CN109589145A - A kind of intelligence renal fibroblast control system - Google Patents
A kind of intelligence renal fibroblast control system Download PDFInfo
- Publication number
- CN109589145A CN109589145A CN201811626416.9A CN201811626416A CN109589145A CN 109589145 A CN109589145 A CN 109589145A CN 201811626416 A CN201811626416 A CN 201811626416A CN 109589145 A CN109589145 A CN 109589145A
- Authority
- CN
- China
- Prior art keywords
- puncture needle
- kidney
- puncture
- mechanical arm
- needle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
Abstract
A kind of intelligence renal fibroblast control system, including ultrasound scanner, control computer, puncture mechanical arm composition；Wherein ultrasound scanner obtains the ultrasound image comprising kidney and puncture needle, it controls computer and receives ultrasound image, parsing obtains puncture needle straight line travel distance, issues renal fibroblast instruction, control punctures mechanical arm and connects that driving puncture needle is steady, straight line is advanced, and completes renal fibroblast operation；The system can effectively reduce the damage in renal fibroblast operation to human tissue organ, especially to kidney damage, monitor puncture needle travelling route in real time, avoid unexpected generation.
Description
Technical field
The present invention relates to intelligent control systems, and in particular to a kind of intelligence renal fibroblast control system.
Background technique
Biopsy be determining organ lesion most directly, most accurate detection technology；Different tissues organ biopsies tissue mentions
Take difficulty different；It is wherein more difficult with biopsy tissue extraction.Kidney is a capillary composition, and blood is very
Abundant, doing renal fibroblast is to cause different degrees of nephrorrhagia, and preferable situation is that body clotting mechanism comes into force, automatic to heal；?
Renal fibroblast is not good at, then big bleeding can occur to cause significant damage, such as puncture needle shakiness, cause kidney shallow laceration etc..
Summary of the invention
The purpose of the present invention is to provide a kind of intelligentized renal fibroblast control systems, quick and precisely complete renal fibroblast, keep away
Exempt from the generation of major accident during renal fibroblast.
The object of the invention is realized by following technical solution:
A kind of intelligence renal fibroblast control system, including ultrasound scanner, control computer, puncture mechanical arm composition；
The ultrasound scanner is fixed by operative doctor, scans kidney peripheral position, describes ultrasound image；The ultrasound image packet
Kidney and away from subcutaneous distance；
The control computer obtains the ultrasound image that ultrasound scanner generates, and parsing obtains kidney location parameter and away from subcutaneous distance
Parameter sends renal fibroblast instruction；
The puncture mechanical arm is made of mechanical arm, puncture needle, mechanical arm driving；The puncture needle is connected on mechanical arm,
It is driven by mechanical arm driving device；The mechanical arm initial position is adjusted by operative doctor and is controlled, and guarantees that puncture needle is pierced on a small quantity
Subcutaneous tissue, puncture needle linear direction of travel are kidney, are placed in ultrasound image；
The puncture mechanical arm receives renal fibroblast instruction, and parsing punctures puncture needle forward travel distance in instruction, mechanical arm driving
Control, puncture needle is quickly, stable, precisely puncture obtains biopsy and pulls out needle；
The control computer carries out as follows:
S101, ultrasound image is received, kidney group in ultrasound image is identified using kidney identification model, puncture needle identification model respectively
It knits and puncture needle；
S102, according to kidney and puncture needle identification and regression result, establish three-dimensional coordinate using kidney center as origin, determine kidney
With the coordinate of puncture needle；
S103, puncture needle is calculated apart from kidney linear distance；
S104, estimate puncture needle travelling route and kidney surface pin mark；
S105, will apart from, travelling route and pin mark be labeled and show, wait operative doctor confirmation；
S106, operative doctor confirmation is received, issues renal fibroblast instruction, instruction includes puncture needle travel distance；
S107, control computer repeat S102 ~ S104, persistently monitor puncture needle travelling route and with kidney distance；
The kidney identification model, puncture needle identification model be line under training complete, first in ultrasound image kidney and wear
Pricker is labeled to form training sample, and CNN network is selected to be iterated study；Obtain renal tissue and puncture in ultrasound image
The identification of needle and regression model, as kidney identification model, puncture needle identification model；
After the puncture needle extracts biopsy, quick straight line is driven to retreat by puncture mechanical arm, needle is pulled out in completion.
Further, puncture needle identification model returns out needle point and puncture needle and skin intersecting point coordinate, that is, determines and puncture
Needle coordinate.
Further, ultrasound scanner uses three-D ultrasonic instrument, generates three-dimensional ultrasound pattern.
The invention has the following beneficial effects:
The present invention provides a kind of renal fibroblast control systems of semi-automation, under the assistance of operative doctor, by control computer control
System punctures mechanical arm, and steadily, at the uniform velocity the traveling of driving puncture needle straight line, steady non-jitter are effectively reduced and are broken to tissue
It is bad, especially to the destruction of renal tissue, avoid causing kidney surface lacerated wound big bleeding occur；Control computer real time monitoring is worn
Pricker travelling route and with kidney distance, it is ensured that puncture needle as expected route advance, avoid unexpected generation；Semi-automatic
Renal fibroblast control system issue puncture instruction before, by puncture needle travel line, kidney pin mark show, and by
Operative doctor confirmation, avoids and punctures the big blood vessel situation of needle-penetration.
Detailed description of the invention
Fig. 1: for the work flow diagram of intelligent renal fibroblast control system of the invention.
Specific embodiment
The present invention is specifically described below by embodiment, it is necessary to which indicated herein is that following embodiment is only used
In invention is further explained, it should not be understood as limiting the scope of the invention, person skilled in art can
To make some nonessential modifications and adaptations to the present invention according to aforementioned present invention content.
Embodiment 1
A kind of intelligence renal fibroblast control system, including ultrasound scanner, control computer, puncture mechanical arm composition；Wherein surpass
Sound scanner obtains the ultrasound image comprising kidney and puncture needle, and control computer receives ultrasound image, and it is straight that parsing obtains puncture needle
Line travel distance issues renal fibroblast instruction, punctures mechanical arm and receives renal fibroblast instruction, and control puncture needle is steady, straight line is advanced,
Complete renal fibroblast operation.
Under the assistance of operative doctor, as described in Figure 1, renal puncture is completed as follows；
S201: operative doctor scans kidney under ultrasound scanner assistance, and adjustment punctures mechanical arm, guarantees that puncture needle pierces on a small quantity
Enter subcutaneous tissue, puncture needle linear direction of travel is kidney, is placed in ultrasound image；
S202: fixed ultrasound scanner probe obtains ultrasound image, is transferred to control computer；
S203: control computer real-time reception ultrasound image identifies ultrasound using kidney identification model, puncture needle identification model respectively
Renal tissue and puncture needle in image；
S204: according to kidney and puncture needle identification and regression result, three-dimensional coordinate is established using kidney center as origin, determines kidney
With the coordinate of puncture needle；
S205: calculating puncture needle apart from kidney linear distance, estimate puncture needle travelling route and kidney surface pin mark；
S206: will apart from, travelling route and pin mark be labeled and show, wait operative doctor confirmation；
S207: receiving operative doctor confirmation, issues renal fibroblast instruction, and instruction includes puncture needle travel distance；
S208: puncture mechanical arm receive renal fibroblast instruct and parse, by mechanical arm drive control puncture needle along straight line at the uniform velocity, surely
It is fixed to advance；
S209: mechanical arm drive control puncture needle along straight line at the uniform velocity, stablize in traveling process, repeat step 3 ~ step 5, it is real
When monitoring puncture needle travelling route whether coincide with expected；It is controlled if misfitting and punctures mechanical arm stopping, waiting operation doctor
Raw confirmation；
S210: puncture needle advances to predeterminated position, completes kidney living body sampling, punctures mechanical arm and controls the quick straight line of puncture needle
It retreats, reduces the damage to tissue；
The kidney identification model, puncture needle identification model are obtained by CNN network training, are needed before training to kidney in ultrasound image
Dirty and puncture needle is labeled；Ultrasound image and mark feeding CNN network are iterated study and obtained.
Claims (3)
1. a kind of intelligence renal fibroblast control system is made of ultrasound scanner, control computer, puncture mechanical arm；Its feature
It is:
The ultrasound scanner is fixed by operative doctor, scans kidney peripheral position, describes ultrasound image；The ultrasound image packet
Kidney and away from subcutaneous distance；
The control computer obtains the ultrasound image that ultrasound scanner generates, and parsing obtains kidney location parameter and away from subcutaneous distance
Parameter sends renal fibroblast instruction；
The puncture mechanical arm is made of mechanical arm, puncture needle, mechanical arm driving；The puncture needle is connected on mechanical arm,
It is driven by mechanical arm driving device；The mechanical arm initial position is adjusted by operative doctor and is controlled, and guarantees that puncture needle is pierced on a small quantity
Subcutaneous tissue, puncture needle linear direction of travel are kidney, are placed in ultrasound image；
The puncture mechanical arm receives renal fibroblast instruction, and parsing punctures puncture needle forward travel distance in instruction, mechanical arm driving
Control, puncture needle is quickly, stable, precisely puncture obtains biopsy and pulls out needle；
The control computer substantially carries out as follows:
S101, ultrasound image is received, kidney group in ultrasound image is identified using kidney identification model, puncture needle identification model respectively
It knits and puncture needle；
S102, according to kidney and puncture needle identification and regression result, establish three-dimensional coordinate using kidney center as origin, determine kidney
With the coordinate of puncture needle；
S103, puncture needle is calculated apart from kidney linear distance；
S104, estimate puncture needle travelling route and kidney surface pin mark；
S105, will apart from, travelling route and pin mark be labeled and show, wait operative doctor confirmation；
S106, operative doctor confirmation is received, issues renal fibroblast instruction, instruction includes puncture needle travel distance；
S107, control computer repeat S102 ~ S104, persistently monitor puncture needle travelling route and with kidney distance；
The kidney identification model, puncture needle identification model be line under training complete, first in ultrasound image kidney and wear
Pricker is labeled to form training sample, and CNN network is selected to be iterated study；Obtain renal tissue and puncture in ultrasound image
The identification of needle and regression model, as kidney identification model, puncture needle identification model；
After the puncture needle extracts biopsy, quick straight line is driven to retreat by puncture mechanical arm, needle is pulled out in completion.
2. a kind of renal fibroblast control system of semi-automatic words as described in claim 1, it is characterised in that: the puncture needle identifies mould
The needle point and puncture needle and skin intersecting point coordinate of type recurrence puncture needle.
3. a kind of renal fibroblast control system of semi-automatic words as claimed in claim 2, it is characterised in that: ultrasound scanner uses three
Ultrasound Instrument is tieed up, three-dimensional ultrasound pattern is generated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811626416.9A CN109589145A (en) | 2018-12-28 | 2018-12-28 | A kind of intelligence renal fibroblast control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811626416.9A CN109589145A (en) | 2018-12-28 | 2018-12-28 | A kind of intelligence renal fibroblast control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109589145A true CN109589145A (en) | 2019-04-09 |
Family
ID=65964594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811626416.9A Withdrawn CN109589145A (en) | 2018-12-28 | 2018-12-28 | A kind of intelligence renal fibroblast control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109589145A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111631813A (en) * | 2020-05-27 | 2020-09-08 | 武汉联影智融医疗科技有限公司 | Automatic sequencing method, sequencing system, equipment and computer-readable storage medium for implantable electrodes |
| WO2022027729A1 (en) * | 2020-08-07 | 2022-02-10 | 浙江大学 | Kidney puncture sampling device |
| US11642182B2 (en) * | 2016-09-27 | 2023-05-09 | Brainlab Ag | Efficient positioning of a mechatronic arm |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007085953A1 (en) * | 2006-01-26 | 2007-08-02 | Nanyang Technological University | Apparatus and method for motorised placement of needle |
| CN101843502A (en) * | 2009-03-23 | 2010-09-29 | 株式会社东芝 | Diagnostic ultrasound equipment and centesis supporting method thereof |
| US20100298704A1 (en) * | 2009-05-20 | 2010-11-25 | Laurent Pelissier | Freehand ultrasound imaging systems and methods providing position quality feedback |
| CN102105190A (en) * | 2008-05-28 | 2011-06-22 | 泰克尼恩研究和发展基金有限公司 | Ultrasound guided robot for flexible needle steering |
| CN103908300A (en) * | 2013-01-03 | 2014-07-09 | 西门子公司 | Needle enhancement in diagnostic ultrasound imaging |
| CN108648821A (en) * | 2018-03-21 | 2018-10-12 | 北京理工大学 | Intelligent operation decision system and its application process towards puncturing operation robot |
| CN108836440A (en) * | 2018-03-21 | 2018-11-20 | 北京理工大学 | A kind of control decision method and system puncturing auxiliary robot |
| CN109074665A (en) * | 2016-12-02 | 2018-12-21 | 阿文特公司 | System and method for navigating to targeted anatomic object in the program based on medical imaging |
-
2018
- 2018-12-28 CN CN201811626416.9A patent/CN109589145A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007085953A1 (en) * | 2006-01-26 | 2007-08-02 | Nanyang Technological University | Apparatus and method for motorised placement of needle |
| CN102105190A (en) * | 2008-05-28 | 2011-06-22 | 泰克尼恩研究和发展基金有限公司 | Ultrasound guided robot for flexible needle steering |
| CN101843502A (en) * | 2009-03-23 | 2010-09-29 | 株式会社东芝 | Diagnostic ultrasound equipment and centesis supporting method thereof |
| US20100298704A1 (en) * | 2009-05-20 | 2010-11-25 | Laurent Pelissier | Freehand ultrasound imaging systems and methods providing position quality feedback |
| CN103908300A (en) * | 2013-01-03 | 2014-07-09 | 西门子公司 | Needle enhancement in diagnostic ultrasound imaging |
| CN109074665A (en) * | 2016-12-02 | 2018-12-21 | 阿文特公司 | System and method for navigating to targeted anatomic object in the program based on medical imaging |
| CN108648821A (en) * | 2018-03-21 | 2018-10-12 | 北京理工大学 | Intelligent operation decision system and its application process towards puncturing operation robot |
| CN108836440A (en) * | 2018-03-21 | 2018-11-20 | 北京理工大学 | A kind of control decision method and system puncturing auxiliary robot |
Non-Patent Citations (1)
| Title |
|---|
| 章浙伟，邵国良: "影像导航辅助定位穿刺系统在微创介入治疗中的应用", 《介入放射学杂志》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11642182B2 (en) * | 2016-09-27 | 2023-05-09 | Brainlab Ag | Efficient positioning of a mechatronic arm |
| CN111631813A (en) * | 2020-05-27 | 2020-09-08 | 武汉联影智融医疗科技有限公司 | Automatic sequencing method, sequencing system, equipment and computer-readable storage medium for implantable electrodes |
| WO2022027729A1 (en) * | 2020-08-07 | 2022-02-10 | 浙江大学 | Kidney puncture sampling device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109589145A (en) | A kind of intelligence renal fibroblast control system | |
| US8287464B2 (en) | Metal needle usable in echo imaging | |
| CN112057110B (en) | Imaging method of three-dimensional vascular ultrasonic image and navigation equipment in ultrasonic operation | |
| US20100063392A1 (en) | Ultrasound-guided ablation method and ultrasound-guided ablation system | |
| CN109805991A (en) | Vascular puncture auxiliary control method and device | |
| WO2007005791B1 (en) | Transvaginal uterine artery occlusion | |
| CN111839730B (en) | Photoacoustic imaging surgical navigation platform for guiding tumor resection | |
| CN106108947A (en) | A kind of system automatically controlling diasonograph | |
| CN204789014U (en) | Organize sample thief | |
| CN107174319A (en) | Internal organs lesser tubercle puncture locator | |
| TWI533897B (en) | Fat removal device | |
| CN201631241U (en) | Negative-pressure puncture biopsy needle | |
| CN206809320U (en) | A kind of PCNL ultrasonic probes | |
| CN201595916U (en) | Disposable dual-cavity egg taking needle | |
| CN201505153U (en) | Gun type micropuncture aspiration needle | |
| CN102860859A (en) | Puncture needle of oocyte collector | |
| CN101791239A (en) | Disposable single-lumen ovum pickup needle | |
| CN202015250U (en) | Double-plane probe for puncture location | |
| CN201958916U (en) | Uterine cavity sampler | |
| CN109498128A (en) | A kind of ultrasonic puncture positioning system | |
| CN219271156U (en) | Z-shaped mammary gland positioning needle | |
| CN109770942A (en) | A kind of arm ultrasonic three-dimensional imaging automatic acquisition device | |
| CN220236975U (en) | Positioning piece and positioning device for puncture positioning of puncture robot | |
| CN215994066U (en) | Semi-automatic biopsy puncture needle | |
| CN109171900A (en) | A kind of certainty vascular puncture method of intubation and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190409 |