CN103976762A - Full-automatic mammary gland biopsy puncture method and device - Google Patents
Full-automatic mammary gland biopsy puncture method and device Download PDFInfo
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- CN103976762A CN103976762A CN201410219933.XA CN201410219933A CN103976762A CN 103976762 A CN103976762 A CN 103976762A CN 201410219933 A CN201410219933 A CN 201410219933A CN 103976762 A CN103976762 A CN 103976762A
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Abstract
The invention provides a full-automatic mammary gland biopsy puncture method and device suitable for various prostrate mammary gland developments. The full-automatic mammary gland biopsy puncture method comprises the steps of fixing mammary glands by using mammary gland fixing covers, acquiring three-dimensional images of the mammary glands in the mammary gland fixing covers through medical imaging, positioning focus in the three-dimensional images, adjusting a gray value to recognize boundaries of the mammary glands and calculating optimal puncture paths from the focus to the boundaries by adopting an optimization algorithm; matching physical spaces of the mammary glands with the three-dimensional images to generate control information and controlling a puncture operation performed by a mechanical puncture system. The full-automatic mammary gland biopsy puncture method and device is simple in operation and high in efficiency.
Description
Technical field
The present invention relates to field of medical technology, relate in particular to a kind of full-automatic Biopsy method and device that adapts to the video picture of various prone type mammary gland.
Background technology
Breast carcinoma is one of modal malignant tumor of women.Early discovery, early diagnosis, early treatment are the sickness rate that reduces breast carcinoma, the key that lowers mortality rate.Utilize breast molybdenum target to take the photograph X-ray photographic inspection technology and generally investigate and show, it is untouchable property breast lesion NPBL (Non-Palpable Breast Lesions) that normal population has 2%-4%, and wherein 20%-30% is malignant change.
But for minimal disease (<10mm), breast molybdenum target is taken the photograph X-ray photographic inspection technology and is difficult to completely it be made to Accurate Diagnosis.Learn according to authority's investigation, below 10mm, on yardstick, find breast tumor, can extend 5～10 years patient's life-spans.And clinically, by the mode of percutaneous transthoracic needle biopsy, can carry out Accurate Diagnosis to minimal disease.
Percutaneous transthoracic needle biopsy operation is a kind ofly in patient body, to take out pathological tissues, carry out pathological examination with clarify a diagnosis Minimally Invasive Surgery, can efficient diagnosis censorship case.Because of the feature such as wound is little, pain is light, postoperative complication is few, recovery is fast and expense is low, be more and more subject to doctor and patient's welcome.
For NPBL, directly carry out the difficulty of biopsy by surgical operation very large.Along with the progress of medical science, a lot of those skilled in the art start to adopt the mode of integrative medicine image technology and percutaneous puncture Minimally Invasive Surgery, and breast tumor is carried out to Accurate Diagnosis.Concrete grammar is, utilize image guiding (as x-ray, ultrasonic, nuclear magnetic resonance etc.) to position, improve the precision of puncture operation, in conjunction with surgical operation, breast tissues is carried out to Minimal Invasive Biopsy operation, to obtain reliable histopathology specimen, thereby breast tissues is clarified a diagnosis.
Traditional medical imaging detection means, comprise advanced x-ray radiophotography, Computed tomography CT (Computed Tomography), ultra sonic imaging, nuclear magnetic resonance (Magnetic Resonance Imaging, MRI), x-ray mammary gland radiophotography and bone scanning imaging etc. play very important effect in early diagnosing mammary cancer, can greatly improve breast cancer diagnosis and therapeutic effect.But these Imaging Technologies are all structure imagings, observe focus based on tumor in the change of anatomical structure, tissue blood flow's perfusion, indirectly to reach breast cancer diagnosis, Differential Diagnosis and observation of curative effect.After traditional Medical Imaging Technology, positron emission tomography (Positron Emission Tomography, PET), SPECT (single photon emission computed tomography) (Single-Photon Emission Computed Tomography, SPECT), as early diagnosing mammary cancer scanning technique, aspect diagnosis of breast disease, obtain more and more concern and application.They belong to functional imaging, have unique advantage obtaining aspect some organ of human body or animal or the function information of focus, and the data of acquisition are more valuable.More it is worth noting, PEM scanner has become one of focus of positron emission imaging technique development in the world as the special PET (positron emission tomography) scanner of a kind of mammary gland in recent years, and many universities such as U.S., Europe, day and nuclear science research institution have all carried out the research work of PEM technology and model machine.PEM can reconstruct by tomoscan the 3-D view of mammary gland, and has high-resolution, the breast lesion of small (<10mm) can be detected, so also can again be improved in the degree of accuracy of its guided percutaneous needle biopsy.
Although Medical Imaging Technology is a kind of simple and easy to do, noinvasive and can clearly shows the detection means of being examined anatomic tissue position.Under the guiding of medical image, the degree of accuracy of percutaneous transthoracic needle biopsy operation can be greatly enhanced.But usually because lacking definite reference mark, mammary gland cannot provide location accurately for surgical operation biopsy.Particularly, when checking by Medical Imaging Technology, when check result is shown as indirect sign, being more difficult to by these image technologies is that open surgical biopsy is made accurate location.
Percutaneous transthoracic needle biopsy in the at present clinical image information of normally utilizing medical image to obtain by doctor of perform the operation, and clinical experience determines skin entry point and focus, then manual inserting needle, until needle point hits.Therefore, the manual puncture operation in clinical, due to the limitation of prior art and hand-held biopsy device, exists that puncture angle is limited, Stability and veracity is not high, too rely on the problems such as doctors experience.And tradition is equipped on the biopsy device complex structure on medical imaging device, volume is larger, biopsy angle, motion mode is all not good enough, especially naturally droop the image documentation equipment of mammary gland for the higher detectable prone type of some precision, also do not have the equipment of corresponding efficient Portable safety to carry out aspiration biopsy accurately to mammary gland at present.
In view of this, prior art haves much room for improvement and improves.
Summary of the invention
One of object of the present invention is to provide a kind of full-automatic Biopsy method of mammary gland.Another object is to provide a kind of sting device that is applied to the full-automatic Biopsy method of mammary gland.
Other objects of the present disclosure, characteristic and advantage will become obviously by detailed description below, or the partly acquistion by practice of the present disclosure.
According to an aspect of the present disclosure, a kind of full-automatic Biopsy method of mammary gland is provided, comprise: with the fixing mammary gland of mammary gland fixed cover, gather the 3-D view of mammary gland in described mammary gland fixed cover by medical image, locate focus in described 3-D view, regulate gray value to identify the border of described mammary gland, calculate the optimum puncture path from described disease to described border by optimization algorithm; The physical space of mammary gland and described 3-D view described in registration, generate control information, controls the operation of puncturing of mechanical lancing system.
According to another aspect of the present disclosure, a kind of full-automatic biopsy puncture device of applying the full-automatic Biopsy method of mammary gland is provided, comprising: mammary gland fixed cover, for fixing prone type mammary gland; Medical image device, for gathering the 3-D view of described mammary gland and described mammary gland fixed cover; Control system, for produce the optimum puncture path of straight line of described mammary gland according to described 3-D view, physical spatial location data and the described 3-D view of mammary gland described in registration, and produce control information; Machinery sting device, under the control of described control information to the operation of puncturing of the mammary gland in described mammary gland fixed cover.
For example, the mammary gland that described mammary gland fixed cover naturally droops for fixing one-sided prone type, comprising: body, location thing, described location thing is arranged in the visual field of described medical image device, is used for space orientation as space indicate thing.Described biopsy puncture device, it is characterized in that, described location thing be orientable pattern and locator markers wherein one of at least, described orientable pattern setting is on described body, for having wherein pattern one of at least of position-scheduled multiple grids, multiple annulus, multiple circular hole, multiple triangle, multiple polygon.In a certain embodiment, this label can video picture in described medical image device, and described orientable pattern setting is on described body.
For example, medical image device is at least one in PEM, PET, CT, MRI or SPECT.
For example, control system comprises: puncture path computing module, and doctor is identified and is delineated paracentesis area by medical image, regulates gray value to identify the border of mammary gland, according to described focus and described boundary information, adopt optimization algorithm to calculate the optimum puncture path of described straight line; Spatial registration module, physical space data of 3-D view and described mammary gland described in registration and obtain registration position information; Control module, produces control information according to the optimum puncture path of described straight line and described registration position information, and is sent to mechanical lancing system, to control described mechanical lancing system action.
For example, described control system also comprises: security module, in the time detecting that paracentesis depth exceedes a predetermined depth, gives the alarm or stuck described mechanical sting device, to ensure the safety of whole piercing process; Human-computer interaction module, described human-computer interaction module can receive external command and feed back to described control system.
For example, described mechanical lancing system comprises: puncture mechanism, comprise biopsy needle and cell taking gun, and described cell taking gun is fixed described biopsy needle and is controlled the motion of described biopsy needle; Driving mechanism, comprises arm, actuating device and rotary apparatus, and described puncture mechanism is fixedly connected on described driving mechanism, and described driving mechanism is for the operation of puncturing of mobile described puncture mechanism.
For example, what described biopsy needle can be direct or indirect is arranged on arm, realizes and slides or swing.Arm is fixedly installed on actuating device and rotary apparatus, realizes slip and the rotation of biopsy needle.
Beneficial effect of the present invention is, operating time of the present invention is short, and needle angle is many, and the pain causing to patient is low, and efficiency simple to operate is high.Apparatus of the present invention are simple in structure small and exquisite, and motion mode is flexible, can multi-angle puncture.The scanning of this aspiration biopsy method and biopsy adopt identical position, and widely different when having avoided the lesions position of conventional biopsy mammary gland in the time that pressurized is made film and having put down on sleeping operating-table, the location causing is inaccurate.The design of its mechanical automation, has higher Stability and veracity, and can reduce doctor's labor intensity, can greatly alleviate doctor and tremble the inaccurate phenomenon of the puncture causing by hands tired out in operation process, and then raising degree of accuracy, reduce puncture time, improve patient's comfort level simultaneously.This device requires lower to doctor's surgical experience, be convenient to the universal use of large, medium and small hospital.Therefore, the present invention has important theory significance and real value.
Brief description of the drawings
Fig. 1 schematically shows the mammary gland fixed cover of the full-automatic biopsy puncture device of mammary gland of the embodiment of the present invention.
Fig. 2 schematically shows the block diagram of the control system of the full-automatic biopsy puncture device of mammary gland of the embodiment of the present invention.
Fig. 3 A and 3B schematically show the structure of the mechanical lancing system of the full-automatic biopsy puncture device of mammary gland of the embodiment of the present invention.
Fig. 4 schematically shows the mechanical lancing system of the full-automatic biopsy puncture device of mammary gland and the structure diagram of mammary gland fixed cover and the action schematic diagram of the embodiment of the present invention.
Fig. 5 schematically shows the full-automatic Biopsy method flow diagram of mammary gland of the embodiment of the present invention.
Fig. 6 schematically shows the flow chart of the step S107 in the full-automatic Biopsy method of the mammary gland of the embodiment of the present invention in Fig. 5.
Detailed description of the invention
The exemplary embodiments that embodies feature & benefits of the present invention will describe in detail in the following description.Be understood that the present invention can have various variations on different embodiment, it neither departs from the scope of the present invention, and explanation wherein and accompanying drawing be when the use that explain in itself, but not in order to limit the present invention.
The full-automatic biopsy puncture device of mammary gland of the embodiment of the present invention, comprises mammary gland fixed cover 1, Medical Image System, control system 3, D/A converter module and mechanical lancing system 2.
Specifically introduce the full-automatic biopsy puncture device of mammary gland of the embodiment of the present invention below in conjunction with accompanying drawing.
Mammary gland fixed cover 1 is for fixing mammary gland, so that Medical Image System is carried out image acquisition to mammary gland, and control system 3 directly locates the focus of mammary gland, and then conveniently control mechanical lancing system mammary gland is carried out to Biopsy operation, avoid the skew of mammary gland.
As shown in Figure 1, the mammary gland that mammary gland fixed cover 1 naturally droops for fixing one-sided prone type, comprises body 11, orientable pattern 122 or locator markers 121.Body 11 is formed with the accommodation space 13 for accommodating mammary gland, for accommodating mammary gland.If locator markers 121 is placed in the minimum point place on the body 11 of mammary gland fixed cover 1, and orientable pattern 122 is arranged on the body 11 of mammary gland fixed cover 1, but the present invention is not as limit, locator markers 121 is except being arranged on the minimum point place of body 11, can also be arranged at other positions in body 11 or the Medical Image System visual field, as the coordinate reference points of mammary gland so that when puncture as space indicate thing.In one embodiment, locator markers 121 can imaging in described Medical Image System, but the present invention is not as limit.
Orientable pattern 122 is arranged on described body 11, for space orientation, it can be the pattern of lattice-shaped, and the each grid in pattern is position-scheduled, but the present invention is not as limit, and this orientable pattern 122 can also be the pattern of other shapes such as ring-type, circular hole, triangle, polygon.
In certain embodiments, the peristome of mammary gland fixed cover 1 is provided with the syndeton that can be connected in corollary equipment, size and shape and the corollary equipment of this syndeton match, and be movably set in supporting imaging device, this corollary equipment is for example Medical Image System, and in the time carrying out biopsy operation, mammary gland fixed cover 1 can be connected in Medical Image System and direct stationary positioned by this syndeton, so that mechanical lancing system 2 carries out Biopsy to mammary gland, avoid the skew of mammary gland.
In one embodiment, mammary gland fixed cover 1 also comprises jelly (not shown), and this jelly can be bonded at whole mammary gland fixed cover 1 on mammary gland.In one embodiment, mammary gland fixed cover 1 also comprises braces/shoulder belt (not shown), and this braces/shoulder belt can be bundled in mammary gland fixed cover 1 on the person, ensures that mammary gland fixes and can not be shifted.In one embodiment, be also provided with the device of protection nipple at the inner surface minimum point place of the body 11 of mammary gland fixed cover 1.
In embodiments of the present invention, the physical space of mammary gland and the 3-D view of the mammary gland that Medical Image System gathers that are arranged in mammary gland fixed cover 1 can be mapped by the locator markers 121 on mammary gland fixed cover 1 or orientable pattern 122.In one embodiment, can locator markers 121 as coordinate reference points, according to ring-type, circular hole, triangle, polygon or the grid-like pattern of location aware on mammary gland fixed cover 1, thereby conveniently set up the registration between actual physics space and the image space of mammary gland of mammary gland, but the present invention is not as limit, and locator markers 121 or orientable pattern 122 also can be carried out separately respectively positioning function.
Medical Image System, after utilizing mammary gland fixed cover 1 to be fixed patient's mammary gland, for scanning the patient's mammary gland after fixing, for gathering the 3-D view of mammary gland fixed cover 1 and interior mammary gland thereof, obtain showing the image of focus point, to manually, automatically delineate focus, thereby use this 3-D graphic guiding biopsy operation.Obtaining after the 3-D view of mammary gland, Medical Image System is also transferred to control system 3 by this 3-D view, so that control system 3 is carried out subsequent treatment to this 3-D view.In one embodiment, control system, is arranged in the computer terminal of medical image device, but the present invention is not as limit.In image scanning process, patient takes ventricumbent position, and mammary gland naturally droops, and the mammary gland of a side to be detected is fixed in mammary gland fixed cover 1, keeps health motionless in scanning process.Medical Image System in example of the present invention adopts PEM, but the present invention is not as limit, also can adopt at least one in the nuclear medicine molecular function image systems such as PET, MRI, CT or SPECT.
Fig. 2 schematically shows the block diagram of the control system 3 of the full-automatic biopsy puncture device of mammary gland of the embodiment of the present invention.
As shown in Figure 2, control system 3, comprises human-computer interaction module 31, puncture path computing module 32, spatial registration module 33, control module 34 and security module 35.Control system 3 produces the optimum puncture path of straight line of mammary gland for the 3-D view gathering according to Medical Image System, and the registration position information obtaining according to the physical spatial location of mammary gland and described 3-D view, and produce control information according to described registration position information and the optimum puncture path of described straight line, and this control information is sent to mechanical lancing system 2, move to control mechanical lancing system 2.Wherein, human-computer interaction module 31 can receive external command, and this external command is fed back to described control module 34.In one embodiment, this external command comprises the specific region chosen in the described 3-D view focus as mammary gland.For example, human-computer interaction module 31 can receive doctor and in the 3 d medical images of mammary gland, independently sketch out suspicious focus wherein, and the suspicious lesion information that this sketches out is sent to control module 34.The artificial suspicious focus of delineating according to doctor, control module can be mated by automatic search, and then human-computer interaction module 31 is irised out the place of close gray value to come automatically, as corresponding wish puncture region, can avoid doctor to leak and delineate focus or the larger problem of error.According to practical situations, the suspicious focus that doctor can also select automatically to control system 3 is modified, freely to revise wish puncture region and finally to determine puncture region.
Puncture path computing module 32, for calculating according to the focus of described 3-D view from mammary gland border to the optimum puncture path of straight line in described wish puncture region.
Particularly, doctor determines that, behind puncture region, puncture path computing module 32 calculates and export the region target coordinate that punctures automatically.In the time carrying out Biopsy operation, this target spot is sampled and detected.It should be noted that, in the area-of-interest of choosing, control system 3 all can calculate selected region point of impact on target and coordinate (x0 thereof automatically, y0, z0) information, and the target spot of independently changing or select wish puncture according to doctor, control system 3 also can be exported corresponding positional information, makes the present invention can complete automatization or semi-automatic puncture for this reason.
Puncture path computing module 32 is according to predetermined threshold value, automatically identifies the border of mammary gland and calculates the positional information on described border.Wherein, described predetermined threshold value is to determine according to the grey level histogram of whole image, for example, be 23, but the present invention is not as limit, can also be set to as the case may be other values.Can people for a change, and not necessarily changeless.For example, receive by human-computer interaction module 31 the new predetermined threshold value that user sets, then this new predetermined threshold value is transferred to control module 34, predetermined threshold value is changed into this new predetermined threshold value that this user sets by control module 34, proceeds mammary gland Boundary Recognition.In a word, by regulate gray value orient the positional information on mammary gland border and border, obtain mammary gland boundary position coordinate (α i, β i, γ i), i ∈ natural number.
In addition, according to the reference point on target spot information and mammary gland fixed cover in 3-D view, puncture path computing module 32 also utilizes optimization algorithm, calculates the optimum puncture path of straight line from target spot to border.According to the coordinate reference points on target position information and mammary gland fixed cover in 3-D view, the positional information of each vertex raster, calculate from target spot (x0, y0, z0) to mammary gland border (α i, β i, the optimum puncture path of γ straight line i).Restrictive condition is in scope that can inserting needle, straight line path, avoid grid limit, avoid mammary areola position, from thoracic wall in the distance of a safety, ask the length in optimum path and path.
The a certain embodiment of the present invention, with target spot (x0, y0, z0), for starting point, borderline each vertex raster is terminal, first obtains the vertex raster of a shortest path, then near it, finds an optimum point of puncture.Optimized algorithm can adopt existing optimization algorithm, such as enlightening Coase thorough (dijkstra) algorithm, ant group algorithm, simulated annealing, genetic algorithm, neural network algorithm etc., or the mode that adopts each algorithm to combine.Do not repeat them here.
The optimum puncture path of this straight line comprises: entry point, inserting needle direction and inserting needle distance while implementing Biopsy operation, boundary point position, boundary point are to the path direction of target spot and the length in this path.
Spatial registration module 33, utilizes on mammary gland fixed cover 1 locator markers or the location pattern that arrange, the physical space data of registration 3-D view and mammary gland and the registration position information that obtains.In a certain embodiment, using the locator markers 121 of mammary gland fixed cover 1 as coordinate reference points, in conjunction with ring-type or the grid-like pattern of location aware on mammary gland fixed cover 1, use the 3-D view of registration Algorithm registration mammary gland and the actual physics spatial data of mammary gland, the registration position information obtaining.
Wherein, registration itself utilizes the suitable method for registering based on calibration coordinate system in the most simply forming to carry out in existing mode.Those skilled in the art is known in a large number for the registration technique of this object from the image of medical imaging is processed, and realizes image space and physical space accuracy registration.The registration Algorithm that wherein registration is conventional for example for Powell method, the simplex method of going down the hill, Arent method, Levenberg-Marguadrt method, Newton-Raphson iterative method, Monte Carlo analysis, gradient descent method, genetic algorithm, simulated annealing, how much hash methods or half exhaustive search method one of them, do not repeat them here.
Again, by in optimum above-mentioned straight line puncture path and above-mentioned registration position input information transmission control module 34, control module 34 produces control information according to the optimum puncture path of above-mentioned straight line and above-mentioned registration position information, this control information is used for controlling described mechanical lancing system action, so that mammary gland is carried out to Biopsy operation.Particularly, this control information comprises moving line and the track of mechanical lancing system.In one embodiment, doctor also can adjust this control information, determines moving line and the track of final mechanical lancing system.If there is no abnormal conditions in operation process, the order before just always carrying out, until complete whole aspiration biopsy operation.If there is any other situation in operation process, the order before doctor can stop by control module 34 at any time, lays equal stress on and newly sends instruction, adjusts in time.
In addition, the outfan of control module 34 disposes a digital-to-analogue reforming unit, and control module 34 is sent the control information of controlling mechanical lancing system execution corresponding actions, and this control information is converted simulation control information by digital-to-analogue reforming unit.
D/A converter module, is converted to described control information simulation control information and described simulation control information is sent to described mechanical lancing system.Particularly, the outfan of digital-to-analogue conversion module connects mechanical lancing system, and the input of digital-to-analogue conversion module receives the control information that molding piece 34 sends, and passes to mechanical lancing system after this control information is converted into simulation control information.Machinery lancing system just can be carried out control command in order accurately, completes puncture operation.
Security module 35, can give the alarm according to a default paracentesis depth threshold value, particularly, in the time that security module detects that paracentesis depth exceedes this default paracentesis depth threshold value, gives the alarm.In one embodiment, security module 35 can also be in the time that paracentesis depth exceedes another predetermined depth value, and automatic clamping deadlock tool lancing system 2, to stop operation, ensures the safety of whole piercing process.Wherein, this another predetermined depth value is more than or equal to this default paracentesis depth threshold value.Alarm and stuck function can be arranged at security module 35 simultaneously, also can arrange separately.In addition, security module 35 can also be stuck under Artificial Control at any time, to stop at any time operation.
Machinery lancing system 2, under the control in control system 3, completes Biopsy operation automatically.Carrying out in the process of biopsy operation, patient takes and prone body position same in image scanning process, and mammary gland naturally droops, and the mammary gland of a side to be detected is fixed in mammary gland fixed cover 1, in Biopsy process, keeps health motionless.Avoid in conventional biopsy operation with this, on the flat sleeping operating-table of patient and cause with mammary gland the puncture position difference when the scanning film making excessive, caused the inaccurate problem in puncture location.
As shown in Fig. 3 A, Fig. 3 B and Fig. 4, mechanical lancing system 2 comprises body 20, base 3, motor 4, actuating device 6, puncture mechanism 7, rotary apparatus 8, driving mechanism 5, censorship platform 9 and protective cover (not shown).Wherein, body 20 is arranged on described base 3.Base 3 is for supported mechanical lancing system 2.Motor 4 is arranged at body 20, is used to mechanical lancing system 2 that driving force is provided, but the present invention is not as limit, can also be other devices for mechanical lancing system provides the mechanism of driving force.
On base disk 3, have concentrically ringed toroidal conductor groove, put into respectively power supply lead wire in toroidal conductor groove, between motor and power supply lead wire, the resilient copper sheet of apparatus links, be used to motor 4 that power supply is provided, wherein, this motor 4 can be synchronous motor, but the present invention is not as limit.
In one embodiment, body 20 has a pillar 201, and the lower end of pillar 201 can arrange a pulley, to facilitate body 20 to rotate around Z axis in the horizontal plane that is parallel to base 3.
In one embodiment, protective cover is cylindric, connects base 3 and censorship platform 9, can support censorship platform 9, can provide protective effect for the parts in protective cover.
In one embodiment, censorship platform 9 is the circular ring plate of middle part hollow, for holding mammary gland fixed cover 1.Wherein, the peristome of mammary gland fixed cover 1 is connected in Medical Image System bed body or censorship platform 9, and between mammary gland fixed cover 1 and bed body or censorship platform 9 for being flexibly connected.In the time carrying out biopsy operation, mammary gland fixed cover 1 can be connected in mechanical lancing system 2 and direct stationary positioned by Medical Image System bed body or censorship platform 9, so that mechanical lancing system 2 carries out Biopsy to mammary gland, avoids the skew of mammary gland.
In one embodiment, driving mechanism 5, comprises arched arm 51, large arm 52, little arm 53, actuating device 6 and rotary apparatus 8.Puncture mechanism 7 is fixedly connected on driving mechanism 5, and driving mechanism 5 is for the operation of puncturing of mobile puncture mechanism 7.The control information that driving mechanism 5 can receiving control system transmits, and automatically according to this control information, drive puncture mechanism to complete whole piercing process.
In one embodiment, actuating device 6 is arranged at body 20, under the driving force of motor 4, can drive puncture mechanism 7 to do back and forth movement.Actuating device 6, comprises the first gear 61, the second gear 62, the 3rd gear 63.The first gear 61 and the second gear 62 are connected with a joggle, same one end of setting and body 20, and the 3rd gear 63 is arranged at the other end of body 20.The large arm 53 that actuating device 6 is controlled on arched arm 51 moves along arched arm 51.
In one embodiment, arched arm 51 comprises curved portions 511 and horizontal part 512, and horizontal part 512 is attached on the second gear 62 and the 3rd gear 63, and curved portions 511 is joined with horizontal part 512.Curved portions 511 is between the second gear 62 and the 3rd gear 63 and arrange away from base 3, the diameter of curved portions 511 is greater than the diameter of mammary gland fixed cover 1, curved portions 511 can cover mammary gland fixed cover 1 completely in the moving range of arc and horizontal direction like this, so that puncture mechanism 7 is driven to the position that is suitable for implementing Biopsy operation.On arched arm 51, be fixedly connected with large arm 53, large arm 53 can do back and forth movement along arched arm 51 under the control of actuating device 6.Particularly, the rotatable motion under the driving of motor 4 of the first gear 61, thus synchronously drive the second gear 62 to move, and then large arm 53 on arched arm 5 and the 3rd gear 63 are made respectively horizontal back and forth movement and rotatablely move under the drive of the second gear 62.
In one embodiment, large arm 52, is fixed in curved portions 511, can do along with actuating device 6 motion of arc and horizontal direction, also can be along with rotary apparatus 8 rotates around Z axis.In one embodiment, the outer surface of curved portions 511 is belt, the width of this belt just in time matches with the large thereon arm 52 of setting, on belt, have installing hole, have spine in large arm 52 bottoms, spine sees through installing hole and is fixed on belt, so just can fix large arm 52, also, can move along with drive mechanism 6 time, drive large arm 52 to move reciprocatingly in curved portions 511.But the present invention is not as limit, and according to the difference of concrete applicable cases, curved portions 511 can also be other material, or large arm 52 also can be fixed on other positions of arched arm 51.
In one embodiment, little arm 53 one end are swingable and be arranged at slidably on large arm 52, and the other end is connected with cell taking gun 71, and cell taking gun 71 is swingable and be arranged at slidably on little arm 53.Wherein, little arm 53 can move under the control of large arm 52, and little arm 53 is controlled the motion of cell taking gun 71.For example, little arm 53 can slide up and down and move along large arm 52, and in the time that little arm 53 moves to the summit of large arm 52, can do and rotate along the summit of large arm 52.
In one embodiment, rotary apparatus 8 is arranged between body 20 and base 3, can rotate in the horizontal plane that is parallel to base 3 around self, and drive to be arranged on rotary apparatus 8 and to be arranged at arched arm 51 on body 20, large arm 52, little arm 53, puncture mechanism 7 and rotary apparatus 8 and do the motion of rotating around Z axis.
Rotary apparatus 8 adopts driven by motor worm and gear that body is rotated along Z axis in one embodiment, but the present invention is not as limit, can also be other devices for mechanical lancing system provides.In one embodiment, rotational structure 8 comprises support post, ball ball bearing inner race, turbine and worm screw and ball ball bearing outer ring.The support post top ball ball bearing inner race that closely cooperates, support post middle part interference fit has turbine, and between turbine and worm screw, machinery coordinates, and support post is arranged at actuating device 6 bottoms, and ball ball bearing outer ring is fixed on 3 middle parts, chassis.
Be combined with one group of 90 ° of bevel gear on the top of worm screw, one of them bevel gear and motor secure fit, motor rotarily drive worm screw rotation after electric, worm screw rotarily drive turbine rotation, and then drive whole arched arm to rotate around Z axis.
Be placed with respectively stopping means at arched arm two ends, stopping means can be limit switch, grating sensor etc., and stopping means is used for preventing that large arm 52 from excessively rotating;
In one embodiment, puncture mechanism 7, comprises biopsy needle 72 and cell taking gun 71, and cell taking gun 71 is fixed biopsy needle 71 and controlled the motion of biopsy needle 71.As shown in Figure 3A, biopsy needle 72 telescopicallies are sheathed on cell taking gun 71, and cell taking gun 71 can be for example strip or cylindric.Cell taking gun 71 can do short-range slip along little arm 53, realizes aspiration biopsy.
In one embodiment, on biopsy needle 72, be provided with the gauge point that can show phase in Medical Image System, this gauge point can be positioned at the summit of biopsy needle 72, and can in 3-D view, show its image and position, thereby, in operation process, can be in 3-D view its movement locus of real-time monitored, gauge point in the embodiment of the present invention, except being positioned at the summit of biopsy needle 72, can also be positioned at other positions of biopsy needle 72, and the present invention is not as limit.On biopsy needle 72, be provided with micro pressure sensor (such as medical optical fiber pressure transducer), the situation in operation can be fed back to computer system, to adjust in time.On biopsy needle 72, also configure a pinhole cameras (not shown), physical conditions that can real-time monitored mammary gland.In one embodiment, can set a threshold value, in the time that the pressure of this micro pressure sensor institute sensing is greater than or less than this threshold value, illustrate that biopsy needle 72, while puncturing operation, skew has occurred, and can send and report to the police to readjust puncture path.
By this series of motion, puncture mechanism 7 just can move to suitable puncture position, and under the control of control module 34, carries out biopsy operation.
Fig. 5 schematically shows the full-automatic Biopsy method of mammary gland of the embodiment of the present invention, comprises that step S100 is to step S107.
S100: the mammary gland to be measured of fixing patient by mammary gland fixed cover.Carrying out in the process of biopsy operation, patient takes prone body position, and mammary gland naturally droops, and the mammary gland of a side to be detected is fixed in mammary gland fixed cover, keeps health motionless.Wherein, be provided with locator markers or location pattern on this mammary gland fixed cover, for space orientation, in a certain embodiment, this locator markers can video picture, this orientable pattern is the structure of ring-type or lattice-shaped, but the present invention is not as limit.
S101: the 3-D view that gathers mammary gland fixed cover and interior mammary gland to be measured thereof.Wherein, the Medical Image System of carrying out image acquisition is early diagnosing mammary cancer scanner (Positron Emission Mammography,, but the present invention is not as limit, can be also at least one in PET, CT, MRI or SPECT PEM).
S102: the focus of determining mammary gland in described 3-D view.According to the 3-D view of mammary gland to be measured, doctor can independently sketch out the focus of mammary gland therein, and the lesion information that this sketches out is sent to control module 34, but the present invention is not as limit, except the focus that can manually sketch out by doctor, the artificial suspicious focus that can also delineate according to doctor, control module can be mated by automatic search, then human-computer interaction module 31 is irised out the place of close gray value to come automatically, as corresponding wish puncture region, can avoid doctor to leak and delineate focus or the larger problem of error.In addition, according to practical situations, the focus that doctor can also freely select control system 3 is automatically modified.But final, need doctor to determine wish puncture region.
S103: calculate this wish puncture focus as target spot, and export the positional information of this target spot, in the time carrying out Biopsy operation, need to from focus, determine target spot, and this target spot is gone out to sample and detected, wherein, in one embodiment, doctor also can independently change or select the target spot of wish puncture, and control system 3 also can be exported its corresponding positional information.
S104: regulate gray value, automatically identify the positional information on border and the border of mammary gland.Can be according to default gray value and mammary gland fixed cover, automatically identify the border of mammary gland and calculate the positional information on this border.Wherein, this predetermined threshold value can artificially regulate change, and not necessarily changeless.For example, the default gray value of an embodiment adopts 23, according to practical situations, the new default gray threshold that user can set, then former predetermined threshold value is replaced with to this new predetermined threshold value, the predetermined threshold value new according to this, recalculates the positional information on border and the border of mammary gland.
S105: adopt optimization algorithm to calculate optimal straight line puncture path.With target spot (x0, y0, z0), for starting point, borderline each vertex raster is terminal, first obtains the vertex raster of a shortest path, then near it, finds an optimum point of puncture.Optimized algorithm can adopt existing optimization algorithm, such as enlightening Coase thorough (dijkstra) algorithm, ant group algorithm, simulated annealing, neural network algorithm etc., or the mode that adopts each algorithm to combine.Algorithm is all existing algorithm, does not repeat them here.
S106: by the physical space data of this 3-D view and the mammary gland registration position information that will definitely arrive that matches.Particularly, use conventional registration Algorithm, in a certain embodiment, using the locator markers 121 of mammary gland fixed cover 1 as coordinate reference points, according to ring-type or the grid-like pattern of location aware on mammary gland fixed cover 1, utilize the suitable method for registering based on calibration coordinate system in the most simply forming, the actual physics spatial data of the 3-D view of registration mammary gland and mammary gland, obtains registration position information.
S107: according to registration position information, control mechanical lancing system and automatically complete Biopsy operation.This registration position information exchange is crossed D/A converter module and is transferred to mechanical lancing system, and this machinery lancing system can complete Biopsy operation according to this control information automatically.Particularly, at least one in proceeding as follows of mechanical lancing system: rotation operation; Transmission operation; Move horizontally operation; Vertical movement operation.
Fig. 6 schematically shows the flow chart of the step S107 in the full-automatic Biopsy method of mammary gland of the embodiment of the present invention.Wherein, mechanical system comprises actuating device, rotary apparatus, puncture mechanism and motor, and motor provides electric energy for the motion of actuating device, rotary apparatus and puncture mechanism.Structure and the function of actuating device, rotary apparatus, puncture mechanism are on the books above, do not repeat them here.
S200: rotary apparatus rotates around Z axis in horizontal plane under the control of control information;
S201: the actuating device mechanism that makes to puncture under the control of control information moves in arched arm;
S202: puncture mechanism moves to precalculated position under the control of control information;
S203: puncture mechanism under the control of control information according to straight line optimal path to the operation of puncturing of described mammary gland.
In sum, operating time of the present invention is short, and needle angle is many, and the pain causing to patient is low, and efficiency simple to operate is high.Apparatus of the present invention are simple in structure small and exquisite, and motion mode is flexible, can multi-angle puncture.The scanning of this aspiration biopsy method and biopsy adopt identical position, and widely different when having avoided the lesions position of conventional biopsy mammary gland in the time that pressurized is made film and having put down on sleeping operating-table, the location causing is inaccurate.The design of its mechanical automation, has higher Stability and veracity, and can reduce doctor's labor intensity, can greatly alleviate doctor and tremble the inaccurate phenomenon of the puncture causing by hands tired out in operation process, and then raising degree of accuracy, reduce puncture time, improve patient's comfort level simultaneously.This device requires lower to doctor's surgical experience, be convenient to the universal use of large, medium and small hospital.Therefore, this aspiration biopsy method and apparatus has important theory significance and real value.
Those skilled in the art should recognize change and the retouching the scope and spirit of the present invention that the appended claim of the present invention discloses, done in the case of not departing from, within all belonging to the protection domain of claim of the present invention.
Claims (10)
1. a full-automatic Biopsy method for mammary gland, is characterized in that, described method comprises:
With the fixing mammary gland of mammary gland fixed cover, gather the 3-D view of mammary gland in described mammary gland fixed cover by medical image, locate the focus in described 3-D view, regulate threshold value to identify the border of described mammary gland, calculate the optimum puncture path from described disease to described border by optimization algorithm; The physical space of mammary gland and described 3-D view described in registration, generate control information, controls the operation of puncturing of mechanical lancing system.
2. a full-automatic biopsy puncture device for mammary gland, is characterized in that, described device comprises:
Mammary gland fixed cover, for fixing prone type mammary gland;
Medical image device, for gathering the 3-D view of described mammary gland;
Control system, for produce the optimum puncture path of straight line of described mammary gland according to described 3-D view, physical spatial location data and the described 3-D view of mammary gland described in registration, and produce control information;
Machinery sting device, under the control of described control information to the operation of puncturing of the mammary gland in described mammary gland fixed cover.
3. biopsy puncture device according to claim 2, it is characterized in that, the mammary gland that described mammary gland fixed cover naturally droops for fixing one-sided prone type, comprise: body, location thing, described location thing is arranged in the visual field of described medical image device, is used for space orientation as space indicate thing.
4. biopsy puncture device according to claim 3, it is characterized in that, described location thing be orientable pattern and locator markers wherein one of at least, described orientable pattern setting is on described body, for having wherein pattern one of at least of position-scheduled multiple grids, multiple annulus, multiple circular hole, multiple triangle, multiple polygon.
5. biopsy puncture device according to claim 2, is characterized in that, medical image device is at least one in PEM, PET, CT, MRI or SPECT.
6. biopsy puncture device according to claim 2, is characterized in that, control system comprises:
Puncture path computing module, locates focus by medical image, regulates threshold value to identify the border of mammary gland, according to described focus and described boundary information, adopts optimization algorithm to calculate the optimum puncture path of described straight line;
Spatial registration module, physical space data of 3-D view and described mammary gland described in registration and obtain registration position information;
Control module, produces control information according to the optimum puncture path of described straight line and described registration position information, and is sent to mechanical lancing system, to control described mechanical lancing system action.
7. biopsy puncture device according to claim 6, is characterized in that, described control system also comprises:
Security module, in the time detecting that paracentesis depth exceedes a predetermined depth, gives the alarm or stuck described mechanical sting device, to ensure the safety of whole piercing process;
Human-computer interaction module, described human-computer interaction module can receive external command and feed back to described control system.
8. biopsy puncture device according to claim 2, is characterized in that, described mechanical sting device comprises:
Puncture mechanism, comprises biopsy needle and cell taking gun, and described cell taking gun is fixed described biopsy needle and controlled the motion of described biopsy needle;
Driving mechanism, comprises arm, actuating device and rotary apparatus, and described puncture mechanism is fixedly connected on described driving mechanism, and described driving mechanism is for the operation of puncturing of mobile described puncture mechanism.
9. biopsy puncture device according to claim 8, is characterized in that, described driving mechanism can be automatically according to described control information, the mobile mechanism's row puncture operation of puncturing.
10. biopsy puncture device according to claim 8, it is characterized in that, described puncture mechanism is arranged on described arm movably, described arm is fixedly installed on described actuating device and described rotary apparatus, and arm is in horizontal plane and perpendicular planar movement and rotation described in described actuating device and described rotary apparatus control.
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| CN201410219933.XA CN103976762B (en) | 2014-05-22 | The full-automatic biopsy puncture device of mammary gland |
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| CN201410219933.XA CN103976762B (en) | 2014-05-22 | The full-automatic biopsy puncture device of mammary gland |
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| CN103976762A true CN103976762A (en) | 2014-08-13 |
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| CN106667554A (en) * | 2016-12-30 | 2017-05-17 | 西安中科微光影像技术有限公司 | System and method for safety adjustment of automatic puncture |
| CN109009115A (en) * | 2018-08-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of rotary telescopic mammary gland fixed mechanism and application method for nuclear-magnetism environment |
| CN109872351A (en) * | 2019-03-18 | 2019-06-11 | 山东浪潮云信息技术有限公司 | A kind of medical figure registration and three-dimensional reconstruction system and method |
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| CN113576613A (en) * | 2021-07-27 | 2021-11-02 | 南通市第一人民医院 | Method and system for percutaneous puncture according to image result |
| CN114305526A (en) * | 2022-01-14 | 2022-04-12 | 上海立升医疗科技有限公司 | Low-temperature biopsy control method and system based on optimized control logic |
| CN117297555A (en) * | 2023-11-29 | 2023-12-29 | 北京理工大学 | Spectrum processing system based on parallel light calculation and application of spectrum processing system in OCT |
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Effective date of registration: 20180913 Address after: 311200 Hongxing Road 117, Xiaoshan economic and Technological Development Zone, Xiaoshan District, Hangzhou, Zhejiang Patentee after: Hangzhou high energy Medical Equipment Co Ltd Address before: 100049 Beijing Shijingshan District 19 Yuquanlu Road No. 2 hospital Patentee before: High Energy Physics Inst., Chinese Academy of Sciences |