CN113576613A - Method and system for percutaneous puncture according to image result - Google Patents
Method and system for percutaneous puncture according to image result Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 36
- 210000004204 blood vessel Anatomy 0.000 claims abstract description 29
- 238000010276 construction Methods 0.000 claims description 16
- 238000005516 engineering process Methods 0.000 claims description 12
- 238000003384 imaging method Methods 0.000 claims description 12
- 238000003325 tomography Methods 0.000 claims description 12
- 238000013500 data storage Methods 0.000 claims description 9
- 238000003745 diagnosis Methods 0.000 claims description 8
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- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A61B17/3403—Needle locating or guiding means
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- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
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- 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
- A61B90/11—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 with guides for needles or instruments, e.g. arcuate slides or ball joints
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
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Abstract
The invention discloses a method and a system for percutaneous puncture according to an image result, which relate to the technical field of percutaneous puncture, and the method for percutaneous puncture comprises the following specific steps: A. collecting patient human body information; B. constructing a human body medical image map; C. automatic percutaneous puncture operation; D. intelligent percutaneous puncture detection. This method and system according to image result percutaneous puncture, need scan human image among the disease human information acquisition process, can acquire comparatively accurate three-dimensional human medical image picture with the compound stack of human biological tissue three-dimensional image and human blood vessel network image, select the mode of getting specific puncture coordinate point in three-dimensional human medical image picture, make the puncture point position more accurate, adapt to modernized operation mode development demand, adopt computer control puncture apparatus centre gripping pjncture needle to replace artifical puncture, the error is less, can improve the puncture precision, reduce the pain that the repeated puncture that the artifical puncture condition caused brought for the disease.
Description
Technical Field
The invention relates to the technical field of percutaneous puncture, in particular to a method and a system for percutaneous puncture according to an image result.
Background
Percutaneous transluminal procedures are the basis of interventional radiology and are aimed at creating passageways, including vascular and non-vascular passageways, through which most interventional techniques must pass to complete diagnostic and therapeutic procedures. Medical imaging refers to the technique and process of obtaining images of internal tissues of a human body or a part of the human body in a non-invasive manner for medical treatment or medical research.
The existing percutaneous puncture method based on the image result mostly adopts manual puncture, the puncture point position is not accurate enough, the patient discomfort caused by repeated puncture is easy to occur, and the general percutaneous puncture does not have the puncture point position detection function, and the puncture error is easy to occur, therefore, a method and a system for percutaneous puncture based on the image result are provided.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a percutaneous puncture method and a system according to an image result, and solves the problems that the prior percutaneous puncture method according to the image result provided in the background art mostly adopts manual puncture, the puncture point position is not accurate enough, the repeated puncture condition is easy to cause discomfort of a patient, and the general percutaneous puncture does not have the puncture point position detection function and the puncture error is easy to occur.
In order to achieve the purpose, the invention is realized by the following technical scheme: a method and a system for percutaneous puncture according to an image result comprise the following specific steps:
A. collecting patient human body information;
B. constructing a human body medical image map;
C. automatic percutaneous puncture operation;
D. intelligent percutaneous puncture detection.
Optionally, the acquiring of the patient body information in the step a includes the following specific steps:
a1, scanning and imaging a patient by adopting a detection device through an optical tomography technology, adjusting the intensity of x-rays, and performing optical tomography by using the x-rays to realize high-resolution noninvasive tomography measurement on biological tissues;
a2, detecting the back reflection or several scattering signals of the incident weak coherent light at different depth levels of the patient's biological tissue through X-ray fluoroscopy, thereby performing three-dimensional imaging on the human biological tissue;
a3, acquiring a blood vessel image by a magnetic resonance blood vessel imaging technology, then adopting an image enhancement preprocessing technology to strengthen blood vessel edge lines and eliminate spots, so that the image is clear, an obvious blood vessel network image is acquired, and a blood vessel three-dimensional image map is constructed by the blood vessel image.
Optionally, the human body medical image map construction in the step B includes the following specific steps:
b1, compounding and overlapping the human biological tissue three-dimensional image and the human blood vessel network image for image integration, constructing a human three-dimensional image map so as to obtain a complete medical image map, and uploading the human medical image map to a database for backup storage;
b2, establishing three-dimensional coordinates according to the human medical image map, performing percutaneous puncture diagnosis according to the specific symptoms of the patient, selecting a puncture point according to the diagnosis result, and selecting the coordinate information of the puncture point according to the three-dimensional coordinates.
Optionally, the automated percutaneous puncture operation of step C includes the following specific steps:
c1, inputting the puncture parameters in the three-dimensional coordinates, and the corresponding puncture direction, puncture angle and puncture depth into a computing module of the puncture instrument;
c2, the puncture instrument adopts a puncture needle to perform puncture operation, and the puncture instrument automatically positions a puncture point according to puncture parameters and moves to an optimal puncture position;
c3, the puncture instrument adjusts the puncture position according to the corresponding puncture direction, puncture angle and puncture depth, and the needle is inserted through the correct puncture point to perform percutaneous puncture, so as to realize accurate puncture;
c4, after the puncture instrument punctures, feeding back the current specific coordinate data information of the percutaneous puncture site to the calculation module for the subsequent detection operation.
Optionally, the intelligent percutaneous puncture detection in step D includes the following specific steps:
d1, acquiring human body images through a CT three-dimensional scanner in the percutaneous puncture operation process, and carrying out real-time correspondence with the medical image images to carry out real-time perspective monitoring on patients in the percutaneous puncture process;
d2, confirming the percutaneous puncture position where the puncture needle enters through perspective, and comparing the detection coordinate position of the percutaneous puncture point and the feedback coordinate position of the percutaneous puncture point with the originally input puncture point coordinate data respectively to ensure the percutaneous puncture operation to be correct;
d3, if it has the error to detect percutaneous puncture position, in time carry out the police dispatch newspaper through the siren, carry out the manual work until medical personnel and rectify a deviation, in time avoid appearing the puncture error.
Optionally, the system for percutaneous puncture comprises an information acquisition module (1), a puncture instrument computer module and a percutaneous puncture detection module, wherein the output end of the information acquisition module is electrically connected with an image map construction module, the output end of the image construction module is electrically connected with a puncture point selection module, the output ends of the image construction module and the puncture point selection module are both electrically connected with a data storage module, and the output end of the puncture point selection module is electrically connected with a puncture parameter input module, the puncture instrument computer module is electrically connected with the output end of the puncture parameter input module, and the output end of the puncture instrument computer module is electrically connected with a percutaneous puncture implementation module, the output end of the percutaneous puncture implementation module is electrically connected with a percutaneous puncture feedback module, the percutaneous puncture detection module is electrically connected to the output ends of the percutaneous puncture feedback module and the data storage module.
The invention provides a percutaneous puncture method and a percutaneous puncture system according to an image result, which have the following beneficial effects:
the method and the system for percutaneous puncture according to the image result have the advantages that the human body image is required to be scanned in the patient human body information acquisition process, the three-dimensional image of the human body biological tissue and the human body blood vessel network image are compositely superposed to obtain a relatively accurate three-dimensional human medical image map, a specific puncture coordinate point is selected from the three-dimensional human medical image map, the puncture point position is more accurate, the requirement of the development of a modern operation mode is met, the puncture instrument is controlled by a computer to clamp a puncture needle to replace manual puncture, the error is small, the puncture accuracy can be improved, pain of patients caused by repeated puncture due to the manual puncture condition can be reduced, the situation that the puncture depth cannot be controlled can be avoided, in addition, the percutaneous puncture detection module can be used for carrying out real-time detection on the percutaneous puncture process, and the detection coordinate position of the percutaneous puncture point during detection, The feedback coordinate position of the percutaneous puncture point is compared with the originally input puncture point coordinate data, the comparison accuracy can be higher due to the multi-path point data, the percutaneous puncture operation is ensured to be correct, and the alarm can be given out when the percutaneous puncture position has errors, so that the safety is higher.
Drawings
FIG. 1 is a schematic flow chart of a percutaneous puncture system according to an image result.
In the figure: 1. an information acquisition module; 2. an image map construction module; 3. a puncture point position selection module; 4. a data storage module; 5. a puncture parameter input module; 6. a puncture instrument computer module; 7. a percutaneous puncture implementation module; 8. a percutaneous puncture feedback module; 9. a percutaneous puncture detection module.
Detailed Description
Referring to fig. 1, the present invention provides a technical solution: a method and a system for percutaneous puncture according to an image result comprise the following specific steps:
A. collecting patient human body information;
B. constructing a human body medical image map;
C. automatic percutaneous puncture operation;
D. intelligent percutaneous puncture detection.
Optionally, the acquiring of the patient body information in step a includes the following specific steps:
a1, scanning and imaging a patient by adopting a detection device through an optical tomography technology, adjusting the intensity of x-rays, and performing optical tomography by using the x-rays to realize high-resolution noninvasive tomography measurement on biological tissues;
a2, detecting the back reflection or several scattering signals of the incident weak coherent light at different depth levels of the patient's biological tissue through X-ray fluoroscopy, thereby performing three-dimensional imaging on the human biological tissue;
a3, acquiring a blood vessel image by a magnetic resonance blood vessel imaging technology, then adopting an image enhancement preprocessing technology to strengthen blood vessel edge lines and eliminate spots, so that the image is clear, an obvious blood vessel network image is acquired, and a blood vessel three-dimensional image map is constructed by the blood vessel image.
Optionally, the human medical image map construction in step B includes the following specific steps:
b1, compounding and overlapping the human biological tissue three-dimensional image and the human blood vessel network image for image integration, constructing a human three-dimensional image map so as to obtain a complete medical image map, and uploading the human medical image map to a database for backup storage;
b2, establishing three-dimensional coordinates according to the human medical image map, performing percutaneous puncture diagnosis according to the specific symptoms of the patient, selecting a puncture point according to the diagnosis result, and selecting the coordinate information of the puncture point according to the three-dimensional coordinates.
Optionally, the automated percutaneous puncture procedure in step C includes the following specific steps:
c1, inputting the puncture parameters in the three-dimensional coordinates, and the corresponding puncture direction, puncture angle and puncture depth into a computing module of the puncture instrument;
c2, the puncture instrument adopts a puncture needle to perform puncture operation, and the puncture instrument automatically positions a puncture point according to puncture parameters and moves to an optimal puncture position;
c3, the puncture instrument adjusts the puncture position according to the corresponding puncture direction, puncture angle and puncture depth, and the needle is inserted through the correct puncture point to perform percutaneous puncture, so as to realize accurate puncture;
c4, after the puncture instrument punctures, feeding back the current specific coordinate data information of the percutaneous puncture site to the calculation module for the subsequent detection operation.
Optionally, the intelligent percutaneous puncture detection in step D includes the following specific steps:
d1, acquiring human body images through a CT three-dimensional scanner in the percutaneous puncture operation process, and carrying out real-time correspondence with the medical image images to carry out real-time perspective monitoring on patients in the percutaneous puncture process;
d2, confirming the percutaneous puncture position where the puncture needle enters through perspective, and comparing the detection coordinate position of the percutaneous puncture point and the feedback coordinate position of the percutaneous puncture point with the originally input puncture point coordinate data respectively to ensure the percutaneous puncture operation to be correct;
d3, if it has the error to detect percutaneous puncture position, in time carry out the police dispatch newspaper through the siren, carry out the manual work until medical personnel and rectify a deviation, in time avoid appearing the puncture error.
Optionally, the system for percutaneous puncture comprises an information acquisition module 1, a puncture instrument computer module 6 and a percutaneous puncture detection module 9, wherein the output end of the information acquisition module 1 is electrically connected with an image map construction module 2, the output end of the image construction module 2 is electrically connected with a puncture point selection module 3, the output ends of the image construction module 2 and the puncture point selection module 3 are both electrically connected with a data storage module 4, and the output end of the puncture point selection module 3 is electrically connected with a puncture parameter input module 5, the puncture instrument computer module 6 is electrically connected with the output end of the puncture parameter input module 5, and the output end of the puncture instrument computer module 6 is electrically connected with a percutaneous puncture implementation module 7, the output end of the percutaneous puncture implementation module 7 is electrically connected with a percutaneous puncture feedback module 8, and a percutaneous puncture detection module 9 is electrically connected with the output ends of the percutaneous puncture feedback module 8 and the data storage module 4.
The puncture outfit comprises an information acquisition module 1, an image map construction module 2, a puncture point selection module 3, a data storage module 4, a puncture parameter input module 5, a puncture outfit computer module 6, a percutaneous puncture implementation module 7, a percutaneous puncture feedback module 8 and a percutaneous puncture detection module 9
In summary, the method and system for percutaneous puncture based on image result comprises the following steps:
A. patient body information acquisition
A1, an information acquisition module 1 adopts a detection device, carries out scanning imaging on a patient through an optical tomography technology, adjusts the intensity of x-rays, and carries out optical tomography by using the x-rays to realize non-invasive tomography measurement of high resolution of biological tissues;
a2, the information acquisition module 1 detects the back reflection or several times scattering signals of the incident weak coherent light at different depth levels of the biological tissue of the patient through the X-ray fluoroscopy, thereby carrying out three-dimensional imaging on the biological tissue of the human body;
a3, acquiring a blood vessel image by the information acquisition module 1 through a magnetic resonance blood vessel imaging technology, then strengthening blood vessel edge lines by adopting an image enhancement preprocessing technology, eliminating spots, making the image clear, acquiring an obvious blood vessel network image, and constructing a blood vessel three-dimensional image map through the blood vessel image;
B. human medical image map construction
B1, compositing and overlaying the human biological tissue three-dimensional image and the human vascular network image for image integration, constructing a human three-dimensional image map through the image map construction module 2 so as to obtain a complete medical image map, and uploading the human medical image map to a database of the data storage module 4 for backup storage;
b2, establishing three-dimensional coordinates according to the human medical image map, performing percutaneous puncture diagnosis according to specific symptoms of a patient, selecting a puncture point according to a diagnosis result by the puncture point selection module 3, and selecting coordinate information of the puncture point according to the three-dimensional coordinates;
C. automated percutaneous aspiration procedure
C1, inputting the puncture parameters in the three-dimensional coordinates, the corresponding puncture direction, the puncture angle and the puncture depth into the puncture instrument computer module 6 through the puncture parameter input module 5;
c2, the percutaneous puncture implementation module 7 controls the puncture instrument to adopt a puncture needle to perform puncture operation, and the puncture instrument automatically positions a puncture point according to puncture parameters and moves to an optimal puncture position;
c3, the puncture instrument adjusts the puncture position according to the corresponding puncture direction, puncture angle and puncture depth, and the needle is inserted through the correct puncture point to perform percutaneous puncture, so as to realize accurate puncture;
c4, after the puncture instrument punctures, the percutaneous puncture feedback module 8 feeds back the current percutaneous puncture site specific coordinate data information to the puncture instrument computer module 6 for the subsequent detection operation;
D. intelligent percutaneous puncture detection
D1, the percutaneous puncture detection module 9 collects human body images through a CT three-dimensional scanner in the percutaneous puncture operation process, corresponds the human body images to the medical image in real time, and carries out real-time perspective monitoring on patients in the percutaneous puncture process;
d2, the percutaneous puncture detection module 9 confirms the percutaneous puncture position where the puncture needle enters through perspective, and compares the detection coordinate position of the percutaneous puncture point and the feedback coordinate position of the percutaneous puncture point with the originally input puncture point coordinate data respectively to ensure the correct percutaneous puncture operation;
d3, percutaneous puncture detection module 9 if detect percutaneous puncture position error, in time carry out the police dispatch newspaper through the siren, carry out the manual work until medical personnel and rectify a deviation, in time avoid appearing the puncture error.
Claims (6)
1. A method and a system for percutaneous puncture according to image results are characterized in that the method for percutaneous puncture comprises the following specific steps:
A. collecting patient human body information;
B. constructing a human body medical image map;
C. automatic percutaneous puncture operation;
D. intelligent percutaneous puncture detection.
2. The method and system of claim 1, wherein the step a of collecting the patient body information comprises the following steps:
a1, scanning and imaging a patient by adopting a detection device through an optical tomography technology, adjusting the intensity of x-rays, and performing optical tomography by using the x-rays to realize high-resolution noninvasive tomography measurement on biological tissues;
a2, detecting the back reflection or several scattering signals of the incident weak coherent light at different depth levels of the patient's biological tissue through X-ray fluoroscopy, thereby performing three-dimensional imaging on the human biological tissue;
a3, acquiring a blood vessel image by a magnetic resonance blood vessel imaging technology, then adopting an image enhancement preprocessing technology to strengthen blood vessel edge lines and eliminate spots, so that the image is clear, an obvious blood vessel network image is acquired, and a blood vessel three-dimensional image map is constructed by the blood vessel image.
3. The method and system for percutaneous puncture according to image result of claim 1, wherein the construction of the human medical image map of step B comprises the following specific steps:
b1, compounding and overlapping the human biological tissue three-dimensional image and the human blood vessel network image for image integration, constructing a human three-dimensional image map so as to obtain a complete medical image map, and uploading the human medical image map to a database for backup storage;
b2, establishing three-dimensional coordinates according to the human medical image map, performing percutaneous puncture diagnosis according to the specific symptoms of the patient, selecting a puncture point according to the diagnosis result, and selecting the coordinate information of the puncture point according to the three-dimensional coordinates.
4. The method and system for percutaneous penetration according to image results of claim 1, wherein the automated percutaneous penetration procedure of step C comprises the following specific steps:
c1, inputting the puncture parameters in the three-dimensional coordinates, and the corresponding puncture direction, puncture angle and puncture depth into a computing module of the puncture instrument;
c2, the puncture instrument adopts a puncture needle to perform puncture operation, and the puncture instrument automatically positions a puncture point according to puncture parameters and moves to an optimal puncture position;
c3, the puncture position of the puncture instrument is adjusted according to the corresponding puncture direction, puncture angle and puncture depth, and percutaneous puncture is carried out by inserting a needle through a correct puncture point, so that accurate puncture is realized.
C4, after the puncture instrument punctures, feeding back the current specific coordinate data information of the percutaneous puncture site to the calculation module for the subsequent detection operation.
5. The method and system for percutaneous puncture according to image result of claim 1, wherein the intelligent percutaneous puncture detection of step D comprises the following specific steps:
d1, acquiring human body images through a CT three-dimensional scanner in the percutaneous puncture operation process, and carrying out real-time correspondence with the medical image images to carry out real-time perspective monitoring on patients in the percutaneous puncture process;
d2, confirming the percutaneous puncture position where the puncture needle enters through perspective, and comparing the detection coordinate position of the percutaneous puncture point and the feedback coordinate position of the percutaneous puncture point with the originally input puncture point coordinate data respectively to ensure the percutaneous puncture operation to be correct;
d3, if it has the error to detect percutaneous puncture position, in time carry out the police dispatch newspaper through the siren, carry out the manual work until medical personnel and rectify a deviation, in time avoid appearing the puncture error.
6. The method and system for percutaneous aspiration based on image results of any one of claims 1-5, wherein: the system for percutaneous puncture comprises an information acquisition module (1), a puncture instrument computer module (6) and a percutaneous puncture detection module (9), wherein the output end of the information acquisition module (1) is electrically connected with an image construction module (2), the output end of the image construction module (2) is electrically connected with a puncture point selection module (3), the output ends of the image construction module (2) and the puncture point selection module (3) are both electrically connected with a data storage module (4), the output end of the puncture point selection module (3) is electrically connected with a puncture parameter input module (5), the puncture instrument computer module (6) is electrically connected with the output end of the puncture parameter input module (5), the output end of the puncture instrument computer module (6) is electrically connected with a percutaneous puncture implementation module (7), the output end of the percutaneous puncture implementation module (7) is electrically connected with a percutaneous puncture feedback module (8), the percutaneous puncture detection module (9) is electrically connected to the output ends of the percutaneous puncture feedback module (8) and the data storage module (4).
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| CN202110851219.2A CN113576613A (en) | 2021-07-27 | 2021-07-27 | Method and system for percutaneous puncture according to image result |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116036421A (en) * | 2023-01-19 | 2023-05-02 | 深圳市凯思特医疗科技股份有限公司 | Intelligent wearable automatic puncture equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976762A (en) * | 2014-05-22 | 2014-08-13 | 中国科学院高能物理研究所 | Full-automatic mammary gland biopsy puncture method and device |
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2021
- 2021-07-27 CN CN202110851219.2A patent/CN113576613A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976762A (en) * | 2014-05-22 | 2014-08-13 | 中国科学院高能物理研究所 | Full-automatic mammary gland biopsy puncture method and device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116036421A (en) * | 2023-01-19 | 2023-05-02 | 深圳市凯思特医疗科技股份有限公司 | Intelligent wearable automatic puncture equipment |
| CN116036421B (en) * | 2023-01-19 | 2023-12-22 | 成都市凯瑞医疗科技有限公司 | Intelligent wearable automatic puncture equipment |
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