CN114305526A - Low-temperature biopsy control method and system based on optimized control logic - Google Patents
Low-temperature biopsy control method and system based on optimized control logic Download PDFInfo
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Abstract
The application relates to a low-temperature biopsy control method and system based on optimized control logic, which are characterized in that quantitative sampling conditions are set for all biopsy sampling steps through presetting quantitative sampling conditions to obtain biopsy sampling quantitative steps; setting an operation logic time sequence table, inputting the biopsy sampling quantification step into the operation logic time sequence table, and obtaining a biopsy sampling logic time sequence table; and inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting. The method can quantify the action requirements of all biopsy steps, quantify parameters of low-temperature cooling time, rotary cutting depth and the like in the biopsy process, realize intelligent biopsy and quantitative control through node logic control, realize the intelligent biopsy execution action and save unnecessary processes.
Description
Technical Field
The present disclosure relates to the field of cryobiopsy technology, and in particular, to a cryobiopsy control method and system based on an optimized control logic.
Background
Biopsy is an important tool for diagnosing cancer masses, preliminary exacerbation conditions, and other diseases and disorders in patients. In the conventional biopsy technology, a technical means of taking a biopsy sample of a lesion tissue by using a low-temperature biopsy needle is popular. Rotational core biopsy is typically performed using an adhesion probe with a liquid cryogen.
In the patent publication No. CN100571649C, a rotary core biopsy device with a liquid refrigerant adhesion probe is provided, in which a printed circuit board is arranged inside the cryobiopsy device, and a computer control system is installed thereon for controlling the cooling pneumatic circulation system to perform the cryocooling air supply circulation, the cryocooling of the lesion tissue, the rotary cutting biopsy sampling and the sample recovery. The biopsy device is manually held, a probe penetrates into a focus tissue to fix a focus, and then the focus tissue is rotationally cut by advancing a cutting sleeve to recover and sample. It has the following technical defects:
manual sampling, aiming at a small area of a focus tissue, the operation technology is required to be very high, and the focus tissue and the surrounding tissue cannot be damaged, so that the pain of a patient is caused;
in the traditional biopsy process, the upper step and the lower step are not coherent enough, the time of each stage, such as the low-temperature cooling temperature, needs to be manually judged, and the next step can be carried out only when the cooling time is reached; the time of the process is not accurate enough, and the different cooling time can be caused due to the different requirements of the cooling temperature, so that the quality of the low-temperature biopsy sample is low, and the tissue cell activity of the later-stage biopsy cannot meet the requirements of the disease detection.
Disclosure of Invention
In view of this, the present disclosure provides a method and a system for controlling cryobiopsy based on optimized control logic, which implement biopsy execution actions through node logic control, and through intelligent biopsy and quantitative control.
According to an aspect of the present disclosure, there is provided a cryobiopsy control method based on optimized control logic, comprising the steps of:
s100, presetting quantization sampling conditions, setting the quantization sampling conditions for each biopsy sampling step, and obtaining a biopsy sampling quantization step;
s200, setting an operation logic time sequence table, inputting the biopsy sampling quantification step into the operation logic time sequence table, and obtaining a biopsy sampling logic time sequence table;
and S300, inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting.
As an optional embodiment of the present application, optionally, in step S100, before performing the quantitative sampling condition setting on each biopsy sampling step, the method further includes:
s101, acquiring contrast data of a biopsy target;
s102, preprocessing the contrast data through a computer control system to obtain contrast preprocessing data;
and S103, calculating and outputting the spatial position information of the biopsy target in real time according to the contrast preprocessing data, wherein the spatial position information is used for providing contrast data indicating biopsy sampling.
As an optional implementation of this application, optionally, in step S100, the presetting of the quantization sampling condition sets the quantization sampling condition for each biopsy sampling step, and the obtaining of the biopsy sampling quantization step includes:
s101, presetting a low-temperature output time quantization node;
s102, calculating and obtaining a temperature value required by each biopsy sampling step, and configuring the temperature value required by each biopsy sampling step into the corresponding low-temperature output time quantization node;
s103, collecting configuration data of all low-temperature output time quantization nodes, and integrating into a low-temperature output time quantization step.
As an optional implementation of this application, optionally, in step S100, the presetting quantization sampling conditions, performing quantization sampling condition setting on each biopsy sampling step, and obtaining a biopsy sampling quantization step, further includes:
s110, presetting a sampling time quantization point;
s120, calculating and acquiring a sampling time value required by each biopsy sampling step, and configuring the sampling time value required by each biopsy sampling step into the corresponding sampling time quantization point;
and S130, collecting configuration data of all sampling time quantization points, and integrating into a sampling time quantization step.
As an optional implementation of this application, optionally, in step S200, the setting an operation logic timing schedule, inputting the biopsy sampling quantification step into the operation logic timing schedule, and obtaining a biopsy sampling logic timing schedule includes:
s201, calculating biopsy sampling paths among all steps according to the biopsy sampling quantification step;
s202, obtaining a biopsy sampling path with the shortest path among the steps based on a path optimization algorithm, and taking the biopsy sampling path as a biopsy sampling optimization path from the previous step to the next step;
s203, presetting a time sequence table, and configuring each node into the time sequence table according to the operation sequence of each step node to obtain an operation logic time sequence table;
and S204, configuring biopsy sampling optimization paths among the steps in the operation logic time sequence table, obtaining a biopsy sampling logic time sequence table and executing biopsy actions according to time sequence.
According to another aspect of the present disclosure, there is provided a system for implementing the optimized control logic-based cryobiopsy control method, including:
the step quantization setting module is used for presetting quantization sampling conditions, setting the quantization sampling conditions for each biopsy sampling step and obtaining a biopsy sampling quantization step;
a logic time sequence table setting module, configured to set an operation logic time sequence table, input the biopsy sampling quantization step into the operation logic time sequence table, and obtain a biopsy sampling logic time sequence table;
and the quantification execution module is used for inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting.
As an optional embodiment of the present application, optionally, the method further includes:
an imaging system for acquiring imaging data of a biopsy target;
the preprocessing system is used for preprocessing the radiography data through a computer control system to obtain radiography preprocessing data;
and the target position output system is used for calculating and outputting the spatial position information of the biopsy target in real time according to the contrast preprocessing data, and the spatial position information is used for providing contrast data indicating biopsy sampling.
As an optional implementation of this application, optionally, the step quantization setting module includes:
the low-temperature output time quantization module is used for presetting a low-temperature output time quantization node; calculating and acquiring a temperature value required by each biopsy sampling step, and configuring the temperature value required by each biopsy sampling step into the corresponding low-temperature output time quantization node; collecting configuration data of all low-temperature output time quantization nodes, and integrating the configuration data into a low-temperature output time quantization step; further comprising:
the sampling time quantization module is used for presetting a sampling time quantization point; calculating and acquiring a sampling time value required by each biopsy sampling step, and configuring the sampling time value required by each biopsy sampling step into the corresponding sampling time quantization point; and collecting configuration data of all sampling time quantization points, and integrating into a sampling time quantization step.
As an optional implementation of the present application, optionally, the logic timing schedule setting module includes:
a path calculation module for calculating biopsy sampling paths between steps according to the biopsy sampling quantification step;
the path optimization module is used for obtaining a biopsy sampling path with the shortest path among the steps based on a path optimization algorithm and taking the biopsy sampling path as a biopsy sampling optimization path from the previous step to the next step;
the time sequence configuration module is used for presetting a time sequence table, and configuring each node into the time sequence table according to the operation sequence of each step node to obtain an operation logic time sequence table;
and the path configuration module is used for configuring biopsy sampling optimization paths among the steps in the operation logic time sequence table, obtaining a biopsy sampling logic time sequence table and executing biopsy actions according to time sequence.
According to another aspect of the present disclosure, there is also provided a control system including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the optimized control logic based cryobiopsy control method when executing the executable instructions.
The technical effects of this application:
according to the invention, quantitative sampling conditions are set for each biopsy sampling step through presetting the quantitative sampling conditions, so that a biopsy sampling quantitative step is obtained; setting an operation logic time sequence table, inputting the biopsy sampling quantification step into the operation logic time sequence table, and obtaining a biopsy sampling logic time sequence table; and inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting. The method can quantify the action requirements of all biopsy steps, quantify parameters of low-temperature cooling time, rotary cutting depth and the like in the biopsy process, realize intelligent biopsy and quantitative control through node logic control, realize the intelligent biopsy execution action and save unnecessary processes.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates the present invention;
figure 2 illustrates the present invention.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Example 1
The method quantizes the action requirements of all biopsy steps, quantizes parameters of low-temperature cooling time, rotary cutting depth and the like in the biopsy process, and realizes intelligent biopsy and quantitative control through node logic control and intelligent biopsy.
In this embodiment, the sampling steps are logically and optimally controlled, and the process is quantitatively set between each step and each step, for example, in the cryogenic cooling stage, the cooling time is set, and the next step is executed after the set time is reached, for example, the lesion tissue is rotationally cut forward, and the biopsy sampling is performed, as shown in the patent publication No. CN 100571649C. The movement of the biopsy instrument is preferably replaced by a robot, instead of a human being, and the biopsy instrument is operated by a manipulator instead of a human hand. The model and style of the robot are relatively open and mature in technology, and the technology is not limited in the place.
As shown in fig. 1, according to an aspect of the present disclosure, there is provided a cryobiopsy control method based on optimized control logic, comprising the steps of:
s100, presetting quantization sampling conditions, setting the quantization sampling conditions for each biopsy sampling step, and obtaining a biopsy sampling quantization step;
quantitative sampling, which is to quantitatively set the action execution conditions of each step, wherein the specific action of each step has certain requirements such as execution time and stroke, for example, in the low-temperature cooling stage, the cooling gas circulation system needs to be controlled to continuously convey cooling gas to the adhesion probe for 5-15 seconds to cool the adhesion probe to reach the temperature required by biopsy, the low-temperature cooling step is quantitatively sampled and set according to the conditions to obtain a step node with quantitative execution conditions, when the computer control system executes a program to the cooling step node, the cooling step is executed according to the quantitative sampling conditions, and when the condition is completed, the program is transferred to the next step node. The rest nodes are processed similarly, and are not described in detail here.
S200, setting an operation logic time sequence table, inputting the biopsy sampling quantification step into the operation logic time sequence table, and obtaining a biopsy sampling logic time sequence table;
an operation logic time sequence table is set according to a logic execution flow set among all step nodes, a plurality of execution paths can appear among all step nodes, therefore, in order to save the execution time and the paths among all the steps, the execution logic of the step nodes is optimized and calculated according to a certain path optimization algorithm to obtain the shortest path among the nodes, the shortest path is taken as the operation logic sequence of all the step nodes when the biopsy action is realized, namely the operation logic time sequence is put into one time sequence table to form the operation logic time sequence table among all the step nodes, all the biopsy sampling quantification steps are input into the operation logic time sequence table to obtain the time sequence table with the logic execution nodes, when a biopsy sampling logic time sequence table computer control program is executed, the logic time sequence table according to the logic time sequence of the table, and controlling the nodes of each step to act according to the logic time sequence.
And S300, inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting.
And the computer control program is set according to the logic time sequence table and stored in the storage, and when the computer control program is executed by the processor, the action of each node is realized according to the quantization step of each node in the logic time sequence table.
The quantization program setting of the nodes in each step and the program design of the time sequence table are not limited in this respect.
As an optional embodiment of the present application, optionally, in step S100, before performing the quantitative sampling condition setting on each biopsy sampling step, the method further includes:
s101, acquiring contrast data of a biopsy target;
s102, preprocessing the contrast data through a computer control system to obtain contrast preprocessing data;
and S103, calculating and outputting the spatial position information of the biopsy target in real time according to the contrast preprocessing data, wherein the spatial position information is used for providing contrast data indicating biopsy sampling.
In the embodiment, a computer is needed for execution, and a probe of a biopsy instrument is driven by a manipulator to penetrate into focal tissues for biopsy sampling, so that a system capable of acquiring image data of a biopsy target, namely the focal tissues, is arranged, the position of the focal tissues can be transmitted to a computer control system in real time through an imaging system such as an ultrasonic system, three-dimensional space coordinate data between the manipulator and the focal tissues can be obtained through coordinate calculation and conversion, the manipulator is accurately controlled to drive a tail end penetrating section attached with the probe to move to the position near the focal tissues, and then node action quantitative execution is performed according to a time sequence table.
And (4) contrast data preprocessing, namely performing noise reduction on the acquired image data, removing image points such as blurring and the like, and obtaining a cleaning image, wherein the specific means is not limited.
As an optional implementation of this application, optionally, in step S100, the presetting of the quantization sampling condition sets the quantization sampling condition for each biopsy sampling step, and the obtaining of the biopsy sampling quantization step includes:
s101, presetting a low-temperature output time quantization node;
s102, calculating and obtaining a temperature value required by each biopsy sampling step, and configuring the temperature value required by each biopsy sampling step into the corresponding low-temperature output time quantization node;
s103, collecting configuration data of all low-temperature output time quantization nodes, and integrating into a low-temperature output time quantization step.
Before biopsy sampling, the adhesion probe needs to be cooled down, which is a separate step, so that the adhesion probe is regarded as a node, namely a low-temperature output time quantification node, a programming node is separately set in a computer program, and after the system is initialized, the low-temperature output node is configured. On this node, the following information is configured: setting control information of low-temperature output time, such as initial state, and low-temperature cooling holding time for cooling the probe by low-temperature gas output to the adhesion probe through a low-temperature cooling gas circulation system; or in the biopsy sampling stage, low temperature holding time, etc.; or a holding time satisfying a certain low temperature, etc. The node time is subjected to quantitative time control, the low-temperature cooling time in the biopsy process is accurately controlled, logic execution is performed, and the blindness of manual biopsy on time control is removed. For the time of other actions, the technical idea can be used for controlling, such as the reciprocating motion time control of the advancing valve and the retracting valve, and the corresponding time configuration is carried out on the step node.
As an optional implementation of this application, optionally, in step S100, the presetting quantization sampling conditions, performing quantization sampling condition setting on each biopsy sampling step, and obtaining a biopsy sampling quantization step, further includes:
s110, presetting a sampling time quantization point;
s120, calculating and acquiring a sampling time value required by each biopsy sampling step, and configuring the sampling time value required by each biopsy sampling step into the corresponding sampling time quantization point;
and S130, collecting configuration data of all sampling time quantization points, and integrating into a sampling time quantization step.
This step is a time control of the sampling node, a quantitative control of the time of advancing sampling and retraction of the advancing valve and recovery of the adhesion probe. For details, reference is made to the above description, which is not repeated herein.
Each quantization time is not particularly limited and is set by the user. Such as 8 seconds forward, 2 seconds rotary cut sample, 5 seconds retract, etc.
As an optional implementation of this application, optionally, in step S200, the setting an operation logic timing schedule, inputting the biopsy sampling quantification step into the operation logic timing schedule, and obtaining a biopsy sampling logic timing schedule includes:
s201, calculating biopsy sampling paths among all steps according to the biopsy sampling quantification step;
s202, obtaining a biopsy sampling path with the shortest path among the steps based on a path optimization algorithm, and taking the biopsy sampling path as a biopsy sampling optimization path from the previous step to the next step;
s203, presetting a time sequence table, and configuring each node into the time sequence table according to the operation sequence of each step node to obtain an operation logic time sequence table;
and S204, configuring biopsy sampling optimization paths among the steps in the operation logic time sequence table, obtaining a biopsy sampling logic time sequence table and executing biopsy actions according to time sequence.
And determining the optimized paths among the nodes in each step based on a selected path optimization algorithm, wherein the path optimization algorithm is selected by a user and is not limited at present. After each node is configured to the time sequence table, the optimized path is configured in the time sequence table according to the optimized path among the nodes, and the optimized path is used as the execution logic among the nodes.
It should be noted that although the above example is described with the sub-cooling step node time quantization as an example, those skilled in the art will appreciate that the present disclosure should not be limited thereto. In fact, the user can flexibly set the time amount of each step node according to personal preference and/or actual application scene, and only needs to implement logic execution action according to the optimized path.
In this way, the quantitative sampling conditions are set for each biopsy sampling step through the preset quantitative sampling conditions, and the biopsy sampling quantitative step is obtained; setting an operation logic time sequence table, inputting the biopsy sampling quantification step into the operation logic time sequence table, and obtaining a biopsy sampling logic time sequence table; and inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting. The method can quantify the action requirements of all biopsy steps, quantify parameters of low-temperature cooling time, rotary cutting depth and the like in the biopsy process, realize intelligent biopsy and quantitative control through node logic control, realize the intelligent biopsy execution action and save unnecessary processes.
Example 2
Based on the implementation of embodiment 1, this implementation correspondingly provides a system for implementing the optimized control logic-based cryobiopsy control method, including:
the step quantization setting module is used for presetting quantization sampling conditions, setting the quantization sampling conditions for each biopsy sampling step and obtaining a biopsy sampling quantization step;
a logic time sequence table setting module, configured to set an operation logic time sequence table, input the biopsy sampling quantization step into the operation logic time sequence table, and obtain a biopsy sampling logic time sequence table;
and the quantification execution module is used for inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting.
As an optional embodiment of the present application, optionally, the method further includes:
an imaging system for acquiring imaging data of a biopsy target;
the preprocessing system is used for preprocessing the radiography data through a computer control system to obtain radiography preprocessing data;
and the target position output system is used for calculating and outputting the spatial position information of the biopsy target in real time according to the contrast preprocessing data, and the spatial position information is used for providing contrast data indicating biopsy sampling.
As an optional implementation of this application, optionally, the step quantization setting module includes:
the low-temperature output time quantization module is used for presetting a low-temperature output time quantization node; calculating and acquiring a temperature value required by each biopsy sampling step, and configuring the temperature value required by each biopsy sampling step into the corresponding low-temperature output time quantization node; collecting configuration data of all low-temperature output time quantization nodes, and integrating the configuration data into a low-temperature output time quantization step; further comprising:
the sampling time quantization module is used for presetting a sampling time quantization point; calculating and acquiring a sampling time value required by each biopsy sampling step, and configuring the sampling time value required by each biopsy sampling step into the corresponding sampling time quantization point; and collecting configuration data of all sampling time quantization points, and integrating into a sampling time quantization step.
As an optional implementation of the present application, optionally, the logic timing schedule setting module includes:
a path calculation module for calculating biopsy sampling paths between steps according to the biopsy sampling quantification step;
the path optimization module is used for obtaining a biopsy sampling path with the shortest path among the steps based on a path optimization algorithm and taking the biopsy sampling path as a biopsy sampling optimization path from the previous step to the next step;
the time sequence configuration module is used for presetting a time sequence table, and configuring each node into the time sequence table according to the operation sequence of each step node to obtain an operation logic time sequence table;
and the path configuration module is used for configuring biopsy sampling optimization paths among the steps in the operation logic time sequence table, obtaining a biopsy sampling logic time sequence table and executing biopsy actions according to time sequence.
For the functions and implementation principles of each module/hardware, reference is specifically made to the description of the foregoing embodiments, which are not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
Example 3
Still further, according to another aspect of the present disclosure, there is also provided a control system.
The control system of the disclosed embodiments includes a processor and a memory for storing processor-executable instructions. Wherein the processor is configured to execute the executable instructions to implement a method for cryobiopsy control based on optimized control logic as described in any of the preceding paragraphs.
Here, it should be noted that the number of processors may be one or more. Meanwhile, in the control system of the embodiment of the present disclosure, an input device and an output device may be further included. The processor, the memory, the input device, and the output device may be connected by a bus, or may be connected by other means, and are not limited specifically herein.
The memory, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and various modules, such as: the disclosed embodiments relate to a program or a module corresponding to a cryobiopsy control method based on an optimized control logic. The processor executes various functional applications of the control system and data processing by executing software programs or modules stored in the memory.
The input device may be used to receive an input number or signal. Wherein the signal may be a key signal generated in connection with user settings and function control of the device/terminal/server. The output means may comprise a display device such as a display screen.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A low-temperature biopsy control method based on optimized control logic is characterized by comprising the following steps:
s100, presetting quantization sampling conditions, setting the quantization sampling conditions for each biopsy sampling step, and obtaining a biopsy sampling quantization step;
s200, setting an operation logic time sequence table, inputting the biopsy sampling quantification step into the operation logic time sequence table, and obtaining a biopsy sampling logic time sequence table;
and S300, inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting.
2. The optimized control logic-based cryobiopsy control method according to claim 1, further comprising, before performing the quantitative sampling condition setting for each biopsy sampling step in step S100:
s101, acquiring contrast data of a biopsy target;
s102, preprocessing the contrast data through a computer control system to obtain contrast preprocessing data;
and S103, calculating and outputting the spatial position information of the biopsy target in real time according to the contrast preprocessing data, wherein the spatial position information is used for providing contrast data indicating biopsy sampling.
3. The optimized control logic-based cryobiopsy control method according to claim 1, wherein in step S100, the presetting of the quantization sampling condition sets the quantization sampling condition for each biopsy sampling step, and the obtaining of the quantization step of the biopsy sampling comprises:
s101, presetting a low-temperature output time quantization node;
s102, calculating and obtaining a temperature value required by each biopsy sampling step, and configuring the temperature value required by each biopsy sampling step into the corresponding low-temperature output time quantization node;
s103, collecting configuration data of all low-temperature output time quantization nodes, and integrating into a low-temperature output time quantization step.
4. The optimized control logic-based cryobiopsy control method according to claim 3, wherein in step S100, the preset quantization sampling condition sets the quantization sampling condition for each biopsy sampling step, and obtains a biopsy sampling quantization step, further comprising:
s110, presetting a sampling time quantization point;
s120, calculating and acquiring a sampling time value required by each biopsy sampling step, and configuring the sampling time value required by each biopsy sampling step into the corresponding sampling time quantization point;
and S130, collecting configuration data of all sampling time quantization points, and integrating into a sampling time quantization step.
5. The optimized control logic based cryobiopsy control method according to claim 1, wherein in step S200, the setting an operation logic timing sequence table, inputting the biopsy sampling quantification step into the operation logic timing sequence table, and obtaining a biopsy sampling logic timing sequence table comprises:
s201, calculating biopsy sampling paths among all steps according to the biopsy sampling quantification step;
s202, obtaining a biopsy sampling path with the shortest path among the steps based on a path optimization algorithm, and taking the biopsy sampling path as a biopsy sampling optimization path from the previous step to the next step;
s203, presetting a time sequence table, and configuring each node into the time sequence table according to the operation sequence of each step node to obtain an operation logic time sequence table;
and S204, configuring biopsy sampling optimization paths among the steps in the operation logic time sequence table, obtaining a biopsy sampling logic time sequence table and executing biopsy actions according to time sequence.
6. A system for implementing the optimized control logic based cryobiopsy control method of any of claims 1-5, comprising:
the step quantization setting module is used for presetting quantization sampling conditions, setting the quantization sampling conditions for each biopsy sampling step and obtaining a biopsy sampling quantization step;
a logic time sequence table setting module, configured to set an operation logic time sequence table, input the biopsy sampling quantization step into the operation logic time sequence table, and obtain a biopsy sampling logic time sequence table;
and the quantification execution module is used for inputting the biopsy sampling logic time sequence table into a computer control system, initializing, and preparing for starting.
7. The system of claim 6, further comprising:
an imaging system for acquiring imaging data of a biopsy target;
the preprocessing system is used for preprocessing the radiography data through a computer control system to obtain radiography preprocessing data;
and the target position output system is used for calculating and outputting the spatial position information of the biopsy target in real time according to the contrast preprocessing data, and the spatial position information is used for providing contrast data indicating biopsy sampling.
8. The system of claim 6, wherein the step quantization setting module comprises:
the low-temperature output time quantization module is used for presetting a low-temperature output time quantization node; calculating and acquiring a temperature value required by each biopsy sampling step, and configuring the temperature value required by each biopsy sampling step into the corresponding low-temperature output time quantization node; collecting configuration data of all low-temperature output time quantization nodes, and integrating the configuration data into a low-temperature output time quantization step; further comprising:
the sampling time quantization module is used for presetting a sampling time quantization point; calculating and acquiring a sampling time value required by each biopsy sampling step, and configuring the sampling time value required by each biopsy sampling step into the corresponding sampling time quantization point; and collecting configuration data of all sampling time quantization points, and integrating into a sampling time quantization step.
9. The system of claim 8, wherein the logic schedule setting module comprises:
a path calculation module for calculating biopsy sampling paths between steps according to the biopsy sampling quantification step;
the path optimization module is used for obtaining a biopsy sampling path with the shortest path among the steps based on a path optimization algorithm and taking the biopsy sampling path as a biopsy sampling optimization path from the previous step to the next step;
the time sequence configuration module is used for presetting a time sequence table, and configuring each node into the time sequence table according to the operation sequence of each step node to obtain an operation logic time sequence table;
and the path configuration module is used for configuring biopsy sampling optimization paths among the steps in the operation logic time sequence table, obtaining a biopsy sampling logic time sequence table and executing biopsy actions according to time sequence.
10. A control system, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the optimized control logic based cryobiopsy control method of any of claims 1-5 when executing the executable instructions.
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| US20210000521A1 (en) * | 2018-03-02 | 2021-01-07 | The General Hospital Corporation | Devices, systems, and methods for cryogenic biopsy sampling |
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| CN103976762A (en) * | 2014-05-22 | 2014-08-13 | 中国科学院高能物理研究所 | Full-automatic mammary gland biopsy puncture method and device |
| CN111542889A (en) * | 2017-11-30 | 2020-08-14 | 皇家飞利浦有限公司 | Apparatus and method for providing information on biopsy taking process and biopsy system |
| US20210000521A1 (en) * | 2018-03-02 | 2021-01-07 | The General Hospital Corporation | Devices, systems, and methods for cryogenic biopsy sampling |
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