CN113693725B - Needle insertion path planning method, device, equipment and storage medium - Google Patents
Needle insertion path planning method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a needle insertion path planning method, a device, equipment and a storage medium, wherein the needle insertion path planning method comprises the following steps: acquiring medical image data of an imported patient; performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data; performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle; and calculating the needle inserting path of the mechanical arm according to the needle inserting strategy. The method carries out the needle insertion planning of the ablation needle on the basis of three-dimensional reconstruction of medical image data to obtain a corresponding needle insertion strategy, can accurately calculate the correct needle insertion position and needle insertion direction, and avoids the problem that a patient needs to undergo multiple needle insertions due to the fact that the needle insertion direction and position cannot be accurately adjusted for multiple times.
Description
Technical Field
The invention relates to the field of surgery, in particular to a needle insertion path planning method, a needle insertion path planning device, needle insertion path planning equipment and a storage medium.
Background
At present, the clinical treatment of tumor thermal ablation based on CT guidance is carried out, and before treatment, a doctor develops a tumor ablation plan based on understanding of two-dimensional CT images and experience. During treatment, a physician punctures the thermal ablation needle into the tumor by means of hand-eye coordination and personal experience under the guidance of CT images. The key to the success of CT-guided hepatic tumor thermal ablation therapy is the precise positioning and puncturing of the thermal ablation needle. The positioning and penetration in clinical treatment is influenced by the personal experience and ability of the physician, and ablation plans made by different surgeons are often different, as are the course and effect of treatment. The manual regulation can have great error when melting the puncture, to abdominal cavity and the inside tumour of abdominal cavity, tiny angle difference all can lead to can't the accuracy hit the focus, because the problem that the manual regulation accuracy is low leads to needing to advance a lot of needle adjustment needle angle and needle inserting position, and patient need endure the needle of inserting many times, has also increased the operation risk simultaneously.
Disclosure of Invention
The main purpose of this application is to solve current needle insertion accuracy and hang down, leads to the technical problem that needs adjustment needle inserting angle and needle inserting direction many times.
The invention provides a needle insertion path planning method in a first aspect, which comprises the following steps: acquiring imported medical image data; performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data; performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle; and calculating the needle inserting path of the mechanical arm according to the needle inserting strategy.
Optionally, in a first implementation manner of the first aspect of the present invention, the three-dimensional reconstructing the medical image data to obtain a three-dimensional model of the medical image data includes: performing image preprocessing on the medical image data; image screening is carried out on the medical image data after image preprocessing to obtain an image of a target organ and an image of a focus; and generating a corresponding three-dimensional model by using the image of the target organ and the image of the focus based on a three-dimensional reconstruction technology.
Optionally, in a second implementation manner of the first aspect of the present invention, the performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of an ablation needle includes: acquiring a preset three-dimensional model of an ablation needle and a 3d line segment, wherein the 3d line segment is a path connecting the three-dimensional model of the ablation needle and the three-dimensional model of the target organ; performing Boolean operation on the three-dimensional model of the ablation needle and a preset obstacle area according to the 3d line segment, and judging whether a collision event exists or not; if a collision event exists, acquiring an adjusting instruction input by a user, and adjusting a line segment colliding with the obstacle area in the 3d line segment according to the adjusting instruction; and taking the adjusted starting point, the adjusted end point and the adjusted line segment track of the 3d line segment as the needle inserting starting point, the needle inserting end point and the needle inserting route of the ablation needle to obtain the needle inserting strategy of the ablation needle.
Optionally, in a third implementation manner of the first aspect of the present invention, after the obtaining the needle insertion strategy of the ablation needle by taking the adjusted start point, end point, and segment track of the 3d segment as the needle insertion start point, needle insertion end point, and needle insertion route of the ablation needle, the method further includes: calculating the ablation range of the ablation needle at the needle insertion end point according to preset configuration parameters; calculating a spatial intersection of the ablation range and the three-dimensional model of the lesion; and obtaining a corresponding ablation evaluation result according to the volume of the space intersection.
Optionally, in a fourth implementation manner of the first aspect of the present invention, the obtaining, according to the volume of the spatial intersection, a corresponding ablation evaluation result includes: according to the volume of the space intersection, calculating an unablated volume of the focus and an excessive ablation volume of the target organ in a simulation mode; and evaluating the ablation strategy according to the volume of the space intersection, the volume without ablation and the volume with excessive ablation to obtain a corresponding ablation evaluation result.
Optionally, in a fifth implementation manner of the first aspect of the present invention, after the evaluating the ablation strategy according to the volume of the spatial intersection, the non-ablation volume, and the excessive ablation volume, and obtaining a corresponding ablation evaluation result, the method further includes: judging whether the non-ablated volume is smaller than a preset threshold value or not; if not, determining an un-ablated area corresponding to the un-ablated volume, and performing secondary needle inserting planning on the ablation needle based on the un-ablated area to obtain a secondary needle inserting strategy; calculating an ablation range of the secondary needle insertion plan of the ablation needle at the needle insertion end point of the secondary needle insertion strategy according to the configuration parameters; calculating a secondary space intersection of the ablation range of the secondary needle insertion plan and the non-ablation area, and judging whether the non-ablation volume of the secondary needle insertion plan is smaller than a preset threshold value or not based on the secondary space intersection; if not, returning to the step of determining the non-ablation region corresponding to the non-ablation volume until the non-ablation volume is smaller than the preset threshold value.
Optionally, in a sixth implementation manner of the first aspect of the present invention, the calculating, according to the needle insertion strategy, a needle insertion path of the mechanical arm includes: registering a preset coordinate system of the optical position finder and a coordinate system of the mechanical arm to obtain a first transformation matrix of the coordinate system of the optical position finder and the coordinate system of the mechanical arm; registering the medical image data and the coordinate system of the mechanical arm to obtain a second transformation matrix between the medical image data and the coordinate system of the mechanical arm; and converting the coordinates of the medical image data and the coordinates of the mechanical arm based on the first transformation matrix and the second transformation matrix to obtain a needle insertion path of the mechanical arm corresponding to the needle insertion strategy.
A second aspect of the present invention provides a needle insertion path planning apparatus, including: the acquisition module is used for acquiring the imported medical image data; the three-dimensional reconstruction module is used for performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data; the needle insertion planning module is used for performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle; and the mechanical arm operation module is used for calculating the needle inserting path of the mechanical arm according to the needle inserting strategy.
Optionally, in a first implementation manner of the second aspect of the present invention, the three-dimensional reconstruction module is specifically configured to: performing image preprocessing on the medical image data; image screening is carried out on the medical image data after image preprocessing to obtain an image of a target organ and an image of a focus; and generating a corresponding three-dimensional model by using the image of the target organ and the image of the focus based on a three-dimensional reconstruction technology.
Optionally, in a second implementation manner of the second aspect of the present invention, the needle insertion planning module is specifically configured to: acquiring a preset three-dimensional model of an ablation needle and a 3d line segment, wherein the 3d line segment is a path connecting the three-dimensional model of the ablation needle and the three-dimensional model of the target organ; performing Boolean operation on the three-dimensional model of the ablation needle and a preset obstacle area according to the 3d line segment, and judging whether a collision event exists or not; if a collision event exists, acquiring an adjusting instruction input by a user, and adjusting a line segment colliding with the obstacle area in the 3d line segment according to the adjusting instruction; and taking the adjusted starting point, the adjusted end point and the adjusted line segment track of the 3d line segment as the needle inserting starting point, the needle inserting end point and the needle inserting route of the ablation needle to obtain the needle inserting strategy of the ablation needle.
Optionally, in a third implementation manner of the second aspect of the present invention, the needle insertion path planning apparatus further includes an action region evaluation module, where the action region evaluation module is specifically configured to: calculating the ablation range of the ablation needle at the needle insertion end point according to preset configuration parameters; calculating a spatial intersection of the ablation range and the three-dimensional model of the lesion; and obtaining a corresponding ablation evaluation result according to the volume of the space intersection.
Optionally, in a fourth implementation manner of the second aspect of the present invention, the region of action evaluation module is further specifically configured to: according to the volume of the space intersection, calculating an unablated volume of the focus and an excessive ablation volume of the target organ in a simulation mode; and evaluating the ablation strategy according to the volume of the space intersection, the volume without ablation and the volume with excessive ablation to obtain a corresponding ablation evaluation result.
Optionally, in a fifth implementation manner of the second aspect of the present invention, the needle insertion path planning apparatus further includes a quadratic planning module, where the quadratic planning module is specifically configured to: judging whether the non-ablated volume is smaller than a preset threshold value or not; if not, determining an un-ablated area corresponding to the un-ablated volume, and performing secondary needle inserting planning on the ablation needle based on the un-ablated area to obtain a secondary needle inserting strategy; calculating an ablation range of the secondary needle insertion plan of the ablation needle at the needle insertion end point of the secondary needle insertion strategy according to the configuration parameters; calculating a secondary space intersection of the ablation range of the secondary needle insertion plan and the non-ablation area, and judging whether the non-ablation volume of the secondary needle insertion plan is smaller than a preset threshold value or not based on the secondary space intersection; if not, returning to the step of determining the non-ablation region corresponding to the non-ablation volume until whether the non-ablation volume is smaller than a preset threshold value.
Optionally, in a sixth implementation manner of the second aspect of the present invention, the robot arm operating module is specifically configured to: registering a preset coordinate system of the optical position finder and a coordinate system of the mechanical arm to obtain a first transformation matrix of the coordinate system of the optical position finder and the coordinate system of the mechanical arm; registering the medical image data and the coordinate system of the mechanical arm to obtain a second transformation matrix between the medical image data and the coordinate system of the mechanical arm; and converting the coordinates of the medical image data and the coordinates of the mechanical arm based on the first transformation matrix and the second transformation matrix to obtain a needle insertion path of the mechanical arm corresponding to the needle insertion strategy.
A third aspect of the present invention provides a computer apparatus comprising: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line; the at least one processor invokes the instructions in the memory to cause the computer device to perform the steps of the needle path planning method described above.
A fourth aspect of the present invention provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to perform the steps of the needle insertion path planning method described above.
Has the advantages that:
according to the technical scheme, the medical image data of the imported patient is acquired; performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data; performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle; and calculating the needle inserting path of the mechanical arm according to the needle inserting strategy. The method carries out the needle insertion planning of the ablation needle on the basis of three-dimensional reconstruction of medical image data to obtain a corresponding needle insertion strategy, can accurately calculate the correct needle insertion position and needle insertion direction, and avoids the problem that a patient needs to undergo multiple needle insertions due to the fact that the needle insertion direction and position cannot be accurately adjusted for multiple times.
Drawings
Fig. 1 is a schematic diagram of a first embodiment of a needle insertion path planning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a needle insertion path planning method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a needle insertion path planning method according to a third embodiment of the present invention;
fig. 4 is a schematic diagram of an embodiment of a needle insertion path planning device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of another embodiment of the needle insertion path planning device according to the embodiment of the present invention;
fig. 6 is a schematic diagram of an embodiment of a computer device according to an embodiment of the present invention.
Detailed Description
According to the technical scheme, the medical image data of the imported patient is acquired; performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data; performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle; and calculating the needle inserting path of the mechanical arm according to the needle inserting strategy, and controlling the mechanical arm to insert the needle according to the needle inserting path. The method carries out the needle insertion planning of the ablation needle on the basis of three-dimensional reconstruction of medical image data to obtain a corresponding needle insertion strategy, can accurately calculate the correct needle insertion position and needle insertion direction, and avoids the problem that a patient needs to undergo multiple needle insertions due to the fact that the needle insertion direction and position cannot be accurately adjusted for multiple times.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For convenience of understanding, a specific flow of the embodiment of the present invention is described below, and referring to fig. 1, a first embodiment of a needle insertion path planning method provided by the embodiment of the present invention includes:
101. acquiring medical image data of an imported patient;
it is to be understood that the executing subject of the present invention may be a needle insertion path planning device, and may also be a terminal or a server, which is not limited herein. The embodiment of the present invention is described by taking a server as an execution subject.
In this embodiment, the medical image data of the patient is mainly DICOM (digital Imaging and Communications in medicine) images, the DICOM images refer to medical images stored according to the DICOM standard, which is a standard for data storage and communication transmission between medical image devices, and defines a medical image format with quality meeting clinical requirements and available for data exchange. After a patient is scanned by a medical imaging device, DICOM images with different thicknesses are generally obtained, wherein each thickness DICOM image is divided into a cross section, a sagittal plane and a coronal plane according to a section, and the DICOM image of each section is divided into a vein phase, an artery phase, a balance phase and the like according to stages. DICOM images of the same patient, the same thickness, the same section and the same stage have the same serial number, the serial number of the DICOM image of the same patient is used for indicating a scanning sequence, and the instance number of the DICOM image with the same serial number is used for indicating an image generation sequence.
In this embodiment, the DICOM image may be directly copied from the CT machine/mri machine/hospital image workstation by using the usb flash disk, then the corresponding directory is selected from the conversion file to copy the DICOM image to the corresponding software directory, and the corresponding DICOM image may be obtained by reading the file in the software directory.
102. Three-dimensional reconstruction is carried out on the medical image data to obtain a three-dimensional model of the medical image data;
in this embodiment, before three-dimensional reconstruction is performed on medical image data, that is, DICOM images, all the DICOM images may be screened, and an interested DICOM image may be selected, where the interested DICOM image may be a diseased organ and a lesion, such as a liver and a tumor of the hepatic portal, identified by a keyword in a medical record of a patient, or a target organ and a lesion directly input by a user, which is not limited in the present invention.
In practical application, image three-dimensional reconstruction is divided into surface rendering and volume rendering, in the embodiment, description is mainly performed based on the surface rendering, the invention is not limited to the three-dimensional reconstruction mode, in practical application, a plurality of surface rendering algorithms are provided, the invention is not limited, and in the embodiment, a three-dimensional model of a three-dimensional reconstructed DICOM image is obtained by mainly adopting a Marching cube algorithm for rendering.
103. Performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle;
in practical application, route planning can be completed by acquiring focus data, taking blood vessels, bones, preset organs which are forbidden to pass through an ablation needle, an entered needle body and the like as barrier constraint conditions, taking a focus area as a needle insertion terminal point, taking an epithelial area near the focus as a needle insertion starting point and adopting a preset path planning algorithm. In this embodiment, path planning is mainly implemented by placing a 3D line segment in a three-dimensional model, first receiving a target organ and a lesion selected by a user, performing boolean calculation on the three-dimensional model of an ablation needle and the three-dimensional model preset as an obstacle region, such as bones, preset organs which the ablation needle is prohibited from passing through, and a needle body which has entered, by using the placed 3D line segment, determining whether the ablation needle is collided with the needle according to the placed 3D line segment during needle insertion, modifying the color of the ablation needle to red if the collision occurs, otherwise displaying green, facilitating adjustment by the user, waiting for an adjustment instruction input by the user if a collision event exists, wherein the adjustment instruction may be generated by clicking and dragging two end points of the line segment to adjust the direction and position of the end point on a coronal plane, a sagittal plane, and a cross section based on a mouse, and when the placed 3D line segment is displayed in full green, and when the fact that the ablation needle is inserted according to the 3D line segment is shown, the collision event can not occur, the starting point, the terminal point and the line segment track of the 3D line segment are used as the needle insertion starting point, the needle insertion terminal point and the needle insertion route of the ablation needle, and the needle insertion strategy of the ablation needle is obtained.
104. And calculating the needle inserting path of the mechanical arm according to the needle inserting strategy.
In this embodiment, the mechanical arm and the image space are calibrated by a preset optical position finder, so that the conversion from the image coordinates of the three-dimensional model to the coordinates of the mechanical arm is obtained, and further the needle insertion path of the mechanical arm is converted according to the needle insertion strategy.
In the embodiment, the needle inserting path of the mechanical arm is calculated based on the needle inserting strategy, and the avoidance area can be further designated on the basis, so that the risk possibly caused by the mechanical arm in the moving process is avoided, and the whole operation process is safer and more reliable.
In the embodiment, by acquiring the imported medical image data of the patient; performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data; performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle; and calculating the needle inserting path of the mechanical arm according to the needle inserting strategy, and controlling the mechanical arm to insert the needle according to the needle inserting path. The method carries out the needle insertion planning of the ablation needle on the basis of three-dimensional reconstruction of medical image data to obtain a corresponding needle insertion strategy, can accurately calculate the correct needle insertion position and needle insertion direction, and avoids the problem that a patient needs to undergo multiple needle insertions due to the fact that the needle insertion direction and position cannot be accurately adjusted for multiple times.
Referring to fig. 2, a second embodiment of the needle insertion path planning method according to the embodiment of the present invention includes:
201. acquiring medical image data of an imported patient;
202. carrying out image preprocessing on the medical image data;
in this embodiment, the image may be preprocessed by techniques of noise reduction, compression, segmentation, registration, and fusion.
203. Image screening is carried out on the medical image data after image preprocessing to obtain an image of a target organ and an image of a focus;
204. generating a corresponding three-dimensional model by using the image of the target organ and the image of the focus on the basis of a three-dimensional reconstruction technology;
in practical application, image three-dimensional reconstruction is divided into surface rendering and volume rendering, the Marching Cubes algorithm, abbreviated as MC algorithm, mainly applied to surface rendering in the embodiment is assumed that original data is a discrete three-dimensional space regular data field, and an isosurface is extracted from the three-dimensional data field, so that the method is also called as an isosurface extraction algorithm, the algorithm flow of the MC method for solving the isosurface is that two slices are read at each time in a three-dimensional discrete regular data field layer division mode to form one layer, voxels are constructed one by one, and 4 points corresponding to the upper and lower parts of the two slices form a Cube (Cube), also called as Cell and Voxel; comparing the function value of each corner point of the cube with a given isosurface C, and constructing a state table of the cube according to the comparison result; obtaining a cube boundary having an angular point with the isosurface according to the state table; calculating the intersection point of the cube boundary and the isosurface by a linear interpolation method; the normal vectors at each corner of the cube are calculated by using a central difference method, and the normal vectors at each vertex of the triangle are calculated by using a linear interpolation method; and drawing an isosurface image according to the coordinate values of the vertexes of the triangular patches and the normal vector, and finally combining all isosurface triangles and displaying to obtain the image reconstruction. The process is completed by relying on an MITK framework, and the completion steps are as follows: and finishing the point of interest drawing through mitkPaintBrushTool, interpolating the content drawn in the previous step by using a surface interpolarationcontroller, and merging and displaying all the isosurface triangles after interpolation.
205. Acquiring a preset three-dimensional model of the ablation needle and a 3d line segment, wherein the 3d line segment is a path connecting the three-dimensional model of the ablation needle and the three-dimensional model of the target organ;
206. performing Boolean operation on the three-dimensional model of the ablation needle and a preset obstacle area according to the 3d line segment, and judging whether a collision event exists or not;
in this embodiment, the needle insertion path planning is mainly implemented by placing a 3D line segment in a three-dimensional reconstructed three-dimensional model, first selecting a target organ and a lesion (e.g., liver portal tumor) as an end point of the line segment, selecting a needle insertion point as a start point of the line segment, then clicking and dragging two end points of the line segment by a mouse, and adjusting the direction and position of the line segment in the coronal plane, the sagittal plane, and the transverse plane. When the mouse is lifted every time in the adjustment process, Boolean operation is carried out on the three-dimensional model of the ablation needle and the preset three-dimensional model serving as the obstacle constraint condition, namely the three-dimensional model of the obstacle area, the preset three-dimensional model serving as the obstacle constraint condition can comprise bones or organs which are forbidden to pass through needle channels and other needle bodies, whether collision occurs or not is judged based on the Boolean operation result, if collision occurs, the color of the 3D line segment is displayed at the collision position to be red, if not, green is displayed, a three-dimensional vector is finally formed in an image space, and the starting point, the end point and the vector direction of the three-dimensional vector are needle insertion strategies.
207. If a collision event exists, acquiring an adjusting instruction input by a user, and adjusting a line segment colliding with the obstacle area in the 3d line segment according to the adjusting instruction;
in this embodiment, each time the user drags the line segment through the mouse to adjust the 3D line segment, an adjustment instruction is generated, and the 3D line segment is correspondingly adjusted according to the adjustment instruction.
208. Taking the adjusted starting point, end point and line segment track of the 3d line segment as the needle insertion starting point, needle insertion end point and needle insertion route of the ablation needle to obtain the needle insertion strategy of the ablation needle;
209. registering a preset coordinate system of the optical position finder and a coordinate system of the mechanical arm to obtain a first transformation matrix of the coordinate system of the optical position finder and the coordinate system of the mechanical arm;
210. registering the medical image data and the coordinate system of the mechanical arm to obtain a second transformation matrix between the medical image data and the coordinate system of the mechanical arm;
211. and converting the coordinates of the medical image data and the coordinates of the mechanical arm based on the first transformation matrix and the second transformation matrix to obtain a needle insertion path of the mechanical arm corresponding to the needle insertion strategy.
After the needle inserting path of the mechanical arm is calculated through the needle inserting path, an avoiding area can be designated on the basis, so that the risk possibly caused by the mechanical arm in the moving process is avoided, and the whole operation process is safer and more reliable. And when the needle inserting path of the mechanical arm for identifying the needle inserting path conversion passes through the avoidance area, readjusting the needle inserting path until the needle inserting path of the mechanical arm for identifying the needle inserting path conversion does not pass through the avoidance area. The whole process of the mechanical arm movement does not have any needle tool, and only carries the clamp which is necessary for clamping the needle tool.
In this embodiment, the mechanical arm and the image space are calibrated by the optical position finder, so as to obtain the conversion from the image coordinate to the mechanical arm coordinate.
On the basis of the previous embodiment, the process of performing needle insertion planning and needle insertion operation on the basis of a three-dimensional reconstruction model after three-dimensional reconstruction is performed on medical image data is described in detail, the Marching Cubes algorithm performs three-dimensional reconstruction on the medical image data to obtain an accurate three-dimensional model, route planning is performed on the basis of the accurate three-dimensional model, a barrier region is added in the route planning process, collision between an ablation needle and bones and the like in a patient body in the needle insertion process can be avoided, risks in the ablation process are reduced, the three-dimensional image and the mechanical arm are calibrated through an optical positioning instrument, conversion between a coordinate system of the mechanical arm and a coordinate system of the three-dimensional image can be completed, and the operation accuracy of the mechanical arm is improved. Based on the effect realized above, the needle inserting direction and position are ensured not to be carried out for many times in the needle inserting process, and the problem that the patient needs to be subjected to needle inserting for many times due to multiple times of adjustment is avoided.
Referring to fig. 3, a third embodiment of the needle insertion path planning method according to the embodiment of the present invention includes:
301. acquiring imported medical image data;
302. three-dimensional reconstruction is carried out on the medical image data to obtain a three-dimensional model of the medical image data;
303. acquiring a preset three-dimensional model of the ablation needle and a 3d line segment, wherein the 3d line segment is a path connecting the three-dimensional model of the ablation needle and the three-dimensional model of the target organ;
304. performing Boolean operation on the three-dimensional model of the ablation needle and a preset obstacle area according to the 3d line segment, and judging whether a collision event exists or not;
305. if a collision event exists, acquiring an adjusting instruction input by a user, and adjusting a line segment colliding with the obstacle area in the 3d line segment according to the adjusting instruction;
306. taking the adjusted starting point, end point and line segment track of the 3d line segment as the needle insertion starting point, needle insertion end point and needle insertion route of the ablation needle to obtain the needle insertion strategy of the ablation needle;
307. calculating the ablation range of the ablation needle at the needle insertion end point according to preset configuration parameters;
in this embodiment, each ablation needle is configured with parameters in advance, an ellipsoid ablation range is generated at the needle tip according to the configured parameters, then an intersection is obtained with the target area graph, and a specific treatment effect, such as a complete ablation range, an unablated range, and the like, is evaluated according to the intersection.
In this embodiment, the parameters for each ablation configuration may include, but are not limited to, ablation boundary temperature, needle length, ablation zone selected according to the ablation boundary temperature and needle length input by the user, maximum and minimum of abscissa and ordinate of the ablation zone queried, major diameter a and minor diameter b of the ablation zone estimated according to the maximum and minimum of abscissa and ordinate, ablation volume estimated according to the major diameter a and minor diameter b, and the calculation formula is as follows:
the formula is an ellipse calculation formula and can be used for calculating the ablation range of the ablation needle.
308. Calculating the space intersection of the three-dimensional models of the ablation range and the focus;
309. according to the volume of the space intersection, calculating the non-ablation volume of the focus and the excessive ablation volume of the target organ in a simulation mode;
in this embodiment, a spatial intersection is taken between the lesion and the ablation range, the spatial intersection is a space where ablation is performed in the lesion, after analog calculation is performed on the ablation needle, a region in the three-dimensional model of the lesion, which does not produce a spatial intersection with the ablation range of the ablation needle, is an un-ablated region, a volume of the un-ablated region is an un-ablated volume, a region in the ablation range, which does not produce a spatial intersection with the three-dimensional model of the lesion, is an over-ablated region, and a volume of the over-ablated region is an over-ablated volume.
310. Evaluating the ablation strategy according to the volume of the space intersection, the volume without ablation and the volume with excessive ablation to obtain a corresponding ablation evaluation result;
in this embodiment, the ablation strategy may be adjusted according to the ablation evaluation result, for example, in the needle insertion planning process, the calculated volume of the spatial intersection is smaller than the transition ablation volume, and it may be that in the needle insertion strategy of the ablation needle, the selection of the needle insertion endpoint is not correct, and the needle insertion endpoint is farther from the lesion area to be ablated, or is not located in the center of the lesion area but located at the edge of the lesion area, which may result in an unsatisfactory ablation effect.
311. Judging whether the volume not ablated is smaller than a preset threshold value or not;
312. if the volume not ablated is not smaller than the preset threshold value, determining an area not ablated corresponding to the volume not ablated, and performing secondary needle inserting planning on the ablation needle based on the area not ablated to obtain a secondary needle inserting strategy;
313. calculating the ablation range of the secondary needle insertion plan of the ablation needle at the needle insertion end point of the secondary needle insertion strategy according to the configuration parameters;
314. calculating a secondary space intersection of an ablation range and an non-ablation area of the secondary needle insertion plan, and judging whether the non-ablation volume of the secondary needle insertion plan is smaller than a preset threshold value or not based on the secondary space intersection;
315. if the non-ablation volume of the secondary needle insertion planning is not smaller than the preset threshold value, returning to the step of determining the non-ablation area corresponding to the non-ablation volume until the non-ablation volume is smaller than the preset threshold value;
in this embodiment, if the volume of the non-ablated region is too large, which indicates that the ablation effect is not good, the needle insertion endpoint may not be selected well, or the volume of the three-dimensional model of the lesion is too large, multiple simulated needle insertion plans need to be performed, after each needle insertion plan, the non-ablated volume is calculated, and a threshold is set, where the threshold may be set according to actual requirements, for example, zero, which indicates that the lesion region needs to be completely ablated.
316. And calculating the needle inserting path of the mechanical arm according to the needle inserting strategy and the secondary needle inserting strategy.
In this embodiment, according to the needs of different patients, different ablation schemes may be provided, lesions at different positions may exist, or a lesion area is large, an ablation needle cannot well complete an ablation scheme once, multiple times of ablation are required, when an insertion strategy is calculated, a user may set the remaining insertion times, and add the remaining insertion times into the insertion strategy, if different areas need to be ablated, the mechanical arm is reset to an initial position each time, and when the remaining insertion times are not zero, the insertion strategies such as an insertion path, an insertion starting point, an insertion ending point, and the like are re-calculated until the remaining insertion times are zero, which indicates that the ablation process has ended, and ends the process of needle insertion guidance.
On the basis of the previous embodiment, the evaluation of the ablation strategy and the scheme of needle insertion for multiple times based on the evaluation result of the ablation strategy are added, after one-time needle insertion planning, the needle insertion times can be reduced, but the condition of large lesion size possibly exists, the single needle has poor ablation effect, multiple times of ablation on different areas of the lesion is needed, the multiple times of ablation scheme is added in the ablation simulation process, the ablation process is evaluated, and a doctor can adjust the needle insertion planning for multiple times according to the evaluation result, so that the ablation effect is better.
The above describes the needle insertion path planning method provided in the embodiment of the present invention, and the following describes the needle insertion path planning device in the embodiment of the present invention, with reference to fig. 4, an embodiment of the needle insertion path planning device in the embodiment of the present invention includes:
an obtaining module 401, configured to obtain medical image data of an imported patient;
a three-dimensional reconstruction module 402, configured to perform three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data;
a needle insertion planning module 403, configured to perform needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of an ablation needle;
and a mechanical arm operation module 404, configured to calculate a needle insertion path of the mechanical arm according to the needle insertion strategy.
In the embodiment of the invention, the needle insertion path planning device runs the needle insertion path planning method, and acquires the medical image data of the introduced patient; performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data; performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle; and calculating the needle inserting path of the mechanical arm according to the needle inserting strategy. The method carries out the needle insertion planning of the ablation needle on the basis of three-dimensional reconstruction of medical image data to obtain a corresponding needle insertion strategy, can accurately calculate the correct needle insertion position and needle insertion direction, and avoids the problem that a patient needs to undergo multiple needle insertions due to the fact that the needle insertion direction and position cannot be accurately adjusted for multiple times.
Referring to fig. 5, a second embodiment of the needle insertion path planning apparatus according to the present invention includes:
an obtaining module 401, configured to obtain medical image data of an imported patient;
a three-dimensional reconstruction module 402, configured to perform three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data;
a needle insertion planning module 403, configured to perform needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of an ablation needle;
and a mechanical arm operation module 404, configured to calculate a needle insertion path of the mechanical arm according to the needle insertion strategy.
In this embodiment, the three-dimensional reconstruction module 402 is specifically configured to:
performing image preprocessing on the medical image data;
image screening is carried out on the medical image data after image preprocessing to obtain an image of a target organ and an image of a focus;
and generating a corresponding three-dimensional model by using the image of the target organ and the image of the focus based on a three-dimensional reconstruction technology.
The needle insertion planning module 403 is specifically configured to:
acquiring a preset three-dimensional model of an ablation needle and a 3d line segment, wherein the 3d line segment is a path connecting the three-dimensional model of the ablation needle and the three-dimensional model of the target organ;
performing Boolean operation on the three-dimensional model of the ablation needle and a preset obstacle area according to the 3d line segment, and judging whether a collision event exists or not;
if a collision event exists, acquiring an adjusting instruction input by a user, and adjusting a line segment colliding with the obstacle area in the 3d line segment according to the adjusting instruction;
and taking the adjusted starting point, the adjusted end point and the adjusted line segment track of the 3d line segment as the needle inserting starting point, the needle inserting end point and the needle inserting route of the ablation needle to obtain the needle inserting strategy of the ablation needle.
In this embodiment, the needle insertion path planning apparatus further includes an action region evaluation module 405, where the action region evaluation module 405 is specifically configured to:
calculating the ablation range of the ablation needle at the needle insertion end point according to preset configuration parameters;
calculating a spatial intersection of the ablation range and the three-dimensional model of the lesion;
and obtaining a corresponding ablation evaluation result according to the volume of the space intersection.
In this embodiment, the action region evaluation module 405 is further specifically configured to:
according to the volume of the space intersection, calculating an unablated volume of the focus and an excessive ablation volume of the target organ in a simulation mode;
and evaluating the ablation strategy according to the volume of the space intersection, the volume without ablation and the volume with excessive ablation to obtain a corresponding ablation evaluation result.
In this embodiment, the needle insertion path planning apparatus further includes a quadratic planning module 406, and the quadratic planning module 406 is specifically configured to:
judging whether the non-ablated volume is smaller than a preset threshold value or not;
if the non-ablation volume is not smaller than a preset threshold value, determining a non-ablation area corresponding to the non-ablation volume, and performing secondary needle insertion planning on the ablation needle based on the non-ablation area to obtain a secondary needle insertion strategy;
calculating an ablation range of the secondary needle insertion plan of the ablation needle at the needle insertion end point of the secondary needle insertion strategy according to the configuration parameters;
calculating a secondary space intersection of the ablation range of the secondary needle insertion plan and the non-ablation area, and judging whether the non-ablation volume of the secondary needle insertion plan is smaller than a preset threshold value or not based on the secondary space intersection;
and if the volume of the non-ablation area of the secondary needle insertion planning is not less than the preset threshold value, returning to the step of determining the non-ablation area corresponding to the volume of the non-ablation area until the volume of the non-ablation area is less than the preset threshold value.
In this embodiment, the robot operating module 404 is specifically configured to:
registering a preset coordinate system of the optical position finder and a coordinate system of the mechanical arm to obtain a first transformation matrix of the coordinate system of the optical position finder and the coordinate system of the mechanical arm;
registering the medical image data and the coordinate system of the mechanical arm to obtain a second transformation matrix between the medical image data and the coordinate system of the mechanical arm;
and converting the coordinates of the medical image data and the coordinates of the mechanical arm based on the first transformation matrix and the second transformation matrix to obtain a needle insertion path of the mechanical arm corresponding to the needle insertion strategy.
On the basis of the previous embodiment, other functional modules are added, through the functional modules, medical image data are three-dimensionally reconstructed, an accurate three-dimensional model can be obtained, route planning is performed based on the accurate three-dimensional model, a barrier area is added in the route planning process, an ablation needle can be prevented from colliding with bones and the like in a patient body in the needle inserting process, risks in the ablation process are reduced, the three-dimensional image and the mechanical arm are calibrated through an optical positioning instrument, conversion between a coordinate system of the mechanical arm and the coordinate system of the three-dimensional image can be completed, and operation accuracy of the mechanical arm is improved. Based on the effect realized above, the needle inserting direction and position are ensured not to be carried out for many times in the needle inserting process, and the problem that the patient needs to be subjected to needle inserting for many times due to multiple times of adjustment is avoided.
Fig. 4 and 5 describe the needle insertion path planning apparatus in the embodiment of the present invention in detail from the perspective of the modular functional entity, and the computer device in the embodiment of the present invention is described in detail from the perspective of the hardware processing.
Fig. 6 is a schematic structural diagram of a computer device 600 according to an embodiment of the present invention, which may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 610 (e.g., one or more processors) and a memory 620, and one or more storage media 630 (e.g., one or more mass storage devices) for storing applications 633 or data 632. Memory 620 and storage medium 630 may be, among other things, transient or persistent storage. The program stored in the storage medium 630 may include one or more modules (not shown), each of which may include a sequence of instructions for operating on the computer device 600. Further, the processor 610 may be configured to communicate with the storage medium 630, and execute a series of instruction operations in the storage medium 630 on the computer device 600 to implement the steps of the needle path planning method.
The computer device 600 may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input-output interfaces 660, and/or one or more operating systems 631, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, and so forth. Those skilled in the art will appreciate that the computer device configuration illustrated in FIG. 6 is not intended to be limiting of the computer devices provided herein and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components.
The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, and which may also be a volatile computer-readable storage medium, having stored therein instructions, which, when run on a computer, cause the computer to perform the steps of the needle approach path planning method.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses, and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A needle insertion path planning method is characterized by comprising the following steps:
acquiring imported medical image data;
performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data;
performing needle insertion planning based on the three-dimensional model to obtain a needle insertion strategy of the ablation needle;
wherein, the needle insertion planning based on the three-dimensional model, and the obtaining of the needle insertion strategy of the ablation needle comprises: acquiring a preset three-dimensional model of an ablation needle and a 3d line segment, wherein the 3d line segment is a path connecting the three-dimensional model of the ablation needle and the three-dimensional model of a target organ; performing Boolean operation on the three-dimensional model of the ablation needle and a preset obstacle area according to the 3d line segment, and judging whether a collision event exists, wherein the obstacle area is a bone or an organ which prohibits a needle passage from passing; if a collision event exists, acquiring an adjusting instruction input by a user, and adjusting a line segment colliding with the obstacle area in the 3d line segment according to the adjusting instruction, wherein the adjusting instruction is obtained by dragging the line segment through a mouse based on the user; taking the adjusted starting point, end point and line segment track of the 3d line segment as the needle insertion starting point, needle insertion end point and needle insertion route of the ablation needle to obtain the needle insertion strategy of the ablation needle;
calculating the needle inserting path of the mechanical arm according to the needle inserting strategy;
wherein, according to the needle insertion strategy, calculating the needle insertion path of the mechanical arm comprises:
registering a preset coordinate system of an optical position indicator and a coordinate system of a mechanical arm to obtain a first transformation matrix of the coordinate system of the optical position indicator and the coordinate system of the mechanical arm;
registering the medical image data and the coordinate system of the mechanical arm to obtain a second transformation matrix between the medical image data and the coordinate system of the mechanical arm;
and converting the coordinates of the medical image data and the coordinates of the mechanical arm based on the first transformation matrix and the second transformation matrix to obtain a needle insertion path of the mechanical arm corresponding to the needle insertion strategy.
2. The needle insertion path planning method according to claim 1, wherein the three-dimensional reconstruction of the medical image data to obtain a three-dimensional model of the medical image data comprises:
performing image preprocessing on the medical image data;
image screening is carried out on the medical image data after image preprocessing to obtain an image of a target organ and an image of a focus;
and generating a corresponding three-dimensional model by using the image of the target organ and the image of the focus based on a three-dimensional reconstruction technology.
3. The needle insertion path planning method according to claim 2, wherein after obtaining the needle insertion strategy of the ablation needle by taking the adjusted start point, end point and segment trajectory of the 3d segment as the needle insertion start point, needle insertion end point and needle insertion route of the ablation needle, the method further comprises:
calculating the ablation range of the ablation needle at the needle insertion end point according to preset configuration parameters;
calculating a spatial intersection of the ablation range and the three-dimensional model of the lesion;
and obtaining a corresponding ablation evaluation result according to the volume of the space intersection.
4. The needle access path planning method of claim 3, wherein obtaining corresponding ablation assessment results according to the volume of the spatial intersection comprises:
according to the volume of the space intersection, calculating an unablated volume of the focus and an excessive ablation volume of the target organ in a simulation mode;
and evaluating the ablation strategy according to the volume of the space intersection, the volume without ablation and the volume with excessive ablation to obtain a corresponding ablation evaluation result.
5. The needle insertion path planning method according to claim 4, wherein the evaluating the ablation strategy according to the volume of the spatial intersection, the non-ablation volume and the excessive ablation volume to obtain a corresponding ablation evaluation result further comprises:
judging whether the non-ablated volume is smaller than a preset threshold value or not;
if the non-ablation volume is not smaller than a preset threshold value, determining a non-ablation area corresponding to the non-ablation volume, and performing secondary needle insertion planning on the ablation needle based on the non-ablation area to obtain a secondary needle insertion strategy;
calculating an ablation range of the secondary needle insertion plan of the ablation needle at the needle insertion end point of the secondary needle insertion strategy according to the configuration parameters;
calculating a secondary space intersection of an ablation range of the secondary needle insertion plan and the non-ablation region, and judging whether the non-ablation volume of the secondary needle insertion plan is smaller than a preset threshold value or not based on the secondary space intersection;
and if the volume of the non-ablation area of the secondary needle insertion planning is not less than the preset threshold value, returning to the step of determining the non-ablation area corresponding to the volume of the non-ablation area until the volume of the non-ablation area is less than the preset threshold value.
6. An insertion path planning apparatus, comprising:
the acquisition module is used for acquiring the imported medical image data;
the three-dimensional reconstruction module is used for performing three-dimensional reconstruction on the medical image data to obtain a three-dimensional model of the medical image data;
the needle insertion planning module is used for acquiring a preset three-dimensional model and a 3d line segment of the ablation needle; performing Boolean operation on the three-dimensional model of the ablation needle and a preset obstacle area according to the 3d line segment, and judging whether a collision event exists, wherein the obstacle area is a bone or an organ which prohibits a needle passage from passing; if a collision event exists, acquiring an adjusting instruction input by a user, and adjusting a line segment colliding with the obstacle area in the 3d line segment according to the adjusting instruction; taking the adjusted starting point, end point and line segment track of the 3d line segment as the needle insertion starting point, needle insertion end point and needle insertion route of the ablation needle to obtain the needle insertion strategy of the ablation needle; wherein the 3d line segment is a path connecting the three-dimensional model of the ablation needle and the three-dimensional model of the target organ; the adjusting instruction is obtained by dragging a line segment through a mouse based on a user;
the mechanical arm operation module is used for calculating the needle inserting path of the mechanical arm according to the needle inserting strategy; wherein, according to the needle insertion strategy, calculating the needle insertion path of the mechanical arm comprises: registering a preset coordinate system of an optical position indicator and a coordinate system of a mechanical arm to obtain a first transformation matrix of the coordinate system of the optical position indicator and the coordinate system of the mechanical arm; registering the medical image data and the coordinate system of the mechanical arm to obtain a second transformation matrix between the medical image data and the coordinate system of the mechanical arm; and converting the coordinates of the medical image data and the coordinates of the mechanical arm based on the first transformation matrix and the second transformation matrix to obtain a needle insertion path of the mechanical arm corresponding to the needle insertion strategy.
7. A computer device, characterized in that the needle insertion path planning device comprises: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the computer device to perform the steps of the needle entry path planning method according to any of claims 1-5.
8. 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 needle path planning method according to any one of claims 1 to 5.
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| CN114757995B (en) * | 2022-06-16 | 2022-09-16 | 山东纬横数据科技有限公司 | Medical instrument visualization simulation method based on data identification |
| CN114986524B (en) * | 2022-08-08 | 2022-10-28 | 中国科学院自动化研究所 | Mechanical arm track planning method and device based on brain-computer interface and electronic equipment |
| WO2024032570A1 (en) * | 2022-08-08 | 2024-02-15 | 武汉联影智融医疗科技有限公司 | Interventional planning system, method and apparatus, and a storage medium |
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