CN115105175A

CN115105175A - Puncture navigation system, method, device, storage medium, and puncture device

Info

Publication number: CN115105175A
Application number: CN202210772136.9A
Authority: CN
Inventors: 罗中宝; 蒋坤; 张星光; 张朕华; 宋成明
Original assignee: Shanghai Remedicine Co ltd
Current assignee: Shanghai Remedicine Co ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-09-27

Abstract

The present disclosure provides a puncture navigation system, method, apparatus, storage medium, and puncture device. The navigation system comprises a positioning module for determining three-dimensional coordinate information of the puncture needle in a space coordinate system, an ultrasonic image acquisition module, a puncture planning module for puncture planning of the puncture needle, a coordinate system conversion module for establishing a conversion relation between the image coordinate system and the space coordinate system, a motion path determination module for determining a first motion path of the puncture needle based on the relative position of the puncture needle and a target puncture point in the image coordinate system and determining a second motion path of the puncture guide piece in the space coordinate system based on the first motion path, and a navigation processing module for navigating the puncture needle in the space coordinate system based on the second motion path. According to the method, the position between the puncture needle and the target puncture point can be obtained without adopting a binocular vision positioning device or arranging the optical markers on the puncture needle and the ultrasonic probe, so that the puncture needle navigation is realized, the cost is saved, and the complexity is reduced.

Description

Puncture navigation system, method, device, storage medium, and puncture device

Technical Field

Embodiments of the present disclosure relate to a puncture navigation system, method, apparatus, and storage medium and a puncture device.

Background

Cancer is a major disease that endangers human health. For the traditional cancer treatment method, the recently developed thermal ablation therapy characterized by minimally invasive ablation, and the ablation therapy such as particle implantation, the clinical application of the method is limited due to the limitation of factors such as indications, contraindications, side effects of treatment, thermal effects and the like.

In recent years, with the development of pulsed bioelectricity, electric field pulses have attracted much attention for their non-thermal, minimally invasive biomedical utility, and are increasingly applied to clinical treatment of tumors. Minimally invasive procedures often require treatment through a needle to a target tissue region within the body, however, the needle is often positioned in cooperation with a needle template under the guidance of ultrasound or other medical imaging equipment to reach the desired target location.

At present, a puncture device and an ultrasonic probe are generally made into an integrated form clinically, and positioning puncture of a tumor is performed under guidance of an ultrasonic image in operation, but because an ultrasonic imaging area is limited and is a two-dimensional plane, the puncture device can only be observed in the ultrasonic image after a puncture needle enters the ultrasonic imaging area along the ultrasonic imaging plane, and a position relation between the puncture needle and the tumor cannot be displayed in real time, so that an operator (such as a doctor) cannot perform accurate puncture on a patient by observing a relative position relation between the puncture needle and a tumor part in a three-dimensional image. Therefore, a navigation system capable of displaying the position relationship between the puncture needle and the tumor in real time is urgently needed.

Disclosure of Invention

At least one embodiment of the present disclosure provides a puncture navigation system for a puncture device, the puncture device including a base, a puncture needle, an ultrasound probe, and a puncture control part having at least one puncture control member, the puncture navigation system including a positioning module, an ultrasound image acquisition module, a puncture planning module, a coordinate system conversion module, a first movement path determination module, a second movement path determination module, and a navigation processing module. The positioning module is configured to position the puncture needle based on the base and determine first three-dimensional coordinate information of the puncture needle in a spatial coordinate system, wherein the spatial coordinate system is a coordinate system established based on the base. The ultrasound image acquisition module is configured to acquire a set of ultrasound images of a target tissue acquired by the ultrasound probe to determine a three-dimensional ultrasound image corresponding to the set of ultrasound images. The puncture planning module is configured to perform puncture planning for the puncture needle based on the three-dimensional ultrasound image to determine puncture planning information, wherein the puncture planning information includes a needle insertion point position of the puncture needle, a needle insertion direction of the puncture needle, and a target puncture point position of the puncture needle. The coordinate system conversion module is configured to establish a conversion relationship between an image coordinate system of the ultrasound image and the spatial coordinate system such that a real-time image position of the first three-dimensional coordinate information within the image coordinate system is determined based on the conversion relationship to visualize a relative position between the puncture needle and the target puncture point position in the image coordinate system in real time. The first motion path determination module is configured to determine a first motion path of the puncture needle based on a relative position between the puncture needle and the target puncture point location in the image coordinate system. A second motion path determination module is configured to determine a second motion path of a puncture guide having a predetermined positional relationship with the puncture needle within the spatial coordinate system based on the first motion path within the image coordinate system. A navigation processing module is configured to navigate the puncture needle through the at least one puncture control based on the second motion path in the spatial coordinate system.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the navigation processing module includes: a control motion trajectory determination unit configured to determine a motion trajectory of each of the at least one piercing controls based on the piercing device and the second motion path; the driving device is in driving connection with the at least one puncture control piece and is configured to drive each of the at least one puncture control piece to move along the corresponding motion track so as to navigate the puncture needle.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the first three-dimensional coordinate information of the puncture needle includes three-dimensional coordinate information of the needle tip of the puncture needle in the spatial coordinate system, and the first motion path of the puncture needle includes a first motion path of the needle tip of the puncture needle.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the at least one puncture control member includes a puncture positioning arm set and a puncture depth control barrier, the puncture positioning arm set is disposed on the base, and the puncture positioning arm set is configured to perform puncture positioning on the puncture needle, and the puncture depth control barrier includes the puncture guide; the puncture guide is a non-closed positioning hole for the puncture needle to pass through, and the second motion path determining module comprises: a first determination unit configured to determine a third movement path of the non-closed positioning hole in the image coordinate system based on a puncture needle image specification of the puncture needle in the image coordinate system and the first movement path; a second determination unit configured to determine the second motion path of the non-closed positioning hole within the space coordinate system based on the conversion relationship and the third motion path in the image coordinate system.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the positioning module is configured to determine the first three-dimensional coordinate information of the puncture needle according to the three-dimensional coordinate information of the non-closed positioning hole in the spatial coordinate system and the actual physical specification of the puncture needle in the spatial coordinate system.

For example, at least one embodiment of the present disclosure provides a puncture navigation system further comprising a display module, wherein the display module is configured to visualize, in real time, at least one of: the ultrasonic image, the three-dimensional ultrasonic image, the needle point of the puncture needle, the relative position between the needle point of the puncture needle and the target puncture point position and the first motion path of the puncture needle.

For example, at least one embodiment of the present disclosure provides a puncture navigation system further including a correction module, where the correction module includes: the comparison unit is configured to compare the needle inserting direction of the puncture planning information with the current direction of the first motion path visualized by the display module in real time, and determine a deviation value between the needle inserting direction and the current direction; a correction control unit configured to: and in response to the deviation value being greater than or equal to a preset angle deviation, updating the first motion path of the puncture needle based on the deviation value to update the second motion path, so that the navigation processing module performs navigation of the puncture needle through the at least one puncture control piece based on the updated second motion path until the deviation value between the needle inserting direction and the current direction is smaller than the preset angle deviation.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the positioning module is further configured to position the ultrasound probe, and determine second three-dimensional coordinate information of the ultrasound probe in the spatial coordinate system.

For example, in a puncture guidance system provided in at least one embodiment of the present disclosure, a center of the base is used as an origin of the spatial coordinate system or a position on the base where a connection is made with a corresponding puncture control of the at least one puncture control is used as the origin of the spatial coordinate system, so that the positioning module determines the first three-dimensional coordinate information of the puncture needle based on a positional relationship between the puncture needle and the base, and determines the second three-dimensional coordinate information of the ultrasound probe based on a positional relationship between the ultrasound probe and the base.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the coordinate system conversion module includes: a coordinate system conversion unit configured to convert an image coordinate system of the ultrasound image to the spatial coordinate system based on the ultrasound image and second three-dimensional coordinate information of the ultrasound probe to establish the conversion relationship between the image coordinate system and the spatial coordinate system.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the coordinate system conversion unit includes: a morphological image processing unit configured to perform morphological image processing on the ultrasound image to determine a target image region; a pixel statistical unit configured to acquire a pixel statistical distribution based on the target image area; the conversion processing unit is configured to determine a conversion ratio between the diameter of the ultrasonic probe and the number of pixel pitches occupied by the diameter of the ultrasonic probe based on the pixel statistical distribution map and the predetermined diameter of the ultrasonic probe; a conversion establishing unit configured to convert the image coordinate system to the space coordinate system based on the conversion ratio and the second three-dimensional coordinate information.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the morphological image processing unit includes: a binarization subunit configured to binarize the ultrasound image to obtain a first processed image; and the labeling processing subunit is configured to obtain a plurality of identification communication areas by performing area communication and marking on the first processing image to obtain a second processing image, and obtain the target image area from the plurality of identification communication areas to obtain a third processing image, wherein the target image area comprises two largest and second largest target identification communication areas in the plurality of identification communication areas.

For example, in a puncture navigation system provided in at least one embodiment of the present disclosure, the conversion processing unit includes: the defining processing subunit is configured to obtain a boundary between the cross section of the two target identifier connected regions and the sagittal section and a pixel coordinate corresponding to the boundary based on the pixel statistical distribution; a circle center obtaining subunit, configured to determine, based on the boundary line, a circle center of a semicircular area surrounded by ends of the two target identifier connected areas close to each other on the third processed image, where the semicircular area and the identifier connected area are different in color; and the pixel and physical distance conversion sub-unit is configured to determine the diameter of the ultrasonic probe, determine the number of pixel intervals occupied by the diameter based on the circle center, and determine the conversion ratio based on the number of the pixel intervals occupied by the diameter.

For example, in a puncture guidance system provided in at least one embodiment of the present disclosure, the conversion establishing unit includes: a first establishing subunit configured to determine a horizontal axis and a vertical axis that are perpendicular to each other based on the circle center, the conversion ratio, and pixel coordinates corresponding to the boundary; a second establishing subunit configured to take the depth of the ultrasound probe as a vertical axis and convert the image coordinate system to the spatial coordinate system based on the set of ultrasound images and the second three-dimensional coordinate information.

At least one embodiment of the present disclosure also provides a puncture navigation method for a puncture device including a base, a puncture needle, an ultrasound probe, and a puncture control portion having at least one puncture control member. The puncture navigation method comprises the following steps: establishing a space coordinate system, wherein the space coordinate system is a coordinate system established on the basis of the base; determining first three-dimensional coordinate information of the puncture needle in the space coordinate system based on the base; acquiring a group of ultrasonic images of a target tissue acquired by the ultrasonic probe to determine a three-dimensional ultrasonic image corresponding to the group of ultrasonic images; performing puncture planning for the puncture needle based on the three-dimensional ultrasonic image to determine puncture planning information, wherein the puncture planning information comprises a needle inserting point position of the puncture needle, a needle inserting direction of the puncture needle and a target puncture point position of the puncture needle; establishing a conversion relation between an image coordinate system of the ultrasonic image and the space coordinate system, so that a real-time image position of the first three-dimensional coordinate information in the image coordinate system is determined based on the conversion relation, and a relative position between the puncture needle and the target puncture point position is visualized in the image coordinate system in real time; determining a first motion path of the puncture needle based on a relative position between the puncture needle and the target puncture point position in the image coordinate system; determining a second motion path of a puncture guide having a predetermined positional relationship with the puncture needle in the spatial coordinate system based on the first motion path in the image coordinate system; navigating the puncture needle through the at least one puncture control based on the second motion path in the spatial coordinate system.

For example, in a puncture navigation method provided by at least one embodiment of the present disclosure, navigating the puncture needle through the at least one puncture control based on the second motion path in the spatial coordinate system includes: determining a motion trajectory of each of the at least one piercing control based on the piercing device and the second motion path; and driving each of the at least one puncture control member to move along the corresponding movement track so as to navigate the puncture needle.

For example, in a puncture guidance method provided by at least one embodiment of the present disclosure, the first three-dimensional coordinate information of the puncture needle includes three-dimensional coordinate information of the needle tip of the puncture needle in the spatial coordinate system, and the first motion path of the puncture needle includes a first motion path of the needle tip of the puncture needle.

For example, in a puncture guidance method provided by at least one embodiment of the present disclosure, the at least one puncture control element includes a puncture positioning arm set and a puncture depth control barrier, the puncture positioning arm set is disposed on the base, and the puncture positioning arm set is configured to perform puncture positioning on the puncture needle, and in response to the puncture depth control barrier including the puncture guide and the puncture guide being the non-closed positioning hole for the puncture needle to pass through, a second motion path of the puncture guide in the spatial coordinate system is determined based on the first motion path in the image coordinate system, and the second motion path of the puncture guide having a predetermined positional relationship with the puncture needle in the spatial coordinate system includes: determining a third motion path of the non-closed positioning hole in the image coordinate system based on the puncture needle image specification of the puncture needle in the image coordinate system and the first motion path; determining the second motion path of the non-closed positioning hole in the space coordinate system based on the conversion relation and the third motion path in the image coordinate system.

For example, in a puncture navigation method provided in at least one embodiment of the present disclosure, first three-dimensional coordinate information of the puncture needle in the spatial coordinate system is determined based on the base, including; and determining the first three-dimensional coordinate information of the puncture needle according to the three-dimensional coordinate information of the non-closed positioning hole in the space coordinate system and the actual physical specification of the puncture needle in the space coordinate system, so that the first three-dimensional coordinate information comprises the three-dimensional coordinate information of the puncture needle in the space coordinate system.

For example, a puncture navigation method provided in at least one embodiment of the present disclosure further includes: visualizing in real-time at least one of: the ultrasonic image, the three-dimensional ultrasonic image, the needle point of the puncture needle, the relative position between the needle point of the puncture needle and the target puncture point position and the first motion path of the puncture needle.

For example, a puncture navigation method provided in at least one embodiment of the present disclosure further includes: comparing the needle inserting direction of the puncture planning information with the current direction of the first motion path visualized in real time, and determining a deviation value between the needle inserting direction and the current direction; in response to the deviation value being greater than or equal to a preset angular deviation, updating the first motion path of the puncture needle based on the deviation value to update the second motion path, such that navigation of the puncture needle is performed through the at least one puncture control member based on the updated second motion path until the deviation value between the needle insertion direction and the current direction is less than the preset angular deviation.

For example, a puncture navigation method provided in at least one embodiment of the present disclosure further includes: second three-dimensional coordinate information of the ultrasonic probe within the spatial coordinate system is determined based on the base.

For example, in a puncture navigation method provided by at least one embodiment of the present disclosure, establishing a conversion relationship between an image coordinate system of the ultrasound image and the space coordinate system includes: converting an image coordinate system of the ultrasound image to the spatial coordinate system based on the ultrasound image and second three-dimensional coordinate information of the ultrasound probe to establish the conversion relationship between the image coordinate system and the spatial coordinate system.

For example, in a puncture navigation method provided in at least one embodiment of the present disclosure, converting an image coordinate system of the ultrasound image to the spatial coordinate system based on the ultrasound image and the second three-dimensional coordinate information of the ultrasound probe includes: performing morphological image processing on the ultrasonic image to determine a target image area; acquiring pixel statistical distribution based on the target image area; determining a conversion ratio between the diameter of the ultrasonic probe and the number of pixel pitches occupied by the diameter of the ultrasonic probe based on the pixel statistical distribution map and the predetermined diameter of the ultrasonic probe; converting the image coordinate system to the space coordinate system based on the conversion ratio and the second three-dimensional coordinate information.

For example, in a puncture navigation method provided by at least one embodiment of the present disclosure, performing morphological image processing on the ultrasound image to determine a target image region includes: carrying out binarization on the ultrasonic image to obtain a first processed image; and performing region communication and marking on the first processing image to obtain a plurality of identification communication regions so as to obtain a second processing image, and determining the target image region from the plurality of identification communication regions so as to obtain a third processing image, wherein the target image region comprises two maximum and second maximum target identification communication regions in the plurality of identification communication regions.

For example, in a puncture navigation method provided by at least one embodiment of the present disclosure, determining a conversion ratio between the diameter and the number of pixel pitches occupied by the diameter based on the pixel statistical distribution map and a predetermined diameter of the ultrasound probe includes: acquiring a boundary between the cross section of the two target identification communication regions and the vector section and a pixel coordinate corresponding to the boundary based on the pixel statistical distribution; determining the circle center of a semicircular area formed by the two target identification communication areas close to each other on the third processed image based on the boundary, wherein the semicircular area and the identification communication area are different in color; determining the diameter of the ultrasonic probe, determining the number of pixel intervals occupied by the diameter based on the circle center, and determining the conversion ratio based on the number of the pixel intervals occupied by the diameter.

For example, in a puncture guidance method provided in at least one embodiment of the present disclosure, converting the image coordinate system to the spatial coordinate system based on the conversion ratio and the second three-dimensional coordinate information includes: determining a horizontal axis and a vertical axis which are perpendicular to each other based on the circle center, the conversion ratio and the pixel coordinates corresponding to the boundary line; and taking the depth of the ultrasonic probe as a vertical axis, and converting the image coordinate system into the space coordinate system based on a third processing image corresponding to the group of ultrasonic images and the second three-dimensional coordinate information.

For example, in a puncture navigation method provided by at least one embodiment of the present disclosure, performing region connectivity and labeling on the first processed image to obtain a plurality of identifier connectivity regions to obtain a second processed image, and determining the target image region from the plurality of identifier connectivity regions to obtain a third processed image, the method includes: removing the identification connected regions of the first side and the second side which are opposite in the longitudinal direction of the second processed image based on the second processed image; selecting two target identification communication areas with the largest and the second largest areas from the plurality of identification communication areas; and discarding the pixels in the plurality of identification communication areas and the identification communication areas smaller than a preset value, and acquiring the third processed image.

For example, in a puncture navigation method provided in at least one embodiment of the present disclosure, the pixel statistical distribution includes a distribution of pixel sums in a longitudinal direction of the third processed image.

For example, in a puncture navigation method provided by at least one embodiment of the present disclosure, acquiring a boundary between a cross section and a sagittal section of the two target identifier connected regions and a pixel coordinate corresponding to the boundary based on the pixel statistical distribution includes: taking a horizontal straight line of the pixel coordinate corresponding to the extreme point in the pixel statistical distribution as the boundary line; and acquiring the boundary of the two target identification communication areas based on the boundary, and determining the pixel coordinate of the boundary of at least one of the two target identification communication areas.

For example, in a puncture navigation method provided by at least one embodiment of the present disclosure, determining a center of a semicircular area surrounded by ends of the two target identifier connected areas close to each other on the third processed image based on the boundary line includes: determining four intersection points where the boundary line or a straight line parallel to the boundary line crosses the target identity connected region through the semicircular region based on the boundary line; acquiring two target intersection points in the middle of the four intersection points; and acquiring the circle center of the semicircular area based on the two target intersection points.

At least one embodiment of the present disclosure provides an electronic device, including: a processor and a memory, wherein the memory has stored thereon a computer program which, when executed by the processor, implements a penetration navigation method as defined in any of the above.

At least one embodiment of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program, when executed by a processor, implements the puncture navigation method as described in any of the above examples.

At least one embodiment of the present disclosure further provides a puncture device, including: a base configured to establish a spatial coordinate system based thereon; the puncture needle comprises a puncture needle body, a first side plate and a second side plate, wherein the position information of the puncture needle body in the space coordinate system is first three-dimensional coordinate information; the puncture control part comprises at least one puncture control piece, wherein the at least one puncture control piece comprises a puncture positioning arm set and a puncture depth control baffle, the puncture positioning arm set is arranged on the base and is configured to puncture and position the puncture needle, and the puncture depth control baffle is provided with a non-closed positioning hole for the puncture needle to pass through; an ultrasound probe configured to acquire a set of ultrasound images of a target tissue to determine a three-dimensional ultrasound image corresponding to the set of ultrasound images, to perform a puncture plan for the puncture needle based on the three-dimensional ultrasound images to determine puncture plan information and to determine a real-time image position of the first three-dimensional coordinate information within an image coordinate system based on the transformation relationship by establishing a transformation relationship between the image coordinate system and the space coordinate system of the ultrasound images to visualize a relative position between the puncture needle and the target puncture point position in the image coordinate system in real time, the puncture plan information including an insertion point position of the puncture needle, an insertion direction of the puncture needle, and the target puncture point position of the puncture needle; wherein, in the image coordinate system, a first motion path of the puncture needle is determined based on the relative position between the puncture needle and the target puncture point position, a second motion path of a puncture guide member having a predetermined position relation with the puncture needle in the space coordinate system is determined based on the first motion path in the image coordinate system, and in the space coordinate system, navigation of the puncture needle is performed through the at least one puncture control member based on the second motion path of the puncture guide member.

For example, in a puncture device provided in at least one embodiment of the present disclosure, the ultrasound probe is movably disposed on the base, and the position information of the ultrasound probe within the spatial coordinate system is second three-dimensional coordinate information, so that an image coordinate system of the ultrasound image is converted to the spatial coordinate system based on the ultrasound image and the second three-dimensional coordinate information to establish the conversion relationship between the image coordinate system and the spatial coordinate system.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1A-1B are schematic structural views of a lancing device according to some embodiments of the present disclosure;

fig. 2 is a schematic view of a puncture device of the puncture device according to some embodiments of the present disclosure;

fig. 3 is a flowchart of a puncture navigation method provided by some embodiments of the present disclosure;

fig. 4 is a flowchart of step S8 in fig. 3 according to some embodiments of the present disclosure;

fig. 5 is a flowchart of step S7 in fig. 3 according to some embodiments of the present disclosure;

FIG. 6 is a schematic diagram of an original image of an ultrasound image provided by some embodiments of the present disclosure;

fig. 7 is a schematic diagram illustrating a second motion path of an unclosed positioning hole in a space coordinate system according to some embodiments of the disclosure;

FIG. 8 is a flow chart of transferring an image coordinate system to a spatial coordinate system provided by some embodiments of the present disclosure;

fig. 9 is a flowchart of step S51 in fig. 8 according to some embodiments of the present disclosure;

FIG. 10 is a schematic diagram of a second processed image provided by some embodiments of the present disclosure;

FIG. 11 is a schematic diagram of a third processed image provided by some embodiments of the present disclosure;

fig. 12 is a flowchart of step S512 in fig. 9 according to some embodiments of the present disclosure;

FIG. 13 is a schematic diagram of a statistical distribution of pixels provided by some embodiments of the present disclosure;

fig. 14 is a flowchart of step S53 in fig. 8 according to some embodiments of the present disclosure;

fig. 15 is a flowchart of step S532 in fig. 14 according to some embodiments of the disclosure;

FIG. 16 is a schematic diagram of a third processed image provided by some embodiments of the present disclosure;

FIG. 17 is a schematic diagram of a set of contour points for acquiring a radian measure provided by some embodiments of the present disclosure;

fig. 18 is a flowchart of step S54 in fig. 8 according to some embodiments of the present disclosure;

fig. 19A is a schematic cross-sectional view of a two-dimensional ultrasound image provided by some embodiments of the present disclosure;

FIG. 19B is a schematic illustration of a three-dimensional ultrasound image corresponding to the two-dimensional ultrasound image of FIG. 19A provided by some embodiments of the present disclosure;

FIG. 20 is a block diagram of a puncture navigation system according to some embodiments of the present disclosure;

FIG. 21 is a block diagram of a navigation processing module according to some embodiments of the present disclosure;

fig. 22 is a schematic diagram of a second motion path determination module provided in some embodiments of the present disclosure;

fig. 23 is a schematic composition diagram of a coordinate system transformation unit provided in some embodiments of the present disclosure;

fig. 24 is a schematic composition diagram of a coordinate system transformation unit according to another embodiment of the disclosure;

FIG. 25 is a schematic diagram of a calibration module according to some embodiments of the present disclosure;

fig. 26 is a block diagram of an electronic device provided in some embodiments of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Unless otherwise defined, all terms (including technical and scientific terms) used in the embodiments of the present disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The use of "first," "second," and similar terms in the embodiments of the disclosure is not intended to indicate any order, quantity, or importance, but rather to distinguish one element from another. The use of the terms "a" and "an" or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. Likewise, the word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

The target tissue in the present disclosure refers to an organ or a portion of an organ, such as prostate, liver, pancreas, heart, etc., and the lesion is located within the target tissue.

Needle biopsy is the main method for obtaining pathological diagnosis of bone and soft tissue tumor, for example, after needle biopsy of target tissue, a lesion area can be obtained. However, some navigation systems currently display the three-dimensional position relationship between the puncture needle and the tumor in real time by arranging optical markers capable of performing optical positioning on the puncture needle and the ultrasonic probe by means of a binocular vision positioning device. However, if the method is adopted, not only a binocular vision positioning device is needed, but also optical markers need to be arranged on the puncture needle and the ultrasonic probe, so that not only is the cost higher, but also the structures of the ultrasonic probe and the puncture needle are more complicated, and great inconvenience is brought to the operation of an operator.

At least one embodiment of the present disclosure provides a puncture navigation system for a puncture device including a base, a puncture needle, an ultrasound probe, and a puncture control portion having at least one puncture control member. The puncture navigation system comprises a positioning module, an ultrasonic image acquisition module, a puncture planning module, a coordinate system conversion module, a first motion path determination module, a second motion path determination module and a navigation processing module. The positioning module is configured to position the puncture needle based on the base and determine first three-dimensional coordinate information of the puncture needle in a space coordinate system, wherein the space coordinate system is a coordinate system established based on the base. The ultrasound image acquisition module is configured to acquire a set of ultrasound images of a target tissue acquired by the ultrasound probe to determine a three-dimensional ultrasound image corresponding to the set of ultrasound images. The puncture planning module is configured to perform puncture planning for the puncture needle based on the three-dimensional ultrasound image to determine puncture planning information, wherein the puncture planning information includes a needle feeding point position of the puncture needle, a needle feeding direction of the puncture needle, and a target puncture point position of the puncture needle. The coordinate system conversion module is configured to establish a conversion relationship between an image coordinate system and a spatial coordinate system of the ultrasound image such that a real-time image position of the first three-dimensional coordinate information within the image coordinate system is determined based on the conversion relationship to visualize a relative position between the puncture needle and the target puncture point position in the image coordinate system in real-time. The first motion path determination module is configured to determine a first motion path of the puncture needle based on a relative position between the puncture needle and a target puncture point location in the image coordinate system. The second motion path determination module is configured to determine a second motion path of the puncture guide in the spatial coordinate system having a predetermined positional relationship with the puncture needle based on the first motion path in the image coordinate system. The navigation processing module is configured to navigate the puncture needle through the at least one puncture control based on the second motion path in the spatial coordinate system. And then, the puncture needle is navigated based on the second motion path, and after the target tissue is subjected to puncture biopsy, a lesion area can be obtained.

At least one embodiment of the present disclosure further provides a puncture navigation method corresponding to the above puncture navigation system, where the puncture navigation method includes: establishing a space coordinate system, wherein the space coordinate system is a coordinate system established based on the base; determining first three-dimensional coordinate information of the puncture needle in a space coordinate system based on the base; acquiring a group of ultrasonic images of a target tissue acquired by an ultrasonic probe to determine a three-dimensional ultrasonic image corresponding to the group of ultrasonic images; performing puncture planning for the puncture needle based on the three-dimensional ultrasonic image to determine puncture planning information, wherein the puncture planning information comprises a needle feeding point position of the puncture needle, a needle feeding direction of the puncture needle and a target puncture point position of the puncture needle; establishing a conversion relation between an image coordinate system and a space coordinate system of the ultrasonic image, so that the real-time image position of the first three-dimensional coordinate information in the image coordinate system is determined based on the conversion relation, and the relative position between the puncture needle and the target puncture point position is visualized in the image coordinate system in real time; determining a first motion path of the puncture needle based on the relative position between the puncture needle and the position of the target puncture point in an image coordinate system; determining a second motion path of the puncture guide member having a predetermined position relation with the puncture needle in the space coordinate system based on the first motion path in the image coordinate system; navigation of the puncture needle is performed by the at least one puncture control member based on the second motion path in the spatial coordinate system.

The puncture navigation system or the method of the embodiment of the disclosure is suitable for navigation of various puncture devices with a puncture main body and an ultrasonic probe, and can realize real-time acquisition and visualization of the position relationship between the puncture needle and a target puncture point under the conditions that a binocular vision positioning device is not adopted and optical markers are not arranged on the puncture needle and the ultrasonic probe, thereby saving the cost, reducing the complexity of the structure of the ultrasound and the puncture needle, and facilitating the operation of an operator.

Embodiments of the present disclosure and examples thereof are described in detail below with reference to the accompanying drawings.

Fig. 1A-1B are schematic structural views of a lancing device according to some embodiments of the present disclosure. Fig. 2 is a partial structural schematic view of a puncture device according to some embodiments of the present disclosure.

At least one embodiment of the present disclosure provides a puncture device including a base, a puncture needle, an ultrasonic probe, and a puncture control unit. For clarity and conciseness of the description of the present disclosure, the puncture device illustrated in fig. 1A, 1B, and 2 is described as an example, but the navigation system and the navigation method of the present disclosure do not limit the structure, configuration, or the like of the puncture device to which the present disclosure is applied.

For example, as shown in fig. 1A and 1B, the puncture device 1000 can include an ultrasound assembly 1100, a puncture needle 1200, and a puncture control portion, and an ultrasound image is acquired by the ultrasound assembly 1100 so as to guide the puncture needle 1200 to perform puncture positioning and puncture to a predetermined depth under the control of the puncture control portion, so as to navigate the puncture needle 1200, thereby performing a puncture biopsy on a target tissue.

In some examples, the penetration control portion may include at least one penetration control, e.g., the penetration control portion may include one penetration control, two penetration controls, or more penetration controls, etc. For example, when the lancing control section includes more than two lancing controls, the lancing controls can have a ganged relationship with each other to more flexibly navigate the lancet 1200. Of course, the embodiments of the present disclosure are not limited thereto, and the lancing controls may not have a linkage relationship with each other as long as the navigation of the lancet 1200 can be realized, and the embodiments of the present disclosure are not limited thereto.

In some examples, each of the at least one lancing controls of the lancing control are configured to be coupled to and directly driven for movement by a drive mechanism to effect navigation of the lancet 1200.

The embodiment of the present disclosure does not limit the connection or relative position relationship between the puncture control element of the puncture control unit and the puncture needle 1200, for example, the puncture control element may be connected to the puncture needle 1200, or may not be connected to the puncture control element, for example, the puncture needle 1200 may be located on the puncture control element, or may not be located on the puncture control element, and specifically, the puncture control element may be freely adjusted according to actual situations, as long as the puncture positioning and the puncture depth control of the puncture needle 1200 can be implemented, and the embodiment of the present disclosure is not exhaustive and repeated.

In some examples, as shown in fig. 1A, 1B, and 2, lancing device 1000 can further include a lancing guide release mechanism 1300 and a lancing positioning arm set 1600.

For example, the puncture guide release mechanism 1300 includes a puncture needle guide arm 1310 and a shutter 1320 on the side of the puncture needle guide arm 1310, the shutter 1320 having a through hole 1330 for the puncture needle 1200 to pass through when closed. The needle guide arm 1310 includes a guide cartridge 1360, and the opening and closing flap 1320 is provided on the guide cartridge 1360. The puncture positioning arm set 1600 is configured to move the puncture needle guide arm 1310 to a puncture position in response to a control signal. The puncture guide release mechanism 1300 may further include a puncture depth control baffle 1340, the puncture depth control baffle 1340 is disposed at the side of the puncture needle guide arm 1310 by sliding along the axial direction of the puncture needle guide arm 1310 through a sliding mechanism such as a sliding slot, and the puncture depth control baffle 1340 has a non-closed positioning hole 1350 for the puncture needle 1200 to pass through. The puncturing depth control baffle 1340 is arranged behind the opening and closing flap 1320, and the non-closed positioning hole 1350 of the puncturing depth control baffle 1340 is opposite to the through hole 1330 formed by closing the opening and closing flap 1320.

In some examples, lancing device 1000 can also include a lancing plate 1400. The puncture plate 1400 may enable the puncture needle 1200 to be fixed in vitro, and by fixing the puncture needle 1200 in vitro, stability of the needle body is improved, and thus, operation quality may be improved.

For example, the ultrasound assembly 1100 includes an ultrasound probe and a probe control assembly configured to control a probe position and a probe direction of the ultrasound probe, thereby causing the ultrasound probe to acquire an ultrasound image.

In some examples, an ultrasound image is acquired by the ultrasound probe and based on the ultrasound image, the puncture positioning arm set 1600 is controlled to perform puncture positioning, the puncture needle guide arm 1310 is moved to a puncture position, and the puncture depth control baffle 1340 is also controlled to slide to a corresponding position. At this time, the opening and closing flap 1320 is closed to form the through hole 1330, and the puncture needle 1200 is fitted to the sidewall of the non-closing positioning hole 1350 of the puncture depth control shutter 1340, is passed through the through hole 1330, and is inserted into the target puncture site through the puncture plate 1400.

In some examples, because the relative position between the non-enclosed positioning hole 1350 of the puncturing depth control stop 1340 and the needle tip of the puncturing needle is fixed, for example, the target puncturing point position of the needle tip of the puncturing needle minus the actual physical specification of the puncturing needle 1200 can obtain the target end position that the non-enclosed positioning hole 1350 needs to reach, some embodiments of the present disclosure can puncture the needle tip of the puncturing needle 1200 to the target puncturing point by moving the non-enclosed positioning hole 1350 from the start position to the end position and engaging the puncturing needle 1200 with the sidewall of the non-enclosed positioning hole 1350 of the puncturing depth control stop 1340 and passing through the through hole 1330, and then puncturing in the direction of the guiding instrument box 1360.

In some examples, the at least one penetration control of the penetration control includes a penetration positioning armset 1600 and a penetration depth control baffle 1340.

For example, the puncture positioning arm set 1600 is coupled to a corresponding driving mechanism, such that the puncture positioning arm set 1600 is driven by the driving mechanism, thereby moving the puncture needle guide arm 1310 to the puncture position. For example, the lancing depth control stop 1340 is coupled to a corresponding drive mechanism such that the lancing depth control stop 1340 is controlled to slide to a corresponding position.

In some examples, puncture positioning arm set 1600 can be a linkage mechanism in which one portion (denoted as a first portion) of puncture positioning arm set 1600 can be directly driven in motion by connection with a drive mechanism and another portion (denoted as a second portion) of puncture positioning arm set 1600 is not directly driven in motion by connection with the drive mechanism and is moved by motion of the first portion of puncture positioning arm set 1600. As such, the piercing control of the piercing control includes a first portion of the piercing positioning arm set 1600. Of course, this is merely exemplary and not a limitation of the present disclosure, and may be determined according to the structure of the puncture positioning arm set 1600 in a specific structural form of the puncture device, and will not be described herein again.

In some examples, the lancing device 1000 can also include a base 1500 for supporting the lancing device body. Puncture positioning arm set 1600 is disposed on base 1500. The ultrasound assembly 1100 is disposed on a base 1500. For example, the ultrasound probe is movably disposed on the base 1500. For example, the fixed end of the puncture positioning arm set 1600 is movably connected to the base 1500.

In some examples, the probe control assembly of the ultrasound assembly 1100 includes an ultrasound feed platform 1110 and an ultrasound rotary platform (not shown), the ultrasound feed platform 1110 can move the ultrasound probe in an axial direction of the ultrasound probe, and the ultrasound rotary platform can rotate the ultrasound probe along an axis of the ultrasound probe, thereby controlling a depth and an angle of the ultrasound probe.

In some examples, the at least one penetration control of the penetration control is three penetration controls, two of which are two penetration controls (e.g., noted as a first penetration control and a second penetration control) in the penetration positioning armset 1600 and the third penetration control is the penetration depth control baffle 1340. For example, the first and second penetration controls of the three penetration controls are respectively: a puncture positioning arm movably connected with the base 1500 by a rotating shaft, and another transmission rod rotatable based on the rotating shaft. This is merely an example, and is not a limitation of the present disclosure, and the number, the configuration, and the like of the puncture control members provided in the puncture positioning arm set 1600 may be freely adjusted according to actual situations, and as this is not a key point that needs to be described in the present disclosure, details are not described here.

It should be noted that, for clarity and conciseness of the description of the present disclosure, the puncture device illustrated in fig. 1A, 1B and 2 is mainly used as an example for description, but the navigation system and the navigation method of the present disclosure do not limit the structure or configuration of the puncture device to be applied, and may also be applied to a puncture device having a base, a puncture needle, a puncture control unit and an ultrasonic probe with other structures or configurations. It should be noted that, since the specific structure of the puncturing device is not a matter of importance in the present disclosure, it is not described herein again.

Fig. 3 is a flowchart of a puncture navigation method according to some embodiments of the present disclosure.

For example, as shown in fig. 3, a puncture navigation method for a puncture device according to at least one embodiment of the present disclosure includes steps S1 through S6.

Step S1, establishing a spatial coordinate system, wherein the spatial coordinate system may be established based on the base 1500, for example, a world coordinate system established based on the base 1500.

In step S2, first three-dimensional coordinate information of the puncture needle 1200 in the spatial coordinate system is determined based on the base 1500.

And step S3, acquiring a group of ultrasonic images of the target tissue acquired by the ultrasonic probe to determine a three-dimensional ultrasonic image corresponding to the group of ultrasonic images.

Step S4, performing a puncture plan for the puncture needle 1200 based on the three-dimensional ultrasound image to determine puncture plan information, where the puncture plan information includes a needle insertion point position of the puncture needle 1200, a needle insertion direction of the puncture needle 1200, and a target puncture point position of the puncture needle 1200.

Step S5, establishing a conversion relationship between the image coordinate system and the spatial coordinate system of the ultrasound image, so that a real-time image position of the first three-dimensional coordinate information within the image coordinate system is determined based on the conversion relationship between the image coordinate system and the spatial coordinate system, to visualize the relative position between the puncture needle 1200 and the target puncture point position in the image coordinate system in real time.

Step S6 is to determine a first movement path of the puncture needle 1200 based on the relative position between the puncture needle 1200 and the target puncture point position in the image coordinate system.

Step S7, a second motion path of the puncture guide (e.g., the puncture guide is the non-closed positioning hole 1350 of the puncture depth control flap 1340, see below) in the space coordinate system having a predetermined positional relationship with the puncture needle 1200 is determined based on the first motion path in the image coordinate system.

Step S8, navigating the puncture needle 1200 through the at least one puncture control piece based on the second movement path of the puncture guide in the spatial coordinate system.

According to the puncture navigation method, under the condition that a binocular vision positioning device is not adopted and optical markers are not arranged on the puncture needle and the ultrasonic probe, the relative position relation between the puncture needle and a target puncture point can be obtained in real time, so that the cost can be saved, the complexity of the structure of the ultrasonic probe and the puncture needle can be reduced, and the operation of an operator is facilitated.

The puncture needle is converted into the image coordinate system from the space coordinate system, so that the relative position between the puncture needle and the target puncture point can be visualized, the puncture needle is visually displayed, and the puncture navigation is automatically compensated through visual display, so that the puncture navigation accuracy is improved, and more accurate treatment is realized.

The embodiment of the disclosure is based on coordinate system conversion and image puncture planning, can skillfully realize the navigation of the puncture needle, is easy to achieve the expected effect, is simple and convenient to operate, and avoids the increase of extra cost.

Fig. 4 is a flowchart of step S8 in fig. 3 according to some embodiments of the present disclosure.

For example, as shown in fig. 4, step S8 includes steps S81 to S82.

Step S81, determining a movement trajectory of each of the at least one penetration control of the penetration control part based on the penetration device 1000 and the second movement path.

Step S82, driving each of the at least one puncture control members of the puncture control section to move along the corresponding movement trajectory to navigate the puncture needle 1200.

According to the puncture navigation method, the second motion path corresponding to the selected puncture guide piece is determined according to the relative position between the puncture needle and the target puncture point, so that the motion trail of each component needing to move in the puncture device is determined to realize puncture navigation, and therefore the applicable puncture device is wider in range, simple and convenient to operate and low in cost.

For example, for clarity and convenience, the coordinate information of one point on the base 1500 of the puncturing device 1000 in step S1 is denoted as (0,0,0), and the first three-dimensional coordinate information in step S2 is denoted as (x1, y1, z 1).

In some examples, the first three-dimensional coordinate information (x1, y1, z1) of the needle 1200 includes three-dimensional coordinate information of the tip of the needle 1200 within a spatial coordinate system. Thus, the first motion path of the puncture needle 1200 includes the first motion path of the needle tip of the puncture needle 1200. According to the embodiment of the disclosure, the three-dimensional coordinate information of the puncture needle is positioned by using the needle point of the puncture needle, and the three-dimensional coordinate information of the puncture needle is easy to obtain due to the fact that the position of the needle point of the puncture needle is easy to obtain, so that the navigation of the puncture needle is facilitated.

In some examples, the real-time image position of the first three-dimensional coordinate information of the puncture needle in the image coordinate system can be regarded as a starting position, and the target puncture point position can be regarded as a target end position corresponding to the starting position, so that the motion path planning of the puncture needle between the starting position and the target end position can be determined in the image coordinate system according to the starting position and the target end position.

In some examples, step S2 may be performed before step S3, or after step S3, or step S2 and step S3 may be performed simultaneously, and the order of performing the two is not limited by the embodiments of the present disclosure.

A puncture guidance method in the case where the puncture guide is the non-closed positioning hole 1350 in the embodiment of the present disclosure will now be described without limitation with reference to fig. 5 to 18.

Fig. 5 is a flowchart of step S7 in fig. 3 according to some embodiments of the present disclosure

For example, as shown in fig. 5, in response to the puncture guide being a non-closing positioning hole 1350, step S7 includes steps S71 to S72.

Step S71, a third movement path of the non-closing positioning hole 1350 in the image coordinate system is determined based on the puncture needle image specification of the puncture needle 1200 in the image coordinate system and the first movement path.

Step S72, determining a second motion path of the non-closed positioning hole 1350 in the space coordinate system based on the transformation relationship between the image coordinate system and the space coordinate system and the third motion path in the image coordinate system.

The embodiment of the disclosure can determine the movement path for guiding the puncture needle to navigate according to the non-closed positioning hole serving as the determined quantity in the puncture device, the navigation solution is simple and convenient, the application range is wide, and the navigation of the puncture needle is favorably realized.

In some examples, for step S7, the puncture guide may be the non-closed positioning hole 1350 of the puncture depth control baffle 1340, but the puncture guide of the embodiments of the present disclosure is not limited thereto, and may also be the puncture guide arm 1310 or the via 1330 or other suitable positions on the puncture guide release mechanism 1300 for the puncture guide, as long as the position is a reasonable position having a certain relative positional relationship with the puncture needle 1200, and the description thereof is omitted here. For clarity and brevity, the following description will be made primarily with reference to the non-closed positioning hole 1350 with the lancing guide being the lancing depth control stop 1340.

In some examples, step S2 of the puncture navigation method includes the following procedures or steps: the first three-dimensional coordinate information of the puncture needle 1200 is determined based on the three-dimensional coordinate information of the non-closed positioning hole 1350 in the spatial coordinate system and the needle specification of the puncture needle 1200 in the spatial coordinate system (i.e., the actual physical specification of the puncture needle), so that the first three-dimensional coordinate information includes the three-dimensional coordinate information of the puncture needle 1200 in the spatial coordinate system. For example, the needle gauge of the needle 1200 in the spatial coordinate system can be recorded as the actual physical gauge of the needle.

In some examples, the actual physical gauge of the needle 1200, which may represent the actual physical dimensions of the needle 1200 in a spatial coordinate system, includes the exposed length of the needle. The puncture needle image specification indicates an image size of the puncture needle 1200 in an image coordinate system, which is a specification obtained by mapping the puncture needle actual physical specification of the puncture needle to the image coordinate system based on the image coordinate system, and for example, the puncture needle actual physical specification of the puncture needle is mapped to the image coordinate system in accordance with the image resolution to determine the puncture needle image specification.

The embodiment of the disclosure can determine the three-dimensional coordinate information of the puncture needle according to the non-closed positioning hole serving as the determined quantity in the puncture device, so that the three-dimensional coordinate information of the puncture needle is accurate and easy to obtain, the navigation of the puncture needle is facilitated, and the application range is wide.

In some examples, the puncture navigation method further includes the following processes or steps: visualizing in real-time at least one of: an ultrasound image, a three-dimensional ultrasound image, a needle point of the puncture needle 1200, a relative position between the needle point of the puncture needle 1200 and a target puncture point position, and a first motion path of the puncture needle 1200.

The embodiment of the disclosure can visualize the ultrasound-related images and the relative position between the puncture needle and the target puncture point, and the like, can be visually displayed in real time, can conveniently and accurately monitor the navigation condition of the puncture needle in real time, and has a certain guiding effect on puncture navigation.

Fig. 6 is a schematic diagram of an original image of an ultrasound image provided by some embodiments of the present disclosure.

For example, in step S3, the acquired set of ultrasound images includes a plurality of ultrasound images. For example, as shown in fig. 6, each ultrasound image is a two-dimensional image. For example, the ultrasound image includes a lesion region to be segmented.

In some examples, in step S3, the embodiment of the present disclosure controls the ultrasound probe to move from the tip to the bottom at a fixed acquisition interval according to the acquired tip and bottom position information of the prostate, and intercepts the prostate image at each interval, thereby completing the acquisition task of the two-dimensional ultrasound image.

In some examples, in step S3, an embodiment of the present disclosure obtains a three-dimensional ultrasound image by performing outline delineation (e.g., including a lesion outline and an outer outline) of a prostate with the acquired two-dimensional ultrasound image, and then performing three-dimensional reconstruction based on an image coordinate system.

For example, in step S4, the target puncture point position refers to a target puncture position to which puncture is required, and may be determined according to the condition of the lesion region of the target tissue. For example, in step S5, the real-time image position refers to a real-time position in the image coordinate system to which the first three-dimensional coordinate information of the puncture needle 1200 is corresponded by the conversion relationship between the image coordinate system and the space coordinate system.

For clarity and conciseness of the present disclosure, the present disclosure mainly uses a puncturing device for a prostate and a prostate ultrasound image as an example for description, for example, fig. 6 shows a prostate ultrasound image, but the present disclosure does not limit an applicable puncturing position, and can also be applied to other application scenarios requiring puncturing navigation, which is not described in detail herein.

For example, in step S61, the second motion path is a vector path, for example, the second motion path of the non-closed positioning hole 1350 in the space coordinate system represents a spatial feature of an action that the non-closed positioning hole 1350 moves to a target spatial position that needs to be reached by moving under the clamping of the puncture control unit, and for example, each point in the second motion path of the non-closed positioning hole 1350 includes information such as a position and a posture.

Fig. 7 is a schematic diagram illustrating a second motion path of an unclosed locating hole in a space coordinate system according to some embodiments of the present disclosure.

For example, as shown in fig. 7, a dot O1 filled with black represents the start position of the non-closed positioning hole 1350 of the piercing depth control shutter 1340 in the space coordinate system, i.e., the start position of the second movement path; the non-solid dot O2 indicates the target end position of the non-closed positioning hole 1350 of the piercing depth control baffle 1340 in the space coordinate system, i.e., the target end position of the second movement path. The movement path from the dot O1 to the dot O2 is a second movement path of the non-closed positioning hole 1350 in the space coordinate system, and may be a straight line or a curved line, which may be determined according to the actual situation. Accordingly, after the non-closing positioning hole 1350 is moved from the dot O1 to the dot O2, the puncture needle 1200 is fitted into the sidewall of the non-closing positioning hole 1350 of the puncture depth control shutter 1340 and is passed out of the through hole 1330, via the puncture plate 1400, so that the needle tip of the puncture needle 1200 is inserted into the target puncture point under the spatial coordinate system.

In some examples, embodiments of the present disclosure may use the center of the base 1500 as the origin (0,0,0) of the spatial coordinate system, and at this time, the horizontal direction of the base 1500 may be used as the horizontal axis of the spatial coordinate system, the vertical direction of the base 1500 may be used as the vertical axis of the spatial coordinate system, and the advancing direction of the ultrasonic assembly 1100 may be used as the vertical axis of the spatial coordinate system, thereby establishing the spatial coordinate system. For another example, the position on the base 1500 connected to the lancing control element can be taken as the origin (0,0,0) of the spatial coordinate system, and the directions of the horizontal axis, the vertical axis, and the vertical axis of the spatial coordinate system can be similar to the previous example, and will not be described again. Of course, this is merely exemplary and not a limitation of the present disclosure, as long as any reasonable point of the base 1500 is available, and will not be described herein.

In some examples, a fixed end of the arm set 1600 is movably connected to the base 1500, and a position of the base 1500, which is movably connected to the arm set 1600, is denoted as a base joint, so that the movement of the arm set 1600 (for example, the arm set 1600 may be a link mechanism) can be calculated based on the base joint of the base 1500, and since the origin of the spatial coordinate system selected on the base 1500 is relatively fixed to the position of the base joint, the spatial coordinate system established based on the base 1500 is relatively fixed to the position of the arm set 1600, and therefore, the movement of the arm set 1600 can also be calculated based on the spatial coordinate system. For example, a spatial coordinate system is established with the base connection on the base 1500 as the origin, so that the origin of the spatial coordinate system can coincide with the base connection where the lancing positioning arm set 1600 is movably connected to the base 1500, which is beneficial to simplifying the calculation of the motion trajectory of the lancing control member.

In some examples, the embodiments of the present disclosure implement the second motion path based on the specific structure of the puncturing device and the non-closed positioning hole 1350 to reversely solve the motion trajectory of each puncturing control element (see below), which is applicable to the puncturing device with any structure, and has strong universality.

For example, in step S82, each lancing control element of the lancing device 1000 is connected to a set of driving mechanisms to move the lancing control element along a corresponding movement track. Therefore, the driving mechanism of the navigation system has lower complexity and simple and convenient operation. For example, the driving mechanism is mainly composed of a driver, a dc motor and a reducer, which is merely exemplary and not limiting for the present disclosure, as long as the corresponding lancing control member can be driven to move, and thus, the detailed description is omitted here.

In some examples, the penetration control of embodiments of the present disclosure refers to a component of the penetration device that is connected to and directly driven by the drive mechanism, for which the component of the penetration device that is not directly driven by the drive mechanism has been decoupled from the coupling relationship in an algorithm that counter-solves the motion trajectory of each of the at least one penetration control, such that the motion trajectory of each penetration control can be directly obtained. It should be noted that, since the structure of the applicable puncturing device is not limited in the embodiments of the present disclosure, the specific division of the puncturing control component connected to the driving mechanism and directly driven to move and the other components not connected to the driving mechanism and directly driven to move in the embodiments of the present disclosure may be freely adjusted according to the actual situation, and will not be described herein again.

In some examples, the puncture navigation method further comprises the steps or processes of: and positioning the ultrasonic probe based on the base 1500, and determining second three-dimensional coordinate information of the ultrasonic probe in a space coordinate system. Therefore, the conversion relation between the image coordinate system and the space coordinate system is conveniently obtained, and the relative position between the puncture needle and the target puncture point under the space coordinate system is determined. For example, for clarity and convenience of description, the second three-dimensional coordinate information may be denoted as (x2, y2, z2), which embodies the actual physical positional relationship between the ultrasound probe and the base 1500.

In some examples, the ultrasound probe is a smaller-sized cylinder-like structure, and the second three-dimensional coordinate information of the ultrasound probe includes three-dimensional coordinate information of a center of the ultrasound probe within the spatial coordinate system. This is merely exemplary and is not a limitation of the present disclosure.

For example, in step S5, establishing the conversion relationship between the image coordinate system and the spatial coordinate system of the ultrasound image includes the following steps or processes: the image coordinate system of the ultrasound image is converted to a spatial coordinate system based on the ultrasound image and the second three-dimensional coordinate information (x2, y2, z2) of the ultrasound probe to establish a conversion relationship between the image coordinate system and the spatial coordinate system.

The embodiment of the disclosure realizes the conversion between the image coordinate system and the space coordinate system through the coordinate system conversion, so that the relative position relationship between the puncture needle (such as the needle point of the puncture needle) and the target puncture point position can be simply and effectively determined and visualized in real time under the image coordinate system without adopting a binocular vision positioning device and arranging optical markers on the puncture needle and the ultrasonic probe, thereby realizing the navigation of the puncture needle, being simple and convenient to operate, and avoiding the increase of extra cost.

For example, with step S5, after the transformation relationship between the image coordinate system and the space coordinate system is established, the first three-dimensional coordinate information determined in the space coordinate system may be made to obtain the corresponding real-time image position in the image coordinate system in real time on the basis of the established transformation relationship between the image coordinate system and the space coordinate system.

Fig. 8 is a flowchart of converting an image coordinate system to a space coordinate system according to some embodiments of the disclosure.

For example, as shown in fig. 8, in some examples, for converting the image coordinate system of the ultrasound image to the spatial coordinate system based on the ultrasound image and the second three-dimensional coordinate information of the ultrasound probe to establish a conversion relationship between the image coordinate system and the spatial coordinate system, steps S51 to S54 are included.

Step S51, morphological image processing is performed on the ultrasound image, and a target image region is determined.

Step S52, based on the target image area, obtains the statistical distribution of pixels.

And step S53, determining the conversion ratio between the diameter of the ultrasonic probe and the number of pixel pitches occupied by the diameter of the ultrasonic probe based on the pixel statistical distribution map and the predetermined diameter of the ultrasonic probe.

And step S54, converting the image coordinate system to a space coordinate system based on the conversion ratio and the second three-dimensional coordinate information.

The embodiment of the disclosure realizes the conversion between the image coordinate system and the space coordinate system by combining the image feature extraction and the information of the actual physical distance, has low operation difficulty, low resolving complexity and high accuracy, is simple and effective, and has good application prospect.

In some examples, embodiments of the present disclosure may implement both the image coordinate system to spatial coordinate system conversion and the spatial coordinate system to image coordinate system conversion based on the conversion relationship between the image coordinate system and the spatial coordinate system.

Fig. 9 is a flowchart of step S51 in fig. 8 according to some embodiments of the present disclosure.

For example, as shown in fig. 9, step S51 includes step S511 and step S512.

And step S511, carrying out binarization on the ultrasonic image to obtain a first processed image.

Step S512, carrying out region communication and marking on the first processed image to obtain a plurality of identification communication regions so as to obtain a second processed image, and determining a target image region from the plurality of identification communication regions so as to obtain a third processed image. For example, the target image area includes two target marker connected areas of the plurality of marker connected areas, which are largest and second largest in area.

The embodiment of the disclosure obtains the geometric parameters of each block region of the image through the connected region mark of the binary image analysis, and is simple and convenient and has a wide application range.

Fig. 10 is a schematic diagram of a second processed image provided by some embodiments of the present disclosure. Fig. 11 is a schematic diagram of a third processed image provided by some embodiments of the present disclosure.

In some examples, the first processed image is an initial binary image obtained after an original image of the ultrasound image (e.g., the original image of the ultrasound image shown in fig. 6) is subjected to binarization processing. The second processed image and the third processed image are processed binary images obtained after the initial binary image is subjected to labeling processing.

In some examples, the original image of the ultrasound image shown in fig. 6 may result in the second processed image shown in fig. 10 after being subjected to binarization and region connectivity and labeling processes, and the second processed image shown in fig. 10 may result in the third processed image shown in fig. 11 after completing the selection and discarding of the identified connected region.

In some examples, the region connectivity and tagging is part of the overall tagging process, as are processes of picking target tag connectivity regions and discarding smaller tag connectivity regions.

For example, since the range of the gray scale values of the image is 0 to 255, black is 0, and white is 255, it is possible to obtain an initial binary image by taking 1 at 120 or more and 0 at less than 120 at the time of the binarization processing. Of course, this is merely exemplary and not a limitation of the present disclosure.

In some examples, the plurality of identified connected regions in fig. 10 includes region a1, region a2, and region A3, among other regions, and the target image region includes region a1 and region a 2.

In some examples, the region a1 and the region a2 in fig. 11 are the largest two regions of all the identification connected regions (one of which is the largest region and the other is the second largest region), and the region sizes of the region a1 and the region a2 may be the same or different, depending on the actual situation.

For example, in step S512, in performing the region connectivity and labeling on the first processed image: the attachment of the labeled 1 s together forms a connected region. For example, in the process of area communication and marking, 4-adjacent communication may be adopted, and 8-adjacent communication may also be adopted, so as to define a plurality of communication areas. Of the determined plurality of connected regions, a largest and/or next largest connected region may be determined. Meanwhile, each connected region may be labeled to obtain a corresponding identified connected region, for example, the first connected region is labeled as 1, the second connected region is labeled as 2, the third connected region is labeled as 3, and the like. Of course, this is merely exemplary and not a limitation of the present disclosure.

Fig. 12 is a flowchart of step S512 in fig. 9 according to some embodiments of the present disclosure.

For example, as shown in fig. 12, step S512 includes steps S5121 to S5123.

Step S5121, based on the second processed image, removing the identification connected region of the first side and the second side of the second processed image opposite in the longitudinal direction.

Step S5122, two target connected identifier areas with the largest and the second largest areas are selected from the plurality of connected identifier areas.

Step S5123, discarding pixels in the plurality of identification connected regions and identification connected regions smaller than a preset value, and obtaining a third processed image.

According to the embodiment of the disclosure, the processing image which basically only retains the two largest target image areas is obtained by selecting and discarding the connected areas, so that not only can the subsequent processing process be simplified, but also the accuracy and efficiency of coordinate system conversion can be improved.

For example, in step S5121, if the connected region 5 on the upper side of the second processed image is determined based on the position of the ultrasound image, all the connected regions 5 are removed, that is, the value of all the connected regions 5 is modified to 0. Of course, this is merely exemplary and not a limitation of the present disclosure.

For example, in step S5121, the longitudinal direction of the second processed image is the up-down direction of the drawing direction of fig. 9-10, and the first side and the second side in the longitudinal direction of the second processed image are the upper side and the lower side, respectively. It should be noted that the orientations of the embodiments of the present disclosure, such as "longitudinal," "upper," "lower," etc., are all for convenience and clarity of description, and are not limiting in actual orientation.

For example, in step S5123, the preset value may be set to about 1000, so that the smaller connected region of the plurality of identified connected regions may be discarded. This is merely exemplary, and is not a limitation of the present disclosure, and may be freely adjusted according to practical situations, and will not be described herein again.

Fig. 13 is a schematic diagram of a pixel statistical distribution according to some embodiments of the present disclosure.

For example, in step S52, the statistical distribution of pixels includes the distribution of the pixel sums in the vertical direction (for example, denoted as y) on the third processed image. The longitudinal direction of the third processed image is the same as the longitudinal direction of the second processed image, and reference may be made to the above description, which is not repeated herein.

For example, as shown in fig. 13, the statistical distribution of pixels is such that the number of pixels per line in the vertical direction of the third processed image is counted as being different from 0. In the example of fig. 13, the abscissa (X axis) of the pixel statistic distribution map is the pixel value, i.e., the value of Y, and the ordinate (Y axis) of the pixel statistic distribution map is the sum of the number of pixels, i.e., the number of 1 after binarization.

For example, in the example of fig. 13, for an abscissa of 100, the number of the corresponding ordinates is M, that is, M is 1 for the row corresponding to the pixel value of 100 in the y direction. Of course, this is merely exemplary and not a limitation of the present disclosure.

Fig. 14 is a flowchart of step S53 in fig. 8 according to some embodiments of the present disclosure.

For example, as shown in fig. 14, step S53 includes steps S531 to S533.

Step S531, obtaining a boundary between the cross section of the two target identification connected regions and the vector section and pixel coordinates corresponding to the boundary based on the pixel statistical distribution.

And S532, determining the circle center of a semicircular area formed by the adjacent ends of the two target mark communication areas on the third processed image based on the boundary, wherein the semicircular area and the mark communication area are different in color.

Step S533, determining the diameter of the ultrasonic probe, determining the number of pixel pitches occupied by the diameter of the ultrasonic probe based on the circle center, and determining the conversion ratio based on the number of pixel pitches occupied by the diameter of the ultrasonic probe.

For example, in the example of fig. 11, region a2 is a cross-sectional region and region a1 is a sagittal cross-sectional region.

For example, in some examples, step S531 includes the following steps or processes: taking a horizontal straight line of pixel coordinates corresponding to an extreme point in pixel statistical distribution as a boundary line; and acquiring the boundary of the two target identification communication areas based on the boundary, and determining the pixel coordinates of the boundary of at least one of the two target identification communication areas.

For example, for step S531, in some examples, there is an extreme point P1 in the interval of 400-500 pixels in fig. 13 (i.e., the interval of 400-500X-axis coordinate values), and the corresponding horizontal straight line (i.e., the horizontal line along the left-right direction in fig. 13) of the pixel coordinate corresponding to the extreme point P1 is the boundary between the cross section and the sagittal section.

For another example, if there are a plurality of boundary lines, the lowermost boundary line of the upper region (for example, region a2) of the two object id communication regions may be used as the boundary line.

For example, in step S531, after the boundary is determined, the boundary is calculated for the two object identification connected regions, and the pixel coordinates of the region boundary (for example, the upper cross-sectional region) are re-determined based on the boundary, thereby obtaining the pixel coordinates corresponding to the boundary.

For example, as for the semicircular region in step S532, reference may be made to a black semicircular region C1 shown in fig. 11, which is a semicircular region formed near the lateral cross-sectional region and the sagittal cross-sectional region, and the semicircular contour shape of the semicircular region is a lower end portion of the upper lateral cross-sectional region. For clarity and brevity of this disclosure, the semicircular region C1 is illustrated in fig. 11 by a dashed box. In the example of fig. 11, the semicircular area of the third processed image is different in color from the identification connected area, for example, the image color of the semicircular area shown in fig. 11 is black, and the image color of the identification connected area is different from black.

For example, in step S533, the diameter of the ultrasound probe is equal to the diameter of the semicircular region, so that the number of pixel pitches occupied by the diameter of the ultrasound probe can be determined by determining the number of pixel pitches occupied by the diameter of the semicircular region corresponding to the diameter based on the center of the circle.

Fig. 15 is a flowchart of step S532 in fig. 14 according to some embodiments of the disclosure. Fig. 16 is a schematic diagram of a third processed image provided by some embodiments of the present disclosure, fig. 16 and fig. 11 are diagrams with the same features of the embodiments of the present disclosure, and different numbers are added to fig. 16 from fig. 11 to facilitate the clarity of the description and the drawings.

For example, as shown in fig. 15, step S532 includes steps S5321 to S5323.

Step S5321, based on the boundary, determining four intersecting points of the boundary or a straight line parallel to the boundary passing through the semicircular area and intersecting the target mark connected area.

And S5322, acquiring two target intersection points in the middle of the four intersection points.

And S5323, acquiring the circle center of the semicircular area based on the two target intersection points.

For example, in step S5321, after the boundary line is determined, four intersection points where the boundary line intersects with the upper cross-sectional area through the semicircular area, for example, four intersection points where the corresponding horizontal straight line of the pixel coordinate corresponding to the extreme point intersects with the upper cross-sectional area, are determined based on the boundary line, and the middle two of the four intersection points are also two points where the boundary line intersects with the black semicircular area C1.

For example, in step S5321, in order to avoid the occurrence of an intersection that intersects the cross-sectional area on the boundary line, the boundary line may be moved upward in the image coordinate system according to an empirical value (e.g., 5 to 10 pixels) determined based on the history data after the boundary line is determined, thereby determining four intersections at which the boundary line (i.e., a straight line parallel to the boundary line) after the movement is calculated intersects the upper cross-sectional area in the figure. This is merely exemplary and is not a limitation of the present disclosure.

For example, in the example of fig. 16, the two target intersection points are the middle a point and B point, respectively, which are also two points at which the boundary line intersects the black semicircular region C1. For the convenience of the following description, the middle two target intersections among the four intersections are respectively referred to as points a and B.

Fig. 17 is a schematic diagram of a set of contour points for acquiring a radian provided by some embodiments of the present disclosure.

For example, in step S5323, acquiring the center of a semicircular area based on two target intersections includes the following steps or processes: firstly, determining a line segment by taking two target intersection points A, B in the middle of four intersection points as end points, and equally dividing the line segment to determine a plurality of equally divided points; then moving the plurality of bisectors upward, and determining a connected region touched by each bisector in the upward movement process, thereby determining a plurality of points where the plurality of bisectors intersect with the semicircular region of the ultrasound image, for example, see the plurality of points (which can be referred to as contour points) indicated by the dashed boxes in fig. 17; a circle is then fitted based on the plurality of contour points and A, B and the center O is determined.

In some other embodiments, in step S5323, acquiring the center of the semicircular region based on the two target intersections may further include the following steps or processes: a line segment is determined by taking A, B points as two end points, the midpoint C of the line segment is taken, and then a circle can be determined based on A, B points and C points, and the center O of the circle is determined.

For example, in step S533, after the center O is determined, the diameter of the circle determined in step S5323 is taken as the diameter d (i.e., the diameter d in the image coordinate system, that is, the diameter corresponding to the semicircular region), and the number N of pixel pitches occupied on the diameter d of the circle is counted, so that the ratio R between the diameter d and the number N of pixel pitches can be calculated, where R is d/N, and the ratio R may also be referred to as a conversion ratio.

For example, in step S533, the diameter of the ultrasound probe in the spatial coordinate system is recorded as the diameter D, since the diameter D of the ultrasound probe is the same as the diameter D of the semicircular region, and the diameter D of the ultrasound probe is predetermined and known, the diameter D of the circle is known (for example, 20mm), and the number of pixels occupied by the diameter D is known by statistics (for example, 81 pixels are occupied), so that the pixel pitch occupied by the diameter D can be determined (for example, 80 pixel pitches are occupied, that is, N is 80), and thus the conversion ratio R can be determined based on the pixel pitch occupied by the diameter D, for example, R is 20mm/80 pixel pitches. Therefore, the physical distance occupied by one pixel pitch can be determined, and the image coordinate system can be converted into the space coordinate system.

Fig. 18 is a flowchart of step S54 in fig. 8 according to some embodiments of the present disclosure.

For example, as shown in fig. 18, step S54 includes step S541 and step S542.

Step S541, determining a horizontal axis and a vertical axis perpendicular to each other based on the circle center, the conversion ratio, and the pixel coordinates corresponding to the boundary line.

And S542, taking the depth of the ultrasonic probe as a vertical axis, and converting the image coordinate system into a space coordinate system based on a third processed image and second three-dimensional coordinate information corresponding to a group of ultrasonic images.

For example, in step S541, a horizontal axis (for example, denoted as X1 axis) and a vertical axis (for example, denoted as Y1 axis) perpendicular to each other are determined based on the conversion ratio R and the pixel coordinates of the boundary of the region (for example, the upper cross-sectional region) redetermined based on the boundary, with the center O of the circle as the origin of the coordinate system.

For example, in step S541, the embodiment of the present disclosure establishes the corresponding horizontal and vertical axes based on the third processed image corresponding to one ultrasound image to form the initial two-dimensional coordinate system X1-O-Y1, such that a corresponding initial two-dimensional coordinate system X1-O-Y1 can be formed based on each ultrasound image.

For example, in step S542, since the ultrasonic probe can be moved forward or backward by the mechanical arm assembly, the embodiment of the present disclosure takes the acquired depth of the ultrasonic probe as a vertical axis (for example, denoted as Z1 axis). Based on each ultrasonic image, a corresponding two-dimensional coordinate system X1-O-Y1 can be formed, and when the depth of the ultrasonic probe is taken as a vertical axis, the space distance between zero points of the two-dimensional coordinate system X1-O-Y1 corresponding to different ultrasonic images corresponds to the corresponding depth of the ultrasonic probe, so that the vertical axis perpendicular to the horizontal axis and the vertical axis respectively can be determined based on a group of acquired ultrasonic images.

Therefore, the embodiment of the disclosure can realize the conversion of the image coordinate system into the space coordinate system under the condition that the position relationship (i.e. the second three-dimensional coordinate information) between the ultrasonic probe and the base is obtained, so that the conversion relationship between the image coordinate system and the space coordinate system is established, and the actual physical position relationship between the puncture needle tip and the target puncture point is determined.

The coordinate system transformation and kinematic calculation methods provided by embodiments of the present disclosure are described below by way of a few examples or embodiments without limitation.

In some examples, embodiments of the present disclosure may record the spatial coordinate system established based on the base 1500 as spatial coordinate system {0}, the coordinate system of the non-closed positioning holes 1350 of the puncture depth control baffle 1340 at the tip of the puncture needle guide arm 1310 as coordinate system {1}, and the ultrasound probe coordinate system established based on the ultrasound probe as image coordinate system {2 }. The relative positional relationship between the coordinate system {1} and the spatial coordinate system {0} is fixed, and the relative positional relationship between the image coordinate system {2} and the spatial coordinate system {0} is fixed

Thus, as described above, the ultrasonic probe can be moved in the axial direction of the ultrasonic probe by controlling the movement of the ultrasonic feed platform 1110, and the ultrasonic probe can be rotated (e.g., clockwise or counterclockwise) along the axis of the ultrasonic probe by the ultrasonic rotary platform, thereby controlling the depth and angle of the ultrasonic probe.

In some examples, embodiments of the present disclosure obtain a three-dimensional ultrasound image by performing a prostate outline delineation on the acquired two-dimensional ultrasound image and then performing a three-dimensional reconstruction based on the image coordinate system {2 }.

Fig. 19A is a schematic cross-sectional view of a two-dimensional ultrasound image provided by some embodiments of the present disclosure, and fig. 19B is a schematic view of a three-dimensional ultrasound image corresponding to the two-dimensional ultrasound image in fig. 19A provided by some embodiments of the present disclosure.

For example, fig. 19A shows a cross section of a two-dimensional ultrasound image, where the middle box of the cross section is the outline delineation of the prostate. For example, fig. 19B shows the result of a three-dimensional ultrasound image obtained by three-dimensional reconstruction. Of course, this is merely exemplary and not a limitation of the present disclosure.

In some examples, embodiments of the present disclosure determine the location of a target puncture point in the image coordinate system {2} by performing a puncture planning, e.g., planning the target puncture point location, on a three-dimensional ultrasound image.

In some examples, a position and orientation matrix (simply a pose matrix) of the coordinate system {1} of the non-closed positioning hole 1350 of the puncture depth control baffle 1340 relative to the spatial coordinate system {0} may be determined based on specific structural features of the puncture control portion of the puncture device 1000.

In some examples, the embodiments of the present disclosure establish a joint coordinate system of the robot based on the puncturing device 1000 and according to the kinematics principle of the robot, for example, the established joint coordinate system of the robot includes a joint coordinate system based on the components in the puncturing positioning arm set 1600, which can be freely adjusted according to the specific structure or configuration of the puncturing device 1000, and the present disclosure does not limit the structure or configuration design of the puncturing device that can be applied. Since the specific structure of the puncturing device is not important for the description of the present disclosure, it is not repeated herein. The following is primarily a non-limiting illustration of one example of a robot configuration.

E.g. based on established coordinate system relationships and positive kinematics of the robotThe position matrix of the coordinate system {1} of the non-closed positioning hole 1350 relative to the space coordinate system {0} can be obtained by the formula ₁ 0T, the pose matrix formula is exemplified as follows:

wherein a1 represents the length of the common perpendicular line between the joint axis of the first component in the puncture positioning arm set 1600 and the joint axis of the second component in the puncture positioning arm set 1600; a2 represents the length of a common perpendicular line between the joint axis of the second part in the puncture positioning arm set 1600 and the joint axis of the third part in the puncture positioning arm set 1600; a3 represents the common perpendicular length of the joint axis of the third component in the puncture positioning arm set 1600 and the joint axis of the fourth component in the puncture positioning arm set 1600; d4 represents the link offset distance between the joint axis of the third component in the puncture positioning arm set 1600 and the joint axis of the fourth component in the puncture positioning arm set 1600; d5 represents the link offset of the joint axis of the third component in lancing positioning arm set 1600 from the joint axis of lancing depth control baffle 1340; theta _i Representing a joint angle of the component; ci ═ cos (θ) _i )，si＝sin(θ _i )，i＝1,2,3,4；s123＝sin(θ ₁ +θ ₂ +θ ₃ )；c123＝cos(θ ₁ +θ ₂ +θ ₃ )；s12＝sin(θ ₁ +θ ₂ )。

Illustratively, the first part, the second part, the third part, and the fourth part of the puncture positioning arm set 1600 may be respective joints of the puncture positioning arm set 1600 configured as a linkage mechanism, for example, the first part, the second part, the third part, and the fourth part of the puncture positioning arm set 1600 may be a puncture positioning arm base joint (e.g., a rotating shaft for movably connecting the base 1500 and the first puncture control member), a puncture positioning arm elbow joint (e.g., a rotating shaft of the puncture positioning arm set 1600), a puncture positioning passive posture joint (e.g., a rotating shaft of the puncture positioning arm set 1600), and a puncture positioning arm tilt joint (e.g., a rotating joint provided on the puncture needle guide arm 1310) of the puncture positioning arm set 1600. Of course, this is merely an illustrationFor example, to facilitate the skilled person to better understand the technical solution of the present disclosure, but this is not a limitation of the present disclosure, and the embodiment pose matrix of the present disclosure

The puncture device can be freely adjusted according to the specific structure of the puncture device, and the specific structure of the puncture device can be referred to the related art and is not described in detail herein.

Exemplarily, a 1-120 mm; a2 is 100 mm; a3 ═ 122 mm; d4 ═ 66.5 mm; d5 is 25 mm. Of course, this is merely exemplary and not a limitation of the present disclosure.

In some examples, embodiments of the present disclosure may determine a real-time pose matrix of the puncture needle (e.g., the needle tip of the puncture needle) in the spatial coordinate system {0} based on the coordinate system {1} of the non-closed positioning hole 1350 and the actual physical specification of the puncture needle 1200 in the spatial coordinate system, and thus, embodiments of the present disclosure may determine the first three-dimensional coordinate information of the needle tip of the puncture needle 1200 from the three-dimensional coordinate information of the non-closed positioning hole 1350 in the spatial coordinate system and the actual physical specification of the puncture needle 1200 in the spatial coordinate system. For ease of description, the first three-dimensional coordinate information of the tip of the lancet needle 1200 is noted as tip position coordinates {3 }.

In this regard, the matrix of the position of the needle tip {3} relative to the coordinate system {1} of the non-occluded positioning hole 1350 may be given in accordance with the needle specification of the puncture needle 1200 (i.e., the actual physical specification of the puncture needle), for example, the matrix of the position of the needle tip {3} relative to the coordinate system {1} of the non-occluded positioning hole 1350

The following:

the actual physical specifications of the needle 1200 include the exposed length of the needle, e.g., L is the exposed length of the needle in the spatial coordinate system.

Thus, embodiments of the present disclosure incorporate a matrix of poses of the coordinate system {1} of the non-closed locating holes 1350 relative to the spatial coordinate system {0}

And the position and orientation matrix of the needle point position coordinate {3} relative to the coordinate system {1} of the non-closed positioning hole 1350

Can determine the real-time pose matrix of the needle point of the puncture needle 1200 in a space coordinate system {0}

As follows:

accordingly, in the case where the puncture guide is the needle tip of the puncture needle 1200, the embodiment of the present disclosure may determine the first three-dimensional coordinate information of the puncture needle 1200 according to the three-dimensional coordinate information of the non-closed positioning hole 1350 in the spatial coordinate system and the actual physical specification of the puncture needle 1200 in the spatial coordinate system.

In some examples, embodiments of the present disclosure document a fixed pose matrix of the image coordinate system {2} relative to the spatial coordinate system {0}, as

(e.g., the image coordinate system on the ultrasound probe is transformed to the spatial coordinate system on the ultrasound probe), whereby the matrix of poses of the needle tip in the spatial coordinate system {0} is transformed to the matrix of poses in the image coordinate system {2}, to

The following were used:

in some examples of the method of the present invention,pose matrix fixing image coordinate system {2} relative to spatial coordinate system {0}

An example of the formula is as follows:

where Space [0] denotes a physical distance occupied by each pixel pitch in the X direction (obtained in ultrasound calibration, for example), for example, the diameter of an actual ultrasound probe is 20mm, and it occupies 80 pixel pitches on an image, then Space [0] is 20mm/80 pixel pitches; space [1] denotes a physical distance occupied by each pixel pitch in the Y direction, for example, Space [0] ═ Space [1 ]; space [2] represents the physical distance occupied by each pixel pitch in the Z direction (the physical distance for ultrasonically acquiring multiple ultrasound images), for example, ten ultrasound images are acquired by using ultrasound, the actual acquisition distance is 9mm, and 10 ultrasound images have 9 pixel pitches in the Z direction, so that Space [2] is 9mm/9 pixel pitches; offset [0] represents the physical Offset in the X direction of the origin of the image coordinates, for example, if the image Offset X pixel of the origin on the image is known, the physical Offset is X Space [0 ]; offset [1] represents the physical Offset in the Y direction of the origin of the image coordinates, for example, if the image Offset Ypixel of the origin on the image is known, the physical Offset is Y _ Space [1 ]; offset [2] represents the physical Offset in the Z direction of the origin of the image coordinates, e.g., the physical Offset is Z Space [2] knowing the image Offset Z pixel of the origin on the image.

From this, the conversion formula between the image coordinate system to the space coordinate system can be obtained as follows:

therefore, the embodiment of the disclosure can bring any three-dimensional image coordinate (pixel [0], pixel [1], pixel [2]) into the conversion relation between the image coordinate system and the space coordinate system, and can obtain the physical coordinates (py [0], py [1], py [2]) of the coordinate system established by taking the center of the ultrasonic probe as the origin, thereby realizing the conversion from the image coordinate system to the space coordinate system. Of course, this is merely exemplary and not a limitation of the present disclosure.

Then, the transformation formula is transformed to obtain the transformation relationship from the space coordinate system to the image coordinate system, as follows:

therefore, the embodiment of the disclosure can bring the physical coordinates (py [0], py [1], py [2]) of the coordinate system established by taking the center of the ultrasonic probe as the origin into the conversion relation between the space coordinate system and the image coordinate system, and can obtain any three-dimensional image coordinate (pixel [0], pixel [1], pixel [2]), thereby realizing the conversion from the space coordinate system to the image coordinate system. Of course, this is merely exemplary and not a limitation of the present disclosure.

In some examples, the embodiment of the disclosure may display the converted pose information into an image coordinate system, so as to display the relative position relationship between the needle tip of the puncture needle and the target puncture point in real time in a visual interface. Therefore, according to the embodiment of the disclosure, a motion path (i.e., the above-mentioned first motion path) in a space between the needle tip and the target puncture point can be planned in the image coordinate system according to the relative position relationship between the needle tip and the target puncture point in the image coordinate system, the first motion path of the needle tip is converted into a motion path (i.e., the above-mentioned third motion path) of the non-closed positioning hole 1350 by conversion, the third motion path is converted into a second motion path based on the space coordinate system, and then a kinematic inverse solution is performed to obtain a motion trajectory of each puncture control element, so as to implement navigation of the puncture needle 1200. For example, the tip of the puncture needle may be displayed in real time in the image during the control.

For example, in a three-dimensional ultrasonic image in an image coordinate system, the phase between the needle tip of the puncture needle and the target puncture point can be knownThe position relation. Therefore, the embodiment of the disclosure can plan a motion path (i.e. a first motion path) from the current position to the target puncture point of the puncture needle, where the first motion path is a motion track of the needle tip in an image coordinate system, and a pose matrix of each point on the motion track can be recorded as

In some examples, where the actual physical gauge of the needle 1200 is determined, the length of the needle is determined and the matrix of the positions of the needle tip {3} relative to the coordinate system {1} of the non-occluded locating hole 1350 is known from the above

From this, the movement path of the non-closed positioning hole 1350 in the image coordinate system (i.e. the third movement path mentioned above) can be determined according to the conversion, and the calculation formula of each point on the third movement path is:

where k is the image resolution. The third motion path is the motion trajectory of the non-closed positioning hole 1350 under the image coordinate system {2 }.

In some examples, based on the third motion path of the non-closed positioning hole 1350 in the image coordinate system, the embodiment of the disclosure determines the corresponding motion path (i.e., the second motion path mentioned above) based on the space coordinate system {0} through conversion, and the calculation formula of each point on the second motion path is:

the second motion path is the motion trajectory of the non-closed positioning hole 1350 under the space coordinate system {0 }.

From the above, some embodiments of the present disclosure can learn that the pose matrix of each point on the second motion path is, based on the second motion path of the coordinate system {1} relative to the spatial coordinate system {0} of the non-closed positioning hole 1350

Accordingly, embodiments of the present disclosure may implement a second motion path based on the specific structure of the puncturing device and the non-closed positioning hole 1350 to solve the motion trajectory of each puncturing control according to the kinematics principle of the robot.

For example, one example of a robot kinematics calculation method is as follows: the pose matrix of the non-closed positioning hole 1350 relative to the space coordinate system {0} is set as follows:

wherein rij is a parameter of the rotation matrix; 1,2,3, j 1,2, 3; p is a radical of _x ,p _y ,p _z Respectively, are parameters of the position vector.

For example, the positive kinematic formula for puncture positioning armset 1600 is as follows:

the pose matrix of the formula (1) is known, and the formula (1) is equal to the formula (2), so that the angle value corresponding to each component in the formula (2) can be calculated. Thus, the following results were obtained:

θ ₁ ＝atan2(p _y -a ₃ ,p _x +d ₄ )-atan2(k ₂ ,k ₁ )

θ ₂ ＝atan2(s2,c2)

θ ₃ ＝-θ ₁ -θ ₂ +90°+x

θ ₄ ＝atan2(-r31,-r32)

wherein, theta ₁ +θ ₂ +θ ₃ ＝x，k ₁ ＝a1+a2·c2，k ₂ ＝a2·s2。

According to the foregoing, the embodiment of the disclosure may convert the motion trajectory of the non-closed positioning hole under the space coordinate system {0} into the motion trajectory of each joint component in the puncture positioning arm set 1600, so as to determine the motion trajectory of each puncture control component of the puncture control part, thereby implementing navigation of the puncture needle.

In some examples, the puncture navigation method further includes the following processes or steps: comparing the needle inserting direction of the puncture planning information with the current direction of the first motion path visualized in real time to determine a deviation value between the needle inserting direction and the current direction; and in response to the deviation value being greater than or equal to the preset angular deviation, updating the first motion path of the puncture needle 1200 based on the deviation value to update the second motion path such that the puncture needle 1200 is navigated by the at least one puncture control member based on the updated second motion path until the deviation value between the needle insertion direction and the current direction of the puncture planning information is less than the preset angular deviation.

According to the embodiment of the disclosure, the puncture navigation is automatically compensated by visually displaying the theoretical needle inserting direction of the puncture needle and the real-time motion direction of the puncture needle in real time, so that the accuracy of the puncture navigation is favorably improved, and more accurate treatment is realized.

In some examples, when the non-closed pilot hole 1350 of the embodiments of the present disclosure reaches the target end position, the actual ultrasound probe will move to the depth (cross-sectional position) and angle (sagittal cross-sectional position) of the selected needle gauge at the same time, and then mark the position of the selected needle gauge under real-time ultrasound imaging. When the ultrasonic probe and the puncture positioning arm set 1600 are moved to the right position, the puncture operation is started. For example, under a real-time ultrasound image, the automatic needle insertion mechanism will insert the puncture needle 1200 into the prostate, and during the puncture process, the puncture needle 1200 is inserted 5mm each time (for example, the insertion depth is not limited to 5mm, which can be set according to actual situations), and it is automatically checked whether the puncture needle 1200 and the target puncture point are on the same straight line under the real-time ultrasound image. For example, it is shown in the cross section that if there is a deviation value (angular deviation) between the desired needle insertion direction and the actual current needle insertion direction, and the deviation value is equal to or greater than a preset angular deviation (the preset angular deviation is equal to or greater than zero), the deviation value may be fed back to a controller (for example, a correction control unit described below), and the controller may perform position and orientation compensation based thereon to update the second motion path, so that the puncture needle 1200 is navigated based on the updated second motion path until the deviation value between the desired needle insertion direction and the current direction meets the condition, and then insert the puncture needle by 5mm, and cyclically perform a 5mm insertion and then examination until the needle tip of the puncture needle reaches the target puncture point, thereby completing the puncture of the puncture needle. Of course, this is merely exemplary and not a limitation of the present disclosure.

Fig. 20 is a schematic block diagram of a puncture navigation system according to some embodiments of the present disclosure.

For example, as shown in fig. 21, a puncture navigation system 2000 for a puncture device 1000 provided in at least one embodiment of the present disclosure includes a positioning module 2100, an ultrasound image acquisition module 2200, a puncture planning module 2300, a coordinate system conversion module 2400, a first motion path determination module 2500, a second motion path determination module 2600, and a navigation processing module 2700.

The positioning module 2100 is configured to position the puncture needle 1200 based on the base 1500, and determine first three-dimensional coordinate information of the puncture needle 1200 in a spatial coordinate system, which may be based on the coordinate system established by the base 1500. The spatial coordinate system of the present disclosure refers to an absolute coordinate system of an objective three-dimensional space, which may also be referred to as a world coordinate system, and is a three-dimensional coordinate system established with a point on the base 1500 as an origin.

The ultrasound image acquisition module 2200 is configured to acquire a set of ultrasound images of the target tissue acquired by the ultrasound probe in real time to determine a three-dimensional ultrasound image corresponding to the set of ultrasound images.

The puncture planning module 2300 is configured to perform a puncture plan for the puncture needle 1200 based on the three-dimensional ultrasound image to determine puncture plan information, the puncture plan information including a needle insertion point position of the puncture needle 1200, a needle insertion direction of the puncture needle 1200, and a target puncture point position of the puncture needle 1200.

The coordinate system transformation module 2400 is configured to establish a transformation relationship between an image coordinate system and a spatial coordinate system of the ultrasound image, so that a real-time image position of the first three-dimensional coordinate information within the image coordinate system is determined based on the transformation relationship between the image coordinate system and the spatial coordinate system, so as to visualize a relative position between the puncture needle 1200 and the target puncture point position in the image coordinate system in real time. For example, the image coordinate system of an ultrasound image may also be referred to as an image pixel coordinate system.

The first motion path determination module 2500 is configured to determine a first motion path of the puncture needle 1200 based on a relative position between the puncture needle 1200 and a target puncture point location in an image coordinate system.

The second motion path determination module 2600 is configured to determine a second motion path of the puncture guide in the spatial coordinate system having a predetermined positional relationship with the puncture needle 1200 based on the first motion path in the image coordinate system.

The navigation processing module 2700 is configured to navigate the puncture needle 1200 through the at least one puncture control of the puncture control based on the second motion path of the puncture guide in the spatial coordinate system.

According to the puncture navigation system disclosed by the embodiment of the disclosure, under the condition that a binocular vision positioning device is not adopted and optical markers are not arranged on the puncture needle and the ultrasonic probe, the relative position relation between the puncture needle and a target puncture point can be acquired in real time, so that the cost can be saved, the complexity of the structure of the ultrasonic probe and the puncture needle can be reduced, and the operation of an operator is facilitated. The puncture needle is converted into the image coordinate system from the space coordinate system, so that the relative position between the puncture needle and the target puncture point can be visualized, the puncture needle is visually displayed, and the puncture navigation is automatically compensated through visual display, so that the puncture navigation accuracy is improved, and more accurate treatment is realized.

Fig. 21 is a schematic composition diagram of a navigation processing module according to some embodiments of the present disclosure.

For example, as shown in fig. 21, the navigation processing module 2700 includes a control movement trajectory determination unit 2710 and a driving device 2720. The control-member movement-trajectory determination unit 2710 is configured to determine the movement trajectory of each puncture control member based on the puncture device 1000 and the second movement path. The driving device 2720 is drivingly connected to each puncture control member and configured to drive the puncture control members to move along the corresponding movement traces to navigate the puncture needle 1200.

Fig. 22 is a schematic diagram of a second motion path determining module according to some embodiments of the present disclosure.

In some examples, the piercing guide is a non-closed locating hole 1350. Thus, the second motion path determination module 2600 includes a first determination unit 2610 and a second determination unit 2620, as shown in fig. 22. The first determination unit 2610 is configured to determine a third movement path of the non-closing positioning hole 1350 in the image coordinate system based on the puncture needle image specification of the puncture needle 1200 in the image coordinate system and the first movement path. The second determining unit 2620 is configured to determine a second movement path of the non-closed positioning hole 1350 within the space coordinate system based on a conversion relationship between the image coordinate system and the space coordinate system and the third movement path in the image coordinate system.

For example, for the example of fig. 22, the positioning module 2100 is configured to determine the first three-dimensional coordinate information of the needle 1200 based on the three-dimensional coordinate information of the non-closed positioning bore 1350 in the spatial coordinate system and the actual physical specification of the needle 1200 in the spatial coordinate system.

In some examples, for the example of fig. 22, the first three-dimensional coordinate information of the needle 1200 includes three-dimensional coordinate information of the tip of the needle 1200 within a spatial coordinate system. This is merely exemplary and is not a limitation of the present disclosure.

In some examples, the positioning module 2100 is further configured to position the ultrasound probe, acquiring second three-dimensional coordinate information of the ultrasound probe within the spatial coordinate system.

In some examples, the driving device 2720 includes multiple sets of driving mechanisms, each set of driving mechanisms being in driving connection with a corresponding piercing control member to move the piercing control member along a corresponding second trajectory.

In some examples, the center of the base 1500 may serve as the origin (0,0,0) of a spatial coordinate system, such that the first three-dimensional coordinate information of the puncture needle 1200 is determined based on the positional relationship between the puncture needle 1200 and the base 1500 (e.g., the positional relationship between the tip of the puncture needle 1200 and the base 1500), and the second three-dimensional coordinate information of the ultrasound probe is determined based on the positional relationship between the ultrasound probe and the base 1500. At this time, the spatial coordinate system may be established by taking the horizontal direction of the base 1500 as the horizontal axis of the spatial coordinate system, the vertical direction of the base 1500 as the vertical axis of the spatial coordinate system, and the advancing direction of the ultrasonic module 1100 as the vertical axis of the spatial coordinate system. This is merely exemplary and not a limitation of the present disclosure.

The embodiment of the disclosure establishes a spatial coordinate system based on the base of the puncture device and can conveniently and accurately determine the positions of the puncture needle and the ultrasonic probe in the spatial coordinate system based on the position relations between the puncture needle 1200 and the base 1500 and between the ultrasonic probe and the base 1500, thereby being beneficial to the transformation of the coordinate system to realize the navigation of the puncture needle.

It should be noted that some embodiments of the present disclosure are not limited to the above-mentioned establishment of the spatial coordinate system based on the base, and may also use other positions as an origin to establish the spatial coordinate system, for example, a position on the base connected to the puncturing control element may also be used as the origin of the spatial coordinate system.

For example, the puncture navigation system 2000 further includes a display module (not shown) configured to visualize, in real-time, at least one of: an ultrasound image (e.g., a real-time original ultrasound image shown in fig. 6), a three-dimensional ultrasound image, a needle point of the puncture needle, a relative position between the needle point of the puncture needle and a target puncture point position, and a first movement path of the puncture needle.

Therefore, the embodiment of the disclosure can conveniently and accurately monitor the navigation condition of the puncture needle in real time, and has a certain guiding effect on puncture navigation. For example, the embodiment of the disclosure can also visualize the relative position between the puncture needle and the target puncture point, and intuitively show the puncture needle, and the embodiment of the disclosure can realize automatic compensation of puncture navigation through intuitive display, thereby being beneficial to improving the accuracy of puncture navigation and realizing more accurate treatment.

In some examples, the present disclosure may assist navigation by real-time ultrasound, and verify whether the planned motion trajectory of the puncture needle is accurate by obtaining the planned motion trajectory, so that the navigation result is accurate to meet the expected requirement. In other examples, the present disclosure may assist navigation by real-time ultrasound in combination with MR to verify that the motion trajectory of the needle planned by the acquisition is accurate. This allows the navigation results to be accurate to meet the desired requirements.

Fig. 23 is a schematic composition diagram of a coordinate system conversion unit according to some embodiments of the present disclosure.

In some examples, as shown in fig. 23, the coordinate system conversion module 2400 includes a coordinate system conversion unit 2410, and the coordinate system conversion unit 2410 is configured to convert the image coordinate system of the ultrasound image to the spatial coordinate system based on the ultrasound image and the second three-dimensional coordinate information of the ultrasound probe to establish a conversion relationship between the image coordinate system and the spatial coordinate system.

For example, as shown in fig. 23, the coordinate system conversion unit 2410 includes a morphological image processing unit 2411, a pixel statistics unit 2412, a conversion processing unit 2413, and a conversion establishing unit 2414. The morphological image processing unit 2411 is configured to perform morphological image processing on the ultrasound image to determine a target image region. The pixel statistics unit 2412 is configured to obtain a pixel statistical distribution based on the target image area. The conversion processing unit 2413 is configured to determine a conversion ratio between the diameter of the ultrasound probe and the number of pixel pitches occupied by the diameter of the ultrasound probe based on the pixel statistic distribution map and the predetermined diameter of the ultrasound probe (the diameter of the ultrasound probe in the spatial coordinate system). The conversion establishing unit 2414 is configured to convert the image coordinate system to a spatial coordinate system based on the conversion ratio and the second three-dimensional coordinate information, and establish a conversion relationship between the image coordinate system and the spatial coordinate system.

Fig. 24 is a schematic composition diagram of a coordinate system conversion unit according to another embodiment of the present disclosure.

For example, as shown in fig. 24, the morphological image processing unit 2411 of the coordinate system conversion unit 2410 includes a binarization sub-unit 2411a and a labeling processing sub-unit 2411 b. The binarization sub-unit 2411a is configured to binarize the ultrasound image to acquire a first processed image. The labeling processing sub-unit 2411b is configured to obtain a second processed image by performing area communication and labeling on the first processed image to obtain a plurality of identification communication areas, determine a target image area from the plurality of identification communication areas, and thereby obtain a third processed image. For example, the target image area includes two target marker connected areas of the plurality of marker connected areas, which are largest and second largest in area.

In some examples, the first processed image is an initial binary image obtained after an original image of the ultrasound image is subjected to binarization processing. The second processed image and the third processed image are processed binary images obtained after the initial binary image is subjected to labeling processing.

For example, as shown in fig. 24, the conversion processing unit 2413 of the coordinate system conversion unit 2410 includes a defining processing sub-unit 2413a, a circle center obtaining sub-unit 2413b, and a pixel-to-physical distance conversion sub-unit 2413 c. The defining processing sub-unit 2413a is configured to obtain a boundary between the cross section of the two target identification connected regions and the sagittal section and pixel coordinates corresponding to the boundary based on the statistical distribution of pixels. The circle center sub-obtaining unit 2413b is configured to determine, based on the boundary line, a circle center of a semicircular area surrounded by ends of the two target identifier communicating areas close to each other on the third processed image, where the semicircular area and the identifier communicating area are different in color. The pixel-to-physical distance conversion sub-unit 2413c is configured to determine the diameter of the ultrasound probe, determine the number of pixel pitches occupied by the diameter based on the center of the circle, and determine the conversion ratio based on the number of pixel pitches occupied by the diameter.

For example, as shown in fig. 24, the conversion setup unit 2414 includes a first setup sub-unit 2414a and a second setup sub-unit 2414 b. The first establishing sub-unit 2414a is configured to determine a horizontal axis and a vertical axis perpendicular to each other based on the circle center, the conversion ratio, and the pixel coordinates corresponding to the boundary line. The second establishing sub-unit 2414b is configured to take the depth of the ultrasonic probe as a vertical axis and convert the image coordinate system into the spatial coordinate system based on the set of ultrasonic images and the second three-dimensional coordinate information.

Fig. 25 is a schematic diagram of a calibration module according to some embodiments of the present disclosure.

For example, as shown in fig. 20 and 25, the puncture navigation system 2000 may further include a correction module 2800, the correction module 2800 including a comparison unit 2810 and a correction control unit 2820. The comparing unit 2810 is configured to compare the needle insertion direction of the puncture planning information with the current direction of the first motion path visualized in real time, and determine a deviation value between the needle insertion direction and the current direction. The correction control unit 2820 is configured to: in response to the deviation value being greater than or equal to the preset angular deviation, the first motion path of the puncture needle is updated based on the deviation value to update the second motion path, so that the navigation processing module 2700 performs the navigation of the puncture needle 1200 through the at least one puncture control member based on the updated second motion path until the deviation value between the needle insertion direction and the current direction is less than the preset angular deviation.

It should be noted that in the embodiment of the present disclosure, the puncture navigation system 2000 may include more or less modules, and the connection relationship between the modules is not limited and may be determined according to actual requirements. The specific configuration of each module is not limited. It should be further noted that, for the specific components, functions, and technical effects of the puncture navigation system according to some embodiments of the present disclosure, reference may be made to the above description on the puncture navigation method, and for brevity of description of the present disclosure, detailed description is omitted herein.

The various modules in the above embodiments may each be configured as software, hardware, firmware, or any combination thereof that performs a particular function. For example, the modules may correspond to an application specific integrated circuit, to pure software code, or to a combination of software and hardware.

It should be noted that, although the puncture navigation system is described above as being divided into modules for respectively executing corresponding processes, it is clear to those skilled in the art that the processes executed by the modules may also be executed without any specific division of the modules by the puncture navigation system or without explicit demarcation between the modules.

At least one embodiment of the present disclosure also provides a lancing device that includes a base (e.g., base 1500), a lancet (e.g., lancet 1200), a lancet control, and an ultrasound probe. The base is configured to establish a spatial coordinate system based thereon. The position information of the puncture needle in the space coordinate system is first three-dimensional coordinate information. The penetration control part comprises at least one penetration control piece. The at least one penetration control includes a penetration positioning arm set (e.g., penetration positioning arm set 1600) and a penetration depth control barrier (e.g., penetration depth control barrier 1340). The puncture positioning arm set is arranged on the base and is configured to puncture and position the puncture needle, and the puncture depth control block is provided with a non-closed positioning hole for the puncture needle to pass through. The ultrasound probe is configured to acquire a set of ultrasound images of a target tissue to determine a three-dimensional ultrasound image corresponding to the set of ultrasound images, to perform a puncture plan for the puncture needle based on the three-dimensional ultrasound images to determine puncture plan information and to determine a real-time image position of the first three-dimensional coordinate information within the image coordinate system based on a transformation relationship between the image coordinate system and the space coordinate system of the ultrasound images to visualize a relative position between the puncture needle and the target puncture point position in the image coordinate system in real time, wherein the puncture plan information includes a needle insertion point position of the puncture needle, a needle insertion direction of the puncture needle, and the target puncture point position of the puncture needle. Determining a first motion path of the puncture needle based on the relative position between the puncture needle and the position of the target puncture point in an image coordinate system; determining a second motion path of the puncture guide member in the space coordinate system, wherein the second motion path has a preset position relation with the puncture needle on the basis of the first motion path in the image coordinate system; navigation of the puncture needle is performed by the at least one puncture control member based on the second motion path in the spatial coordinate system.

In some examples, with the above-mentioned puncture apparatus, the ultrasound probe is movably disposed on the base, and the position information of the ultrasound probe within the spatial coordinate system is the second three-dimensional coordinate information, so that the image coordinate system of the ultrasound image is converted to the spatial coordinate system based on the ultrasound image and the second three-dimensional coordinate information to establish a conversion relationship between the image coordinate system and the spatial coordinate system.

It should be noted that, for the functions, technical effects, and the like of the puncture device according to the embodiments of the present disclosure, reference may be made to the above description on the puncture navigation method and system, and details are not repeated here.

Fig. 26 is a schematic structural diagram of an electronic device according to at least one embodiment of the present disclosure, where the electronic device 3000 includes a processor 3100 and a memory 3200, where the memory 3200 has a computer program stored thereon, and when the computer program is executed by the processor 3100, the method for performing puncture navigation according to at least some embodiments of the present disclosure is implemented.

The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as notebook computers, tablet computers, and the like, and stationary terminals such as desktop computers and the like. The electronic device shown in fig. 23 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

For example, the processes described above with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. When executed by the processor, the computer program performs the puncture navigation method of the disclosed embodiments.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, however, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.

It should be noted that, in the embodiment of the present disclosure, reference may be made to the above description on the puncture navigation method for specific functions and technical effects of the electronic device 3000, and details are not described here.

The following points need to be explained:

(1) the drawings of the embodiments of the disclosure only relate to the structures related to the embodiments of the disclosure, and other structures can refer to common designs.

(2) Without conflict, embodiments of the present disclosure and features of the embodiments may be combined with each other to arrive at new embodiments.

The above are only specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and the scope of the present disclosure should be subject to the scope of the claims.

Claims

1. A puncture navigation system for a puncture device including a base, a puncture needle, an ultrasound probe, and a puncture control having at least one puncture control, the puncture navigation system comprising:

the positioning module is configured to position the puncture needle based on the base and determine first three-dimensional coordinate information of the puncture needle in a spatial coordinate system, wherein the spatial coordinate system is a coordinate system established based on the base;

an ultrasonic image acquisition module configured to acquire a group of ultrasonic images of a target tissue acquired by the ultrasonic probe to determine a three-dimensional ultrasonic image corresponding to the group of ultrasonic images;

a puncture planning module configured to perform a puncture plan for the puncture needle based on the three-dimensional ultrasound image to determine puncture planning information, wherein the puncture planning information includes a needle insertion point position of the puncture needle, a needle insertion direction of the puncture needle, and a target puncture point position of the puncture needle;

a coordinate system transformation module configured to establish a transformation relationship between an image coordinate system of the ultrasound image and the spatial coordinate system such that a real-time image position of the first three-dimensional coordinate information within the image coordinate system is determined based on the transformation relationship to visualize a relative position between the puncture needle and the target puncture point position in the image coordinate system in real time;

a first motion path determination module configured to determine a first motion path of the puncture needle based on a relative position between the puncture needle and the target puncture point location in the image coordinate system;

a second motion path determination module configured to determine a second motion path of a puncture guide having a predetermined positional relationship with the puncture needle in the spatial coordinate system based on the first motion path in the image coordinate system;

a navigation processing module configured to navigate the puncture needle through the at least one puncture control based on the second motion path in the spatial coordinate system.

2. The puncture navigation system of claim 1, wherein the navigation processing module comprises:

a control motion trajectory determination unit configured to determine a motion trajectory of each of the at least one piercing controls based on the piercing device and the second motion path;

the driving device is in driving connection with the at least one puncture control piece and is configured to drive each of the at least one puncture control piece to move along the corresponding motion track so as to navigate the puncture needle.

3. The puncture navigation system of claim 1, wherein the first three-dimensional coordinate information of the puncture needle includes three-dimensional coordinate information of the needle tip of the puncture needle within the spatial coordinate system, and the first movement path of the puncture needle includes a first movement path of the needle tip of the puncture needle.

4. The puncture navigation system of claim 1, wherein the at least one puncture control comprises a puncture positioning arm set and a puncture depth control barrier, the puncture positioning arm set being disposed on the base and configured to puncture position the puncture needle, the puncture depth control barrier comprising the puncture guide;

the puncture guide is a non-closed positioning hole for the puncture needle to pass through, and the second motion path determining module comprises:

a first determination unit configured to determine a third movement path of the non-closed positioning hole in the image coordinate system based on a puncture needle image specification of the puncture needle in the image coordinate system and the first movement path;

a second determination unit configured to determine the second motion path of the non-closed positioning hole within the space coordinate system based on the conversion relationship and the third motion path in the image coordinate system.

5. The puncture navigation system according to claim 4,

the positioning module is configured to determine the first three-dimensional coordinate information of the puncture needle according to the three-dimensional coordinate information of the non-closed positioning hole in the space coordinate system and the actual physical specification of the puncture needle in the space coordinate system.

6. The puncture navigation system of claim 4, further comprising a display module, wherein,

the display module is configured to visualize in real-time at least one of: the ultrasonic image, the three-dimensional ultrasonic image, the needle point of the puncture needle, the relative position between the needle point of the puncture needle and the target puncture point position and the first motion path of the puncture needle.

7. The puncture navigation system of claim 6, further comprising a correction module, wherein the correction module comprises:

the comparison unit is configured to compare the needle inserting direction of the puncture planning information with the current direction of the first motion path visualized by the display module in real time, and determine a deviation value between the needle inserting direction and the current direction;

a correction control unit configured to: and in response to the deviation value being greater than or equal to a preset angle deviation, updating the first motion path of the puncture needle based on the deviation value to update the second motion path, so that the navigation processing module performs navigation of the puncture needle through the at least one puncture control piece based on the updated second motion path until the deviation value between the needle inserting direction and the current direction is smaller than the preset angle deviation.

8. The puncture navigation system of any one of claims 1 to 7, wherein the positioning module is further configured to position the ultrasound probe, and determine second three-dimensional coordinate information of the ultrasound probe within the spatial coordinate system.

9. A puncture navigation system according to claim 8, wherein a center of the base serves as an origin of the spatial coordinate system or a location on the base where a connection is made with a corresponding puncture control of the at least one puncture control serves as an origin of the spatial coordinate system, so that the positioning module determines the first three-dimensional coordinate information of the puncture needle based on a positional relationship between the puncture needle and the base, and determines the second three-dimensional coordinate information of the ultrasound probe based on a positional relationship between the ultrasound probe and the base.

10. The puncture navigation system of claim 8, wherein the coordinate system transformation module comprises:

a coordinate system conversion unit configured to convert an image coordinate system of the ultrasound image to the spatial coordinate system based on the ultrasound image and second three-dimensional coordinate information of the ultrasound probe to establish the conversion relationship between the image coordinate system and the spatial coordinate system.

11. The puncture navigation system according to claim 10, wherein the coordinate system conversion unit includes:

a morphological image processing unit configured to perform morphological image processing on the ultrasound image to determine a target image region;

a pixel statistical unit configured to acquire a pixel statistical distribution based on the target image area;

a conversion processing unit configured to determine a conversion ratio between the diameter of the ultrasonic probe and the number of pixel pitches occupied by the diameter of the ultrasonic probe based on the pixel statistical distribution map and the diameter of the ultrasonic probe determined in advance;

a conversion establishing unit configured to convert the image coordinate system to the space coordinate system based on the conversion ratio and the second three-dimensional coordinate information.

12. The puncture navigation system according to claim 11, wherein the morphological image processing unit includes:

a binarization subunit configured to binarize the ultrasound image to obtain a first processed image;

and the labeling processing subunit is configured to obtain a plurality of identification communication areas by performing area communication and marking on the first processing image to obtain a second processing image, and obtain the target image area from the plurality of identification communication areas to obtain a third processing image, wherein the target image area comprises two largest and second largest target identification communication areas in the plurality of identification communication areas.

13. The puncture navigation system of claim 12, wherein the conversion processing unit comprises:

the defining processing subunit is configured to obtain a boundary between the cross section of the two target identifier connected regions and the sagittal section and a pixel coordinate corresponding to the boundary based on the pixel statistical distribution;

a circle center obtaining subunit, configured to determine, based on the boundary line, a circle center of a semicircular area surrounded by ends of the two target identifier connected areas close to each other on the third processed image, where the semicircular area and the identifier connected area are different in color;

and the pixel and physical distance conversion sub-unit is configured to determine the diameter of the ultrasonic probe, determine the number of pixel intervals occupied by the diameter based on the circle center, and determine the conversion ratio based on the number of the pixel intervals occupied by the diameter.

14. The puncture navigation system of claim 13, wherein the conversion establishing unit includes:

a first establishing subunit configured to determine a horizontal axis and a vertical axis that are perpendicular to each other based on the circle center, the conversion ratio, and pixel coordinates corresponding to the boundary;

a second establishing subunit configured to take the depth of the ultrasound probe as a vertical axis and convert the image coordinate system to the spatial coordinate system based on the set of ultrasound images and the second three-dimensional coordinate information.

15. A puncture navigation method for a puncture device including a base, a puncture needle, an ultrasonic probe, and a puncture control section having at least one puncture control member, the puncture navigation method comprising:

establishing a space coordinate system, wherein the space coordinate system is a coordinate system established on the basis of the base;

determining first three-dimensional coordinate information of the puncture needle in the space coordinate system based on the base;

acquiring a group of ultrasonic images of target tissues acquired by the ultrasonic probe to determine a three-dimensional ultrasonic image corresponding to the group of ultrasonic images;

performing puncture planning for the puncture needle based on the three-dimensional ultrasonic image to determine puncture planning information, wherein the puncture planning information comprises a needle inserting point position of the puncture needle, a needle inserting direction of the puncture needle and a target puncture point position of the puncture needle;

establishing a conversion relation between an image coordinate system of the ultrasonic image and the space coordinate system, so that a real-time image position of the first three-dimensional coordinate information in the image coordinate system is determined based on the conversion relation, and a relative position between the puncture needle and the target puncture point position is visualized in the image coordinate system in real time;

determining a first motion path of the puncture needle based on a relative position between the puncture needle and the target puncture point position in the image coordinate system;

determining a second motion path of a puncture guide having a predetermined positional relationship with the puncture needle in the spatial coordinate system based on the first motion path in the image coordinate system;

navigating the puncture needle through the at least one puncture control based on the second motion path in the spatial coordinate system.

16. An electronic device, comprising:

a processor and a memory, wherein the processor is capable of processing a plurality of data,

wherein the memory has stored thereon a computer program which, when executed by the processor, implements the puncture navigation method of claim 15.

17. A computer-readable storage medium, wherein the storage medium has stored therein a computer program which, when executed by a processor, implements the puncture navigation method according to claim 15.

18. A lancing device, comprising:

a base configured to establish a spatial coordinate system based thereon;

the puncture needle comprises a puncture needle body, a first side plate and a second side plate, wherein the position information of the puncture needle body in the space coordinate system is first three-dimensional coordinate information;

the puncture control part comprises at least one puncture control piece, wherein the at least one puncture control piece comprises a puncture positioning arm set and a puncture depth control baffle, the puncture positioning arm set is arranged on the base and is configured to puncture and position the puncture needle, and the puncture depth control baffle is provided with a non-closed positioning hole for the puncture needle to pass through;

an ultrasound probe configured to acquire a set of ultrasound images of a target tissue to determine a three-dimensional ultrasound image corresponding to the set of ultrasound images, to perform a puncture plan for the puncture needle based on the three-dimensional ultrasound images to determine puncture plan information and to determine a real-time image position of the first three-dimensional coordinate information within an image coordinate system based on the transformation relationship by establishing a transformation relationship between the image coordinate system and the space coordinate system of the ultrasound images to visualize a relative position between the puncture needle and the target puncture point position in the image coordinate system in real time, wherein the puncture plan information includes a needle insertion point position of the puncture needle, a needle insertion direction of the puncture needle, and the target puncture point position of the puncture needle;

wherein a first motion path of the puncture needle is determined based on a relative position between the puncture needle and the target puncture point position in the image coordinate system,

determining a second motion path of a puncture guide having a predetermined positional relationship with the puncture needle in the spatial coordinate system based on the first motion path in the image coordinate system,

19. The lancing device of claim 18,

the ultrasonic probe is movably arranged on the base, and the position information of the ultrasonic probe in the space coordinate system is second three-dimensional coordinate information, so that the image coordinate system of the ultrasonic image is converted into the space coordinate system based on the ultrasonic image and the second three-dimensional coordinate information to establish the conversion relation between the image coordinate system and the space coordinate system.