CN115644951A

CN115644951A - Accurate puncture sampling system based on real-time modeling

Info

Publication number: CN115644951A
Application number: CN202211451195.2A
Authority: CN
Inventors: 曲飞寰; 胡效坤; 刘士峰; 王从晓
Original assignee: Chengdu Zhenshi Weidu Technology Co ltd
Current assignee: Chengdu Zhenshi Weidu Technology Co ltd
Priority date: 2022-11-20
Filing date: 2022-11-20
Publication date: 2023-01-31

Abstract

The application discloses accurate puncture sampling system based on real-time modeling for realize accurate sample under the state that does not change patient's inspection position, include: the detection modeling system is used for generating a three-dimensional model through tomography on a patient interest part to acquire the tissue position and the size of an interest region so as to generate a sampling puncture needle path and specifically comprises a movable flat scanning unit and a three-dimensional reconstruction unit; the guide puncture system is used for executing the sampling puncture needle channel generated by the detection modeling system; according to the invention, the detection modeling system and the puncture guiding system are integrated, so that a patient only needs to determine the position and size of a sampling target through tomography, an optimal puncture path is synchronously planned, and accurate puncture guiding is realized by accurately executing and guiding the optimal puncture path through the puncture guiding system.

Description

Accurate puncture sampling system based on real-time modeling

Technical Field

The invention relates to the technical field of medical surgery auxiliary devices or systems, in particular to the technical field of biopsy puncture, and specifically relates to a real-time modeling-based accurate puncture sampling system.

Background

Needle biopsy is the main method for obtaining pathological diagnosis of tissues from bone and soft tissue tumors. As the limb protection treatment of malignant tumor has become a main trend, the requirement of biopsy has more strict requirements on the access and method of material collection. Incorrect biopsy often causes contamination of local important structures such as blood vessels and nerve bundles by tumors during material drawing, so that the tumors cannot be completely excised, and the limb protection treatment fails. Therefore, before needle biopsy, the nature, stage and treatment of the tumor should be well understood, a full preoperative plan is made, and the needle path from which the material is drawn is ensured to be located on the surgical incision, so that the complete resection can be performed at the time of surgery. Therefore, a great deal of literature emphasizes that the needle biopsy should be performed by an experienced specialist, and preferably by a doctor in person to improve the accuracy of the needle biopsy and reduce complications.

When the puncture biopsy sampling is carried out on internal organs, the requirement is stricter than that of the sampling of four limbs, for example, the puncture biopsy of lung tumors is careless and easily causes pneumothorax, which can cause serious chest pain and dyspnea of a patient and is accompanied with cough and the like, if the control and treatment cannot be effectively carried out in time, serious consequences are easily caused, so that different requirements of the biopsy puncture parts are different, and the puncture deviation or the sampling failure, or the injury of the internal organs, or other complications are caused; therefore, the puncture path is designated scientifically, reasonably and safely, the puncture is accurately carried out according to the preset needle path, the position, the angle and the depth are accurately executed, the effective sampling is achieved, and the generation of unnecessary complications is avoided, so that the new requirement of the existing accurate medical treatment on biopsy puncture is provided.

Disclosure of Invention

In order to solve the biopsy puncture and have the puncture complication that the execution deviation arouses easily or injure the realistic problem of internal organs, the application provides an accurate puncture sampling system based on real-time modeling, be used for guiding accurate biopsy puncture, can present target puncture regional clear through three-dimensional modeling comprehensively, thereby appointing the science, accurate puncture needle way, the accurate control of cooperation guide puncture system makes the position of actual puncture, the angle, the degree of depth can both effectually be controlled and mastered by accurate, thereby can carry out accurate execution with theoretical best puncture scheme, reach the purpose of accurate puncture sampling, follow-up complication because of the biopsy puncture causes is avoided to the at utmost, the healthy internal organs outside the maximum avoidance target puncture area damage scheduling problem takes place.

In order to achieve the technical effect, the applicant combines the research of the applicant on the precise medical positioning device for a long time, the existing upstream detection equipment, the necessary flow involved in the actual puncture scheme making process and the consideration of factors which can introduce or enlarge puncture errors, and the problem that the deviation between the preset puncture scheme and the actually executed puncture scheme is caused by the movement of a patient is avoided by simplifying the flow, so that the maximum adverse factor which hinders the realization of precise puncture in the existing biopsy puncture surgery is eliminated, and the invention is particularly completed.

In order to achieve accurate puncture sampling, the invention adopts the technical scheme that:

a real-time modeling-based accurate puncture sampling system for realizing accurate sampling in a state of not changing the body position of a patient, comprising:

the detection modeling system is used for generating a three-dimensional model through tomography on a patient interest part to acquire the tissue position and the size of an interest region so as to generate a sampling puncture needle path and specifically comprises a movable flat scanning unit and a three-dimensional reconstruction unit;

the guide puncture system is used for executing the sampling puncture needle channel generated by the detection modeling system and comprises a data analysis unit for receiving the sampling puncture needle channel and a puncture execution unit for executing the sampling puncture needle channel, the puncture execution unit is provided with a guide rail surrounding an interest area by 360 degrees and a puncture cannula which is arranged on the guide rail in a sliding mode and has multi-axis deflection, and a puncture needle for sampling is installed in the puncture cannula;

the detection modeling system and the guide puncture system share the same space coordinate origin, and the head-foot side of the patient is taken as a z-axis, the ventral-dorsal side of the patient is taken as a y-axis, and the left side and the right side of the patient are taken as an x-axis.

Preferably, the detection modeling system comprises a mobile flat scanning unit and a three-dimensional reconstruction unit, wherein the mobile flat scanning unit is used for acquiring a patient tomographic image and comprises a data receiving unit, a central processing unit, an execution unit A and a data storage unit, the data receiving unit is used for receiving the information of the region of interest to determine the flat scanning range and the layer thickness, and the execution unit A comprises a tomographic flat scanning module and a linear movement module which synchronously and cooperatively operate; the three-dimensional reconstruction unit comprises a data identification unit for receiving and sequencing the tomography images sent by the data storage unit, an image fusion unit for fusing the sequenced images one by one to form a three-dimensional model, a needle track generation unit for reading the central coordinates of target tissues in an interest area and calculating to generate a plurality of feasible sampling needle tracks meeting the puncture conditions, wherein the three-dimensional model is automatically/manually displayed in a color distinguishing way through a distinguishing and labeling unit; wherein the puncturing conditions include: (1) the sampling puncture needle channel does not intersect with the organs at risk; (2) the puncture shortcut is short, and the puncture shortcut is the straight line distance from a needle point on the surface of the patient to the center of the target tissue.

Preferably, the image fusion unit comprises a contour identification module for identifying the edges of the tomographic image patches, a pole marking module for identifying and marking the position poles of the edges of the read image patches, and a pole matching module for matching and fusing the corresponding poles in two adjacent tomographic images into a single tomographic image.

Preferably, the guidance puncture system comprises a data analysis unit for converting the sampled puncture needle track into executable band space coordinate information, the data analysis unit comprises a coordinate analysis module for analyzing the sampled puncture needle track into band space coordinate information and space orientation, and the band space coordinate information and the space orientation information are space vectors in a space coordinate range; the judgment execution module is used for comparing the space vector with the executable range of the guide puncture system;

if the result of the judgment execution module is 'yes', the data analysis unit sends the space vector data to the puncture execution unit for executing guidance; and if the judgment result of the judgment execution module is negative, the data analysis unit feeds the space vector data back to the three-dimensional reconstruction unit and stops executing.

Preferably, the puncture execution unit comprises a universal rotating mechanism consisting of multi-axis rotating connection so as to control the direction of the puncture cannula to be consistent with the space vector.

Preferably, the puncture execution unit comprises a decoding unit, a driving unit, an execution unit B and a feedback unit, wherein the decoding unit comprises a decoder A, a decoder B and a decoder C; the driving unit comprises a driver A, a driver B and a driver C; the execution unit B comprises a servo motor A, a servo motor B and a servo motor C; the feedback unit comprises an encoder A, an encoder B and an encoder C;

the decoder A, the driver A, the servo motor A and the encoder A are used for controlling the first shaft to rotate, namely driving the puncture cannula to rotate 360 degrees along the guide rail and feeding back an actual execution angle for secondary verification;

decoder B, driver B, servo motor B and encoder B are used for controlling the second shaft and rotate, decoder C, driver C, servo motor C and encoder C are used for controlling the third shaft and rotate, the angle between first axle, second shaft and the third shaft each other is 90 or 45.

Has the advantages that:

according to the invention, the detection modeling system and the puncture guiding system are integrated, so that a patient only needs to determine the position and the size of a sampling target through tomography, an optimal puncture path is synchronously planned, and accurate puncture guiding is realized by accurately executing and guiding the optimal puncture path through the puncture guiding system.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced 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 inventive exercise.

Fig. 1 is a schematic diagram of an application scenario of the present invention.

Fig. 2 is a block diagram of the structural components of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present application do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should also be noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly and may include, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Example 1:

a real-time modeling based precision puncture sampling system shown in fig. 1 and fig. 2, which is used for realizing precision sampling without changing the checking body position of a patient, and comprises:

the detection modeling system and the guide puncture system share the same space coordinate origin and use the head and foot sides of the patient as a z-axis, the abdominal and back sides as a y-axis and the left and right sides as an x-axis.

The working principle is as follows:

referring to fig. 1, this embodiment is described by taking the example of the presence of a tumor suspected in a lung of a patient requiring biopsy, needle sampling and detection; the patient lies on a platform of the detection modeling system, the patient is automatically moved horizontally by the movable flat scanning unit and the tomography of the region of interest is completed by setting the region of interest to be detected of the patient, and at the moment, a plurality of tomography pictures of the region of interest are obtained through scanning and are marked as P1-Pn.

The three-dimensional reconstruction unit reconstructs the acquired P1-Pn into 1:1, and analyzing the health organ condition around the three-dimensional model Q to make an operation plan so as to determine an optimal sampling puncture needle path for puncturing. The guide puncture system is a system for actually executing a sampling puncture needle channel, the sampling puncture needle channel is analyzed through the data analysis unit, the guide puncture system is used for driving a puncture sleeve to be consistent with the sampling puncture needle channel in space, a doctor can place a puncture needle into the puncture sleeve, the puncture sleeve can be directly punctured along the puncture sleeve, the puncture depth only needs to be observed visually, puncture points and puncture angles are all realized by the guide puncture system, and the problem that puncture deviation causes other complications is avoided.

The biggest point of the embodiment, which is different from the existing guiding system, is that a detection modeling system and a guiding puncture system work cooperatively, a patient does not need to get up after detection, an operation is performed after a procedure scheme is determined, the body position of the patient changes, and uncontrollable errors are always introduced no matter how parameters during puncture are accurately controlled; moreover, the detection modeling system and the guide puncture system are cooperated established in the same space coordinate system, and data sharing can be realized, so that the execution precision reliability and credibility are ensured, and the problem of data deviation does not occur. In this embodiment, the process and the implementation method of the three-dimensional reconstruction unit are described in the patent application with the publication number of CN113244516B of the present applicant, and the implementation method and the structure of the puncture execution unit for driving the puncture cannula to perform spatial positioning can be implemented by the publication number of CN112690881B held by the company of stock control of the present applicant.

Example 2:

in this embodiment, the system is further refined on the basis of embodiment 1, specifically referring to the architectures shown in fig. 1 and fig. 2, the detection modeling system includes a moving flat-scan unit for acquiring a tomographic image of a patient and a three-dimensional reconstruction unit, the moving flat-scan unit includes a data receiving unit for receiving information of a region of interest to determine a flat-scan range and a layer thickness, a central processing unit, an execution unit a and a data storage unit, and the execution unit a includes a tomographic flat-scan module and a linear movement module which operate synchronously and cooperatively; the three-dimensional reconstruction unit comprises a data identification unit for receiving and sequencing the tomographic images sent by the data storage unit, an image fusion unit for fusing the sequenced images one by one to form a three-dimensional model, the three-dimensional model performs automatic/manual color distinguishing display through a distinguishing and labeling unit, and a needle path generation unit for reading the central coordinates of target tissues in an interest region and calculating to generate a plurality of feasible sampling needle paths meeting the puncture conditions; wherein, the puncture conditions include: (1) the sampling puncture needle channel does not intersect with the organs at risk; (2) the puncture shortcut is short, and the puncture shortcut is the straight line distance from a needle point on the surface of the patient body to the center of the target tissue.

In this embodiment, the image fusion unit includes a contour recognition module for recognizing the edges of the image patches of the tomographic scanning, a pole marking module for recognizing and marking the position poles of the edges of the read image patches, and a pole matching module for matching the corresponding poles in two adjacent tomographic scanning images and fusing the two adjacent tomographic scanning images into a single tomographic scanning image. In this embodiment, the azimuth pole is the outermost point in a specific range on an edge of a certain profile, and as a special case, the left-most point, the right-most point, the upper-most point and the lower-most point can be selected; of course, because the contour of each image patch is irregular, the mode of selecting the poles usually adopts automatic initial selection, and then is determined by manual correction and modification, so as to ensure that the target region and the healthy organ can be accurately separated, and ensure the accuracy of modeling and subsequent distinguishing and labeling.

In this embodiment, the guided puncture system includes a data analysis unit for converting the sampled puncture needle track into executable information with spatial coordinates, the data analysis unit includes a coordinate analysis module for analyzing the sampled puncture needle track into information with spatial coordinates and spatial orientations, and the information with spatial coordinates and spatial orientations is a spatial vector within a spatial coordinate range; the judgment execution module is used for comparing the space vector with the executable range of the guide puncture system;

In this embodiment, the puncture execution unit includes a universal rotation mechanism formed by multi-axis rotation connection to control the direction of the puncture cannula to be consistent with the space vector.

In this embodiment, the puncture execution unit includes a decoding unit, a driving unit, an execution unit B, and a feedback unit, where the decoding unit includes a decoder a, a decoder B, and a decoder C; the driving unit comprises a driver A, a driver B and a driver C; the execution unit B comprises a servo motor A, a servo motor B and a servo motor C; the feedback unit comprises an encoder A, an encoder B and an encoder C;

decoder B, driver B, servo motor B and encoder B are used for controlling the second shaft and rotate, decoder C, driver C, servo motor C and encoder C are used for controlling the third shaft and rotate, the angle between first axle, second shaft and the third shaft each other is 90 or 45. It should be noted that the three-axis linkage is adopted to realize the minimum number of axes for space free vector positioning, and the three-axis linkage distance is not used in the embodiment to illustrate that only three-axis linkage can be adopted within the technical scheme provided by the invention, and the fourth linkage and the space translation mechanism can also be added.

In the present embodiment, the analysis of the needle track, the control principle of the actuator B and the invention patent of the applicant with the publication number CN110755142B are disclosed in detail, and this section is not the technical improvement content of the present invention, and will not be described in detail here.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides an accurate puncture sampling system based on real-time modeling for realize accurate sample under the state that does not change patient's inspection position, a serial communication port, include:

the detection modeling system is used for generating a three-dimensional model through tomography on an interested part of a patient to obtain the tissue position and the size of an interested region so as to generate a sampling puncture needle channel, and specifically comprises a movable flat scanning unit and a three-dimensional reconstruction unit;

2. The real-time modeling based precision puncture sampling system according to claim 1, characterized in that: the detection modeling system comprises a mobile flat scanning unit and a three-dimensional reconstruction unit, wherein the mobile flat scanning unit is used for acquiring a patient tomographic image and comprises a data receiving unit, a central processing unit, an execution unit A and a data storage unit, the data receiving unit is used for receiving information of an interest region to determine a flat scanning range and a layer thickness, and the execution unit A comprises a tomographic flat scanning module and a linear movement module which synchronously and cooperatively operate; the three-dimensional reconstruction unit comprises a data identification unit for receiving and sequencing the tomographic images sent by the data storage unit, an image fusion unit for fusing the sequenced images one by one to form a three-dimensional model, the three-dimensional model performs automatic/manual color distinguishing display through a distinguishing and labeling unit, and a needle path generation unit for reading the central coordinates of target tissues in an interest region and calculating to generate a plurality of feasible sampling needle paths meeting the puncture conditions; wherein the puncturing conditions include: (1) the sampling puncture needle channel does not intersect with the organs at risk; (2) the puncture shortcut is short, and the puncture shortcut is the straight line distance from a needle point on the surface of the patient body to the center of the target tissue.

3. The real-time modeling based precision puncture sampling system according to claim 2, characterized in that: the image fusion unit comprises a contour identification module for identifying the edges of the tomographic image patches, a pole marking module for identifying and marking the azimuth poles of the edges of the read image patches, and a pole matching module for matching the corresponding poles in two adjacent tomographic images and fusing the two adjacent tomographic images into a single tomographic image.

4. The real-time modeling based precision puncture sampling system according to claims 1-3, characterized in that: the guide puncture system comprises a data analysis unit for converting the sampling puncture needle track into executable information with space coordinates, wherein the data analysis unit comprises a coordinate analysis module for analyzing the sampling puncture needle track into information with space coordinates and space orientation, and the information with the space coordinates and the space orientation is a space vector in a space coordinate range; the judgment execution module is used for comparing the space vector with the executable range of the guide puncture system;

if the result of the judgment execution module is 'yes', the data analysis unit sends the space vector data to the puncture execution unit for executing guidance; if the judgment result of the judgment execution module is 'no', the data analysis unit feeds the space vector data back to the three-dimensional reconstruction unit and stops executing.

5. The real-time modeling based precision puncture sampling system according to claim 4, wherein: the puncture execution unit comprises a universal rotating mechanism formed by multi-axis rotating connection so as to control the direction of the puncture cannula to be consistent with the space vector.

6. The real-time modeling based precision puncture sampling system according to claim 5, wherein: the puncture execution unit comprises a decoding unit, a driving unit, an execution unit B and a feedback unit, wherein the decoding unit comprises a decoder A, a decoder B and a decoder C; the driving unit comprises a driver A, a driver B and a driver C; the execution unit B comprises a servo motor A, a servo motor B and a servo motor C; the feedback unit comprises an encoder A, an encoder B and an encoder C;

the decoder A, the driver A, the servo motor A and the encoder A are used for controlling the first shaft to rotate, namely, the puncture cannula is driven to rotate 360 degrees along the guide rail and feeds back an actual execution angle for secondary verification;

the decoder B, the driver B, the servo motor B and the encoder B are used for controlling the second shaft to rotate, the decoder C, the driver C, the servo motor C and the encoder C are used for controlling the third shaft to rotate, and angles among the first shaft, the second shaft and the third shaft are 90 degrees or 45 degrees.