CN112022229B - Mammary gland biopsy positioning device verification method, system, equipment and readable storage medium - Google Patents
Mammary gland biopsy positioning device verification method, system, equipment and readable storage medium Download PDFInfo
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- 238000001574 biopsy Methods 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims abstract description 72
- 238000012795 verification Methods 0.000 title claims abstract description 56
- 210000005075 mammary gland Anatomy 0.000 title claims abstract description 23
- 210000000481 breast Anatomy 0.000 claims description 186
- 238000012937 correction Methods 0.000 claims description 35
- 230000004044 response Effects 0.000 claims description 25
- 238000012545 processing Methods 0.000 claims description 13
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 10
- 238000002360 preparation method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 26
- 238000002059 diagnostic imaging Methods 0.000 abstract description 2
- 230000005855 radiation Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
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- 206010006187 Breast cancer Diseases 0.000 description 3
- 208000026310 Breast neoplasm Diseases 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012805 post-processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 238000003745 diagnosis Methods 0.000 description 1
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000009607 mammography Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- 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
-
- 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
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B90/17—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins for soft tissue, e.g. breast-holding devices
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The utility model relates to a mammary gland biopsy positioning device calibration method, a system, equipment and a readable storage medium, which belong to the technical field of medical imaging, in the process of calibrating and verifying the precision of the mammary gland biopsy positioning device, a needle holder of the mammary gland biopsy positioning device is driven to move according to different processes of calibration and verification, the needle point of a puncture needle is moved to a designated position, a stereoscopic positioning image pair is acquired and identified, the precision calibration and verification of the mammary gland biopsy positioning device is realized by measuring the needle point position and a preset position, the human error introduced by personnel operation in judgment and identification is effectively reduced, and the efficiency of the precision calibration and verification of the mammary gland biopsy positioning device is improved.
Description
Technical Field
The present application relates to the field of medical imaging technologies, and in particular, to a method, a system, an apparatus, and a readable storage medium for calibrating a breast biopsy positioning device.
Background
Breast cancer is a serious disease worldwide that severely threatens female health. Mammography is currently accepted as the first examination modality for breast cancer. In recent years, with the continuous updating of imaging devices, the advent of digital breast tomosynthesis technology, also known as digital breast tomography (Digital Breast Tomosynthesis, DBT), has further improved early detection and diagnosis of breast cancer.
Digital breast tomography is a three-dimensional imaging technique in which projection images of the breast are obtained at different angles by exposing and scanning a single bulb around the breast, and a three-dimensional tomographic reconstructed image of the breast containing a series of tomographic images is synthesized after reconstruction. These tomographic images are displayed individually or dynamically in a continuously played form, providing three-dimensional stereoscopic information.
The breast biopsy site is an important functional component of the DBT system, and is independent of an additional device outside the integral structure of the DBT system in morphology, so that a doctor can activate the breast biopsy site for use in a manual loading mode. With the assistance of the breast biopsy positioning device, doctors can perform accurate operations such as three-dimensional positioning of focus, puncture biopsy and the like on patients.
The mammary gland biopsy positioning device is flexibly mounted on the DBT system and is mainly responsible for accurate positioning of mammary gland biopsy. In practical application, the mammary gland biopsy positioning device is usually verified in a manual verification mode, and the puncture position of the puncture needle of the mammary gland biopsy may be greatly deviated due to human errors.
Disclosure of Invention
Based on the above, it is necessary to provide a calibration method, system, device and readable storage medium for the traditional breast biopsy positioning device, aiming at the problem that the puncture position is greatly deviated due to the manual calibration mode.
In a first aspect, the present application provides a method for calibrating a breast biopsy site device, comprising the steps of:
responding to a first driving instruction, and driving a needle holder of the mammary gland biopsy positioning device to move a needle point of the puncture needle to a first preset position;
in response to the movement ending signal, acquiring a first stereotactic image pair of the area where the needle tip of the puncture needle is opposite, acquiring coordinates of a target position and coordinates of a first preset position according to the first stereotactic image pair, and acquiring a coordinate difference between the first preset position and the target position;
and in response to the acquisition of the coordinate difference, correcting the breast biopsy positioning device according to the coordinate difference.
In one embodiment, acquiring the coordinates of the target location and the coordinates of the first preset location from the first stereotactic image pair includes the steps of:
for each image of the first stereotactic image pair, recognizing the coordinates of a first preset mark, and determining the coordinates of the target position and the coordinates of the first preset position according to the coordinates of the first preset mark, wherein each image of the first stereotactic image pair contains the first preset mark of the same actual position;
correcting the breast biopsy positioning device according to the coordinate difference comprises the following steps:
And correcting the breast biopsy positioning device according to the coordinate difference of each image.
In one embodiment, the method for verifying the breast biopsy positioning device further comprises the following steps:
after the coordinate difference is acquired at the current first preset position, executing the step of moving the needle tip of the puncture needle to the next first preset position;
and acquiring correction compensation values of the breast biopsy positioning device according to the coordinate differences obtained at the first preset positions, and correcting the breast biopsy positioning device according to the correction compensation values.
In a second aspect, the present application provides a calibration system for a breast biopsy site device, comprising:
a first needle holder driving unit for driving the needle holder of the breast biopsy positioning device to move the needle tip of the puncture needle to a first preset position in response to a first driving instruction;
the first position processing unit is used for responding to the movement ending signal, collecting a first stereotactic image pair of the area where the needle tip of the puncture needle is opposite, acquiring the coordinate of the target position and the coordinate of the first preset position according to the first stereotactic image pair, and acquiring the coordinate difference between the first preset position and the target position;
and the positioning correction unit is used for responding to the acquisition of the coordinate difference and correcting the breast biopsy positioning device according to the coordinate difference.
In one embodiment, the first position processing unit is further configured to identify, for each image of the first stereotactic image pair, coordinates of a first preset mark, and determine, according to the coordinates of the first preset mark, coordinates of a target position and coordinates of the first preset position, wherein each image of the first stereotactic image pair includes the first preset mark of the same actual position;
the positioning correction unit is also used for correcting the breast biopsy positioning device according to the coordinate difference of each image.
In one embodiment, the plurality of first preset positions are provided, and after the positioning correction unit obtains the coordinate difference at the current first preset position, the first needle holder driving unit moves the needle tip of the puncture needle to the next first preset position;
the positioning correction unit is also used for obtaining correction compensation values of the breast biopsy positioning device according to the coordinate differences obtained at the first preset positions and correcting the breast biopsy positioning device according to the correction compensation values.
In a third aspect, the present application provides another method of calibrating a breast biopsy site device, comprising the steps of:
installing a die body under the mammary gland biopsy positioning device, and responding to a second driving instruction, and pressing the die body by adopting a pressing plate;
In response to the compression end signal, acquiring a second stereotactic image pair of the phantom, and acquiring coordinates of a calibration position according to the second stereotactic image pair;
in response to the acquisition of the coordinates of the calibration position, driving a needle holder of the breast biopsy positioning device to move the needle tip of the puncture needle to the calibration position;
in response to the movement ending signal, acquiring a third stereotactic image pair of the die body, acquiring coordinates of the needle point position of the puncture needle according to the third stereotactic image pair, and acquiring coordinate errors according to the coordinates of the calibration position and the coordinates of the needle point position of the puncture needle;
and responding to the acquisition of the coordinate error, and verifying the breast biopsy positioning device according to the coordinate error.
In one embodiment, acquiring coordinates of the calibration location from the second stereotactic image pair includes the steps of:
for each image of the second stereotactic image pair, identifying coordinates of a second preset mark, and determining coordinates of a calibration position according to the coordinates of the second preset mark; wherein each image of the second stereotactic image pair contains a second preset mark of the same actual position;
acquiring coordinates of the needle tip position of the puncture needle according to the third stereotactic image pair comprises the following steps:
For each image of the third stereotactic image pair, identifying coordinates of a second preset mark, and determining coordinates of the needle tip position of the puncture needle according to the coordinates of the second preset mark; wherein each image of the third stereotactic image pair contains a second preset mark of the same physical location.
In one embodiment, the calibration positions are a plurality of, and the method for calibrating the breast biopsy positioning device further comprises the following steps:
after verifying the mammary gland biopsy positioning device at the current calibration position, executing the step of moving the needle tip of the puncture needle to the next calibration position;
and obtaining a target verification result of the breast biopsy positioning device according to the verification results obtained at the plurality of calibration positions.
In a fourth aspect, the present application provides a calibration system for a breast biopsy site device, comprising:
the verification preparation unit is used for installing the die body under the mammary gland biopsy positioning device and responding to the second driving instruction, and the die body is pressed by adopting the pressing plate;
the calibration position determining unit is used for responding to the compression ending signal, collecting a second stereotactic image pair of the die body and obtaining coordinates of a calibration position according to the second stereotactic image pair;
A second needle holder driving unit for driving the needle holder of the breast biopsy positioning device to move the needle tip of the puncture needle to the calibration position in response to the acquisition of the coordinates of the calibration position;
the second position processing unit is used for responding to the movement ending signal, collecting a third stereotactic image pair of the die body, obtaining the coordinate of the needle point position of the puncture needle according to the third stereotactic image pair, and obtaining a coordinate error according to the coordinate of the calibration position and the coordinate of the needle point position of the puncture needle;
and the positioning verification unit is used for responding to the acquisition of the coordinate error and verifying the breast biopsy positioning device according to the coordinate error.
In one embodiment, the calibration position determining unit is further configured to identify coordinates of a second preset mark for each image of the second stereotactic image pair, and determine coordinates of the calibration position according to the coordinates of the second preset mark; wherein each image of the second stereotactic image pair contains a second preset mark of the same actual position;
the second position processing unit is further used for identifying the coordinates of a second preset mark for each image of the third stereotactic image pair and determining the coordinates of the needle tip position of the puncture needle according to the coordinates of the second preset mark; wherein each image of the third stereotactic image pair contains a second preset mark of the same physical location.
In one embodiment, the plurality of calibration positions are provided, and the second needle holder driving unit drives the needle holder to move the needle tip of the puncture needle to the next calibration position after the positioning verification unit verifies the mammary gland biopsy positioning device at the current calibration position;
the positioning verification unit is also used for obtaining a target verification result of the breast biopsy positioning device according to verification results obtained at a plurality of calibration positions.
In a fifth aspect, the present application provides a readable storage medium having stored thereon an executable program, wherein the executable program when executed by a processor performs the steps of any one of the methods for calibrating a breast biopsy positioning device described above.
In a sixth aspect, the present application provides a calibration device for a breast biopsy site, comprising a memory and a processor, the memory storing an executable program, wherein the processor, when executing the executable program, implements the steps of any one of the methods for calibrating a breast biopsy site described above.
Compared with the related art, the calibration method, the system, the readable storage medium and the device of the breast biopsy positioning device, provided by the application, have the advantages that in the process of calibrating and verifying the precision of the breast biopsy positioning device, the needle holder of the breast biopsy positioning device is driven to move according to different processes of calibration and verification, the needle point of the puncture needle is moved to a designated position, the stereoscopic positioning image pair is collected and identified, the precision calibration and verification of the breast biopsy positioning device are realized by measuring the needle point position and the preset position, the human error introduced by personnel operation in judgment and identification is effectively reduced, and the efficiency of the precision calibration and verification of the breast biopsy positioning device is improved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a schematic configuration diagram of an exemplary breast tomographic apparatus;
FIG. 2 is a flow chart of a method of calibrating a breast biopsy site device in one embodiment;
FIG. 3 is a flow chart of a method of calibrating a breast biopsy site device according to another embodiment;
FIG. 4 is a schematic diagram of a verification system of a breast biopsy site device in one embodiment;
FIG. 5 is a schematic diagram of a verification system of a breast biopsy site device according to another embodiment;
fig. 6 is an internal structural view of the checking apparatus of the breast biopsy site apparatus in one embodiment, respectively.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the detailed description is presented herein for purposes of illustration only and is not intended to limit the scope of the application.
As used in this application and in the claims, the terms "a," "an," "the," and/or "the" are not specific to the singular, but may include the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
It should be noted that, the term "first\second" related to the embodiment of the present invention is merely to distinguish similar objects, and does not represent a specific order for the objects, it is to be understood that "first\second" may interchange a specific order or precedence where allowed. It is to be understood that the "first\second" distinguishing aspects may be interchanged where appropriate to enable embodiments of the invention described herein to be implemented in sequences other than those illustrated or described.
The described embodiments are intended to be illustrative of only some, but not all embodiments of the invention, and all other embodiments that may be made by those skilled in the art without the benefit of the present disclosure are intended to be within the scope of the invention.
Although the present application makes various references to certain elements in a system according to embodiments of the present application, any number of different elements may be used and run on an imaging system and/or processor. The units are merely illustrative and different aspects of the systems and methods may use different units.
Flowcharts are used in this application to describe the operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in order precisely. Rather, the various steps may be processed in reverse order or simultaneously. At the same time, other operations are added to or removed from these processes.
Fig. 1 is a block diagram of an exemplary breast tomography apparatus including a plurality of radiation sources 110, a detector 120, and a compression paddle 130. The compression plate 130 clamps the breast from two directions. The plurality of radiation sources 110 illuminate the breast from different angles at a distance, and the radiation passes through the breast and then enters the detector 120, and the detector 120 captures the transmitted radiation.
The breast tomographic apparatus may use a photographing mode of a single radiation source, in which projection images of different angles are obtained by rotating the radiation source, or a photographing mode of a plurality of array-distributed radiation sources as shown in fig. 1, in which a breast is irradiated by a plurality of radiation sources 110, thereby enabling a larger breast area to be covered without excessive movement of the radiation sources.
In fig. 1, a breast tomographic apparatus can acquire projection images formed by irradiation of respective different-angle radiation sources 110, and then transmit to a computer-aided image processing apparatus for image reconstruction. After image reconstruction, a three-dimensional breast tomographic reconstructed image can be obtained, which contains a number of tomographic images (or slice images). Each tomographic image may show one tomographic of the breast.
The calibration method of the breast biopsy positioning device can be applied to devices such as breast tomography devices and the like related to the breast biopsy positioning device.
Referring to fig. 2, a flow chart of a method for calibrating a breast biopsy positioning device according to an embodiment of the present application is shown. The calibration method of the breast biopsy positioning device in the embodiment comprises the following steps:
step S110: responding to a first driving instruction, and driving a needle holder of the mammary gland biopsy positioning device to move a needle point of the puncture needle to a first preset position;
in the step, the breast biopsy positioning device is provided with a driving device, when a first driving instruction is received, the driving device can respond to the first driving instruction, the needle holder is driven to move, the first driving instruction can be generated when a user corrects the breast biopsy positioning device, and the first driving instruction can be generated through triggering of a touch signal or a key signal; the puncture needle is clamped on the needle holder, the puncture needle can also move by means of the movement of the needle holder, so that the needle tip of the puncture needle can move to a designated position, the first preset position is a fixed position which is selected according to the requirement of breast detection, and after the breast biopsy positioning device receives instruction information of the first preset position, the needle holder can be driven to automatically move, so that the needle tip of the puncture needle can move to the first preset position.
Step S120: in response to the movement ending signal, acquiring a first stereotactic image pair of the area where the needle tip of the puncture needle is opposite, acquiring coordinates of a target position and coordinates of a first preset position according to the first stereotactic image pair, and acquiring a coordinate difference between the first preset position and the target position;
in this step, after the driving process of the needle holder is finished, the needle tip of the puncture needle reaches a first preset position, at this time, corresponding state information will report a system where the breast biopsy positioning device is located, the system will trigger an image acquisition process, collect a first stereotactic image pair of an area where the needle tip of the puncture needle is located, the first stereotactic image pair may include more than two stereotactic images, respectively shoot under different scanning angles, the coordinates of the first preset position and the target position can be determined from the first stereotactic image pair by using the first stereotactic image pair, the target position is a position where the needle tip of the puncture needle is required to actually reach, and since the needle holder is driven according to the first preset position, the accuracy will be affected, the first preset position and the target position will deviate, and the coordinate difference between the first stereotactic image pair can be determined through the identification of the first stereotactic image pair.
Step S130: and in response to the acquisition of the coordinate difference, correcting the breast biopsy positioning device according to the coordinate difference.
In the step, after the coordinate difference is obtained, the breast biopsy positioning device can be corrected by utilizing the determined coordinate difference, so that the deviation of the breast biopsy positioning device is reduced as much as possible in the positioning process, and the positioning accuracy of the breast biopsy positioning device is improved.
In the embodiment, in the precision correction of the breast biopsy positioning device, the needle holder of the breast biopsy positioning device is driven to move according to the correction flow, the needle tip of the puncture needle is moved to the designated position, the stereoscopic positioning image pair is collected and identified, the precision correction of the breast biopsy positioning device is realized by measuring the needle tip position and the first preset position, the human error introduced in judgment and identification by personnel operation is effectively reduced, and the precision correction efficiency of the breast biopsy positioning device is improved.
It should be noted that, the calibration method of the breast biopsy positioning device may be performed on a console of the breast biopsy positioning device, may be performed on a post-processing workstation of the breast biopsy positioning device, or may be performed on a terminal or a computing device capable of communicating with the breast biopsy positioning device, and is not limited thereto, and may be adjusted according to the needs of practical applications.
Specifically, after the driving process of the needle holder is finished, the needle tip of the puncture needle reaches a first preset position, at the moment, corresponding state information can report a system where the breast biopsy positioning device is located, the system can trigger an image acquisition process, specifically an exposure workflow, exposure data acquisition of different angles is carried out on the area where the needle tip of the puncture needle is located by using exposure dose parameters fixed by the system, and after algorithm processing is carried out on the exposure data, a stereoscopic positioning image pair is obtained; further, the different angles can be two angles with the same absolute value, such as +20 degrees, -20 degrees and the like, and the specific angles can be adjusted according to actual needs; since the breast entity is not involved in the correction process, the compression paddle for the breast can be removed in actual operation, and the correction process of the scheme is performed again.
In one embodiment, acquiring the coordinates of the target location and the coordinates of the first preset location from the first stereotactic image pair includes the steps of:
for each image of the first stereotactic image pair, recognizing the coordinates of a first preset mark, and determining the coordinates of the target position and the coordinates of the first preset position according to the coordinates of the first preset mark, wherein each image of the first stereotactic image pair contains the first preset mark of the same actual position;
Correcting the breast biopsy positioning device according to the coordinate difference comprises the following steps:
and correcting the breast biopsy positioning device according to the coordinate difference of each image.
In this embodiment, the coordinate may be acquired separately for each image of the first stereotactic image pair; when the first stereotactic image pair is shot, a first preset mark can be arranged at a certain actual position of the area where the needle tip of the puncture needle is positioned, the first preset mark is displayed in each image of the first stereotactic image pair, the mark can be used as an association datum point to associate the coordinate of the target position with the coordinate of the first preset position, so that the position relation between the actual position and the first preset position is established, and the position coordinate difference between the two is utilized to correct the breast biopsy positioning device.
Specifically, the first preset mark includes, but is not limited to, a mark on the objective table of the breast biopsy positioning device, or a mark at other positions of the shooting area, and before the coordinates of the first preset mark are identified, the scale of the current image can be adjusted so that the current image is completely displayed; in addition, the coordinate differences of all the images of the first stereotactic image pair can be averaged or weighted averaged to obtain a correction compensation value corresponding to the first stereotactic image pair, and the correction compensation value is used for correcting the breast biopsy positioning device.
In one embodiment, the method for verifying the breast biopsy positioning device further comprises the following steps:
after the coordinate difference is acquired at the current first preset position, executing the step of moving the needle tip of the puncture needle to the next first preset position;
and acquiring correction compensation values of the breast biopsy positioning device according to the coordinate differences obtained at the first preset positions, and correcting the breast biopsy positioning device according to the correction compensation values.
In this embodiment, coordinate differences may be obtained at a plurality of first preset positions, and in actual operation, operations may be performed at different first preset positions sequentially, and correction compensation values of the breast biopsy positioning device are comprehensively determined by using the coordinate differences at the different first preset positions, so as to improve accuracy of accuracy correction of the breast biopsy positioning device.
Further, the first preset positions may be two or more than three, and after the coordinate difference of each first preset position is obtained, the plurality of coordinate differences may be averaged or weighted averaged to obtain the correction compensation value.
Referring to fig. 3, a flow chart of a method for calibrating a breast biopsy positioning device according to an embodiment of the present application is shown. The calibration method of the breast biopsy positioning device in the embodiment comprises the following steps:
Step S210: installing a die body under the mammary gland biopsy positioning device, and responding to a second driving instruction, and pressing the die body by adopting a pressing plate;
in this step, the mold body of the breast can be selected for installation, and when a second driving instruction is received, the mold body can be responded, the mold body is pressed by adopting the pressing plate, the actual application scene of the breast biopsy positioning device is simulated, the installation mold body and the pressing plate can be pressed by driving accessories of the breast biopsy positioning device, the second driving instruction can be an instruction generated by a user when the breast biopsy positioning device is verified, and the second driving instruction can be generated by triggering a touch signal or a key signal.
Step S220: in response to the compression end signal, acquiring a second stereotactic image pair of the phantom, and acquiring coordinates of a calibration position according to the second stereotactic image pair;
in this step, after the compression simulation is completed, the system where the breast biopsy positioning device is located may report corresponding status information, the system may trigger an image acquisition process, and acquire a second stereotactic image pair of an area where the mold body is located, where the second stereotactic image pair may include more than two stereotactic images, and each stereotactic image pair may be photographed at different scan angles, and coordinates of a calibration position where tissue needs to be extracted, that is, a position where a needle tip of a puncture needle should actually reach may be obtained from the second stereotactic image pair.
Step S230: in response to the acquisition of the coordinates of the calibration position, driving a needle holder of the breast biopsy positioning device to move the needle tip of the puncture needle to the calibration position;
in this step, the breast biopsy positioning device is provided with a driving device, and after the coordinates of the calibration position are obtained, the needle holder can be driven to move, the puncture needle is clamped on the needle holder, and the puncture needle can also be moved by the movement of the needle holder, so that the needle tip of the puncture needle can be moved to the calibration position.
Step S240: in response to the movement ending signal, acquiring a third stereotactic image pair of the die body, acquiring coordinates of the needle point position of the puncture needle according to the third stereotactic image pair, and acquiring coordinate errors according to the coordinates of the calibration position and the coordinates of the needle point position of the puncture needle;
in this step, after the driving process of the needle holder is finished, the needle tip of the puncture needle is expected to reach the calibration position, at this time, the corresponding state information will report the system where the breast biopsy positioning device is located, the system will trigger the image acquisition process, acquire the third stereotactic image pair of the area where the needle tip of the puncture needle is located, the third stereotactic image pair may include more than two stereotactic images, shoot under different scanning angles respectively, utilize the third stereotactic image pair to confirm the coordinates of the needle tip position and calibration position therefrom, because the puncture process will cause the spatial position change of the die body, the needle tip position and calibration position will deviate, and the coordinate error between the two can be confirmed through the recognition of the third stereotactic image pair.
Step S250: and responding to the acquisition of the coordinate error, and verifying the breast biopsy positioning device according to the coordinate error.
In the step, after the coordinate error is obtained, the breast biopsy positioning device can be verified by utilizing the determined coordinate error, and whether the breast biopsy positioning device meets the corresponding precision requirement is verified.
In the embodiment, in the accuracy verification of the breast biopsy positioning device, the verified calibration position is determined according to the verification process, the needle holder of the breast biopsy positioning device is driven to move, the needle point of the puncture needle is moved to the calibration position, the stereoscopic positioning image pair is collected and identified, the accuracy verification of the breast biopsy positioning device is realized by measuring the needle point position and the calibration position, the human error introduced in judgment and identification by personnel operation is effectively reduced, and the accuracy verification efficiency of the breast biopsy positioning device is improved.
It should be noted that, the calibration method of the breast biopsy positioning device may be performed on a console of the breast biopsy positioning device, may be performed on a post-processing workstation of the breast biopsy positioning device, or may be performed on a terminal or a computing device capable of communicating with the breast biopsy positioning device, and is not limited thereto, and may be adjusted according to the needs of practical applications.
Specifically, the system triggers an image acquisition process, specifically an exposure workflow, acquires exposure data of different angles of the region where the die body is located by using exposure dose parameters fixed by the system, and obtains a stereoscopic positioning image pair after carrying out algorithm processing on the exposure data; further, the different angles can be two angles with the same absolute value, such as +20 degrees, -20 degrees and the like, and the specific angles can be adjusted according to actual needs.
Specifically, the puncture assembly of the breast biopsy positioning device generally comprises a puncture bracket and a puncture cavity, wherein a puncture needle is arranged in the puncture cavity, the puncture assembly moves to a target position through a needle holder arranged in the breast biopsy positioning device, and when the puncture assembly moves to the target position, the puncture needle can reach the target position along a needle inlet track in the puncture cavity.
In one embodiment, acquiring coordinates of the calibration location from the second stereotactic image pair includes the steps of:
for each image of the second stereotactic image pair, identifying coordinates of a second preset mark, and determining coordinates of a calibration position according to the coordinates of the second preset mark; wherein each image of the second stereotactic image pair contains a second preset mark of the same actual position;
Acquiring coordinates of the needle tip position of the puncture needle according to the third stereotactic image pair comprises the following steps:
for each image of the third stereotactic image pair, identifying coordinates of a second preset mark, and determining coordinates of the needle tip position of the puncture needle according to the coordinates of the second preset mark; wherein each image of the third stereotactic image pair contains a second preset mark of the same physical location.
In this embodiment, the coordinate may be acquired separately for each image of the second stereotactic image pair; when the second stereotactic image pair is shot, a second preset mark can be arranged at a certain actual position of the area where the die body is positioned, the second preset mark is displayed in each image of the second stereotactic image pair, and the mark can be used as a datum point for determining the coordinate of the calibration position; in the third stereotactic image pair, the coordinates of the needle tip position of the puncture needle can be similarly determined, and the breast biopsy positioning device can be verified by utilizing the position coordinate error between the coordinates.
Specifically, the second preset mark includes, but is not limited to, a mark on the stage of the breast biopsy positioning device, or a mark at other positions of the shooting area, and before the coordinates of the second preset mark are identified, the scale of the current image can be adjusted so that the current image is completely displayed; in addition, the coordinates of the calibration positions of all the images of the second stereotactic image pair can be averaged or weighted averaged to obtain the coordinates of the calibration positions corresponding to the second stereotactic image pair, the coordinates of the needle tip positions of all the images of the third stereotactic image pair can be averaged or weighted averaged to obtain the coordinates of the needle tip positions corresponding to the third stereotactic image pair, and the accuracy of correcting the breast biopsy positioning device by using the correction compensation value is determined by using the coordinates of the calibration positions and the coordinates of the needle tip positions.
In one embodiment, the calibration positions are a plurality of, and the method for calibrating the breast biopsy site device further comprises the steps of:
after verifying the mammary gland biopsy positioning device at the current calibration position, executing the step of moving the needle tip of the puncture needle to the next calibration position;
and obtaining a target verification result of the breast biopsy positioning device according to the verification results obtained at the plurality of calibration positions.
In this embodiment, the verification can be performed at a plurality of calibration positions, and in actual operation, operations can be performed at different calibration positions sequentially, and the overall accuracy level of the breast biopsy positioning device is comprehensively verified by using the verification results at the different calibration positions.
Further, the calibration positions may be two or more.
It should be noted that, the calibration method of the breast biopsy positioning device may include two processes of calibration and verification, and after the calibration process is finished, the verification process may be further performed, and the two processes may be implemented in cooperation with each other, which is not contradictory.
According to the calibration method of the breast biopsy device, the embodiment of the application also provides a calibration system of the breast biopsy device, and the embodiment of the calibration system of the breast biopsy device is described in detail below.
Referring to fig. 4, a schematic structural diagram of a verification system of a breast biopsy site device according to an embodiment is shown. The calibration system of the breast biopsy positioning device in this embodiment includes:
a first needle holder driving unit 310 for driving the needle holder of the breast biopsy positioning device to move the needle tip of the puncture needle to a first preset position in response to a first driving instruction;
a first position processing unit 320, configured to acquire a first stereotactic image pair of a region where the needle tip of the puncture needle is opposite in response to the movement end signal, acquire coordinates of a target position and coordinates of a first preset position according to the first stereotactic image pair, and acquire a coordinate difference between the first preset position and the target position;
the positioning correction unit 330 is used for correcting the breast biopsy positioning device according to the coordinate difference in response to the acquisition of the coordinate difference.
In one embodiment, the first position processing unit 320 is further configured to identify, for each image of the first stereotactic image pair, coordinates of a first preset mark, and determine, according to the coordinates of the first preset mark, coordinates of a target position and coordinates of the first preset position, wherein each image of the first stereotactic image pair includes the first preset mark of the same actual position;
The registration correction unit 330 is also used for correcting the breast biopsy positioning apparatus according to the coordinate difference of each image.
In one embodiment, the first preset positions are plural, and the first needle holder driving unit 310 moves the needle tip of the puncture needle to the next first preset position after the positioning correction unit 330 obtains the coordinate difference at the current first preset position;
the positioning correction unit 330 is further configured to obtain correction compensation values of the breast biopsy positioning device according to the coordinate differences obtained at the plurality of first preset positions, and correct the breast biopsy positioning device according to the correction compensation values.
Referring to fig. 5, a schematic structural diagram of a verification system of a breast biopsy site device according to another embodiment is shown. The calibration system of the breast biopsy positioning device in this embodiment includes:
a calibration preparation unit 410 for installing the mold under the breast biopsy positioning device and compressing the mold using a compression plate in response to a second driving command;
a calibration position determining unit 420, configured to acquire a second stereotactic image pair of the phantom in response to the compression end signal, and acquire coordinates of a calibration position according to the second stereotactic image pair;
a second needle holder driving unit 430 for driving the needle holder of the breast biopsy positioning device to move the needle tip of the puncture needle to the calibration position in response to the acquisition of the coordinates of the calibration position;
A second position processing unit 440 for acquiring a third stereotactic image pair of the phantom in response to the movement end signal, acquiring coordinates of the needle tip position of the puncture needle according to the third stereotactic image pair, and acquiring coordinate errors according to the coordinates of the calibration position and the coordinates of the needle tip position of the puncture needle;
and the positioning verification unit 450 is used for verifying the breast biopsy positioning device according to the coordinate error in response to the acquisition of the coordinate error.
In one embodiment, the calibration position determining unit 420 is further configured to identify coordinates of a second preset mark for each image of the second stereotactic image pair, and determine coordinates of the calibration position according to the coordinates of the second preset mark; wherein each image of the second stereotactic image pair contains a second preset mark of the same actual position;
the second position processing unit 440 is further configured to identify coordinates of a second preset mark for each image of the third stereotactic image pair, and determine coordinates of a needle tip position of the puncture needle according to the coordinates of the second preset mark; wherein each image of the third stereotactic image pair contains a second preset mark of the same physical location.
In one embodiment, the calibration positions are multiple, and after the positioning verification unit 450 verifies the breast biopsy device at the current calibration position, the second needle holder driving unit 430 drives the needle holder to move the needle tip of the puncture needle to the next calibration position;
The positioning verification unit 450 is further configured to obtain a target verification result of the breast biopsy positioning device based on verification results obtained at the plurality of calibration positions.
The calibration system of the breast biopsy positioning device and the calibration method of the breast biopsy positioning device in one-to-one correspondence are applicable to the embodiment of the calibration system of the breast biopsy positioning device, and the technical characteristics and the beneficial effects described in the embodiment of the calibration method of the breast biopsy positioning device are all applicable to the embodiment of the calibration system of the breast biopsy positioning device.
A readable storage medium having stored thereon an executable program which when executed by a processor performs the steps of the method of calibrating a breast biopsy positioning device described above.
According to the readable storage medium, in the accuracy correction and verification process of the breast biopsy positioning device, the needle holder of the breast biopsy positioning device is driven to move according to different correction and verification processes, the needle point of the puncture needle is moved to the designated position, the stereoscopic positioning image pair is collected and identified, the accuracy correction and verification of the breast biopsy positioning device is realized by measuring the needle point position and the preset position, the human error caused by the operation of personnel in judgment and identification is effectively reduced, and the accuracy correction and verification efficiency of the breast biopsy positioning device is improved.
The utility model provides a calibration equipment of breast biopsy locating device, includes memory and treater, and the memory stores executable program, and the step of the calibration method of breast biopsy locating device is realized to the treater when executing executable program.
According to the calibration equipment of the breast biopsy positioning device, the executable program is run on the processor, so that in the process of precision calibration and verification of the breast biopsy positioning device, the needle holder of the breast biopsy positioning device is driven to move according to different processes of calibration and verification, the needle point of the puncture needle is moved to the designated position, the stereoscopic positioning image is collected and identified, the precision calibration and verification of the breast biopsy positioning device is realized by measuring the needle point position and the preset position, the human error introduced in judgment and identification by personnel operation is effectively reduced, and the efficiency of the precision calibration and verification of the breast biopsy positioning device is improved.
Those of ordinary skill in the art will appreciate that implementing all or part of the above-described embodiments of the method for calibrating a breast biopsy device may be accomplished by a computer program to instruct associated hardware, the program may be stored in a non-volatile computer readable storage medium, such as a computer system, and the program may be stored in the computer system's storage medium and executed by at least one processor in the computer system to implement the embodiment of the method comprising the above-described breast biopsy device. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
The calibration device of the breast biopsy positioning device can be a terminal, and the internal structure diagram of the calibration device can be shown in fig. 6. The verification device comprises a processor, a memory, a network interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the verification device is configured to provide computing and control capabilities. The memory of the verification device comprises a nonvolatile 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 network interface of the verification device is used for communicating with an external terminal through network connection. The computer program is executed by a processor to implement a method of calibrating a breast biopsy positioning device. The display screen of the verification device can be a liquid crystal display screen or an electronic ink display screen, the input device of the verification device 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 verification device, 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. 6 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the verification device to which the present application is applied, and that a particular verification device may include more or fewer components than shown, or may combine some components, or have a different arrangement of components.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A method of calibrating a breast biopsy positioning device, the method comprising the steps of:
responding to a first driving instruction, and driving a needle holder of the mammary gland biopsy positioning device to move a needle point of the puncture needle to a first preset position;
in response to a movement ending signal, acquiring a first stereotactic image pair of a region where the needle tip of the puncture needle is opposite, acquiring coordinates of a target position and coordinates of a first preset position according to the first stereotactic image pair, and acquiring a coordinate difference between the first preset position and the target position;
Responding to the acquisition of the coordinate difference, and correcting the breast biopsy positioning device according to the coordinate difference;
the first preset position comprises a fixed position selected according to the breast biopsy requirement, and the target position comprises a position where the needle tip of the puncture needle actually reaches.
2. The method of calibrating a breast biopsy positioning device according to claim 1, wherein the acquiring the coordinates of the target position and the coordinates of the first preset position from the first stereotactic image pair comprises the steps of:
identifying coordinates of a first preset mark for each image of the first stereotactic image pair, and determining coordinates of the target position and coordinates of the first preset position according to the coordinates of the first preset mark, wherein each image of the first stereotactic image pair contains the first preset mark of the same actual position;
the correcting the breast biopsy positioning device according to the coordinate difference comprises the following steps:
and correcting the breast biopsy positioning device according to the coordinate difference of each image.
3. The method of calibrating a breast biopsy positioning device of claim 1, wherein the first predetermined position is a plurality of positions, the method further comprising the steps of:
After the coordinate difference is acquired at the current first preset position, executing the step of moving the needle tip of the puncture needle to the next first preset position;
and acquiring correction compensation values of the breast biopsy positioning device according to the coordinate differences obtained at the first preset positions, and correcting the breast biopsy positioning device according to the correction compensation values.
4. A method of calibrating a breast biopsy positioning device, the method comprising the steps of:
installing a die body under the mammary gland biopsy positioning device, and responding to a second driving instruction, and pressing the die body by adopting a pressing plate;
responding to the compression ending signal, collecting a second stereotactic image pair of the die body, and obtaining coordinates of a calibration position according to the second stereotactic image pair;
in response to the acquisition of the coordinates of the calibration position, driving a needle holder of the breast biopsy positioning device to move a needle tip of a puncture needle to the calibration position;
responding to a movement ending signal, collecting a third stereotactic image pair of the die body, obtaining the coordinate of the needle point position of the puncture needle according to the third stereotactic image pair, and obtaining a coordinate error according to the coordinate of the calibration position and the coordinate of the needle point position of the puncture needle;
Responding to the acquisition of the coordinate error, and verifying the breast biopsy positioning device according to the coordinate error;
wherein obtaining coordinates of a calibration location from the second stereotactic image pair includes: for each image of the second stereotactic image pair, identifying coordinates of a second preset mark, and determining coordinates of the calibration position according to the coordinates of the second preset mark; wherein each image of the second stereotactic image pair contains a second preset mark of the same actual position.
5. The method of calibrating a breast biopsy positioning device according to claim 4, wherein the obtaining coordinates of the needle tip position of the puncture needle from the third stereotactic image pair comprises the steps of:
for each image of the third stereotactic image pair, identifying coordinates of the second preset mark, and determining coordinates of the needle tip position of the puncture needle according to the coordinates of the second preset mark; wherein each image of the third stereotactic image pair contains a second preset mark of the same physical location.
6. The method of calibrating a breast biopsy positioning device of claim 4, wherein the calibration location is a plurality of, the method further comprising the steps of:
After verifying the mammary gland biopsy positioning device at the current calibration position, executing the step of moving the needle tip of the puncture needle to the next calibration position;
and obtaining a target verification result of the breast biopsy positioning device according to the verification results obtained at the plurality of calibration positions.
7. A calibration system for a breast biopsy site, the calibration system comprising:
a first needle holder driving unit for driving the needle holder of the breast biopsy positioning device to move the needle tip of the puncture needle to a first preset position in response to a first driving instruction;
a first position processing unit, configured to acquire a first stereotactic image pair of a relative area of a needle tip of the puncture needle in response to a movement end signal, acquire coordinates of a target position and coordinates of a first preset position according to the first stereotactic image pair, and acquire a coordinate difference between the first preset position and the target position;
the positioning correction unit is used for responding to the acquisition of the coordinate difference and correcting the breast biopsy positioning device according to the coordinate difference;
the first preset position comprises a fixed position selected according to the breast biopsy requirement, and the target position comprises a position where the needle tip of the puncture needle actually reaches.
8. A calibration system for a breast biopsy site, the calibration system comprising:
the checking preparation unit is used for installing the die body under the mammary gland biopsy positioning device and responding to a second driving instruction, and the die body is pressed by a pressing plate;
the calibration position determining unit is used for responding to the compression ending signal, acquiring a second stereotactic image pair of the die body and acquiring coordinates of a calibration position according to the second stereotactic image pair;
a second needle holder driving unit for driving a needle holder of the breast biopsy positioning device to move a needle tip of a puncture needle to the calibration position in response to acquisition of coordinates of the calibration position;
the second position processing unit is used for responding to the movement ending signal, acquiring a third stereotactic image pair of the die body, acquiring the coordinate of the needle point position of the puncture needle according to the third stereotactic image pair, and acquiring a coordinate error according to the coordinate of the calibration position and the coordinate of the needle point position of the puncture needle;
the positioning verification unit is used for responding to the acquisition of the coordinate error and verifying the breast biopsy positioning device according to the coordinate error;
Wherein obtaining coordinates of a calibration location from the second stereotactic image pair includes: for each image of the second stereotactic image pair, identifying coordinates of a second preset mark, and determining coordinates of the calibration position according to the coordinates of the second preset mark; wherein each image of the second stereotactic image pair contains a second preset mark of the same actual position.
9. A readable storage medium having stored thereon an executable program, wherein the executable program when executed by a processor performs the steps of the method of calibrating a breast biopsy positioning device according to any of claims 1 to 6.
10. A calibration apparatus for a breast biopsy site comprising a memory and a processor, the memory storing an executable program, wherein the processor when executing the executable program performs the steps of the calibration method for a breast biopsy site of any one of claims 1 to 6.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011123415.XA CN112022229B (en) | 2020-10-20 | 2020-10-20 | Mammary gland biopsy positioning device verification method, system, equipment and readable storage medium |
| EP21857789.8A EP4183345A4 (en) | 2020-08-21 | 2021-08-23 | Breast x-ray imaging apparatus, and method and system for correcting and verifying breast biopsy positioning device |
| PCT/CN2021/114108 WO2022037702A1 (en) | 2020-08-21 | 2021-08-23 | Breast x-ray imaging apparatus, and method and system for correcting and verifying breast biopsy positioning device |
| US18/172,270 US20230190389A1 (en) | 2020-08-21 | 2023-02-21 | Breast x-ray imaging apparatus, method and system for correcting and verifying breast biopsy positioning device |
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| CN202011123415.XA CN112022229B (en) | 2020-10-20 | 2020-10-20 | Mammary gland biopsy positioning device verification method, system, equipment and readable storage medium |
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