Disclosure of Invention
The embodiments of the present specification aim to solve at least one of the technical problems in the related art to some extent. For this reason, the embodiment of the present specification proposes a navigation puncture method, apparatus, device and storage medium.
The embodiment of the specification provides a navigation puncture method, which comprises the following steps:
acquiring a target puncture parameter, wherein the target puncture parameter is determined based on a scanning image of a target object before puncture;
Controlling a C-arm imaging device to acquire a target scanning image of the target object based on the target puncture parameters, and marking a target puncture position on the target scanning image;
And projecting a puncture auxiliary matrix on the target object, and adjusting the position of a puncture needle based on the position relation between the mark of the target puncture position on the target object and the puncture auxiliary matrix and the real-time puncture image acquired by the C-arm imaging device so as to enable the puncture needle to reach the target puncture position.
In one embodiment, the target puncture parameters include a needle insertion angle and a target puncture position, the controlling the C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameters, and marking the target puncture position in the target scan image includes:
Controlling a rack of the C-arm imaging equipment to move to a puncture positioning position based on the needle insertion angle, wherein the central line of the C-arm imaging equipment at the puncture positioning position is parallel to the needle insertion direction, the central line of the C-arm imaging equipment passes through the target puncture position, and the central line of the C-arm imaging equipment is a connecting line between the center point of the detector and the center point of the wire harness device;
Under the puncture positioning position, the C-arm imaging equipment performs exposure acquisition to obtain a target scanning image of the target object;
and marking on the target scanning image based on the target puncture position so as to display the mark of the target puncture position on the target scanning image.
In one embodiment, projecting a puncture assistance matrix on the target object, and adjusting a puncture needle position based on a positional relationship between a mark of the target puncture position on the target scan image and the puncture assistance matrix, and a real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position includes:
Determining an initial puncture position of a puncture needle based on a position relationship between a mark of the target puncture position on the target scan image and the puncture auxiliary matrix, wherein a center line of the C-arm imaging device passes through the target puncture position and a center of the puncture auxiliary matrix, and the center of the puncture auxiliary matrix is determined as the initial puncture position;
Determining the relative position of a puncture needle mark and a mark of the target puncture position according to a real-time puncture image acquired by the C-arm imaging equipment, wherein the real-time puncture image comprises the mark of the target puncture position and the puncture needle mark;
and if the puncture needle mark is overlapped with the mark of the target puncture position, the puncture needle reaches the target puncture position.
In one embodiment, the method further comprises:
If the puncture needle mark is not overlapped with the mark of the target puncture position, determining the adjustment position of the puncture needle under the guidance of the puncture auxiliary matrix according to the relative positions of the puncture needle mark and the mark of the target puncture position;
Repeatedly executing the acquired real-time puncture image and the operation of adjusting the position of the puncture needle, and enabling the puncture needle to reach the target puncture position under the condition that the puncture needle mark is overlapped with the mark of the target puncture position.
In one embodiment, the target puncture parameters include a needle insertion angle, a target puncture position, and a target puncture depth, the scan image includes a three-dimensional reconstructed image, and determining the target puncture parameters based on the scan image of the target object before puncture includes:
determining a target puncture position corresponding to the focus point based on the three-dimensional reconstructed image;
determining the target penetration depth based on the focus point and the target penetration position;
and adjusting the angle of the three-dimensional reconstructed image, and determining the angle when the focus point is overlapped with the sight of the target puncture position as a needle inserting angle.
In one embodiment, after the puncture needle reaches the target puncture location, the projection direction of the puncture assistance matrix represents a needle penetration angle of the puncture needle, the projection direction being visually identifiable, the method further comprising:
And under the condition that the puncture needle is controlled to be parallel to the projection direction of the puncture auxiliary matrix, executing the needle inserting action of the puncture needle.
In one embodiment, the projection direction of the puncture assistance matrix is determined by:
and carrying out position conversion on the matrix projection device according to the center point of the detector, and determining the projection direction of the matrix projection device, wherein the projection direction is perpendicular to the detection plane of the detector.
In one embodiment, the C-arm imaging device further comprises an image acquisition device, the target penetration parameter comprises a target penetration depth, the method further comprising;
determining the real-time puncture depth corresponding to the puncture needle based on the image acquisition equipment in the process of executing the puncture operation;
and under the condition that the real-time puncture depth reaches the target puncture depth, completing the puncture operation.
In one embodiment, the method further comprises:
and the puncture auxiliary matrix is fused and displayed with the target scanning image and/or the real-time puncture scanning image in equal proportion.
The present description provides a navigation puncture device, the device comprising:
The puncture parameter acquisition module is used for acquiring target puncture parameters, wherein the target puncture parameters are determined based on a scanning image of a target object before puncture;
The image acquisition labeling module is used for controlling the C-arm imaging equipment to acquire a target scanning image of the target object based on the target puncture parameter and marking the target puncture position in the target scanning image;
The puncture position determining module is used for projecting a puncture auxiliary matrix on the target object, and adjusting the position of a puncture needle based on the position relation between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix and the real-time puncture image acquired by the C-arm imaging device so as to enable the puncture needle to reach the target puncture position.
The present description provides a computer device comprising a memory and one or more processors communicatively coupled to the memory, the memory having stored therein instructions executable by the one or more processors to cause the one or more processors to implement the steps of the method of any of the above embodiments.
The present description provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method according to any of the above embodiments.
The present description provides a computer program product comprising instructions which, when executed by a processor of a computer device, enable the computer device to perform the steps of the method of any one of the embodiments described above.
In the above-described embodiments, first, the target puncture parameter is acquired based on the scanned image of the target object before puncture. The target puncture parameter is used as the basis for the subsequent puncture operation, so that the puncture operation can be accurately and reliably performed. Then, the C-arm imaging device is controlled to acquire a target scanning image of the target object based on the target puncture parameters, and target puncture position marks are carried out on the target scanning image, so that visual reference is provided for subsequent operation by visualizing the target puncture position. Then, a puncture auxiliary matrix is projected on the target object as an auxiliary positioning tool. Finally, based on the position relation between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix and the real-time puncture image acquired by the C-arm imaging device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position. By means of real-time feedback and dynamic adjustment, accuracy of puncture operation is improved. Meanwhile, as the puncture auxiliary matrix covers the surface of the puncture position of the target object, the puncture auxiliary matrix can provide navigation information such as the puncture target position, the moving direction and the moving distance, and the position adjustment of the puncture needle can be guided based on the mark of the target puncture position and the position relation of the puncture auxiliary matrix. In addition, the embodiment provides visual operation demonstration, and is suitable for teaching and clinical guidance.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
When a compound operating room performs pathological examination and chest and abdomen puncture operation, the traditional puncture method has some remarkable defects including low puncture precision, high degree of dependence on experience of doctors, long operation time, large radiation dose of patients and the like.
When the interventional operation is performed in a compound operating room, a doctor usually performs accurate marking on the body surface of a patient after three-dimensional scanning is completed. Conventional methods include painting with self-adhesive labels and markers to ensure the accuracy of the puncture site. The doctor operates the puncture needle according to the marking to perform the puncture. However, when using other materials for marking, multiple adjustments and erasures are often required, which not only increases the complexity of the operation, but also causes additional burden to the patient and operator. In addition, this method does not have an accurate reference, cannot provide an angle reference in real time, and is completely dependent on the experience of an operating technician.
In the process of assisting in puncture, a conventionally used infrared cross laser lamp is used for accurate positioning, and the laser point is usually fixed. When the puncture navigation is performed, a doctor needs to make the puncture mark on the surface of the patient coincide with the laser point by moving the operating table. In a Digital Subtraction Angiography (DSA) configuration, the motion of the catheter bed is adjusted by manual axis. This means that the operator has to manually move the bed to ensure that the laser spot is aligned with the mark. Since this method relies entirely on manual manipulation, it results in less accurate penetration. At the same time, this process may produce loud noise that affects the patient's comfort experience under local anesthesia. If the operator's bed is chosen not to be moved, but the cross center point of the laser light is adjusted, the position of the laser light needs to be constantly calibrated to ensure that it is aligned with the puncture mark. This not only increases the complexity of the operation, but may also lead to more errors and thus higher technical and empirical requirements.
Based on this, the present embodiment provides a navigation puncture method. First, a target puncture parameter is acquired based on a scanned image of a target object before puncture. The target puncture parameter is used as the basis for the subsequent puncture operation, so that the puncture operation can be accurately and reliably performed. Then, the C-arm imaging device is controlled to acquire a target scanning image of the target object based on the target puncture parameters, and target puncture position marks are carried out on the target scanning image, so that visual reference is provided for subsequent operation by visualizing the target puncture position. Then, a puncture auxiliary matrix is projected on the target object as an auxiliary positioning tool. Finally, based on the position relation between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix and the real-time puncture image acquired by the C-arm imaging device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position. By means of real-time feedback and dynamic adjustment, accuracy of puncture operation is improved. Meanwhile, as the puncture auxiliary matrix covers the surface of the puncture position of the target object, the puncture auxiliary matrix can provide navigation information such as the puncture target position, the moving direction and the moving distance, and the position adjustment of the puncture needle can be guided based on the mark of the target puncture position and the position relation of the puncture auxiliary matrix. In addition, the embodiment provides visual operation demonstration, and is suitable for teaching and clinical guidance.
The navigation puncture method of the embodiment of the present specification is applied to a C-arm imaging apparatus, and DSA is one of the C-arm imaging apparatuses. Taking DSA as an example, referring to fig. 1, the DSA apparatus first performs a CT-like scan to obtain CT-like scan data. The DSA device then sends the CT-like scan data to the post-processing workstation. The post-processing workstation starts a three-dimensional path diagram function, and a proper puncture path is planned on a path planning page to obtain target puncture parameters, wherein the target puncture parameters can comprise a needle insertion angle and a target puncture position. The post-processing workstation sends the target puncture parameters to the DSA device. Then the DSA equipment starts a puncture path returning function, the remote sensing is controlled by pushing down and pushing forward, the stand of the DSA equipment is controlled to move to a puncture positioning position based on the needle inserting angle, a matrix projection device is opened, and a puncture auxiliary matrix is projected on a target object.
And under the puncture positioning position, performing exposure acquisition by using DSA equipment to obtain a target scanning image of the target object. Based on the position relation between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix and the real-time puncture image acquired by the DSA equipment, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position. The needle insertion action of the puncture needle is performed under the control of the puncture needle being parallel to the projection direction of the puncture auxiliary matrix. And determining the real-time puncture depth corresponding to the puncture needle based on the image acquisition equipment in the process of executing the puncture operation. And under the condition that the real-time puncture depth reaches the target puncture depth, completing the puncture operation.
The embodiment of the present disclosure provides a navigation puncture method, referring to fig. 2, the navigation puncture method may include the following steps:
s210, acquiring target puncture parameters.
Wherein the target penetration parameter is determined based on a scanned image of the target object prior to penetration.
Specifically, first, a scanned image of a target object is acquired with a C-arm imaging apparatus. In the scanned image, a target puncture point is selected according to the clinical judgment and the specific position of the focus point. At this time, it is necessary to ensure that the target puncture point is selected to be closest to the focal point to the greatest extent, and at the same time, damage to important structures is avoided on the puncture path. The puncture path is simulated using computer-aided tools (e.g., virtual reality or augmented reality techniques) to ensure that the path is smooth and maintains a safe distance from the anatomy. And determining the information such as the target puncture depth, the needle insertion angle and the like based on the information of the target puncture point and the information of the focus point. Thus, the target penetration parameters may include a target penetration depth, a needle insertion angle, and a target penetration location.
S220, controlling the C-arm imaging device to acquire a target scanning image of the target object based on the target puncture parameters, and marking the target puncture position on the target scanning image.
S230, projecting a puncture auxiliary matrix on the target object, and adjusting the position of the puncture needle based on the position relation between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix and the real-time puncture image acquired by the C-arm imaging device so as to enable the puncture needle to reach the target puncture position.
Specifically, based on the target puncture parameters, the C-arm imaging device is controlled to perform target scanning to acquire a target scanning image of the target object. The C-arm imaging device can generate clear images of blood vessels and surrounding tissues in real time and provide information required by doctors, so that the accuracy of puncture is ensured. Labeling is performed on the target scanning image based on the target puncture parameters so as to display the mark of the target puncture position. Then, a puncture assistance matrix is projected on the target object. When puncture navigation is performed, based on a puncture auxiliary matrix projected on a target object, real-time feedback and guidance are provided by combining a marked target puncture position on a target scanning image and a real-time puncture image acquired by C-arm imaging equipment, so that the position of a puncture needle is adjusted, and the puncture needle reaches the target puncture position. By the method, the puncture position can be adjusted in real time in the process of executing puncture operation on the target object, so as to ensure that the focus point is accurately reached.
In the above embodiment, first, the target puncture parameter is acquired based on the scanned image of the target object before puncture. The target puncture parameter is used as the basis for the subsequent puncture operation, so that the puncture operation can be accurately and reliably performed. Then, the C-arm imaging device is controlled to acquire a target scanning image of the target object based on the target puncture parameters, and target puncture position marks are carried out on the target scanning image, so that visual reference is provided for subsequent operation by visualizing the target puncture position. Then, a puncture auxiliary matrix is projected on the target object, and as an auxiliary positioning tool, the puncture auxiliary matrix may be in a grid shape. Finally, based on the position relation between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix and the real-time puncture image acquired by the C-arm imaging device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position. By means of real-time feedback and dynamic adjustment, accuracy of puncture operation is improved. Meanwhile, as the puncture auxiliary matrix covers the surface of the puncture position of the target object, the puncture auxiliary matrix can provide navigation information such as the puncture target position, the moving direction and the moving distance, and the position adjustment of the puncture needle can be guided based on the mark of the target puncture position and the position relation of the puncture auxiliary matrix. In addition, the embodiment provides visual operation demonstration, and is suitable for teaching and clinical guidance.
In some embodiments, referring to fig. 3a, the target penetration parameters include a needle penetration angle and a target penetration position, controlling the C-arm imaging device to acquire a target scan image of the target object based on the target penetration parameters, and marking the target penetration position in the target scan image may include the steps of:
And S310, controlling the rack of the C-arm imaging equipment to move to the puncture positioning position based on the needle insertion angle.
And S320, under the puncture positioning position, performing exposure acquisition by using C-arm imaging equipment to obtain a target scanning image of the target object.
S330, marking is carried out on the target scanning image based on the target puncture position so as to display the mark of the target puncture position on the target scanning image.
The center line of the C-shaped arm imaging device at the puncture positioning position is parallel to the needle inserting direction and passes through the target puncture position, and the center line of the C-shaped arm imaging device is a connecting line between the center point of the detector and the center point of the wire harness device.
In particular, the needle insertion angle can provide a better needle insertion view, enabling more precise alignment between the lesion and the penetration path. Therefore, the puncture operation is performed under the needle inserting angle, puncture deviation caused by improper visual angle can be reduced, and the success rate and accuracy of the puncture operation are improved. Thus, the operator activates the motion system of the gantry of the C-arm imaging device by depressing the push-forward rocker. And the frame of the C-arm imaging equipment is controlled to move based on the setting information of the needle inserting angle, so that the frame can be accurately positioned to the puncture positioning position. Because the central line of the C-shaped arm imaging device at the puncture positioning position is parallel to the needle inserting direction, after the stand of the C-shaped arm imaging device moves to the puncture positioning position, the C-shaped arm imaging device can perform exposure acquisition to obtain a target scanning image of a target object. Because the central line of the C-shaped arm imaging device at the puncture locating position is parallel to the needle inserting direction, the target puncture position and the focus point are overlapped on the sight on the target scanning image, namely the focus point position on the target scanning image is the target puncture position, and the target puncture position reflects the needle inserting position of the puncture needle on the body surface of the target object. After the target scanning image is obtained, the position corresponding to the target puncture position is determined and marked on the target scanning image by utilizing an image processing tool according to the coordinates of the target puncture position, so that the mark of the target puncture position is displayed on the target scanning image. For example, referring to fig. 3b, a marker 302 of a target puncture location is shown in fig. 3 b.
It should be noted that, referring to fig. 3C, after the frame of the C-arm imaging apparatus moves to the puncture positioning position, the matrix projection device 304 at the puncture positioning position projects the puncture auxiliary matrix 306 on the target object, so as to guide the moving direction and distance of the puncture needle according to the mark of the target puncture position. The matrix projection device 304 may be an infrared projection device.
In the above embodiment, based on the needle insertion angle, the frame of the C-arm imaging device is controlled to move to the puncture positioning position, under the puncture positioning position, the C-arm imaging device performs exposure acquisition, and the target scan image of the target object is obtained and marked on the target scan image based on the target puncture position, so as to display the mark of the target puncture position on the target scan image, improve the positioning accuracy, and reduce the damage risk caused by the puncture angle or the position error.
In some embodiments, referring to fig. 4, the scanned image comprises a three-dimensional reconstructed image, and determining the target penetration parameter based on the scanned image of the target object prior to penetration may comprise the steps of:
S410, acquiring an initial scanning image sequence of the target object before puncture.
S420, performing slice reconstruction based on the initial scanning image sequence to generate a three-dimensional reconstruction image.
S430, performing puncture path planning based on the three-dimensional reconstructed image to obtain target puncture parameters.
Specifically, the C-arm imaging equipment is utilized to perform exposure acquisition on the target object before puncture to obtain original imaging data, and then the original imaging data is subjected to image reconstruction to obtain an initial scanning image sequence of the target object. Next, the initial scan image sequence is processed using an image reconstruction algorithm to reconstruct a continuous three-dimensional volume data to obtain a three-dimensional reconstructed image. Then, the three-dimensional reconstructed image is analyzed, and the position, the size and the relation with surrounding tissues of the focus point are accurately observed. Based on the image analysis result, the puncture path planning is performed in combination with the spatial distribution of focus points, the clinical requirement of puncture points and the existence of surrounding sensitive structures. According to the result of path planning, specific parameters required in the puncturing process are automatically calculated, and target puncturing parameters are obtained. The target puncture parameters can be executed through a navigation system, so that accurate puncture operation can be ensured.
Illustratively, the C-arm imaging device may be a DSA device. The DSA equipment performs data acquisition on the target object to obtain a class CT image sequence and sends the class CT image sequence to a post-processing workstation. The post-processing workstation can reconstruct the section of the CT-like image sequence to form a three-dimensional reconstructed image. Based on the three-dimensional reconstructed image, the post-processing workstation plans a proper puncture direction and puncture path, and calculates target puncture parameters required by the operation.
In the above embodiment, an initial scan image sequence of the target object before puncture is obtained, slice reconstruction is performed based on the initial scan image sequence, a three-dimensional reconstruction image is generated, puncture path planning is performed based on the three-dimensional reconstruction image, and target puncture parameters are obtained so as to guide puncture operation, thereby reducing errors and deviations and reducing operation risks.
In some embodiments, referring to fig. 5a, where the target penetration parameters include a needle penetration angle, a target penetration position, and a target penetration depth, the scanned image includes a three-dimensional reconstructed image, and determining the target penetration parameters based on the scanned image of the pre-penetration target object may include the steps of:
s510, determining a target puncture position corresponding to the focus point based on the three-dimensional reconstructed image.
S520, determining the target puncture depth based on the focus point and the target puncture position.
And S530, adjusting the angle of the three-dimensional reconstructed image, and determining the angle when the focus point is overlapped with the sight of the target puncture position as the needle inserting angle.
Specifically, a connection line between the focus point and a position on the surface of the human body, where the puncturing operation needs to be performed, is used as a puncturing path. Based on the three-dimensional reconstructed image, the focus point position is obtained, the target puncture position is determined based on the focus point position, and the connecting line of the target puncture position and the focus point is used as a puncture path. When the target puncture position is selected, the puncture path is prevented from passing through important anatomical structures as much as possible, and the damage to the important anatomical structures is avoided. And determining the target puncture depth according to the relative position of the focus point and the target puncture position by using a calculation method. Next, the three-dimensional reconstructed image angle is adjusted by rotating the three-dimensional reconstructed image using a mouse or a controller to observe the focal point from different angles. In the process of adjusting the angle of the three-dimensional reconstructed image, when the focal point and the target puncture position are visually aligned, that is, they overlap in the line-of-sight direction, the observation angle at this time is determined as the needle insertion angle. The three-dimensional reconstruction image is obtained by reconstructing an initial scanning image sequence, and each image in the initial scanning image sequence corresponds to the positioning information of the C-shaped arm imaging device, wherein the positioning information is the position information of the frame in the image acquisition process, so that different angles of the three-dimensional reconstruction image can be in relation with the positioning of the C-shaped arm imaging device, the relation can be established by adopting a mode of implementation in a related technology, for example, the three-dimensional reconstruction image and the C-shaped arm imaging device can be fused under the same space coordinate system, and the description is omitted. And 3, adjusting the angle of the three-dimensional reconstructed image, and actually adjusting the puncture positioning angle of the C-arm imaging equipment during the acquisition of the subsequent real-time scanning image. In the puncturing process, the needle inserting angle of the puncture needle is perpendicular to the detection plane of the detector of the C-arm imaging device, the plane where the detection plane is located is the projection plane of the target object, and the real-time scanning image is actually an expression of the projection condition of the target object on the projection plane.
Illustratively, the probe, harness, focal point remain vertical. Referring to fig. 5b, a line 506 between the center point of the probe 502 and the center point of the harness 504 is the center line of the DSA device. A line parallel to the centerline of the DSA device passes through the focal point, which is actually the penetration path.
Referring to fig. 5c, the post-processing workstation calculates target puncture parameters in the case where the focal point and the target puncture position are superimposed on the three-dimensional reconstructed image and the line between the focal point and the target puncture position is parallel to the device centerline, and shows a needle insertion angle 508, a target puncture position 510, and a target puncture depth 512 in fig. 5 c.
In the above embodiment, the target puncture position corresponding to the focal point is determined based on the three-dimensional reconstructed image, the target puncture depth is determined based on the focal point and the target puncture position, the angle of the three-dimensional reconstructed image is adjusted, and the angle when the line of sight of the focal point and the target puncture position is superimposed is determined as the needle insertion angle so as to guide the puncture operation, thereby reducing errors and deviations and reducing surgical risks.
In some embodiments, referring to fig. 6, projecting a puncture assistance matrix on a target object, and adjusting a puncture needle position based on a position relationship between a mark of a target puncture position on a target scan image and the puncture assistance matrix, and a real-time puncture image acquired by a C-arm imaging device, so that the puncture needle reaches the target puncture position, may include the steps of:
s610, determining the initial puncture position of the puncture needle based on the position relation between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix.
Wherein a center line of the C-arm imaging device passes through a target puncture location and a center of the puncture auxiliary matrix, and the center of the puncture auxiliary matrix is determined as an initial puncture location.
Specifically, the puncture auxiliary matrix projects on the target object, and as the center line of the C-shaped arm imaging device passes through the target puncture position and the center of the puncture auxiliary matrix, the center of the puncture auxiliary matrix can indicate the target puncture position, so that the position relationship between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix is established.
S620, determining the relative positions of the mark of the target puncture position and the puncture needle mark according to the real-time puncture image acquired by the C-arm imaging device.
The real-time puncture image comprises a mark of a target puncture position and a puncture needle mark.
Specifically, the initial puncture location determined by the puncture assistance matrix may be inaccurate due to a puncture positioning error of the C-arm imaging device, a projection error of the puncture assistance matrix, and a movement of the target object, etc. Then, the C-arm imaging equipment is used for carrying out exposure acquisition on the target object at the puncture positioning position, so that a real-time puncture image comprising a mark of the target puncture position and a puncture needle mark is obtained, and the puncture needle mark is displayed on the real-time puncture image. By analyzing the real-time puncture image, the actual condition of the puncture needle and the target puncture position is determined based on the relative position between the puncture needle mark and the mark of the target puncture position. If the puncture needle identifier and the mark of the target puncture position overlap, the initial puncture position is the target puncture position, i.e. the puncture needle reaches the target puncture position, if the puncture needle identifier and the mark of the target puncture position do not overlap, steps S630 and S640 are performed.
S630, determining the adjusting position of the puncture needle under the guidance of the puncture auxiliary matrix according to the relative positions of the puncture needle mark and the mark of the target puncture position.
Specifically, on the real-time puncture image, if there is a deviation in the positional relationship between the puncture needle identification and the mark of the target puncture position, it is indicated that the puncture needle is not accurately positioned at the position where the puncture operation needs to be performed, i.e., the target puncture position. In this case, it is necessary to determine the direction and the approximate distance in which the puncture needle needs to be adjusted by guiding the puncture assistance matrix based on the deviation between the puncture needle identification and the mark of the target puncture position. Then, under the guidance of the puncture auxiliary matrix, the position of the puncture needle is adjusted according to the direction and the approximate distance which are required to be adjusted under the condition of not moving the bed, so that the adjusted position of the puncture needle is determined on the body surface of the target object.
S640, repeatedly executing the acquired real-time puncture image and the operation of adjusting the puncture needle, and enabling the puncture needle to reach the target puncture position under the condition that the puncture needle mark is overlapped with the mark of the target puncture position.
Specifically, the puncture needle needs to reuse the C-shaped arm imaging equipment to perform exposure acquisition on the target object at the puncture positioning position under the adjustment position, so as to obtain a real-time puncture image comprising the mark of the target puncture position and the puncture needle mark. Then, on the retrieved real-time puncture image, the puncture needle identification and the marking of the target puncture location are determined. Then, the adjusting position of the puncture needle is determined according to the relative positions of the puncture needle mark and the mark of the target puncture position. If there is no deviation in the positional relationship between the puncture needle identification and the mark of the target puncture position, i.e., if the puncture needle identification overlaps the mark of the target puncture position, indicating that the puncture needle has reached the position where the puncture operation is performed, i.e., the target puncture position, the operation of adjusting the puncture needle position is stopped. If the position relation between the puncture needle identification and the mark of the target puncture position still has deviation, repeatedly executing the acquired real-time puncture image and the position adjustment operation of the puncture needle until the puncture needle identification is overlapped with the mark of the target puncture position.
In the above embodiment, the initial puncture position of the puncture needle is determined based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, the relative position between the mark of the target puncture position and the mark of the puncture needle is determined according to the real-time puncture image acquired by the C-arm imaging device, and the adjustment position of the puncture needle is determined under the guidance of the puncture auxiliary matrix according to the relative position between the mark of the puncture needle and the mark of the target puncture position, thereby improving the operation efficiency. Then, the acquired real-time puncture image and the operation of adjusting the puncture needle are repeatedly executed, and the puncture needle reaches the target puncture position in the case where the puncture needle mark overlaps with the mark of the target puncture position.
In some embodiments, the projection direction of the puncture assistance matrix represents the needle insertion angle of the puncture needle after the puncture needle reaches the target puncture location, the projection direction being visually identifiable, and the method may further comprise performing the needle insertion action of the puncture needle with the puncture needle controlled to be parallel to the projection direction of the puncture assistance matrix.
Specifically, the projection direction of the puncture auxiliary matrix is parallel to the center line of the C-arm imaging device, which indicates that after determining the position where the puncture needle needs to perform the puncture operation, the puncture needle is made to perform the puncture operation parallel to the projection direction of the puncture auxiliary matrix, so that the focus point can be reached. Therefore, when the puncture needle reaches the target puncture position, the projection direction can be visually recognized, so that the inclination angle of the puncture needle can be adjusted according to the projection direction of the puncture auxiliary matrix, the puncture needle is parallel to the projection direction of the puncture auxiliary matrix, and then the needle insertion action of the puncture needle is performed.
For example, the matrix projection device may be deployed at the detector edge. Referring to fig. 7a, the dsa apparatus includes a matrix projection device 702 and a detector 704, the matrix projection device 702 being disposed on the detector 704.
Referring to fig. 7b, in the case that the matrix projection device 702 projects the puncture auxiliary matrix on the target object, based on the real-time puncture image including the mark of the target puncture position and the puncture needle mark acquired in the puncture positioning position, the puncture needle reaches the target puncture position 708 in the case that the puncture needle mark overlaps with the mark of the target puncture position. The needle tip of the puncture needle 710 is fixed at the target puncture site 708, and the puncture needle 710 is controlled to be parallel to the projection direction of the puncture auxiliary matrix, and the needle insertion operation of the puncture needle 710 is performed.
In the above embodiment, the needle insertion operation of the puncture needle is performed with the puncture needle controlled to be parallel to the projection direction of the puncture auxiliary matrix, enhancing the convenience of operation.
In some embodiments, the projection direction of the lancing auxiliary matrix is determined by position scaling the matrix projection device based on the probe center point, and determining the projection direction of the matrix projection device.
Wherein the projection direction is perpendicular to the detection plane of the detector.
Specifically, according to the current position of the detector, the coordinate position of the center point of the detector is calculated. Then, according to the relative position between the center point of the detector and the matrix projection device, the angle when the projection direction projected by the matrix projection device is perpendicular to the detection plane of the detector is calculated and determined as the projection direction of the matrix projection device.
For example, referring to fig. 8, the puncture auxiliary matrix uses the center point ISOCenter of the probe as the origin of coordinates, and performs position conversion on the matrix projection device according to the center point ISOCenter of the probe to determine the projection angle of the matrix projection device.
In the above embodiment, the position conversion is performed on the matrix projection device according to the center point of the detector, so as to determine the projection direction of the matrix projection device, and the projection direction is used for guiding the puncture needle subsequently, and determining the needle insertion angle of the puncture needle, thereby simplifying the operation and improving the efficiency and accuracy.
In some embodiments, referring to fig. 9a, the c-arm imaging apparatus further comprises an image acquisition apparatus, the target penetration parameter comprises a target penetration depth, the method may further comprise the steps of:
S910, determining the real-time puncture depth corresponding to the puncture needle based on the image acquisition equipment in the process of executing the puncture operation.
S920, completing the puncturing operation under the condition that the real-time puncturing depth reaches the target puncturing depth.
Specifically, after performing the needle insertion action of the puncture needle, the puncture needle is slowly inserted into the target object. During the execution of the puncturing operation, an image of the puncturing region is acquired in real time using an image acquisition device. The real-time image is analyzed through an image processing algorithm to accurately monitor the relative depth of the puncture needle and calculate the real-time length of the puncture needle. And subtracting the total length of the puncture needle from the real-time length of the puncture needle to obtain the real-time puncture depth corresponding to the puncture needle. In the puncturing process, when the real-time puncturing depth is monitored to reach the target puncturing depth in real time, a visual or sound prompt is sent out to prompt an operator to finish puncturing operation. The image acquisition device can be any one of a camera and a fisheye camera.
In some embodiments, the camera may track and calculate the length and position of the puncture needle in real time through monocular or stereoscopic vision techniques in combination with a depth learning algorithm. Obvious scale marks are carved on the surface of the puncture needle, and the camera reads the scales in real time by utilizing an image recognition technology so as to assist in judging that the puncture needle reaches the target puncture depth.
For example, the image acquisition device may be deployed at the detector edge. Referring to fig. 7a, the dsa device comprises an image acquisition device 706 and a detector 704, the image acquisition device 706 being arranged on the edge of the detector 704. Referring to fig. 9b, fig. 9b shows various types of lancets with different designs to accommodate different clinical needs. Referring to fig. 9c, fig. 9c shows the needle tube scale marking of the puncture needle, and the system is used for indicating the puncture depth, so that the controllability and the safety of an operator in the puncture process are enhanced.
In the embodiment, the real-time puncture depth corresponding to the puncture needle is determined based on the image acquisition equipment in the process of executing the puncture operation, and the puncture operation is completed under the condition that the real-time puncture depth reaches the target puncture depth, so that the accuracy of the puncture operation is ensured, and the error is reduced.
In some embodiments, the method further comprises displaying the puncture assistance matrix in a blended scale with the target scan image and/or the real-time puncture scan image.
Specifically, the puncture auxiliary matrix is matched with the target scanning image or the real-time puncture scanning image in an equal proportion fusion mode, so that the target puncture position and the visual information of the puncture needle are displayed in a proper proportion. With such a fusion display, puncture guidance can be performed more accurately under intuitive image guidance.
In some embodiments, single and multiple needle trajectory planning assisted punctures are supported, referring to fig. 10, fig. 10 illustrates multiple needle trajectory planning assisted punctures.
In some embodiments, the multi-needle trajectory planning assisted penetration is achieved by one matrix projection device. In this way, only one needle is guided at a time. After the current puncture needle is planned and guided, the projection direction of the matrix projection device is adjusted to adapt to the next puncture operation.
In other embodiments, the matrix projection device may be multiple, thereby enabling simultaneous guidance of multiple lancets. In this way, each matrix projection device corresponds to the guidance of one puncture needle, and the projection direction of each device coincides with the needle insertion angle of the corresponding puncture needle, so that the puncture guide operations can be performed simultaneously by a plurality of puncture needles.
The embodiment of the present disclosure provides a navigation puncture device 1100, referring to fig. 11, the navigation puncture device 1100 includes a puncture parameter acquisition module 1110, an image acquisition labeling module 1120, and a puncture position determination module 1130.
A puncture parameter acquisition module 1110, configured to acquire a target puncture parameter, where the target puncture parameter is determined based on a scanned image of a target object before puncture;
The image acquisition labeling module 1120 is used for controlling the C-arm imaging device to acquire a target scanning image of the target object based on the target puncture parameter and marking a target puncture position in the target scanning image;
The puncture position determining module 1130 is configured to project a puncture auxiliary matrix on the target object, and adjust a puncture needle position based on a position relationship between a mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and a real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position.
For a specific description of the navigation puncture device, reference may be made to the description of the navigation puncture method hereinabove, and the description thereof will not be repeated here.
The present description embodiment provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the method of any of the above embodiments.
An embodiment of the present specification provides a computer program product comprising instructions which, when executed by a processor of a computer device, enable the computer device to perform the steps of the method of any one of the embodiments described above.
In some embodiments, a computer device is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 12. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a navigation puncture method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 12 is merely a block diagram of a portion of the structure associated with the aspects disclosed herein and is not limiting of the computer device to which the aspects disclosed herein apply, and in particular, the computer device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include an electrical connection (an electronic device) having one or more wires, a portable computer diskette (a magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.