CN113662594A - Breast puncture positioning/biopsy method, device, computer device and storage medium - Google Patents
Breast puncture positioning/biopsy method, device, computer device and storage medium Download PDFInfo
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- 210000000481 breast Anatomy 0.000 title claims abstract description 128
- 238000000034 method Methods 0.000 title claims abstract description 77
- 238000001574 biopsy Methods 0.000 title claims abstract description 43
- 210000005075 mammary gland Anatomy 0.000 claims abstract description 29
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- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
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- 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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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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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
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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
- A61B2090/101—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 for stereotaxic radiosurgery
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Abstract
The present application relates to a breast puncture locating/biopsy method, apparatus, computer device and storage medium. The method comprises the following steps: the computer equipment determines three-dimensional information of a focus in the mammary gland according to the three-dimensional medical image of the mammary gland, and sends the three-dimensional medical image to the projection equipment, so that the projection equipment generates a projection image to display the position of the focus in the mammary gland. In the method, the computer equipment can determine the three-dimensional information of the focus according to the three-dimensional medical image of the mammary gland for contour delineation, so that the projected image of the mammary gland is determined according to the three-dimensional medical image, a user can freely rotate the image or drag the image to observe the focus characteristics on the projected image in multiple angles, the position of the focus in the mammary gland is determined, and the focus positioning method based on the projected image is determined based on the user entity observation, so that the method has higher accuracy.
Description
Technical Field
The present application relates to the field of medical technology, and in particular, to a breast puncture localization/biopsy method, apparatus, computer device, and storage medium.
Background
In the prior art, when taking a biopsy of a breast lesion, two approaches are generally taken. One is open surgery sampling, positioning suspicious focus under image guidance through a positioning guide wire, and excising the positioned focus through open surgery; the other is puncture biopsy, which punctures the mammary gland under the guidance of images and takes out suspicious lesions through a puncture sampling needle.
When puncture location or puncture sample before carrying out the mammary gland under image guide, generally need carry out image shooting at least twice and can carry out spatial localization to the focus, puncture after carrying out spatial localization to the focus, in this process, can often take place because puncture the situation that the pendulum position selection is incorrect and make the focus be difficult for puncturing, only can reselect the pendulum position under this kind of situation, carry out the image exposure to the mammary gland again.
Therefore, in the prior art, in the process of locating the focus, the puncture position needs to be confirmed repeatedly, namely, the patient needs to receive image radiation for many times, which poses certain threat to the health of the patient, and moreover, the positioning efficiency is low due to the fact that the image radiation for many times or the sampling for many times is carried out.
Disclosure of Invention
In view of the above, there is a need to provide a breast puncture locating/biopsy method, apparatus, computer device and storage medium that improve the efficiency and accuracy of puncture locating.
In a first aspect, there is provided a breast needle localization/biopsy method comprising:
determining three-dimensional information of a focus in the breast according to the three-dimensional medical image of the breast;
the three-dimensional medical image is sent to a projection device to cause the projection device to generate a projection image to display a location of the lesion in the breast.
In one optional embodiment, the method further comprises:
and determining a virtual puncture path of the mammary gland according to the three-dimensional information of the focus and a preset skin pierceable region.
In one optional embodiment, the method further comprises:
determining a target puncture scheme of the breast based on the projected image and the virtual puncture path; the target puncture protocol includes a puncture angle and a puncture location.
In one optional embodiment, the three-dimensional information includes a location of the lesion; determining a virtual puncture path of a breast according to three-dimensional information of a focus and a preset skin pierceable region, comprising:
constructing at least one candidate puncture path through the skin puncturable region to a location of the lesion;
and determining a virtual puncture path from at least one candidate puncture path according to a preset optimization condition.
In an optional embodiment, the preset optimization condition includes at least one of a minimum wound surface caused by the puncture path, a maximum number of lesions passed by the puncture path, and a minimum puncture path.
In one optional embodiment, the method further comprises:
performing simulated puncture on the virtual puncture path, and determining a puncture result corresponding to the virtual puncture path;
and adjusting the virtual puncture path according to the puncture result.
In one optional embodiment, the projection image is generated by the projection device determining the positions of a plurality of reference points according to the acquired two-dimensional image of the breast, and performing virtual projection based on the positions of the plurality of reference points; the reference points include a nipple, at least two reference points at a preset distance from the nipple.
In one optional embodiment, the projection image is generated by the projection device determining the positions of a plurality of reference points according to the acquired two-dimensional image of the mammary gland, determining a projection angle based on the relative distance between the positions of the plurality of reference points and the projection device, and virtually projecting based on the projection angle and taking the nipple as a reference; the reference points include a nipple, at least two reference points at a preset distance from the nipple.
In one optional embodiment, determining three-dimensional information of a lesion in the breast based on the three-dimensional medical image of the breast comprises:
identifying the three-dimensional medical image based on a feature identification algorithm, and determining the position of a focus in the three-dimensional medical image;
determining three-dimensional information of the focus according to the focus position and a feature extraction algorithm; the three-dimensional information includes a three-dimensional contour of the lesion.
In a second aspect, there is provided a breast needle localization/biopsy device comprising:
the first determination module is used for determining three-dimensional information of a focus in the breast according to the three-dimensional medical image of the breast;
and the sending module is used for sending the three-dimensional medical image to the projection equipment so that the projection equipment generates a projection image to display the position of the focus in the mammary gland.
In a third aspect, there is provided a computer device comprising a memory storing a computer program and a processor implementing the method of any of the first aspects when the processor executes the computer program.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any of the first aspects described above.
According to the breast puncture positioning/biopsy method, the breast puncture positioning/biopsy device, the computer device determines the three-dimensional information of the focus in the breast according to the three-dimensional medical image of the breast, and sends the three-dimensional medical image to the projection device, so that the projection device generates the projection image to display the position of the focus in the breast. In the method, the computer equipment can determine the three-dimensional information of the focus according to the three-dimensional medical image of the mammary gland for contour delineation, so that the projected image of the mammary gland is determined according to the three-dimensional medical image, a user can freely rotate the image or drag the image to observe the focus characteristics on the projected image in multiple angles, the position of the focus in the mammary gland is determined, and the focus positioning method based on the projected image is determined based on the user entity observation, so that the method has higher accuracy.
Drawings
FIG. 1 is a diagram of an exemplary breast biopsy positioning/method environment;
FIG. 2 is a schematic flow chart of a breast biopsy positioning method in one embodiment;
FIG. 3 is a schematic flow chart of a breast biopsy positioning method in one embodiment;
FIG. 4 is a schematic flow chart of a breast biopsy positioning method in one embodiment;
FIG. 5 is a schematic flow chart of a breast biopsy positioning method in one embodiment;
FIG. 6 is a schematic flow chart of a breast biopsy positioning method in one embodiment;
FIG. 7 is a block diagram of a breast biopsy positioning/biopsy device according to one embodiment;
FIG. 8 is a block diagram of the breast needle positioning/biopsy device in one embodiment;
FIG. 9 is a block diagram of a breast biopsy positioning/biopsy device according to one embodiment;
FIG. 10 is a block diagram of a breast biopsy positioning device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
When taking a biopsy of a breast lesion, a physician typically takes two approaches. One is open surgical sampling, which requires first image-guided (e.g., X-ray, ultrasound, magnetic resonance, etc.) localization of a suspicious lesion by a localization guide wire, followed by resection of the localized lesion by open surgery; another is a needle biopsy, which is a method of performing a needle puncture on a breast under image guidance and removing a suspicious lesion through a needle puncture sampling needle. When puncture location or puncture biopsy before mammary gland is carried out under the X-ray guidance, generally, at least 2X-ray shooting can be carried out to carry out space location on a focus, and puncture is carried out after space location, and multiple X-ray shooting can be carried out to complete location or sampling. In addition, the focus is not easy to puncture due to incorrect selection of the positioning, and in this case, the positioning can be reselected to perform the X-ray exposure on the mammary gland again.
Therefore, as the focus needs to be accurately positioned and whether the needle inserting mode and the position of the puncture needle can meet the requirements needs to be repeatedly confirmed, the mammary gland needs to receive X-ray radiation for many times in the whole puncture process, and thus certain health and safety threats exist to the human body; in addition, the focus can not be obtained every time when puncture sampling is carried out, and the sampling times are usually increased clinically to ensure that the target focus is obtained, so that the physiological and mental burden of a patient is increased.
Based on the above problems in the prior art, the present embodiment provides a breast puncture location/biopsy method designed to solve the above problems. The breast puncture location/biopsy method provided by the application can be applied to the application environment as shown in fig. 1. In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 1. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device 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 an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a breast penetration localization/biopsy method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 1 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The following describes in detail the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems by embodiments and with reference to the drawings. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. It should be noted that the breast puncture location/biopsy method provided in the embodiments of fig. 2 to fig. 6 of the present application is implemented by a computer device, and may also be a breast puncture location/biopsy device, which may be a part or all of the computer device through software, hardware, or a combination of software and hardware. In the following method embodiments, the execution subject is a computer device as an example.
In one embodiment, as shown in fig. 2, a breast puncture locating/biopsy method is provided, which relates to a process in which a computer device determines three-dimensional information of a lesion in a breast according to a three-dimensional medical image of the breast, and transmits the three-dimensional medical image to a projection device, so that the projection device generates a projection image to display the position of the lesion in the breast, and the method comprises the following steps:
s201, determining three-dimensional information of a focus in the breast according to the three-dimensional medical image of the breast.
The three-dimensional medical image of the breast may be breast tomosynthesis (DBT). The three-dimensional information of the lesion may include information on the tissue characteristics, tissue structure, target location, three-dimensional contour, etc. of the lesion.
In this embodiment, the computer device may input the three-dimensional medical image of the breast into the feature extraction model, and determine three-dimensional information of the lesion in the breast; optionally, the computer device may further identify three-dimensional information of a lesion in the three-dimensional medical image of the Breast according to a diagnostic algorithm, and perform Breast image Reporting and Data System classification (BI-RADS classification) on the three-dimensional medical image of the Breast to obtain a three-dimensional distribution of the lesion.
When applied to mammary gland radiography, the device can automatically identify the focus, the normal structure tissues such as skin, nipple and the like, and the focus outline is sketched (can be automatically sketched by a system, can be manually sketched by a doctor, and can be sketched by the system and the doctor together)
S202, the three-dimensional medical image is sent to a projection device, so that the projection device generates a projection image to display the position of the focus in the mammary gland.
The projection device can be a 3D projection device, and can also be an image projection device matched with VR glasses.
In this embodiment, the computer device may send the three-dimensional medical image to the projection device, so that the projection device performs image projection in the space where the patient is located after receiving the three-dimensional medical image, for example, the three-dimensional medical image is projected to the position of the breast of the patient. Alternatively, the projection device may also make the determination of the projected image based on the image acquired by itself.
For example, in one scenario, the projection image is generated by the projection device determining the positions of a plurality of reference points according to the acquired two-dimensional image of the breast, and performing virtual projection based on the positions of the plurality of reference points; the reference points include a nipple, at least two reference points at a preset distance from the nipple.
In this embodiment, the projection device is a device having an image capturing device, the projection device may capture a two-dimensional image of a breast of a patient by its own image capturing device, determine, based on an image recognition method, a nipple and at least two reference points that are a predetermined distance away from the nipple in the two-dimensional image, the positions of the three reference points in the two-dimensional image are triangular, project, based on the positions of the reference points, a three-dimensional medical image of a breast onto a compressed breast to obtain a projected image, and based on the projected image, the position of a lesion in the breast may be visually observed based on the breast of a user.
For another example, in another scenario, the projection image is generated by the projection device determining the positions of a plurality of reference points according to the acquired two-dimensional image of the breast, determining the projection angle based on the relative distances between the positions of the plurality of reference points and the projection device, and performing virtual projection based on the projection angle and taking the nipple as a reference; the reference points include a nipple, at least two reference points at a preset distance from the nipple.
In this embodiment, the projection device is configured to project the projection image based on the auxiliary projection device, the projection device may be a VR glasses, similarly, the VR glasses include an image capture device therein, a two-dimensional image of the breast is captured by the image capture device, a position of a nipple in the two-dimensional image is determined based on an image recognition method, a position of a center of the VR glasses is obtained, a relative projection angle is determined according to the position of the center of the VR glasses and a relative distance of the nipple position, a position of the human eye when the VR eyes are worn is obtained, and the relative projection angle is adjusted based on the position of the human eye, so that the three-dimensional medical image of the breast is projected onto the compressed breast to obtain the projection image, and based on the projection image, the position of the lesion in the breast can be visually observed based on the breast of the user. The present embodiment does not limit the projection method of the three-dimensional medical image of the breast.
In the breast puncture positioning/biopsy method, the computer device determines three-dimensional information of a lesion in the breast according to the three-dimensional medical image of the breast, and transmits the three-dimensional medical image to the projection device, so that the projection device generates a projection image to display the position of the lesion in the breast. In the method, the computer equipment can determine the three-dimensional information of the focus according to the three-dimensional medical image of the mammary gland for contour delineation, so that the projected image of the mammary gland is determined according to the three-dimensional medical image, a user can freely rotate the image or drag the image to observe the focus characteristics on the projected image in multiple angles, the position of the focus in the mammary gland is determined, and the focus positioning method based on the projected image is determined based on the user entity observation, so that the method has higher accuracy.
In the above embodiment, the purpose of projecting the projection image onto the breast of the user is achieved by determining the corresponding projection image obtained by the projection device according to the three-dimensional medical image of the breast, so that the focus in the projection image can be visually observed. In an optional embodiment, the method further comprises:
and determining a virtual puncture path of the mammary gland according to the three-dimensional information of the focus and a preset skin pierceable region.
The preset skin pierceable region can be a region determined by a user according to the actual state of the patient; or a region of pierceable depth determined by the computer device based on the location of the lesion.
In this embodiment, a virtual puncture path is constructed through the target location and the selectable skin region. The virtual puncture paths may be multiple, and an optimal puncture path prompt is set. The principle of the puncture path is as follows: resulting in as few wounds as possible and as many suspicious lesions as possible.
In this embodiment, after determining the three-dimensional information of the lesion, the computer device determines a virtual puncturing path of the breast according to information such as a target position, a lesion contour, and the like, and a skin-puncturable region. Optionally, in the process of determining the virtual puncturing path of the breast, the computer device may construct the virtual puncturing path based on preset constraint conditions; alternatively, the computer device may also construct the virtual puncture path based on the parameters related to the puncture path input by the user, where the parameters related to the puncture path may include a tissue position, a target point, a start point and an end point of the puncture path, which are passed by the puncture path, and this embodiment is not limited thereto.
In this embodiment, the computer device may determine a virtual puncturing path of the breast according to the three-dimensional information of the lesion and the preset puncturing area, and may obtain a virtual puncturing condition, such as a puncturing position, a puncturing length, and the like, based on the virtual puncturing path, so as to provide data support for determining a puncturing scheme in the next step, and improve accuracy of breast puncturing positioning laterally.
After determining the virtual puncture path of the breast according to the three-dimensional medical image of the breast, the virtual puncture path may be correspondingly mapped to the projection image corresponding to the three-dimensional medical image, so as to obtain the virtual puncture path under the projection image, that is, based on the projection image generated by the projection device, the purpose of visually observing the virtual puncture path based on the breast of the user is achieved, in an optional embodiment, the method further includes:
determining a target puncture scheme of the breast based on the projected image and the virtual puncture path; the target puncture protocol includes a puncture angle and a puncture location.
In this embodiment, the computer device determines the puncture angle and puncture position that are most suitable for puncturing the breast of the user based on the projected image projected onto the user and the determined virtual puncture path. Optionally, to further ensure the feasibility of the puncturing scheme, the computer device may further perform simulation based on the virtual puncturing path to determine the puncturing effect of the virtual puncturing path. Alternatively, the computer device may further receive an adjustment parameter of the user based on the projected image and the virtual puncturing path, for example, an angle, a length, a position of the passing tissue structure, and the like of the virtual puncturing path, so as to determine the target puncturing scheme for the breast, which is not limited in this embodiment.
In this embodiment, the computer device may present the virtual puncture path on the projection image, and the user may rotate the image or drag the image at will to observe the virtual puncture path on the projection image at multiple angles, thereby determining the most appropriate puncture angle and puncture position, and determining the target puncture scheme.
In one embodiment of the above step 201, as shown in fig. 3, the determining three-dimensional information of the lesion in the breast according to the three-dimensional medical image of the breast includes:
s301, identifying the three-dimensional medical image based on a feature identification algorithm, and determining the position of a focus in the three-dimensional medical image.
In this embodiment, the computer device performs feature recognition on the three-dimensional medical image of the breast according to a preset feature recognition algorithm, and optionally, the result of the feature recognition may include a feature structure and position information of a lesion in the three-dimensional medical image, which is not limited in this embodiment.
S302, determining three-dimensional information of the focus according to the focus position and a feature extraction algorithm; the three-dimensional information includes a three-dimensional contour of the lesion.
In this embodiment, the computer device determines three-dimensional information of the lesion, for example, information such as a coverage area of the lesion, a three-dimensional contour of the lesion, and the like, according to the feature structure, the position information, and a preset feature extraction algorithm of the lesion determined in step 301.
In this embodiment, the computer device may determine the position information and the three-dimensional information of the lesion in the three-dimensional medical image of the breast according to the feature recognition and feature extraction algorithm, so as to provide data support for the subsequent determination of the virtual puncture path according to the position information and the three-dimensional information of the lesion.
The specific implementation method for determining the virtual puncturing path includes various methods, wherein in one specific embodiment, as shown in fig. 4, the three-dimensional information includes a location of a lesion, and the determining the virtual puncturing path of the breast according to the three-dimensional information of the lesion and a preset skin pierceable region includes:
s401, at least one candidate puncture path which penetrates through the skin puncture region to reach the position of the focus is constructed.
In this embodiment, the computer device determines the starting point position of the puncture path in the determined skin pierceable region, and determines a plurality of candidate puncture paths between two points according to the position information of the lesion in combination with the starting point position of the puncture path.
S402, according to preset optimization conditions, determining a virtual puncture path from at least one candidate puncture path.
The preset optimization condition comprises at least one of the minimum wound surface caused by the puncture path, the maximum number of focuses passed by the puncture path and the shortest puncture path.
In this embodiment, after constructing a plurality of candidate puncture paths based on the position information of the lesion and the start point position of the puncture path, the computer device determines a candidate puncture path that meets the optimization condition according to a preset optimization condition. Optionally, after determining the candidate puncture paths, the computer device may determine the length of each candidate puncture path, the number of tissue structures passed, the number of lesions passed, and the size of the resulting wound. In combination with the above optimization conditions, the computer device may determine, as a virtual puncture path, a candidate puncture path that meets the target with a shortest length of the puncture path, a smallest number of passed tissue structures, a smallest number of passed lesions, and a smallest resulting wound surface as a target, which is not limited in this embodiment.
In this embodiment, after the computer device determines at least one candidate puncture path, the candidate puncture paths are screened according to a preset optimization condition, and the determined virtual puncture path meets the optimization condition, that is, the selected virtual puncture path meets the medical practice, so that the physiological pressure brought to the patient is reduced.
To further improve the accuracy of breast penetration, in one embodiment, as shown in fig. 5, the method further comprises:
s501, performing simulated puncture on the virtual puncture path, and determining a puncture result corresponding to the virtual puncture path.
In this embodiment, the virtual puncturing path is an optimal path for theoretically puncturing a breast of a patient, but in order to further meet actual requirements, after the virtual puncturing path is obtained, the computer device may perform simulated puncturing based on the virtual puncturing path, that is, a process of simulating puncturing on the computer device based on the virtual puncturing path is performed, so as to determine a puncturing result corresponding to the virtual puncturing path, where the puncturing result includes a simulated wound surface size, a number of simulated passing lesions, a simulated puncturing length, and the like caused by the virtual puncturing path in the simulated puncturing process.
And S502, adjusting the virtual puncture path according to the puncture result.
Wherein the puncture point and puncture angle on the skin are confirmed according to the determined virtual puncture path.
In this embodiment, the computer device may output a puncturing result of the virtual puncturing path, so that a user determines whether to adjust the virtual puncturing path based on the puncturing result, and if the current virtual puncturing path meets the actual requirement, no adjustment is made; if the current virtual puncture path needs to be adjusted in puncture angle or puncture position, a parameter adjustment instruction triggered by a user based on a display interface of a computer device is obtained, and the current virtual puncture path is updated and adjusted according to a puncture angle adjustment parameter and a puncture position adjustment parameter input by the user to obtain an adjusted puncture path, so that the adjusted puncture path is determined as a target puncture scheme.
In this embodiment, the computer device may output a simulated puncture result of the virtual puncture path, and obtain an adjustment instruction of the user based on the simulated puncture result, so as to adjust the virtual puncture path, so that the virtual puncture path may better conform to an actual situation, and the accuracy of performing breast puncture based on the target puncture scheme is higher by using the adjusted virtual puncture path as the target puncture scheme.
To better explain the above method, as shown in fig. 6, the present embodiment provides a breast puncture locating/biopsy method, which specifically includes:
s101, identifying a three-dimensional medical image of a mammary gland based on a feature identification algorithm, and determining a focus position in the three-dimensional medical image;
s102, determining three-dimensional information of the focus according to the focus position and a feature extraction algorithm;
s103, constructing at least one candidate puncture path which penetrates through a skin puncture region to reach the position of a focus;
s104, determining a virtual puncture path from at least one candidate puncture path according to a preset optimization condition;
s105, sending the three-dimensional medical image to projection equipment so that the projection equipment can generate a projection image;
s106, performing simulated puncture on the virtual puncture path, and determining a puncture result corresponding to the virtual puncture path;
s107, adjusting a virtual puncture path according to a puncture result;
s108, determining a target puncture scheme of the mammary gland based on the projection image and the virtual puncture path; the target puncture protocol includes a puncture angle and a puncture location.
In this embodiment, the computer device may determine three-dimensional information of a lesion according to a three-dimensional medical image of a breast for contouring, so as to determine a virtual puncture path of the breast according to a preset pierceable region, and present the virtual puncture path on a projection image, and a user may rotate or drag an image at will to observe the virtual puncture path on the projection image at multiple angles, thereby determining an optimal puncture angle and puncture position, and in the process of determining a target puncture scheme, the user may visually see a relative position of the lesion in the breast, thereby improving accuracy of positioning puncture, and reducing a probability of repeatedly performing scanning radiation in order to determine a lesion position or a puncture condition.
The implementation principle and technical effect of the breast puncture positioning/biopsy method provided by the above embodiment are similar to those of the above method embodiment, and are not described again here.
It should be understood that although the various steps in the flow charts of fig. 2-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 7, there is provided a breast penetration localization/biopsy device comprising: a first determining module 01 and a sending module 02, wherein:
the first determining module 01 is used for determining three-dimensional information of a focus in the breast according to the three-dimensional medical image of the breast;
and the sending module 02 is used for sending the three-dimensional medical image to the projection equipment so that the projection equipment generates a projection image to display the position of the focus in the mammary gland.
In one of the alternative embodiments, as shown in fig. 8, the breast needle localization/biopsy device further comprises a second determination module 03;
and the second determining module 03 is configured to determine a virtual puncturing path of the breast according to the three-dimensional information of the lesion and a preset skin-penetrable region.
In one of the alternative embodiments, as shown in fig. 9, the breast needle localization/biopsy device further comprises a third determination module 04;
a third determining module 04, configured to determine a target puncturing scheme for the breast based on the projection image and the virtual puncturing path; the target puncture protocol includes a puncture angle and a puncture location.
In one optional embodiment, the three-dimensional information includes a location of the lesion; a second determination module 03 for constructing at least one candidate puncture path through the skin puncturable region to a location of the lesion; and determining a virtual puncture path from at least one candidate puncture path according to a preset optimization condition.
In an optional embodiment, the preset optimization condition includes at least one of a minimum wound surface caused by the puncture path, a maximum number of lesions passed by the puncture path, and a minimum puncture path.
In an alternative embodiment, as shown in fig. 9, the breast puncture positioning/biopsy apparatus further includes an adjusting module 05, configured to perform simulated puncture on the virtual puncture path, and determine a puncture result corresponding to the virtual puncture path; and adjusting the virtual puncture path according to the puncture result.
In one optional embodiment, the projection image is generated by the projection device determining the positions of a plurality of reference points according to the acquired two-dimensional image of the breast, and performing virtual projection based on the positions of the plurality of reference points; the reference points include a nipple, at least two reference points at a preset distance from the nipple.
In one optional embodiment, the projection image is generated by the projection device determining the positions of a plurality of reference points according to the acquired two-dimensional image of the mammary gland, determining a projection angle based on the relative distance between the positions of the plurality of reference points and the projection device, and virtually projecting based on the projection angle and taking the nipple as a reference; the reference points include a nipple, at least two reference points at a preset distance from the nipple.
In an alternative embodiment, the first determining module 01 is configured to identify a three-dimensional medical image based on a feature recognition algorithm, and determine a lesion position in the three-dimensional medical image; determining three-dimensional information of the focus according to the focus position and a feature extraction algorithm; the three-dimensional information includes a three-dimensional contour of the lesion.
For the specific definition of the breast puncture locating/biopsy device, reference may be made to the above definition of the breast puncture locating/biopsy method, which is not described in detail herein. The various modules in the breast needle positioning/biopsy device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
determining three-dimensional information of a focus in the breast according to the three-dimensional medical image of the breast;
the three-dimensional medical image is sent to a projection device to cause the projection device to generate a projection image to display a location of the lesion in the breast.
The implementation principle and technical effect of the computer device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
determining three-dimensional information of a focus in the breast according to the three-dimensional medical image of the breast;
the three-dimensional medical image is sent to a projection device to cause the projection device to generate a projection image to display a location of the lesion in the breast.
The implementation principle and technical effect of the computer-readable storage medium provided by the above embodiments are similar to those of the above method embodiments, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A breast needle localization/biopsy method, the method comprising:
determining three-dimensional information of a lesion in a breast according to a three-dimensional medical image of the breast;
sending the three-dimensional medical image to a projection device to cause the projection device to generate a projection image to display a location of the lesion in the breast.
2. The method of claim 1, further comprising:
and obtaining a virtual puncture path of the mammary gland according to the three-dimensional information of the focus and the skin pierceable region.
3. The method of claim 2, further comprising:
determining a target puncture plan for the breast based on the projected image and the virtual puncture path; the target puncture plan includes a puncture angle and a puncture location.
4. The method of claim 2, wherein the three-dimensional information includes a location of the lesion; the determining a virtual puncture path of the breast according to the three-dimensional information of the lesion and a preset skin pierceable region includes:
constructing at least one candidate puncture path through the skin-puncturable region to a location of the lesion;
and determining the virtual puncture path from the at least one candidate puncture path according to a preset optimization condition.
5. The method of claim 4, wherein the predetermined optimization condition comprises at least one of a minimum wound size caused by the puncture path, a maximum number of lesions passed by the puncture path, and a minimum puncture path.
6. The method of claim 2, further comprising:
performing simulated puncture on the virtual puncture path, and determining a puncture result corresponding to the virtual puncture path;
and adjusting the virtual puncture path according to the puncture result.
7. The method according to any one of claims 1 to 6, wherein the projection image is generated by the projection device determining positions of a plurality of reference points from the acquired two-dimensional image of the breast, and performing virtual projection based on the positions of the plurality of reference points; the reference points include a nipple, at least two reference points at a preset distance from the nipple.
8. The method according to any one of claims 1-6, wherein the projection image is generated by the projection device determining positions of a plurality of reference points from the acquired two-dimensional image of the breast, determining a projection angle based on relative distances between the positions of the plurality of reference points and the projection device, and virtually projecting based on the nipple on the basis of the projection angle; the reference points include a nipple, at least two reference points at a preset distance from the nipple.
9. The method according to any one of claims 1-6, wherein said determining three-dimensional information of a lesion in the breast from three-dimensional medical images of the breast comprises:
identifying the three-dimensional medical image based on a feature identification algorithm, and determining the position of a focus in the three-dimensional medical image;
determining three-dimensional information of the focus according to the focus position and a feature extraction algorithm; the three-dimensional information includes a three-dimensional contour of the lesion.
10. A breast needle localization/biopsy device, the device comprising:
the first determination module is used for determining three-dimensional information of a focus in a breast according to a three-dimensional medical image of the breast;
a sending module, configured to send the three-dimensional medical image to a projection device, so that the projection device generates a projection image to display a position of the lesion in the breast.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 9 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 9.
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