. 8 provided in some embodiments of the present disclosure.
For example, as shown in fig. 14, step S53 includes steps S531 to S533.
And step S531, acquiring pixel coordinates corresponding to a boundary line between the cross section and the vector cross section of the two target mark communication areas based on the pixel statistical distribution.
Step S532, determining the circle centers of semicircular areas surrounded by two target mark communication areas on the third processed image, wherein the semicircular areas and the mark communication areas are different in color.
Step S533, determining the diameter of the ultrasonic probe, determining the number of pixel intervals occupied by the diameter of the ultrasonic probe based on the circle center, and determining the conversion ratio based on the number of pixel intervals occupied by the diameter of the ultrasonic probe.
For example, in the example of fig. 11, the region A2 is a cross-sectional region, and the region A1 is a sagittal sectional region.
For example, in some examples, step S531 includes the steps or processes of taking a transverse straight line of pixel coordinates corresponding to extreme points in the pixel statistical distribution as a boundary line, and acquiring boundaries of two target identification communication regions based on the boundary line, determining pixel coordinates of the boundary of at least one of the two target identification communication regions.
For example, for step S531, in some examples, in the interval between 400 and 500 pixels (i.e., the interval between 400 and 500X-axis coordinate values) in fig. 13, there exists an extreme point P1, and the corresponding transverse straight line (i.e., the horizontal line along the left-right direction in fig. 13) of the pixel coordinate corresponding to the extreme point P1 is the boundary between the cross section and the vector section.
For another example, if there are a plurality of dividing lines, the lowest boundary line of the upper region (e.g., region A2) in the two target mark communicating regions may be taken as the dividing line.
For example, in step S531, after determining the dividing line, the boundary is calculated for the two target mark communicating regions, and the pixel coordinates of the region boundary (for example, the upper cross-sectional region) are redetermined based on the boundary, thereby obtaining the pixel coordinates corresponding to the dividing line.
For example, as for the semicircular region in step S532, reference is made to a black semicircular region C1 shown in fig. 11, which is a semicircular region formed by a cross-sectional region and a near-end of a sagittal sectional region, the semicircular contour shape of the semicircular region being the lower end portion of the cross-sectional region of the upper portion. For clarity and brevity of this document, the semicircular region C1 is illustrated with a dashed box in fig. 11. In the example of fig. 11, the semicircular area of the third processed image is different in color from the logo communication area, for example, the image color of the semicircular area shown in fig. 11 is black, and the image color of the logo communication area is different from black.
For example, in step S533, the diameter of the ultrasonic probe is equal to the diameter of the semicircular region, and thus, the number of pixel pitches occupied by the diameter of the ultrasonic probe can be determined by determining the number of pixel pitches occupied by the diameter of the semicircular region based on the center of the circle.
Fig. 15 is a flowchart of step S532 in fig. 14 provided in some embodiments of the present disclosure. Fig. 16 is a schematic view of a third processed image provided by some embodiments of the present disclosure, fig. 16 and fig. 11 are drawings having the same features as the embodiments of the present disclosure, and different numbers are added to fig. 16 to facilitate the clarity of the description and drawings herein.
For example, as shown in fig. 15, step S532 includes steps S5321 to S5323.
Step S5321, based on the dividing line, determining four intersection points of the dividing line or a straight line parallel to the dividing line passing through the semicircular region and intersecting with the target mark communicating region.
Step S5322, obtaining two target intersection points in the middle of the four intersection points.
Step S5323, the circle center of the semicircular area is acquired based on the intersection point of the two targets.
For example, in step S5321, after the dividing line is determined, four intersections of the dividing line with the cross-sectional area of the upper portion through the semicircular area, for example, four intersections of the respective transverse straight lines of the pixel coordinates corresponding to the extreme points with the cross-sectional area of the upper portion, two of which are also two points of intersection of the dividing line with the black semicircular area C1, are determined based on the dividing line.
For example, in step S5321, in order to avoid that there is no intersection point intersecting the cross-sectional area on the boundary line, after determining the boundary line, the boundary line may be further moved upward in the image coordinate system according to an empirical value (for example, 5 to 10 pixels) determined based on the history data, so that four intersection points, at which the moved boundary line (i.e., a straight line parallel to the boundary line) intersects the cross-sectional area at the upper part in the drawing, are determined. This is merely exemplary and is not a limitation of the present disclosure.
For example, in the example of fig. 16, the two target intersection points are the intermediate a point and the B point, respectively, which are also two points at which the boundary line intersects with the black semicircular region C1. For convenience of the following description, two target intersections among the four intersections are respectively denoted as a point and B point.
Fig. 17 is a schematic diagram of a set of contour points for obtaining radians provided in some embodiments of the present disclosure.
For example, in step S5323, acquiring the center of a semicircle region based on two target intersection points includes the steps or processes of first determining a line segment with the center of two target intersection points A, B points among the four intersection points as end points, dividing the line segment equally to determine a plurality of equally divided points, then moving the plurality of equally divided points upward to determine a communication region that each equally divided point encounters during the upward movement, thereby determining a plurality of points where the plurality of equally divided lines intersect with the semicircle region of the ultrasound image, for example, see a plurality of points (which may be noted as outline points) illustrated by a dashed box in FIG. 17, and then fitting a circle based on the plurality of outline points and A, B points and determining the center of circle O.
In still other embodiments, in step S5323, obtaining the center of the semicircular region based on the intersection of the two objects may further include determining a line segment with the point A, B as two end points and taking the midpoint C of the line segment, and then determining a circle based on the three points A, B and C and determining the center O of the circle.
For example, in step S533, after the circle center O is determined, the diameter of the circle determined in step S5323 is denoted as the diameter d (i.e., the diameter d on the image coordinate system, i.e., the diameter corresponding to the semicircular region), and the number N of pixel pitches occupied on the diameter d of the circle is counted, so that the ratio R between the diameter d and the number N of pixel pitches, r=d/N, may be calculated, and the ratio R may also be referred to as the conversion ratio.
For example, in step S533, the diameter of the ultrasonic probe in the space coordinate system is noted as a diameter D, and since the diameter D of the ultrasonic probe is the same as the diameter D of the semicircular region and the diameter D of the ultrasonic probe is predetermined and known, the diameter D of the circle is known (for example, 20 mm), and the number of pixels occupied by the diameter D is known by statistics (for example, 81 pixels are occupied), the pixel pitch occupied by the diameter D (for example, 80 pixel pitch is occupied, i.e., n=80) can be determined, and the conversion ratio R, for example, r=20 mm/80 pixel pitch can be determined based on the pixel pitch occupied by the diameter D. In this way, the physical distance occupied by one pixel interval can be determined, so that the image coordinate system can be converted into a space coordinate system.
Fig. 18 is a flowchart of step S54 in fig. 8 provided in some embodiments of the present disclosure.
For example, as shown in fig. 18, step S54 includes step S541 and step S542.
Step S541, determining a horizontal axis and a vertical axis perpendicular to each other based on the center, the conversion ratio, and the pixel coordinates corresponding to the dividing line.
Step S542, using the depth of the ultrasound probe as the vertical axis, and converting the image coordinate system to the space coordinate system based on the third processed image corresponding to the group of ultrasound images and the second three-dimensional coordinate information.
For example, in step S541, a horizontal axis (for example, denoted as X1 axis) and a vertical axis (for example, denoted as Y1 axis) perpendicular to each other are determined based on the conversion ratio R and the pixel coordinates of the region boundary (for example, the upper cross-sectional region) redefined based on the boundary, with the center O being the origin of the coordinate system.
For example, in step S541, embodiments of the present disclosure implement establishment of corresponding horizontal axes and vertical axes based on a third processed image corresponding to one ultrasound image to form an initial two-dimensional coordinate system X1-O-Y1, so that a corresponding one of the initial two-dimensional coordinate systems X1-O-Y1 may be formed based on each ultrasound image.
For example, in step S542, since the ultrasound probe may be moved forward or backward by the mechanical arm assembly, the embodiment of the present disclosure takes the acquired depth of the ultrasound probe as a vertical axis (e.g., denoted as Z1 axis). Based on each ultrasonic image, a corresponding two-dimensional coordinate system X1-O-Y1 can be formed, when knowing the depth of the ultrasonic probe as a vertical axis, the space distance between the zero points of the two-dimensional coordinate systems X1-O-Y1 corresponding to different ultrasonic images corresponds to the corresponding depth of the ultrasonic probe, so that the vertical axis perpendicular to the transverse axis and the vertical axis respectively can be determined based on a group of acquired ultrasonic images.
Therefore, under the condition that the position relation (namely the second three-dimensional coordinate information) between the ultrasonic probe and the base is known, the embodiment of the disclosure can realize that the image coordinate system is converted into the space coordinate system, so that the conversion relation between the image coordinate system and the space coordinate system is established, and the actual physical position relation between the puncture needle point and the target puncture point is determined.
The coordinate system conversion and kinematic calculation methods provided by the embodiments of the present disclosure are described below by way of several examples or embodiments without limitation.
In some examples, embodiments of the present disclosure may record the spatial coordinate system established based on the base 1500 as the spatial coordinate system {0}, the coordinate system of the non-closed positioning hole 1350 of the penetration depth control flap 1340 at the end of the penetration needle guide arm 1310 as the coordinate system {1}, and the ultrasonic probe coordinate system established based on the ultrasonic probe as the image coordinate system {2}. The relative positional relationship between the coordinate system {1} and the space coordinate system {0} is fixed, and the relative positional relationship between the image coordinate system {2} and the space coordinate system {0}, is fixed
Thus, as described above, the ultrasonic probe may be moved in the axial direction of the ultrasonic probe by controlling the movement of the ultrasonic feed stage 1110, and the ultrasonic probe may be rotated (e.g., clockwise or counterclockwise) along the axis of the ultrasonic probe by the ultrasonic rotary stage, whereby the depth and angle of the ultrasonic probe may be controlled.
In some examples, embodiments of the present disclosure obtain a three-dimensional ultrasound image by outlining an acquired two-dimensional ultrasound image of the prostate and then performing a three-dimensional reconstruction based on an image coordinate system {2 }.
Fig. 19A is a schematic cross-sectional view of a two-dimensional ultrasound image provided by some embodiments of the present disclosure, and fig. 19B is a schematic view of a three-dimensional ultrasound image corresponding to the two-dimensional ultrasound image of fig. 19A provided by some embodiments of the present disclosure.
For example, fig. 19A shows a cross-section of a two-dimensional ultrasound image, with the middle framed portion of the cross-section being the outline of the prostate. For example, fig. 19B shows the result of a three-dimensional ultrasound image obtained by three-dimensional reconstruction. Of course, this is merely exemplary and is not a limitation of the present disclosure.
In some examples, embodiments of the present disclosure determine the location of a target puncture point in an image coordinate system {2} by performing puncture planning, e.g., planning the target puncture point location, on a three-dimensional ultrasound image.
In some examples, a position and pose matrix (abbreviated pose matrix) of the coordinate system {1} of the non-closed positioning hole 1350 of the penetration depth control barrier 1340 relative to the spatial coordinate system {0} may be determined based on specific structural features of the penetration control section of the penetration device 1000.
In some examples, embodiments of the present disclosure establish a robot joint coordinate system based on the lancing device 1000 and according to the principles of robot kinematics, e.g., the established robot joint coordinate system includes a joint coordinate system based on components in the lancing positioning arm set 1600, etc., which can be freely adjusted according to the specific structure or configuration of the lancing device 1000, the present disclosure is not limited to the structure or configuration design of the applicable lancing device. In view of the fact that the specific structure of the puncturing device is not an important item to be described in this disclosure, it is not repeated herein. The following is mainly a non-limiting illustration of one example of a robot configuration.
For example, a pose matrix1 T of the coordinate system {1} of the non-closed positioning hole 1350 relative to the space coordinate system {0} can be obtained according to the established coordinate system relationship and the robot positive kinematic formula, where the pose matrix formula is illustrated as follows:
Wherein a1 represents the length of a common perpendicular of the joint axis of the first member of the set of puncture positioning arms 1600 and the joint axis of the second member of the set of puncture positioning arms 1600, a2 represents the length of a common perpendicular of the joint axis of the second member of the set of puncture positioning arms 1600 and the joint axis of the third member of the set of puncture positioning arms 1600, a3 represents the length of a common perpendicular of the joint axis of the third member of the set of puncture positioning arms 1600 and the joint axis of the fourth member of the set of puncture positioning arms 1600, d4 represents the link offset of the joint axis of the third member of the set of puncture positioning arms 1600 and the joint axis of the fourth member of the set of puncture positioning arms 1600, d5 represents the link offset of the joint axis of the third member of the set of puncture positioning arms 1600 and the joint axis of the puncture depth control baffle 1340, and θi represents the joint angle of the members ;ci＝cos(θi),si＝sin(θi),i＝1,2,3,4;s123＝sin(θ1+θ2+θ3);c123＝cos(θ1+θ2+θ3);s12＝sin(θ1+θ2).
For example, the first, second, third, and fourth components in the set of puncture positioning arms 1600 may be respective joints in the set of puncture positioning arms 1600 configured as linkages, e.g., the first, second, third, and fourth components in the set of puncture positioning arms 1600 may be respective puncture positioning arm-based joints (e.g., one pivot for articulating the base 1500 and the first puncture control) in the set of puncture positioning arms 1600, puncture positioning arm elbow joints (e.g., one pivot in the set of puncture positioning arms 1600), puncture positioning passive attitude joints (e.g., one pivot in the set of puncture positioning arms 1600), and puncture positioning arm pitch joints (e.g., rotational joints provided on the puncture needle guide arm 1310). Of course, this is merely exemplary to facilitate a better understanding of the aspects of the present disclosure by those skilled in the art, but is not a limitation of the present disclosure, embodiments of the present disclosure, pose matricesThe puncture device can be freely adjusted according to the specific structure of the puncture device, and the specific structure of the puncture device can be referred to the related art, and will not be described herein.
Illustratively, a1=120 mm, a2=100 mm, a3=122 mm, d4=66.5 mm, d5=25 mm. Of course, this is merely exemplary and is not a limitation of the present disclosure.
In some examples, embodiments of the present disclosure may determine a real-time pose matrix of a puncture needle (e.g., a needle tip of a puncture needle) in a spatial coordinate system {0} based on a coordinate system {1} of the non-closed positioning hole 1350 and a puncture needle actual physical specification of the puncture needle 1200 in the spatial coordinate system, whereby embodiments of the present disclosure may determine a first three-dimensional coordinate information of the needle tip of the puncture needle 1200 from a three-dimensional coordinate information of the non-closed positioning hole 1350 in the spatial coordinate system and a puncture needle actual physical specification of the puncture needle 1200 in the spatial coordinate system. For ease of description, the first three-dimensional coordinate information of the tip of the lancet 1200 is denoted as tip position coordinate {3}.
In this regard, the pose matrix of the needle tip position coordinate {3} with respect to the coordinate system {1} of the non-closed positioning hole 1350 may be given according to the needle specification of the puncture needle 1200 (i.e., the actual physical specification of the puncture needle), for example, the pose matrix of the needle tip position coordinate {3} with respect to the coordinate system {1} of the non-closed positioning hole 1350The following are provided:
The actual physical dimensions of the puncture needle 1200 include the exposed length of the needle, for example, L is the exposed length of the needle in the spatial coordinate system.
Thus, embodiments of the present disclosure incorporate a pose matrix of the coordinate system {1} of the non-closed-positioning hole 1350 relative to the spatial coordinate system {0}And a pose matrix of needle tip position coordinates {3} relative to a coordinate system {1} of the non-closed position hole 1350Real-time pose matrix of needle tip of puncture needle 1200 in space coordinate system {0}, can be determinedThe following is shown:
Accordingly, in the case where the puncture guide is the tip of the puncture needle 1200, the embodiment of the present disclosure may determine the first three-dimensional coordinate information of the puncture needle 1200 according to the three-dimensional coordinate information of the non-closed positioning hole 1350 in the spatial coordinate system and the actual physical specification of the puncture needle 1200 in the spatial coordinate system.
In some examples, embodiments of the present disclosure document a pose matrix in which the image coordinate system {2} is fixed relative to the spatial coordinate system {0}, as(E.g., the image coordinate system on the ultrasound probe is converted to the spatial coordinate system on the ultrasound probe) whereby the pose matrix of the tip in the spatial coordinate system {0} is converted to the pose matrix in the image coordinate system {2}, asThe following are provided:
in some examples, the pose matrix fixes the image coordinate system {2} relative to the spatial coordinate system {0}The formula is exemplified as follows:
Wherein Space [0] represents the physical distance occupied by each pixel pitch in the X direction (e.g., obtained in ultrasound calibration), e.g., the diameter of an actual ultrasound probe is 20mm, which occupies 80 pixel pitches on an image, then Space [0] =20 mm/80 pixel pitches; space [1] represents a physical distance occupied by each pixel pitch in the Y direction, for example Space [0] =space [1], space [2] represents a physical distance occupied by each pixel pitch in the Z direction (a physical pitch of ultrasound acquisition of a plurality of ultrasound images), for example ten ultrasound images are acquired by ultrasound, the actual acquisition distance is 9mm, and 10 ultrasound images have 9 pixel pitches in the Z direction, space [2] =9 mm/9 pixel pitches, offset [0] represents a physical Offset in the X direction of an image coordinate origin, for example, an image Offset X pixel of the origin on an image is known, the physical Offset is x×space [0], offset [1] represents a physical Offset in the Y direction of an image coordinate origin, for example, an image Offset Ypixel of the origin on an image is known, the physical Offset is y×space [1], offset [2] represents a physical Offset in the Z direction of an image coordinate origin, for example, the physical Offset of the origin is known, and the physical Offset of the origin on the Z is known.
From this, a conversion formula between the image coordinate system to the space coordinate system is obtained as follows:
Thus, the embodiment of the disclosure can bring any three-dimensional image coordinate (pixel [0], pixel [1], pixel [2 ]) into the conversion relation between the image coordinate system and the space coordinate system, and can obtain the physical coordinate (py [0], py [1], py [2 ]) of the coordinate system established based on the center of the ultrasonic probe as the origin, thereby realizing the conversion from the image coordinate system to the space coordinate system. Of course, this is merely exemplary and is not a limitation of the present disclosure.
Then, the conversion relation between the space coordinate system and the image coordinate system can be obtained by converting the conversion formula, as follows:
Thus, the embodiment of the present disclosure can bring the physical coordinates (py [0], py [1], py [2 ]) of the coordinate system established based on the center of the ultrasonic probe as the origin into the conversion relationship between the above-mentioned spatial coordinate system and the image coordinate system, and can obtain any one three-dimensional image coordinate (pixel [0], pixel [1], pixel [2 ]), thereby enabling the conversion between the spatial coordinate system to the image coordinate system. Of course, this is merely exemplary and is not a limitation of the present disclosure.
In some examples, embodiments of the present disclosure may display the converted pose information into an image coordinate system, thereby displaying the relative positional relationship between the needle tip of the puncture needle and the target puncture point in real time in a visual interface. Therefore, according to the relative positional relationship between the needle tip and the target puncture point in the image coordinate system, the embodiments of the present disclosure may plan a motion path (i.e., the first motion path described above) in the space between the needle tip and the target puncture point in the image coordinate system, convert the first motion path of the needle tip into a motion path of the non-closed positioning hole 1350 (i.e., the third motion path described above) through conversion, convert the third motion path into a second motion path based on the space coordinate system, and then perform a kinematic inverse solution to obtain a motion track of each puncture control member, so as to achieve navigation of the puncture needle 1200. For example, the tip of the needle may be displayed in real time in the image during control.
For example, in a three-dimensional ultrasound image in an image coordinate system, the relative positional relationship between the tip of the puncture needle and the target puncture point can be known. Thus, embodiments of the present disclosure may plan a motion path (i.e., a first motion path) of a needle tip of a puncture needle from a current position to a target puncture point, the first motion path being a motion trajectory of the needle tip under an image coordinate system and a pose matrix of each point on the motion trajectory may be recorded as
In some examples, where the actual physical gauge of the needle of needle 1200 is determined, the length of the needle is determined and the pose matrix of the needle tip position coordinates {3} relative to the coordinate system {1} of non-closed position hole 1350 is known from the aboveFrom this, a motion path (i.e., the third motion path described above) of the non-closed positioning hole 1350 in the image coordinate system can be determined according to the conversion, where a calculation formula of each point on the third motion path is: where k is the image resolution. The third motion path is a motion trajectory of the non-closed positioning hole 1350 in the image coordinate system {2 }.
In some examples, based on the third motion path of the non-closed positioning hole 1350 in the image coordinate system, the embodiment of the disclosure determines, by conversion, a motion path corresponding to the space coordinate system {0} (i.e., the second motion path described above), and the calculation formula of each point on the second motion path is: the second motion path is the motion trajectory of the non-closed positioning hole 1350 in the spatial coordinate system {0 }.
From the above, some embodiments of the present disclosure can learn that the pose matrix of each point on the second motion path is based on the second motion path of the coordinate system {1} of the non-closed positioning hole 1350 relative to the space coordinate system {0}, where the pose matrix isThus, embodiments of the present disclosure may implement a second motion path based on the specific structure of the lancing apparatus and the non-closed positioning hole 1350 to counter-solve the motion trajectory of each lancing control according to the principle of robotics.
For example, one example of a robot kinematic calculation method is to set the pose matrix of the non-closed positioning holes 1350 relative to the spatial coordinate system {0} as:
Wherein rij is a parameter of the rotation matrix, i=1, 2,3, j=1, 2,3, and px,py,pz is a parameter of the position vector, respectively.
For example, the positive kinematic formula for the puncture positioning arm 1600 is illustrated as follows:
The pose matrix of the formula (1) is known, and the formula (1) is equal to the formula (2), so that the angle value corresponding to each component in the formula (2) can be calculated. The results thus obtained are as follows:
θ1＝atan2(py-a3,px+d4)-atan2(k2,k1)
θ2=atan2(s2,c2)
θ3＝-θ1-θ2+90°+x
θ4=atan2(-r31,-r32)
Wherein, θ1+θ2+θ3＝x,k1＝a1+a2·c2,k2 =a 2.s2.
As described above, the embodiment of the present disclosure may convert the motion trajectory of the non-closed positioning hole in the space coordinate system {0} into the motion trajectory of each joint component in the puncture positioning arm set 1600, so as to determine the motion trajectory of each puncture control of the puncture control unit, thereby implementing the navigation of the puncture needle.
In some examples, the penetration navigation method further includes the process or step of comparing the needle direction of the penetration plan information with the current direction of the first motion path visualized in real time to determine a deviation value between the needle direction and the current direction, and updating the first motion path of the penetration needle 1200 based on the deviation value to update the second motion path in response to the deviation value being greater than or equal to a preset angular deviation, such that navigation of the penetration needle 1200 is performed by at least one penetration control based on the updated second motion path until the deviation value between the needle direction of the penetration plan information and the current direction is less than the preset angular deviation.
According to the embodiment of the disclosure, the puncture navigation is automatically compensated by intuitively displaying the theoretical needle inlet direction of the puncture needle and the real-time movement direction of the puncture needle in real time, so that the accuracy of the puncture navigation is improved, and more accurate treatment is realized.
In some examples, when the non-closed pilot hole 1350 of an embodiment of the present disclosure reaches the target end position, the actual ultrasound probe will be moved to the depth (cross-sectional position) and angle (sagittal sectional position) of the selected gauge, and then the position of the selected gauge needle will be marked under real-time ultrasound imaging. After both the ultrasound probe and the lancing positioning arm set 1600 are moved into place, a lancing operation is initiated. For example, the automatic needle insertion mechanism inserts the puncture needle 1200 into the prostate under the real-time ultrasound image, and inserts the puncture needle 1200 5mm at a time (for example, the insertion depth is not limited to 5mm, which may be set according to the actual situation) during the puncture, and automatically checks whether the puncture needle 1200 and the target puncture point are on the same straight line under the real-time ultrasound image. For example, it is shown on the cross section that if there is a deviation value (angle deviation) between the desired needle-advancing direction and the actual current direction of the puncture needle and the deviation value is equal to or greater than a preset angle deviation (the preset angle deviation is equal to or greater than zero), the deviation value may be fed back to a controller (for example, a correction control unit described later) according to which the controller performs compensation of the position posture to update the second movement path so that the navigation of the puncture needle 1200 is performed based on the updated second movement path until the deviation value between the desired needle-advancing direction and the current direction is in accordance with the condition, and then the puncture needle is inserted by 5mm again, and the manner of insertion by 5mm and then inspection is circularly performed until the tip of the puncture needle reaches the target puncture point, thereby completing the puncture of the puncture needle. Of course, this is merely exemplary and is not a limitation of the present disclosure.
Fig. 20 is a schematic block diagram of a puncture navigation system according to some embodiments of the present disclosure.
For example, as shown in fig. 21, a puncture navigation system 2000 for a puncture device 1000 according to at least one embodiment of the present disclosure includes a positioning module 2100, an ultrasound image acquisition module 2200, a puncture planning module 2300, a coordinate system conversion module 2400, a first motion path determination module 2500, a second motion path determination module 2600, and a navigation processing module 2700.
The positioning module 2100 is configured to position the needle 1200 based on the base 1500, determining first three-dimensional coordinate information of the needle 1200 in a spatial coordinate system, which may be established based on the base 1500. The spatial coordinate system of the present disclosure refers to an absolute coordinate system of an objective three-dimensional space, which may also be referred to as a world coordinate system, and is a three-dimensional coordinate system established with a point on the base 1500 as an origin.
The ultrasound image acquisition module 2200 is configured to acquire a set of ultrasound images of the target tissue acquired in real-time by the ultrasound probe to determine a three-dimensional ultrasound image corresponding to the set of ultrasound images.
The puncture planning module 2300 is configured to perform a puncture plan for the puncture needle 1200 based on the three-dimensional ultrasound image to determine puncture planning information including a needle insertion point position of the puncture needle 1200, a needle insertion direction of the puncture needle 1200, and a target puncture point position of the puncture needle 1200.
The coordinate system conversion module 2400 is configured to establish a conversion relationship between an image coordinate system and a spatial coordinate system of an ultrasound image such that a real-time image position of the first three-dimensional coordinate information within the image coordinate system is determined based on the conversion relationship between the image coordinate system and the spatial coordinate system to visualize a relative position between the puncture needle 1200 and a target puncture point position in the image coordinate system in real time. For example, the image coordinate system of an ultrasound image may also be referred to as an image pixel coordinate system.
The first motion path determination module 2500 is configured to determine a first motion path of the needle 1200 based on a relative position between the needle 1200 and a target puncture point location in an image coordinate system.
The second motion path determination module 2600 is configured to determine a second motion path of the piercing guide in a spatial coordinate system having a predetermined positional relationship with the piercing needle 1200 based on the first motion path in the image coordinate system.
The navigation processing module 2700 is configured to navigate the puncture needle 1200 through at least one puncture control of the puncture control based on a second movement path of the puncture guide in a spatial coordinate system.
According to the puncture navigation system disclosed by the embodiment of the disclosure, under the condition that the binocular vision positioning device is not adopted and the optical markers are not arranged on the puncture needle and the ultrasonic probe, the relative position relationship between the puncture needle and the target puncture point can be obtained in real time, so that the cost can be saved, the complexity of the ultrasonic and puncture needle structures can be reduced, and the operation of an operator is facilitated. According to the embodiment of the disclosure, the puncture needle is converted from the space coordinate system to the image coordinate system, so that the relative position between the puncture needle and the target puncture point can be visualized, the puncture needle is intuitively displayed, automatic compensation is performed on puncture navigation through visual display, the accuracy of puncture navigation is improved, and more accurate treatment is realized.
Fig. 21 is a schematic diagram illustrating components of a navigation processing module according to some embodiments of the present disclosure.
For example, as shown in fig. 21, the navigation processing module 2700 includes a control movement trace determination unit 2710 and a driving device 2720. The control movement trace determination unit 2710 is configured to determine a movement trace of each puncture control based on the puncture device 1000 and the second movement path. A drive device 2720 is drivingly connected to each piercing control and is configured to drive the piercing controls along a corresponding motion trajectory to navigate the piercing needle 1200.
Fig. 22 is a schematic diagram illustrating the composition of a second motion path determination module provided in some embodiments of the present disclosure.
In some examples, the piercing guide is a non-closed positioning hole 1350. Thus, the second motion path determination module 2600 includes a first determination unit 2610 and a second determination unit 2620, as shown in fig. 22. The first determining unit 2610 is configured to determine a third movement path of the non-closed positioning hole 1350 in the image coordinate system based on the puncture needle image specification and the first movement path of the puncture needle 1200 in the image coordinate system. The second determining unit 2620 is configured to determine a second movement path of the non-closed positioning hole 1350 within the spatial coordinate system based on the conversion relation between the image coordinate system and the spatial coordinate system and the third movement path in the image coordinate system.
For example, for the example of fig. 22, the positioning module 2100 is configured to determine first three-dimensional coordinate information of the needle 1200 based on three-dimensional coordinate information of the non-closed positioning hole 1350 in a spatial coordinate system and a needle actual physical gauge of the needle 1200 in the spatial coordinate system.
In some examples, for the example of fig. 22, the first three-dimensional coordinate information of the needle tip of the needle 1200 includes three-dimensional coordinate information of the needle tip of the needle 1200 within a spatial coordinate system. This is merely exemplary and is not a limitation of the present disclosure.
In some examples, the positioning module 2100 is further configured to position the ultrasound probe, acquiring second three-dimensional coordinate information of the ultrasound probe within the spatial coordinate system.
In some examples, the ultrasound probe is a smaller-sized cylinder-like structure, and the second three-dimensional coordinate information of the ultrasound probe includes three-dimensional coordinate information of a center of the ultrasound probe within a spatial coordinate system. This is merely exemplary and is not a limitation of the present disclosure.
In some examples, the drive 2720 includes multiple sets of drive mechanisms, each set of drive mechanism being in driving connection with a corresponding piercing control member, respectively, to move the piercing control member along a corresponding second trajectory.
In some examples, the center of the base 1500 may be the origin (0, 0) of the spatial coordinate system such that first three-dimensional coordinate information of the needle 1200 is determined based on a positional relationship between the needle 1200 and the base 1500 (e.g., a positional relationship between the tip of the needle 1200 and the base 1500), and second three-dimensional coordinate information of the ultrasound probe is determined based on a positional relationship between the ultrasound probe and the base 1500. At this time, the spatial coordinate system may be established by taking the horizontal direction of the base 1500 as the horizontal axis of the spatial coordinate system, the vertical direction of the base 1500 as the vertical axis of the spatial coordinate system, and the advancing direction of the ultrasonic assembly 1100 as the vertical axis of the spatial coordinate system. This is merely exemplary and is not a limitation of the present disclosure.
The embodiment of the disclosure establishes a space coordinate system based on the base of the puncture device and based on the position relationship between the puncture needle 1200 and the base 1500 and the position relationship between the ultrasonic probe and the base 1500, and can conveniently and accurately determine the positions of the puncture needle and the ultrasonic probe in the space coordinate system, thereby facilitating the conversion of the coordinate system to realize the navigation of the puncture needle.
It should be noted that some embodiments of the present disclosure are not limited to the above-mentioned establishment of the spatial coordinate system based on the base, but may also use other positions as the origin to establish the spatial coordinate system, for example, a position on the base connected to the puncture control member may also be used as the origin of the spatial coordinate system, which is not limited in this embodiment of the present disclosure, may be set according to the actual situation, and is not described in detail and exhaustive detail herein.
For example, the puncture navigation system 2000 further comprises a display module (not shown) configured to visualize in real time at least one of an ultrasound image (e.g., a real-time raw ultrasound image as shown in fig. 6), a three-dimensional ultrasound image, a needle tip of the puncture needle, a relative position between the needle tip of the puncture needle and a target puncture point position, a first movement path of the puncture needle.
Therefore, the embodiment of the disclosure can conveniently and accurately monitor the navigation condition of the puncture needle in real time, and has a certain guiding effect on puncture navigation. For example, embodiments of the present disclosure can also visualize the relative position between the puncture needle and the target puncture point, intuitively display the puncture needle, and the embodiments of the present disclosure can realize automatic compensation for puncture navigation through intuitive display, thereby being beneficial to improving the accuracy of puncture navigation and realizing more accurate treatment.
In some examples, the present disclosure may assist in navigation through real-time ultrasound, verifying whether the above-described motion trajectory through the planned needle is accurate, which may make the navigation result accurate to meet the expected requirements. In other examples, the present disclosure may assist navigation through a combination of real-time ultrasound and MR to verify that the planned trajectory of motion of the needle is accurate. This allows the navigation results to be accurate to meet the expected requirements.
Fig. 23 is a schematic diagram illustrating the composition of a coordinate system conversion unit according to some embodiments of the present disclosure.
In some examples, as shown in fig. 23, the coordinate system conversion module 2400 includes a coordinate system conversion unit 2410, the coordinate system conversion unit 2410 configured to convert an image coordinate system of an ultrasound image into a spatial coordinate system based on the ultrasound image and second three-dimensional coordinate information of the ultrasound probe to establish a conversion relationship between the image coordinate system and the spatial coordinate system.
For example, as shown in fig. 23, the coordinate system conversion unit 2410 includes a morphological image processing unit 2411, a pixel statistics unit 2412, a conversion processing unit 2413, and a conversion creation unit 2414. The morphological image processing unit 2411 is configured to perform morphological image processing on the ultrasound image to determine a target image area. The pixel statistics unit 2412 is configured to acquire a pixel statistical distribution based on a target image area. The conversion processing unit 2413 is configured to determine a conversion ratio between the diameter of the ultrasonic probe and the number of pixel pitches occupied by the diameter of the ultrasonic probe based on the pixel statistical distribution map and a predetermined diameter of the ultrasonic probe (the diameter of the ultrasonic probe in a spatial coordinate system). The conversion establishing unit 2414 is configured to convert the image coordinate system to a spatial coordinate system based on the conversion ratio and the second three-dimensional coordinate information, establishing a conversion relationship between the image coordinate system and the spatial coordinate system.
Fig. 24 is a schematic diagram illustrating the composition of a coordinate system conversion unit according to other embodiments of the present disclosure.
For example, as shown in fig. 24, the morphological image processing unit 2411 of the coordinate system conversion unit 2410 includes a binarization subunit 2411a and a labeling processing subunit 2411b. The binarization subunit 2411a is configured to binarize the ultrasound image to obtain a first processed image. The labeling processing subunit 2411b is configured to acquire a third processed image by performing region-wise communication and labeling of the first processed image to obtain a plurality of identification-wise communication regions to acquire a second processed image, and determining a target image region from the plurality of identification-wise communication regions. For example, the target image area includes two target identification communication areas, which are the largest and the next largest of the plurality of identification communication areas.
In some examples, the first processed image is an initial binary image obtained after binarization of an original image of the ultrasound image. The second processed image and the third processed image are processed binary images obtained after the labeling process of the initial binary image.
For example, as shown in fig. 24, the conversion processing unit 2413 of the coordinate system conversion unit 2410 includes a definition processing subunit 2413a, a center acquisition subunit 2413b, and a pixel-to-physical distance conversion subunit 2413c. The definition processing subunit 2413a is configured to acquire the boundary line between the cross section and the sagittal section of the two target mark communicating regions and the pixel coordinates corresponding to the boundary line based on the pixel statistical distribution. The circle center sub-acquisition unit 2413b is configured to determine, based on the dividing line, the center of a semicircular area surrounded by two target logo communication areas near each other end by end, wherein the semicircular area is different in color from the logo communication area. The pixel-to-physical distance conversion subunit 2413c is configured to determine a diameter of the ultrasound probe, determine a number of pixel pitches occupied by the diameter based on the center of the circle, and determine a conversion ratio based on the number of pixel pitches occupied by the diameter.
For example, as shown in fig. 24, the conversion establishing unit 2414 includes a first establishing subunit 2414a and a second establishing subunit 2414b. The first setup subunit 2414a is configured to determine the horizontal axis and the vertical axis perpendicular to each other based on the center, the conversion ratio, and the pixel coordinates corresponding to the dividing line. The second setup subunit 2414b is configured to take the depth of the ultrasound probe as a vertical axis and convert the image coordinate system to a spatial coordinate system based on a set of ultrasound images and the second three-dimensional coordinate information.
Fig. 25 is a schematic diagram illustrating components of a correction module according to some embodiments of the present disclosure.
For example, as shown in fig. 20 and 25, the puncture navigation system 2000 can further include a correction module 2800, the correction module 2800 including a comparison unit 2810 and a correction control unit 2820. The comparison unit 2810 is configured to compare the needle insertion direction of the puncture planning information with the current direction of the first movement path visualized in real time, and to determine a deviation value between the needle insertion direction and the current direction. The correction control unit 2820 is configured to update the first movement path of the puncture needle to update the second movement path based on the deviation value in response to the deviation value being equal to or greater than the preset angle deviation, so that the navigation processing module 2700 performs navigation of the puncture needle 1200 through the at least one puncture control based on the updated second movement path until the deviation value between the needle advancing direction and the current direction is smaller than the preset angle deviation.
It should be noted that in the embodiment of the present disclosure, the puncture navigation system 2000 may include more or fewer modules, and the connection relationship between the respective modules is not limited and may be determined according to actual requirements. The specific constitution of each module is not limited. It should be further noted that, specific components, functions and technical effects of the puncture navigation system according to some embodiments of the present disclosure may refer to the above description about the puncture navigation method, and the disclosure is not described in detail herein for brevity of description of the present disclosure.
Each module in the above embodiments may be configured as software, hardware, firmware, or any combination thereof, respectively, that performs a specific function. For example, these modules may correspond to application specific integrated circuits, to pure software code, or to a combination of software and hardware.
It should be noted that, although the puncture navigation system is described above as being divided into modules for executing the respective processes, it is clear to those skilled in the art that the processes executed by the respective modules may be executed without any specific division of the modules or without explicit demarcation between the respective modules.
At least one embodiment of the present disclosure also provides a lancing device that includes a base (e.g., base 1500), a lancet (e.g., lancet 1200), a lancing control, and an ultrasound probe. The base is configured to establish a spatial coordinate system based thereon. The position information of the puncture needle in the space coordinate system is first three-dimensional coordinate information. The penetration control portion includes at least one penetration control member. The at least one penetration control includes a penetration positioning arm set (e.g., penetration positioning arm set 1600) and a penetration depth control stop (e.g., penetration depth control stop 1340). The puncture positioning arm set is arranged on the base and is configured to puncture and position the puncture needle, and the puncture depth control block is provided with a non-closed positioning hole for the puncture needle to pass through. The ultrasound probe is configured to acquire a set of ultrasound images of a target tissue to determine a three-dimensional ultrasound image corresponding to the set of ultrasound images, such that a puncture plan for the puncture needle is performed based on the three-dimensional ultrasound images to determine puncture planning information and such that a real-time image position of the first three-dimensional coordinate information within the image coordinate system is determined based on a conversion relation between the image coordinate system and the spatial coordinate system of the ultrasound images by establishing the conversion relation to visualize a relative position between the puncture needle and the target puncture point position in the image coordinate system in real time, wherein the puncture planning information includes a needle insertion position of the puncture needle, a needle insertion direction of the puncture needle, and the target puncture point position of the puncture needle. The method comprises the steps of determining a first movement path of a puncture needle based on a relative position between the puncture needle and a target puncture point position in an image coordinate system, determining a second movement path of a puncture guide member having a preset position relation with the puncture needle in a space coordinate system based on the first movement path in the image coordinate system, and navigating the puncture needle through at least one puncture control member based on the second movement path in the space coordinate system.
In some examples, with the above-described puncture device, the ultrasonic probe is movably disposed on the base, and the positional information of the ultrasonic probe within the spatial coordinate system is the second three-dimensional coordinate information, so that the image coordinate system of the ultrasonic image is converted to the spatial coordinate system based on the ultrasonic image and the second three-dimensional coordinate information to establish the conversion relation between the image coordinate system and the spatial coordinate system.
It should be noted that, the functions, technical effects, etc. of the puncture device according to the embodiments of the present disclosure may refer to the above description about the puncture navigation method and system, and are not repeated herein.
Fig. 26 is a schematic structural diagram of an electronic device provided in at least one embodiment of the present disclosure, where the electronic device 3000 includes a processor 3100 and a memory 3200, where the memory 3200 stores a computer program, and when the computer program is executed by the processor 3100, the puncture navigation method according to at least some embodiments of the present disclosure is implemented.
The electronic device in the embodiments of the present disclosure may include, but is not limited to, a mobile terminal such as a notebook computer, a tablet computer, etc., and a fixed terminal such as a desktop computer, etc. The electronic device shown in fig. 23 is merely an example, and should not impose any limitation on the functionality and scope of use of the embodiments of the present disclosure.
For example, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. The puncture navigation method of the embodiments of the present disclosure is performed when the computer program is executed by the processor.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. 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 of a computer-readable storage medium may include, but are not limited to, 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 an embodiment of the present disclosure, 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. Whereas in embodiments of the present disclosure, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. 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 electrical wiring, fiber optic cable, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be included in the electronic device or may exist alone without being incorporated into the electronic device.
It should be noted that, in the embodiments of the present disclosure, specific functions and technical effects of the electronic device 3000 may refer to the description of the puncture navigation method above, which is not repeated herein.
The following points need to be described:
(1) The drawings of the embodiments of the present disclosure relate only to the structures to which the embodiments of the present disclosure relate, and reference may be made to the general design for other structures.
(2) The embodiments of the present disclosure and features in the embodiments may be combined with each other to arrive at a new embodiment without conflict.
The above is merely a specific embodiment of the disclosure, but the protection scope of the disclosure should not be limited thereto, and the protection scope of the disclosure should be subject to the claims.