CN115317098A

CN115317098A - Method and device for controlling implantation of radioactive particles, electronic apparatus, and storage medium

Info

Publication number: CN115317098A
Application number: CN202211014508.8A
Authority: CN
Inventors: 王宁; 谷野; 王枫; 王苑铮; 张颖
Original assignee: Shenyang Aijian Network Technology Co ltd
Current assignee: Shenyang Aijian Network Technology Co ltd
Priority date: 2022-08-23
Filing date: 2022-08-23
Publication date: 2022-11-11

Abstract

The application discloses a radioactive particle implantation control method, a radioactive particle implantation control device, electronic equipment and a storage medium, wherein the method and the device are used for carrying out image recognition based on a registration plate image on a puncture plane to obtain a perspective transformation parameter; carrying out perspective transformation on the three-dimensional live-action image based on the perspective transformation parameters to obtain a simulated image; marking the initial position of the puncture needle clamped by the robot in the simulated image based on the simulated image; acquiring a medical image of a patient on an examination bed; carrying out image registration processing on the medical image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system and the medical image; converting the target point, the needle inlet point and the puncture path on the medical image into a plurality of parameters such as a target point coordinate, a needle inlet point coordinate and a puncture path coordinate based on a robot coordinate system based on a coordinate conversion relation; and performing implant control based on the plurality of parameters. The scheme does not depend on experience and state of an operator, thereby improving implantation precision.

Description

Method and device for controlling implantation of radioactive particles, electronic apparatus, and storage medium

Technical Field

The present application relates to the field of medical device technology, and more particularly, to a method and an apparatus for controlling implantation of radioactive particles, an electronic device, and a storage medium.

Background

The radioactive particle implantation is an effective means for treating malignant tumor, and the basic principle is that a sealing seed source with radioactivity is implanted into or around a tumor focus through a puncture needle, and gamma rays emitted by the particles kill tumor cells. The therapeutic effect and side effects depend mainly on the location, amount and dose of the implanted radioactive particles. Therefore, the radioactive seeds must be implanted accurately at locations within or around the tumor lesion.

Currently, the operator is generally required to perform a puncture and insert a radioactive seed based on a radioactive seed implantation planning system (TPS) according to a CT scan image to complete the implantation of the seed. The whole process requires the surgeon to have more experience and better state to plan well. Since manual operation is heavily dependent on the experience of the operator and the individual condition, it is difficult to ensure accurate implantation for each operation.

Disclosure of Invention

In view of the above, the present application provides a method, an apparatus, an electronic device, and a storage medium for controlling a medical robot to provide navigation control when performing percutaneous puncture and implanting radioactive seeds, so as to improve the accuracy of implanting radioactive seeds.

In order to achieve the above object, the following solutions are proposed:

a radioactive particle implantation control method is applied to electronic equipment and used for navigation control of a medical robot in an interventional operation room, the interventional operation room is provided with a medical imaging device and an image acquisition device, a puncture needle of the medical robot is positioned on a puncture plane perpendicular to an examination bed of the medical imaging device, and the robot implantation control method comprises the following steps:

performing image recognition based on the registration plate image of the registration plate on the puncture plane, which is acquired by the image acquisition equipment, to obtain perspective transformation parameters;

carrying out perspective transformation on the three-dimensional live-action image acquired by the image acquisition equipment based on the perspective transformation parameters to obtain a simulated image of the three-dimensional live-action image;

marking the initial position of the puncture needle clamped by the medical robot in the simulated image to obtain the current position of the puncture needle;

acquiring medical images of a patient on the examination bed and treatment plan information of a radioactive particle implantation planning system, wherein at least a target point, an injection point, a puncture path, path quantity, injection depth, an implanted particle position, activity and quantity are marked on the medical images;

registering the medical image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system of the medical robot and the medical image;

performing coordinate transformation on the current position, the target point, the needle feeding point and the puncture path based on the coordinate transformation relation to obtain a current position coordinate, a target point coordinate, a needle feeding point coordinate and a puncture path coordinate based on the robot coordinate system;

and in the process of implanting the patient by the medical robot, performing navigation control on the medical robot based on the current position coordinate, the target point coordinate, the needle feeding point coordinate and the puncture path coordinate.

Optionally, the medical image comprises a partial, full or fused image of a CT image, an MRI image and a PET-CT image.

Optionally, the navigation control of the medical robot based on the target point coordinate, the needle insertion point coordinate and the puncture path coordinate includes:

resolving the target point coordinate, the needle feeding point coordinate and the puncture path coordinate to obtain a needle feeding path, a needle holding angle posture and a maximum puncture depth of the puncture needle reaching the needle feeding point;

and controlling the medical robot based on the current position of the puncture needle, the needle inserting path, the needle holding angle posture and the maximum puncture depth.

Optionally, the method further comprises the steps of:

and verifying the implantation effect, finishing implantation if the implantation effect meets the requirement, and restarting implantation operation from the acquisition of the medical image and the treatment plan information if the implantation effect does not meet the requirement.

An implantation control device of radioactive seeds, applied to an electronic device, for performing navigation control on a medical robot in an interventional operating room, wherein the interventional operating room is provided with a medical imaging device and an image acquisition device, a puncture needle of the medical robot is positioned on a puncture plane perpendicular to an examining table of the medical imaging device, the implantation control device comprises:

the image identification module is configured to perform image identification on the basis of a registration plate image of a registration plate on the puncture plane, which is acquired by the image acquisition equipment, so as to obtain a perspective transformation parameter;

the image transformation module is configured to perform perspective transformation on the three-dimensional live-action image acquired by the image acquisition equipment based on the perspective transformation parameters to obtain a simulated image of the three-dimensional live-action image;

the position marking module is configured to mark the initial position of the puncture needle clamped by the medical robot in the simulated image to obtain the current position of the puncture needle;

the system comprises an image acquisition module, a radiation particle implantation planning system and a control module, wherein the image acquisition module is configured to acquire a medical image of a patient on the examination table and treatment planning information of the radiation particle implantation planning system, and at least a target point, a needle insertion point, a puncture path, the number of paths, a needle insertion depth, an implant particle position, activity and the number are marked on the medical image;

an image registration module configured to perform registration processing on the medical image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system of the medical robot and the medical image;

the coordinate transformation module is configured to perform coordinate transformation on the current position, the target point, the needle feeding point and the puncture path based on the coordinate transformation relation to obtain a current position coordinate, a target point coordinate, a needle feeding point coordinate and a puncture path coordinate based on the robot coordinate system;

and the implantation execution module is configured to perform navigation control on the medical robot based on the current position coordinate, the target point coordinate, the needle feeding point coordinate and the puncture path coordinate in the process of implanting the patient by the medical robot.

Optionally, the navigation executing module includes:

the data calculating unit is used for calculating the target point coordinate, the needle feeding point coordinate and the puncture path coordinate to obtain a needle feeding path, a needle holding angle posture and a maximum puncture depth of the puncture needle reaching the needle feeding point;

and the puncture control unit is used for controlling the medical robot based on the current position of the puncture needle, the needle inserting path, the needle holding angle posture and the maximum puncture depth.

Optionally, the method further includes:

and the verification treatment module is configured to verify the implantation effect, finish implantation if the requirement is met, and restart implantation operation from the acquisition of the medical image and the treatment plan information if the requirement is not met.

An electronic device comprising at least one processor and a memory coupled to the processor, wherein:

the memory is for storing a computer program or instructions;

the processor is configured to execute the computer program or instructions to enable the electronic device to implement the method for controlling the implantation of radioactive seeds as described above.

A storage medium applied to an electronic device, the storage medium being used to carry one or more computer programs, so that when the one or more computer programs are executed by the electronic device, the electronic device can be enabled to implement the implantation control method described above.

It can be seen from the above technical solutions that the present application discloses a method, an apparatus, an electronic device, and a storage medium for controlling implantation of radioactive seeds, the method and the apparatus specifically perform image recognition based on a registration plate image on a puncture plane to obtain a perspective transformation parameter; carrying out perspective transformation on the three-dimensional live-action image based on the perspective transformation parameters to obtain a simulated image; marking the initial position of the puncture needle clamped by the robot in the simulated image based on the simulated image; acquiring a medical image of a patient on an examination bed; carrying out image registration processing on the medical image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system and the medical image; converting information such as target point, needle insertion point, puncture path, needle insertion depth, implanted particle position, activity, quantity and the like on the medical image into a plurality of parameters such as target point coordinates, needle insertion point coordinates, puncture path coordinates and the like based on a robot coordinate system based on a coordinate conversion relation; and the medical robot is subjected to navigation control based on the plurality of parameters in the implantation process. The scheme does not depend on experience and state of an operator, so that the implantation precision of the radioactive particles is improved.

In addition, the scheme does not need to customize special surgical instruments, is convenient and smooth in surgical operation, convenient in equipment installation and deployment, low in acquisition cost and operation cost, and is more suitable for intelligent medical auxiliary setting with high cost performance for deployment and use in primary hospitals. And no identification device is arranged in the operation area, so that the infection risk in the operation is reduced; the navigation effect can be checked in real time, and the operation feedback in the operation is good in real-time performance.

Drawings

In order to more clearly illustrate the embodiments of the present application 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 application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of an interventional operating room according to an embodiment of the present application;

FIG. 2 is a flowchart of a method for controlling implantation of radioactive seeds according to an embodiment of the present application;

fig. 3 is a conceptual view of a real scene of a registration plate image according to an embodiment of the present application;

FIG. 4 is a simulated image of an embodiment of the present application;

FIG. 5 is a flow chart of another method for controlling the implantation of radioactive seeds according to an embodiment of the present disclosure;

FIG. 6 is a block diagram of a radioactive seed implantation control apparatus according to an embodiment of the present disclosure;

FIG. 7 is a block diagram of another radioactive seed implantation control apparatus according to an embodiment of the present application;

fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

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

The scheme disclosed in the application is applied to an interventional operating room and used for implementing navigation control on a medical robot in the operating room in the radioactive particle implantation process of a patient. The interventional operating room referred to in the present application is configured with a medical robot E, a medical imaging device a, an image acquisition device G, and a surface-shaped laser emitter B, as shown in fig. 1. The planar laser transmitter is used in an interventional operating room to assist the operator in visually establishing a puncture plane F. The interventional operating room is provided with a computer, a workstation or a server, and is respectively provided with physical connections with the medical robot, the medical imaging equipment, the image acquisition equipment and the planar laser emitter so as to realize the interaction of signals, data and information.

The medical imaging apparatus a is preferably a CT scanner whose bed C is perpendicular to the puncture plane, and the puncture plane is located on the patient D on the bed. The image acquisition equipment can select a common industrial camera which is provided with a fixed-focus optical lens. Based on the above configuration, the present application discloses the following embodiments to realize navigation control of the puncture path of the medical robot introduced into the operating room when the medical robot performs the radioactive seeds implantation operation on the patient.

Example one

Fig. 2 is a flowchart of a method for controlling implantation of radioactive seeds according to an embodiment of the present disclosure.

As shown in fig. 2, the method for controlling the implantation of radioactive seeds of the present embodiment is applied to an electronic device, which is a computer, a workstation, or a server configured in the interventional operating room and connected to the above devices. The implantation control method specifically comprises the following steps:

s1, image recognition processing is carried out based on the registration plate image.

Namely, image recognition is carried out on a registration plate image obtained by shooting a registration plate on a puncture plane based on image acquisition equipment, so that a simulated image of a three-dimensional live-action image corresponding to the registration plate image is obtained. The purpose of the calibration process is to obtain the perspective transformation parameters of the perspective transformation matrix as a basis for establishing the transformation relationship between the robot coordinate system and the CT scan image coordinate system.

And S2, carrying out perspective transformation on the three-dimensional live-action image based on the perspective transformation parameters.

Namely, the three-dimensional live-action image collected by the image collecting device is subjected to perspective transformation based on the perspective transformation parameters to obtain a simulated image of the three-dimensional live-action image.

As shown in fig. 3, a puncture plane is arranged on an examination bed of the CT scanning device, and a light surface emitted by the planar laser emitter is coplanar with a CT fault plane; the image acquisition equipment is placed at a proper position (such as a position with the side about 2.4m far away from the plane to be punctured, about 80cm far away from the center line of the examination bed and about 2.2m high) of the CT operation room and is connected with the workstation through a network cable interface;

and placing a registration plate H at the quasi-puncture position on the examination bed. And identifying the square blocks in the registration plate by using software, and acquiring the parameters of the perspective transformation matrix through software calculation. The image capturing device G in fig. 3 captures a realistic conceptual view of the puncture plane from a top view, i.e., the registration plate image. The puncture needle registration plate is arranged on the examination bed, is coplanar with the puncture plane, and is provided with a white square at the center; when the image acquisition device is shot from a top view angle, the square in the display image is not a standard square but a rhombus;

fig. 4 is a simulated image of the three-dimensional live-action image obtained by the perspective transformation of fig. 3, and after the perspective transformation processing, the squares of the registration plate in fig. 4 are transformed from diamonds to squares, i.e. a simulated image of the three-dimensional live-action image corresponding to the registration plate image is obtained.

And S3, marking the initial position of the puncture needle in the simulated image.

Namely, the initial position of the puncture needle is marked in the simulated image, so that the current position of the puncture needle is obtained.

And S4, acquiring a medical image of the patient.

Before each puncture operation, medical images obtained through various medical image acquisition means are acquired, and the medical images carry information such as target points, needle insertion points, puncture paths, needle insertion depths, activity and quantity of implanted particle positions and the like planned by a doctor or other professionals through a TPS (positron emission tomography) planning system. The medical image includes, but is not limited to, one or more of a CT image, an MRI image, and a PET-CT image.

The medical image is used for detecting a patient on an examination bed on the spot, and in the detection process, a laser positioning line carried by a CT imaging device is used for pasting a corresponding positioning mark on a puncture plane, so that the obtained CT image can generate corresponding characteristic points. The positioning mark does not need to be stuck on the body of the patient.

And S5, carrying out image registration processing on the medical image containing the treatment plan information of the patient and the simulated image of the three-dimensional real scene.

The transformation relation of the robot coordinate system of the medical robot relative to the coordinate system of the medical image is used. The specific scheme is as follows:

firstly, selecting two first characteristic points (A0 and B0) in a medical image of a patient, then selecting two second characteristic points (A1 and B1) corresponding to the actual positions of A0 and B0 in a simulated image of a three-dimensional real scene, carrying out image scaling, rotation and translation operations, and carrying out registration processing on the medical image of treatment plan information of the patient containing a radioactive particle implantation planning system and the simulated image of the three-dimensional real scene, namely realizing the preliminary corresponding relation between the medical image and the simulated image of the three-dimensional real scene;

and then, obtaining the transformation relation of the robot coordinate system relative to the medical image coordinate system according to the marked positions of the puncture needles clamped by the medical robot in the simulated image of the three-dimensional real scene. The medical image coordinate system is a coordinate system of a medical image obtained based on the puncture plane.

S6, position conversion is carried out on the target point, the needle inserting point and the puncture path.

Since the coordinate system of the medical image and the coordinate system of the robot are transformed based on the transformation relation, the position of the target point, the position of the needle insertion point, and the position of the puncture path on the medical image can be transformed based on the transformation relation after the medical image is acquired, so that the coordinates of the target point, the needle insertion point, and the puncture path based on the coordinate system of the robot can be obtained.

And S7, performing navigation control on the medical robot in the implantation process.

When puncture is carried out, the examination bed is moved firstly, the selected puncture layer surface, namely the puncture position, is moved to a puncture plane (namely a laser plane F), and the laser line of the puncture plane is superposed with the mark point of the selected puncture layer surface; at the moment, the position of the puncture needle clamped by the medical robot in the working face live-action image is the initial position of the puncture needle.

In the process of implanting radioactive seeds, firstly, the current position of a robot clamping puncture needle can be marked in a CT scanning image of a selected puncture layer; and resolving based on the target point coordinate, the needle feeding point coordinate and the puncture path coordinate to obtain parameters such as a motion path of the puncture needle reaching the needle feeding point, a needle holding angle posture, the maximum puncture depth, a step-by-step needle withdrawing position (particle position) and the like.

Then, the operator can select an executed needle inserting plan according to the operation requirement, then sends an operation instruction to the robot, drives the puncture needle to drive the radioactive particles to reach a corresponding needle inserting position, automatically aligns the puncture needle to a planned angle, and continuously executes puncture operation on the patient according to the motion path and the maximum penetration depth.

When the puncture needle punctures to 1/2 or 1/3 of the preset depth, repeating CT scanning verification, and if the angle and the needle inserting point meet the puncture precision requirement, continuing puncturing to the preset depth and implanting radioactive particles; otherwise, the appropriate adjustment is made.

It can be seen from the above technical solutions that, the present embodiment provides a method for controlling implantation of radioactive seeds, which is applied to electronic devices, and the method specifically performs image recognition based on an image of a registration plate on a puncture plane to obtain a perspective transformation parameter; carrying out perspective transformation on the three-dimensional live-action image based on the perspective transformation parameters to obtain a simulated image; marking the initial position of the puncture needle clamped by the robot in the simulated image based on the simulated image; acquiring medical images of a patient on an examination bed and related information of a treatment plan of a radioactive particle implantation planning system (TPS), wherein the medical images are at least marked with information such as target points, needle insertion points, puncture paths, path quantity, needle insertion depth, implant particle positions, activity, quantity and the like; carrying out image registration processing on the image and the simulated image to obtain a coordinate transformation relation between a robot coordinate system and the medical image; converting information such as target points, needle insertion points, puncture paths, needle insertion depth, implanted particle positions, activity, quantity and the like on the medical image into a plurality of parameters such as target point coordinates, needle insertion point coordinates, puncture path coordinates and the like based on a robot coordinate system based on a coordinate conversion relation; and the medical robot is subjected to navigation control based on the plurality of parameters in the implantation process. The scheme does not depend on experience and state of an operator, so that the implantation precision of the radioactive particles is improved. .

Practical experiments show that the scheme improves the positioning precision because the registration is directly carried out based on the medical image and the three-dimensional real scene; the mark device is not arranged in the operation area, so that the infection risk is reduced; the navigation effect can be checked in real time, and the operation feedback in the operation is good in real-time performance. And no identification device is arranged in the operation area, so that the infection risk in the operation is reduced; the navigation effect can be checked in real time, and the operation feedback in the operation is good in real-time performance.

In addition, the scheme does not need to customize special surgical instruments, is convenient and smooth in surgical operation, convenient in equipment installation and deployment, low in acquisition cost and operation cost, and is more suitable for intelligent medical auxiliary setting with high cost performance for deployment and use in primary hospitals. The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, in a specific implementation manner of this embodiment, the following steps are further included, as shown in fig. 5, S8, performing implantation quality verification after the operation.

Detecting implantation quality of the implanted radioactive seeds, namely implantation positions, implantation quantity and the like through a CT image, ending the operation if a verification result meets the requirements of the preoperative plan, appointing a supplementary plan again if the verification result does not meet the requirements, and repeating the steps S4-S7 until the requirements are met.

Although the operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous.

It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order, and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.

Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the C language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer.

Example two

Fig. 6 is a block diagram of a radioactive seed implantation control apparatus according to an embodiment of the present application.

As shown in fig. 6, the implantation control apparatus of the present embodiment is applied to an electronic device, which is a computer, a workstation, or a server configured for the interventional operating room and connected to the above devices. The navigation control device can be understood as the electronic device itself or functional modules thereof, and specifically includes an image recognition module 10, an image transformation module 20, a position labeling module 30, an image acquisition module 40, an image registration module 50, a coordinate transformation module 60 and an implantation execution module 70.

The image recognition module is used for carrying out image recognition processing based on the registration plate image.

The image transformation module is used for carrying out perspective transformation on the three-dimensional live-action image based on the perspective transformation parameters.

and placing a registration plate H at the quasi-puncture position on the examination bed. And identifying the square blocks in the registration plate by using software, and acquiring the parameters of the perspective transformation matrix through software calculation. The image capturing device G in fig. 3 captures a realistic conceptual view of the puncture plane from a top view, i.e., the registration plate image. The puncture needle registration plate is arranged on the examination bed, is coplanar with the puncture plane, and is a white square at the center; when the image acquisition device is shot from a top view angle, the square in the display image is not a standard square but a rhombus;

fig. 4 is a simulated image of the three-dimensional live-action image obtained by the perspective transformation of fig. 3, and after the perspective transformation, the squares of the registration plate in fig. 4 are transformed from diamonds into squares, so as to obtain the simulated image of the three-dimensional live-action image corresponding to the registration plate image.

The position marking module is used for marking the initial position of the puncture needle in the simulated image.

The image acquisition module is used for acquiring medical images of a patient and related information of a treatment plan of a radioactive particle implantation planning system (TPS), wherein the medical images are at least marked with information such as target points, needle insertion points, puncture paths, path quantity, needle insertion depth, implant particle positions, activity, quantity and the like.

Before each puncture operation, medical images obtained through various medical image acquisition means are acquired, and the medical images carry information such as target points, needle insertion points, puncture paths, needle insertion depths, implant particle positions, activity, quantity and the like planned by doctors or other professionals through a TPS (positron emission tomography) planning system. The medical image includes, but is not limited to, one or more of a CT image, an MRI image, and a PET-CT image.

The medical registration module is used for carrying out image registration processing on a medical image containing treatment plan information of the patient and a simulation image of the three-dimensional real scene.

and then, obtaining the transformation relation of the robot coordinate system relative to the medical image coordinate system according to the marked position of the puncture needle clamped by the medical robot in the simulated image of the three-dimensional real scene. The medical image coordinate system is a coordinate system of a medical image obtained based on the puncture plane.

The coordinate transformation module is used for carrying out position transformation on the target point, the needle inserting point and the puncture path.

The implantation execution module is used for navigation control of the medical robot in the puncture process.

When puncturing and implanting radioactive particles, firstly moving the examining table, moving the selected puncturing layer surface, namely the puncturing position, to a puncturing plane (namely a laser surface F), and enabling the laser line of the puncturing plane to coincide with the mark point of the selected puncturing layer surface; at the moment, the position of the puncture needle clamped by the medical robot in the working face live-action image is the initial position of the puncture needle. The module comprises a data calculating unit and a puncture control unit.

In the process of implanting radioactive particles, the data resolving unit is used for marking the current position of the robot clamping puncture needle in the CT scanning image of the selected puncture layer; and resolving based on the target point coordinate, the needle feeding point coordinate and the puncture path coordinate to obtain parameters such as a motion path of the puncture needle reaching the needle feeding point, a needle holding angle posture, the maximum puncture depth and the like.

Then, the operator can select an executed needle inserting plan according to the operation requirement, then an operation instruction is sent to the robot, the puncture needle is sent to the corresponding needle inserting position, the puncture needle is automatically aligned to the planned angle by the puncture control unit, and the puncture operation is continuously executed on the patient according to the motion path and the maximum puncture depth.

When the puncture needle punctures to 1/2 or 1/3 of the preset depth, repeating CT scanning verification, and if the angle and the needle inserting point meet the requirement of puncture precision, continuing puncturing to the preset depth and completing implantation; otherwise, the appropriate adjustment is made.

It can be seen from the above technical solutions that, the present embodiment provides a method for controlling implantation of radioactive seeds, which is applied to electronic devices, and the apparatus is specifically configured to perform image recognition based on an image of a registration plate on a puncture plane to obtain a perspective transformation parameter; carrying out perspective transformation on the three-dimensional live-action image based on the perspective transformation parameters to obtain a simulated image; marking the initial position of the puncture needle clamped by the robot in the simulated image based on the simulated image; acquiring medical images of a patient on an examination bed and related information of a treatment plan of a radioactive particle implantation planning system (TPS), wherein the medical images are at least marked with information such as target points, needle insertion points, puncture paths, path quantity, needle insertion depth, implant particle positions, activity, quantity and the like; carrying out image registration processing on the image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system and the medical image; converting the target point, the needle inlet point and the puncture path on the medical image into a plurality of parameters such as a target point coordinate, a needle inlet point coordinate and a puncture path coordinate based on a robot coordinate system based on a coordinate conversion relation; and the medical robot is subjected to navigation control based on the plurality of parameters in the implantation process. The scheme does not depend on the experience and the state of an operator, thereby improving the implantation precision of the radioactive seeds.

In addition, in a specific implementation manner of this embodiment, a verification handling module 80 is further included, as shown in fig. 7,

the verification treatment module is used for performing implantation quality verification after surgery.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first obtaining unit may also be described as a "unit obtaining at least two internet protocol addresses".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

EXAMPLE III

Referring now to FIG. 8, a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The terminal device in the embodiments of the present disclosure may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), and the like, and a stationary terminal such as a digital TV, a desktop computer, and the like. The electronic device shown in fig. 6 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.

As shown in fig. 6, the electronic device may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the electronic apparatus are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 illustrates an electronic device having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

When the program in this embodiment is executed, the electronic device can implement the method for controlling implantation of radioactive seeds provided in the first embodiment, where the method specifically includes performing image calibration based on an image of a registration plate located on a puncture plane to obtain a simulated image; carrying out image registration processing based on the registration plate image and the simulation image to obtain a transformation relation of a robot coordinate system of the medical robot relative to a medical image coordinate system; acquiring medical images of a patient on an examination bed and related information of a treatment plan of a radioactive particle implantation planning system (TPS), wherein the medical images are at least marked with information such as target points, needle insertion points, puncture paths, path quantity, needle insertion depth, implant particle positions, activity, quantity and the like; transforming the positions of the target point, the needle feeding point and the puncture path on the medical image based on the transformation relation to obtain a plurality of parameters such as a target point coordinate, a needle feeding point coordinate and a puncture path coordinate based on a robot coordinate system; and performing navigation control on the medical robot based on the plurality of parameters in the implantation process. The scheme does not depend on experience and state of an operator, so that the implantation precision of the radioactive particles is improved.

Example four

The present embodiment provides a computer-readable storage medium carrying one or more programs which, when executed by an electronic device, enable the electronic device to implement the method for controlling implantation in radioactive seeds disclosed in the present application, specifically, perform image recognition based on an image of a registration plate on a puncture plane to obtain a perspective transformation parameter; carrying out perspective transformation on the three-dimensional live-action image based on the perspective transformation parameters to obtain a simulated image; marking the initial position of the puncture needle clamped by the robot in the simulated image based on the simulated image; acquiring a medical image of a patient on an examination bed; carrying out image registration processing on the medical image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system and the medical image; converting the target point, the needle inlet point and the puncture path on the medical image into a plurality of parameters such as a target point coordinate, a needle inlet point coordinate and a puncture path coordinate based on a robot coordinate system based on a coordinate conversion relation; and the medical robot is subjected to navigation control based on the plurality of parameters in the implantation process. The scheme does not depend on experience and state of an operator, so that the implantation precision of the radioactive particles is improved.

It should be noted that the computer readable storage medium of the present disclosure may 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 the present 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 contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many 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 embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or terminal device that comprises the element.

The technical solutions provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained in this document by applying specific examples, and the descriptions of the above examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A radioactive particle implantation control method is applied to electronic equipment and used for navigation control of a medical robot in an interventional operation room, the interventional operation room is provided with a medical imaging device and an image acquisition device, and a puncture needle of the medical robot is positioned on a puncture plane perpendicular to an examination bed of the medical imaging device, and the implantation control method comprises the following steps:

performing image recognition based on the registration plate image of the registration plate on the puncture plane, which is acquired by the image acquisition equipment, to obtain a perspective transformation parameter;

2. The robotic implant control method of claim 1, wherein the medical images include partial, full, or fused images of CT images, MRI images, and PET-CT images.

3. The implant control method according to claim 1, wherein the navigation control of the medical robot based on the target point coordinates, the needle insertion point coordinates, and the puncture path coordinates comprises the steps of:

4. The implant control method according to any one of claims 1 to 3, further comprising the steps of:

5. An implantation control device of radioactive seeds, applied to an electronic device, for performing navigation control on a medical robot in an interventional operating room, wherein the interventional operating room is provided with a medical imaging device and an image acquisition device, and a puncture needle of the medical robot is positioned on a puncture plane perpendicular to an examining table of the medical imaging device, the implantation control device comprises:

an image acquisition module configured to acquire a medical image of a patient on the examination table and treatment plan information of a radioactive particle implantation planning system, wherein at least a target point, an injection point, a puncture path, a path number, an injection depth, an implanted particle position, an activity and a quantity are marked on the medical image;

6. The implant control device of claim 5, wherein the medical image comprises a partial, full, or fused image of a CT image, an MRI image, and a PET-CT image.

7. The implant control device of claim 5, wherein the navigation execution module comprises:

8. The implant control device of any one of claims 5-7, further comprising:

9. An electronic device comprising at least one processor and a memory coupled to the processor, wherein:

the memory is for storing a computer program or instructions;

the processor is configured to execute the computer program or instructions to enable the electronic device to implement the implantation control method according to any of claims 1 to 4.

10. A storage medium applied to an electronic device, wherein the storage medium is used to carry one or more computer programs, so that when the one or more computer programs are executed by the electronic device, the electronic device can be enabled to implement the implantation control method according to any one of claims 1 to 4.