CN116473644A

CN116473644A - Method for detecting needle insertion depth and related product

Info

Publication number: CN116473644A
Application number: CN202310739003.6A
Authority: CN
Inventors: 谢卫国; 张子奇; 张旭
Original assignee: Shenzhen Weide Precision Medical Technology Co ltd
Current assignee: Shenzhen Weide Precision Medical Technology Co ltd
Priority date: 2023-06-21
Filing date: 2023-06-21
Publication date: 2023-07-25
Anticipated expiration: 2043-06-21
Also published as: CN116473644B

Abstract

The application discloses a method for detecting needle penetration depth and related products. The method comprises the following steps: the detection method is used for determining the needle insertion depth of the surgical needle in the process that the surgical needle performs puncture by moving along the guide groove of the puncture guide; a point on the guide slot closest to the extreme end of the surgical needle is a first point, and a first infrared reflector is fixed on the surgical needle at a second point except the extreme front end, and the method comprises: determining a first position of the first infrared reflector during penetration of the surgical needle based on an optical tracking system; acquiring a second position of the first point; determining a first distance between the first point and the second point based on the first position and the second position; acquiring a second distance from the foremost end to the second point; and calculating the difference between the second distance and the first distance to obtain the needle insertion depth of the surgical needle.

Description

Method for detecting needle insertion depth and related product

Technical Field

The application relates to the technical field of medical equipment, in particular to a detection method of needle penetration depth and related products.

Background

In the medical field, a puncture operation refers to a doctor puncturing a lesion of a patient along a target puncture path using a surgical needle so that the surgical needle punctures the lesion. Although the focus is located on the target puncture path, the moving direction of the surgical needle coincides with the target puncture path, if the needle insertion depth of the surgical needle is too small, the surgical needle may not penetrate into the focus, and if the needle insertion depth of the surgical needle is too large, the surgical needle may penetrate into non-focus tissues of a patient, thereby causing damage to the non-focus tissues of the patient. In other words, the penetration depth of the surgical needle affects the final penetration effect, and the current surgical depth in the puncture process is determined by the doctor according to the puncture experience, so how to detect the penetration depth of the surgical needle in the puncture process has very important meaning.

Disclosure of Invention

The application provides a method for detecting needle penetration depth and a related product.

In a first aspect, a method for detecting a needle penetration depth is provided, the method is used for determining a needle penetration depth of a surgical needle in a process that the surgical needle is penetrated by moving along a guide groove of a penetration guide, and a starting position of the surgical needle in penetration is a position where a foremost end of the surgical needle is located at an inlet of the guide groove; a point on the guide slot closest to the extreme end of the surgical needle is a first point, and a first infrared reflector is fixed on the surgical needle at a second point except the extreme front end, and the method comprises:

Determining a first position of the first infrared reflector during penetration of the surgical needle based on an optical tracking system;

acquiring a second position of the first point;

determining a first distance between the first point and the second point based on the first position and the second position;

acquiring a second distance from the foremost end to the second point;

and calculating the difference between the second distance and the first distance to obtain the needle insertion depth of the surgical needle.

In combination with any one of the embodiments of the present application, a second infrared reflector is fixed on the puncture guide;

the optical tracking system-based determining a first position of the first infrared reflector during the surgical needle penetration includes:

acquiring a target puncture path, wherein the target puncture path is a path for puncturing by the surgical needle, and the axis of the guide groove coincides with the target puncture path;

determining the position of the first infrared reflecting object and the position of the second infrared reflecting object through the optical tracking system to obtain a first position to be confirmed;

and determining the first position to be confirmed closest to the target puncture path as the first position.

In combination with any one of the embodiments of the present application, the determining the first position to be confirmed closest to the target puncture path is the first position, and includes:

determining a third location of the second infrared reflector by the optical tracking system;

removing the position matched with the third position in the first position to be confirmed to obtain a second position to be confirmed;

and determining the second position to be confirmed closest to the target puncture path as the first position.

In combination with any one of the embodiments of the present application, the determining, according to the first position and the second position, a first distance between the first point and the second point includes:

acquiring a third distance from the first infrared reflector to the second point;

determining a fourth distance between the first location and the second location;

and determining the first distance according to the Pythagorean theorem, the third distance and the fourth distance.

In combination with any one of the embodiments of the present application, the obtaining the second distance from the foremost end to the second point includes:

moving the forwardmost end to a fourth position prior to puncturing by the surgical needle;

acquiring a fifth position of the first infrared reflector under the condition that the foremost end is positioned at the fourth position;

Determining a fifth distance from the first infrared reflector to the forefront according to the fourth position and the fifth position;

and determining the second distance according to the Pythagorean theorem, the third distance and the fifth distance.

In combination with any of the embodiments herein, the puncture guide further comprises a calibrated hole, said moving the forwardmost end to a fourth position comprises:

moving the foremost end to the calibrated hole;

and taking the position of the calibration hole as the fourth position.

In combination with any of the embodiments of the present application, the second point is the extreme end of the surgical needle.

In a second aspect, there is provided a device for detecting a needle penetration depth, the device being configured to determine a needle penetration depth of a surgical needle during penetration of the surgical needle by moving along a guide groove of a penetration guide, a start position of penetration of the surgical needle being a position where a foremost end of the surgical needle is located at an entrance of the guide groove; the nearest point of the guide groove to the extreme end of the surgical needle is a first point, a first infrared reflector is fixed at a second point of the surgical needle except the extreme front end, and the detection device comprises:

A determining unit for determining a first position of the first infrared reflector during the surgical needle penetration based on an optical tracking system;

an acquisition unit configured to acquire a second position of the first point;

the determining unit is used for determining a first distance between the first point and the second point according to the first position and the second position;

the acquisition unit is used for acquiring a second distance from the forefront end to the second point;

and the calculating unit is used for calculating the difference between the second distance and the first distance to obtain the needle insertion depth of the surgical needle.

the determining unit is used for:

In combination with any one of the embodiments of the present application, the determining unit is configured to:

In combination with any one of the embodiments of the present application, the obtaining unit is configured to:

In combination with any of the embodiments of the present application, the puncture guide further comprises a calibration hole, and the acquisition unit is configured to:

moving the foremost end to the calibrated hole;

and taking the position of the calibration hole as the fourth position.

In a third aspect, an electronic device is provided, comprising: a processor and a memory for storing computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to perform a method as described in the first aspect and any one of its possible implementations.

In a fourth aspect, there is provided another electronic device comprising: a processor, transmission means, input means, output means and memory for storing computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to carry out the method as described in the first aspect and any one of its possible implementations.

In a fifth aspect, there is provided a computer readable storage medium having stored therein a computer program comprising program instructions which, when executed by a processor, cause the processor to carry out a method as in the first aspect and any one of its possible implementations.

In a sixth aspect, a computer program product is provided, the computer program product comprising a computer program or instructions which, when run on a computer, cause the computer to perform the method of the first aspect and any one of the possible implementations thereof.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

In the application, after the detection device determines the first position of the first infrared reflecting object based on the optical tracking system and obtains the second position of the first point, the first distance between the first point and the second point can be determined according to the first position and the second position, and the first distance is the length of the part of the surgical needle which does not enter the guide groove.

Since the sum of the length of the portion of the surgical needle that has entered the guide groove and the length of the portion of the surgical needle that has not entered the guide groove is the distance from the forefront to the second point, after the second distance from the forefront to the second point is obtained, the length of the portion that has entered the guide groove, that is, the needle penetration depth of the surgical needle, can be determined by calculating the difference between the second distance and the first distance.

Drawings

In order to more clearly describe the technical solutions in the embodiments or the background of the present application, the following description will describe the drawings that are required to be used in the embodiments or the background of the present application.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the technical aspects of the application.

Fig. 1 is a schematic flow chart of a method for detecting needle penetration depth according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a relationship between a first infrared reflector and a surgical needle according to an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a surgical needle with its forward most end moved to a calibrated hole according to an embodiment of the present application;

FIG. 4 is a schematic structural view of a puncture guide according to an embodiment of the present application;

FIG. 5 is a schematic diagram showing the real-time needle penetration depth of a surgical needle through a software interface according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a device for detecting needle penetration depth according to an embodiment of the present disclosure;

fig. 7 is a schematic hardware structure of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

It should be understood that in the present application, "at least one (item)" means one or more, "a plurality" means two or more, and "at least two (item)" means two or three and three or more.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the medical field, a puncture operation refers to a doctor puncturing a lesion of a patient along a target puncture path using a surgical needle so that the surgical needle punctures the lesion. Specifically, after a target puncture path is planned through the puncture navigation system, the mechanical arm can be controlled to drive the puncture guide to move so that the axis of the guide groove on the puncture guide coincides with the target puncture path. In this way, when the doctor punctures with the surgical needle, the doctor moves the surgical needle along the axis of the guide groove to puncture the surgical needle along the target puncture path, thereby making the surgical needle puncture the lesion.

Although the focus is located on the target puncture path, the moving direction of the surgical needle coincides with the target puncture path, if the needle insertion depth of the surgical needle is too small, the surgical needle may not penetrate into the focus, and if the needle insertion depth of the surgical needle is too large, the surgical needle may penetrate into non-focus tissues of a patient, thereby causing damage to the non-focus tissues of the patient. In other words, the penetration depth of the surgical needle affects the final penetration effect, and the current surgical depth in the puncture process is determined by the doctor according to the puncture experience, so how to detect the penetration depth of the surgical needle in the puncture process has very important meaning.

The execution body of the embodiment of the application is a detection device for the needle insertion depth (hereinafter referred to as detection device for short), where the detection device may be any electronic device capable of executing the technical scheme disclosed in the embodiment of the method of the application. Alternatively, the detection means may be one of the following: cell-phone, computer, panel computer, wearable smart machine.

It should be understood that the method embodiments of the present application may also be implemented by way of a processor executing computer program code. Embodiments of the present application are described below with reference to the accompanying drawings in the embodiments of the present application. Referring to fig. 1, fig. 1 is a flow chart of a method for detecting a needle penetration depth according to an embodiment of the present application.

101. And determining a first position of the first infrared reflecting object in the process of surgical needle puncture based on the optical tracking system.

In the embodiment of the application, the optical tracking system is used for optical positioning and optical tracking of the infrared reflecting object, and optionally, the optical tracking system is a north digit (northen digital inc, NDI). An infrared reflector (including the above-described first infrared reflector and a second infrared reflector to be mentioned later) is an object having an ability to reflect infrared rays. Alternatively, the infrared reflecting object is a pellet having an ability to reflect infrared rays.

In this embodiment of the present application, the first infrared reflecting object is fixed at a second point on the surgical needle except for the forefront end, that is, the first infrared reflecting object may be fixed at any point on the surgical needle except for the forefront end, where the forefront end of the surgical needle is the end of the surgical needle that enters the guiding slot first. It should be understood that the starting position of the needle for puncturing is the position where the needle is located at the entrance of the guide slot, and thus, the foremost end of the needle may be the end of the needle closest to the guide slot when the needle is located at the starting position of puncturing.

In the process of puncturing by the surgical needle, the detection device can position the first infrared reflecting object based on the optical tracking system, so that the position of the first infrared reflecting object under the world coordinate system is determined to be the first position.

102. A second position of the first point is obtained.

In this embodiment, the first point is the point on the guide slot closest to the distal end of the surgical needle, in other words, the first point is the point at the entrance of the guide slot, and the first point position is referred to as the second position.

In one possible implementation, the detection device receives a second position input by the user through the input component to obtain the second position. Optionally, the input assembly includes: mouse, keyboard, touch screen, touch pad, audio input device.

In another possible implementation manner, the detection device acquires the second position through the second position sent by the receiving terminal. Optionally, the terminal includes: cell phone, computer, tablet computer, intelligent wearable equipment.

In a further possible implementation, the detection means acquire an initial position of the first point and the first conversion relation. It should be understood that after the puncture navigation system determines the target puncture path, the puncture guide needs to be moved from the original position to the target position by the moving mechanical arm, and the initial position of the first point on the guide groove of the puncture guide may be the position before the puncture guide is moved, that is, the initial position of the first point is the position of the first point when the puncture guide is located at the original position. For example, the puncture navigation system controls the mechanical arm to drive the puncture guide to move from the original position at the time t0, and moves the puncture guide to the target position at the time t1, so that the initial position of the first point can be the position of the first point when the mechanical arm is located at the original position. The first translation relationship characterizes the amount of relative motion between the first point and the optical tracking system for movement of the puncture guide from the home position to the target position. For example, at time t0, the position of the first point in the world coordinate system is the initial position of the first point, and the puncture guide moves from the original position to the target position in the period from t0 to t1, thereby causing relative movement between the optical tracking system and the first point. At this time, the first conversion relation characterizes the amount of relative motion between the optical tracking system and the first point in the period of t0 to t 1. It should be understood that the relative movement between the first point and the optical tracking system is understood to be the relative movement between the first point and the device running the optical tracking system.

According to the first conversion relation, the initial position of the first point under the world coordinate system is converted, and the position of the first point when the puncture guide is positioned at the target position, namely the second position, can be obtained. It should be appreciated that the first point is located at the second position during penetration of the surgical needle because the guide slot on the penetration guide is not normally moved during penetration of the surgical needle.

For example, assume that the first transformation relationship is expressed asThe initial position of the first point in world coordinate system is denoted as (>,/>,/>) The second position is (">，/>，/>) Then the initial position, the second position and the first conversion relation of the first point under the world coordinate system satisfy the following formula:

… formula (1)

103. And determining a first distance between the first point and the second point according to the first position and the second position.

Because the first infrared reflecting object is fixed at the second point, the detection device can determine the distance between the first point and the second point according to the position of the first infrared reflecting object and the position of the first point, namely the first distance.

In one possible implementation, the detection means determines the distance between the first location and the second location as the first distance.

In another possible implementation, the detection device obtains a third distance from the first infrared reflector to the second point. A fourth distance between the first location and the second location is determined. The first distance is determined according to the Pythagorean theorem, the third distance, and the fourth distance.

In this implementation, the position of the first infrared reflecting object is different from the position of the second point, so if the distance between the first position and the second position is directly taken as the first distance, a large error exists in the first distance. In one possible implementation, the first infrared reflector is a small sphere with the ability to reflect infrared light, and the position of the first infrared reflector is the position of the center of the sphere. At this time, the distance from the first infrared reflecting object to the first point is the distance from the center of the ball to the first point, the distance from the first infrared reflecting object to the second point is the distance from the center of the ball to the second point, and the distance from the first point to the second point can be determined by the detection device according to the Pythagorean theorem and the two distances.

For example, FIG. 2 is a schematic diagram showing a relationship between a first infrared reflector and a surgical needle. As shown in fig. 2, the first infrared reflector is a small sphere with the ability to reflect infrared light, the sphere center of the small sphere is a point M, the line connecting the point M and the second point is perpendicular to the surgical needle, and the distance from the point M to the second point is 10.82 millimeters (i.e., the center distance in fig. 2 is 10.82 mm).

Considering that the line connecting the first infrared reflecting object and the second point is perpendicular to the surgical needle, the distance from the first point to the second point can be determined according to the Pythagorean theorem after the distance between the first infrared reflecting object and the first point (i.e. the fourth distance) and the distance from the first infrared reflecting object to the second point (i.e. the third distance) are determined.

It is to be understood that the third distance may be obtained by calibration, for example, in case the shape of the second infrared reflector is spherical, the third distance may be the distance of the centre of the sphere to the second point. In other words, the third distance is related to the shape of the second infrared reflector, the installation of the second infrared reflector.

104. And acquiring a second distance from the forefront end to the second point.

In this embodiment, the distance from the second point to the foremost end is referred to as the second distance. In one possible implementation, the detection device receives a second distance input by a user through the input component to obtain the second distance.

In one implementation manner of acquiring the second distance, the detection device acquires the second distance through the second distance sent by the receiving terminal.

In yet another implementation of obtaining the second distance, the detection device moves the forwardmost end of the surgical needle to the fourth position by moving the surgical needle before the surgical needle performs the penetration. And acquiring a fifth position of the first infrared reflector under the condition that the forefront end is positioned at the fourth position. And determining a fifth distance from the first infrared reflecting object to the forefront according to the fourth position and the fifth position. Because the line connecting the first infrared reflecting object and the second point is perpendicular to the surgical needle, after the distance between the first infrared reflecting object and the second point (i.e., the third distance) and the distance between the first infrared reflecting object and the front end (i.e., the fifth distance) are determined, the distance between the forefront end and the second point (i.e., the second distance) can be determined according to the Pythagorean theorem. Thus, the second distance may be determined according to the Pythagorean theorem, the third distance, and the fifth distance.

It should be understood that the first position is the position of the first infrared reflecting object during the process of puncturing by the surgical needle, the fifth position is the position of the first infrared reflecting object before puncturing, that is, the first position is the position of the first infrared reflecting object after the surgical needle enters the guiding groove, and the fifth position is the position of the first infrared reflecting object before the surgical needle enters the guiding groove.

As an alternative embodiment, the puncture guide comprises an alignment hole. The detection device controls the surgical needle to move the foremost end of the surgical needle to the calibration hole. For example, fig. 3 is a schematic diagram illustrating the operation needle moving the front end to the calibration hole, and as shown in fig. 3, the point B on the puncture guide is the calibration hole, and the first infrared reflector is fixed on the operation needle, where M is the center of the first infrared reflector. At this time, the foremost end of the surgical needle is located at point B, i.e., the foremost end of the surgical needle is located at the calibrated hole. The position of the calibration hole is taken as a fourth position.

Optionally, the detection means determine the position of the calibration hole by performing the steps of: and acquiring the initial position of the calibration hole, wherein the initial position of the calibration hole is the position of the calibration hole when the puncture guide is positioned at the original position. For example, the puncture navigation system controls the mechanical arm to drive the puncture guide to move from the original position at the time t0, and moves the puncture guide to the target position at the time t1, so that the initial position of the calibration hole can be the position of the calibration hole when the mechanical arm is located at the original position.

The detection device acquires a second conversion relation, the second conversion relation represents that the puncture guide moves from the original position to the target position, and the relative motion quantity between the hole and the optical tracking system is calibrated. It should be understood that the relative movement between the calibration aperture and the optical tracking system is understood to be the relative movement between the calibration aperture and the device running the optical tracking system.

According to the second conversion relation, the initial position of the calibration hole is converted, so that the position of the calibration hole when the puncture guide is positioned at the target position can be obtained, and the position is taken as a fourth position.

Specifically, it is assumed that the second conversion relationship is expressed asThe fourth position is denoted (>，，/>) The initial position of the calibration hole is (a, b, c), and then the fourth position, the initial position of the calibration hole and the second conversion relation satisfy the following formula:

… formula (2)

I.e. the initial position of the calibration hole can be converted into a fourth position by equation (2).

105. And calculating a difference between the second distance and the first distance to obtain the needle insertion depth of the surgical needle.

If the portion of the surgical needle from the second point to the forefront end is referred to as a target portion, after the surgical needle enters the guide groove, the target portion may be divided into a portion that has entered the guide groove and a portion that has not entered the guide groove, wherein the length of the portion that has entered the guide groove is the needle insertion depth of the surgical needle, and the sum of the length of the portion that has entered the guide groove and the length of the portion that has not entered the guide groove is the distance from the forefront end to the second point, that is, the above-described second distance. That is, the insertion depth of the surgical needle = second distance-the length of the portion that does not enter the guide slot. Since the first point is a point at the entrance of the guide groove, the length of the portion that does not enter the guide groove is the distance from the second point to the first point, that is, the first distance. Thus, the penetration depth of the surgical needle = second distance-first distance, i.e. the penetration depth of the surgical needle is the difference between the second distance and the first distance.

In this embodiment of the present application, after determining the first position of the first infrared reflecting object based on the optical tracking system and obtaining the second position of the first point, the detection device may determine, according to the first position and the second position, a first distance between the first point and the second point, where the first distance is a length of a portion of the surgical needle that does not enter the guiding slot.

As an alternative embodiment, the second point is the extreme end of the surgical needle, and the second distance from the extreme front end to the second point is the length of the surgical needle. In this way, the real-time penetration depth of the surgical needle can be detected based on the detection method provided above before the extreme end of the surgical needle does not enter the guide slot.

As an alternative embodiment, a second infrared reflector is fixed on the puncture guide. In this embodiment of the present application, the second infrared reflecting object and the first infrared reflecting object are different infrared reflecting objects, but the shape of the first infrared reflecting object and the shape of the second infrared reflecting object may be the same. For example, the first infrared reflector and the second infrared reflector are both spherical.

It should be understood that the number of second infrared reflectors is two or more. For example, fig. 4 is a schematic structural view of a puncture guide according to an embodiment of the present application. As shown in fig. 4, the puncture guide includes four second infrared reflectors 5001, 5002, 5003, 5004 and guide grooves.

The optical tracking system can determine the position of the infrared reflecting object by positioning the infrared reflecting object, further determine the first geometric relationship between the positions of different infrared reflecting objects according to the position of the second infrared reflecting object, and determine that the positioned infrared reflecting object is the second infrared reflecting object under the condition that the first geometric relationship is matched with the second geometric relationship between different second infrared reflecting objects, further determine the position of the puncture guide device based on the position of the second infrared reflecting object obtained by positioning. In the case of determining the position of the puncture guide, the position of any object on the puncture guide may also be determined based on the position of the puncture guide, the geometric relationship between any object on the puncture guide and the puncture guide. For example, the position of the guide slot may be determined based on the position of the puncture guide, a third geometric relationship between the guide slot on the puncture guide and the puncture guide.

It should be appreciated that during the positioning of the second infrared reflectors, the optical tracking system may have shielding between different second infrared reflectors, which may result in the optical tracking system being able to position only a portion of the second reflectors, which may result in the inability to determine that the positioned infrared reflectors are infrared reflectors on the puncture guide based on the positioned position.

For example, for the puncture guide illustrated in fig. 4, it includes four second infrared reflectors, and a second geometric relationship between the four second infrared reflectors is determined. If the four second infrared reflectors are positioned by the optical tracking system, the four second infrared reflectors are not shielded, that is, the optical tracking system can obtain four positioning positions by positioning the infrared reflectors, so that the infrared reflectors corresponding to the four positioning positions can be determined to be the four second infrared reflectors on the puncture guide under the condition that the first geometric relationship between the four positioning positions is matched with the second geometric relationship between the four second reflectors.

However, if the four second infrared reflectors are not blocked when the optical tracking system locates the four second infrared reflectors, that is, the number of locating positions obtained by the optical tracking system by locating the infrared reflectors is less than 4, it may not be possible to determine that the infrared reflectors corresponding to the locating positions are the second infrared reflectors on the puncture guide based on the first geometric relationship between the locating positions.

In this embodiment, the detection means performs the following steps in performing step 101:

201. and acquiring a target puncture path.

In this embodiment of the present application, the target puncture path is a path of the surgical needle for puncturing, and after determining the target puncture path, the puncture guide is controlled to move according to the target puncture path, so that the axis of the guide slot on the puncture guide coincides with the target puncture path, and thus, the target puncture path coincides with the axis of the guide slot. Alternatively, the surgical needle is pierced by moving along the axis of the guide groove of the piercing guide, so that the surgical needle can pierce along the target piercing path.

In one implementation of acquiring the target puncture path, the detection device acquires the target puncture path through the target puncture path sent by the receiving terminal.

In another implementation manner of acquiring the target puncture path, the detection device receives the target puncture path sent by the terminal to acquire the target puncture path.

In yet another implementation of acquiring a target penetration path, the lesion belongs to a target organ, an electronic computed tomography (computed tomography, CT) image including the target organ is first acquired, e.g., the lesion belongs to the kidney portion, and a CT image of the kidney portion may be acquired. And carrying out three-dimensional reconstruction on the target organ based on the CT image to obtain a three-dimensional CT image of the target organ. The doctor determines the location of the lesion from the three-dimensional CT image by observing the three-dimensional CT image of the target organ.

A three-dimensional ultrasound image of the target organ is acquired, for example, by scanning the target organ with an ultrasound probe. Registering the target organ in the three-dimensional ultrasonic image and the target organ in the three-dimensional CT image to obtain a registered three-dimensional CT image. The location of the lesion in the world coordinate system may be determined based on the location of the lesion in the three-dimensional CT image.

By scanning the needle insertion point of the puncture procedure using an ultrasonic probe, the position of the needle insertion point in the world coordinate system can be determined. And finally, determining a straight line passing through the focus and the needle insertion point as a target puncture path according to the position of the focus under the world coordinate system and the position of the needle insertion point under the world coordinate system.

202. And determining the position of the first infrared reflecting object and the position of the second infrared reflecting object through the optical tracking system to obtain a first position to be confirmed.

Based on the foregoing description, the puncture scene comprises a puncture guide and a surgical needle in the puncture process, wherein the puncture guide and the surgical needle are both fixed with infrared reflectors. Therefore, the optical tracking system is used for positioning the infrared reflectors in the puncture scene, namely the first infrared reflector and the second infrared reflector. In this embodiment of the present application, a position obtained by positioning an infrared reflector in a puncture scene by an optical tracking system is referred to as a first position to be confirmed. It should be appreciated that the number of first locations to be confirmed may be less than the number of infrared reflectors within the puncture scene, as infrared reflectors may be obscured.

203. And determining the first position to be confirmed closest to the target puncture path as the first position.

Since the number of infrared reflectors in the puncture scene is greater than 1, and the number of first positions to be confirmed may also be greater than 1, it is necessary to further determine the position of the first infrared reflector from the first positions to be confirmed. As described above, in the case where the second ir reflecting object is not blocked, the position belonging to the second ir reflecting object may be determined from the first position to be confirmed based on the geometric relationship between the first positions to be confirmed, and the position of the first ir reflecting object may be determined from the first positions to be confirmed accordingly.

And under the condition that the optical tracking system is used for positioning the second infrared reflecting objects, and shielding exists among different second infrared reflecting objects, the positioned infrared reflecting objects cannot be determined to be infrared reflecting objects on the puncture guide based on the positioned position (namely the first position to be confirmed). Therefore, in the event that the positioned ir reflecting object cannot be determined to be the ir reflecting object on the puncture guide based on the positioned position, the position of the first ir reflecting object needs to be determined from the first position to be confirmed by other means.

Considering that the first infrared reflecting object is fixed on the second point of the surgical needle, and the surgical needle coincides with the target puncture path, the first infrared reflecting object should be the infrared reflecting object closest to the target puncture path in the puncture scene. Based on this, the detection device determines the first position to be confirmed, which is closest to the target puncture path, as the first position. For example, the first position to be confirmed includes a position a, a position b, and a position c, wherein the distance from the position a to the target puncture path is d1, the distance from the position b to the target puncture path is d2, and the distance from the position c to the target puncture path is d3. If d1 is less than d2 and d2 is less than d3, then position a is the first position to be confirmed closest to the target penetration path.

In this embodiment, after the detection device acquires the target puncture path and determines, through the optical tracking system, the position of the infrared reflection object in the puncture scene to obtain the first position to be confirmed, it is determined that the first position to be confirmed closest to the target puncture path is the first position, so that the accuracy of the first position can be improved.

As an alternative embodiment, the detection means performs the following steps in performing step 203:

301. and determining a third position of the second infrared reflecting object through the optical tracking system.

In this embodiment of the present application, the third position may be obtained by converting an initial position of the second infrared reflecting object according to a third conversion relationship, where the initial position of the second infrared reflecting object characterizes a movement of the puncture guide from the original position to the target position, and a relative movement amount between the second infrared reflecting object and the optical tracking system. It is understood that the relative movement between the second infrared reflector and the optical tracking system is understood to be the relative movement between the second infrared reflector and the device operating the optical tracking system. Specifically, the initial position of the second infrared reflecting object under the world coordinate system is converted according to the third conversion relation, so that the position of the second infrared reflecting object when the puncture guide is positioned at the target position can be obtained, namely the third position.

Specifically, assume that the third conversion relationship is expressed asThe initial position of the second infrared reflector is expressed as (x, y, z), and the third position is +.>Then the initial position, the third position and the third conversion relation of the second infrared reflecting object satisfy the following formula: />

… formula (3)

It should be appreciated that the number of third locations is greater than 1, and in particular, the number of third locations is the same as the number of second infrared reflectors. Optionally, the first conversion relationship, the second conversion relationship, and the third conversion relationship are the same.

302. And removing the position matched with the position in the third position in the first position to be confirmed to obtain a second position to be confirmed.

In the embodiment of the application, the two positions are matched under the condition that the distance between the two positions is smaller than the threshold value, and the two positions are not matched under the condition that the distance between the two positions is larger than or equal to the threshold value. That is, the first position to be confirmed matches the third position, i.e. the distance between the first position to be confirmed and the third position is smaller than the threshold.

Because the third position is obtained by converting the initial position of the second infrared reflecting object, the third position can accurately represent the position of the second infrared reflecting object when the puncture guide is positioned at the target position. Therefore, if the first position to be confirmed matches the third position, it is indicated that the first position to be confirmed is the position of the second infrared reflector, in other words, it is indicated that the first position to be confirmed is not the position of the first infrared reflector.

Therefore, the detection device removes the position of the third infrared reflector from the first position to be confirmed by removing the position matched with the position in the third position in the first position to be confirmed, so as to obtain the second position to be confirmed. For example, the first position to be confirmed includes a position a and a position b, the third position includes a position c and a position d, wherein the position a is matched with the position c, the position b is not matched with the position c, and the position b is not matched with the position d, so that the position a in the first position to be confirmed is matched with the position in the third position, and therefore the position a in the first position to be confirmed is removed to obtain a second position to be confirmed, namely the second position to be confirmed is the position b.

For another example, the first position to be confirmed includes a position a, a position b and a position c, the third position includes a position d and a position e, wherein the position a is matched with the position c, the position b is not matched with the position d, the position b is not matched with the position e, the position c is not matched with the position d, and the position c is not matched with the position e, so that the position a in the first position to be confirmed is matched with the position in the third position, and therefore the position a in the first position to be confirmed is removed to obtain a second position to be confirmed, namely the second position to be confirmed includes the position b and the position c.

303. And determining the second position to be confirmed closest to the target puncture path as the first position.

It should be appreciated that infrared reflectors other than the first and second infrared reflectors may be included in the puncture scene, for example, an ultrasonic probe may be used in performing the puncture procedure, with the infrared reflectors also being affixed to the ultrasonic probe. Thus, the second location to be validated may also include a location of an infrared reflector other than the first infrared reflector. The detection device may determine the first position of the first infrared reflector from the second position to be confirmed by performing step 303.

In this embodiment, after the detection device obtains the third position of the second infrared reflecting object, the detection device removes the position of the second infrared reflecting object from the first position to be confirmed by removing the position matched with the third position in the first position to be confirmed to obtain the second position to be confirmed, so as to remove the interference factor for determining the position of the first infrared reflecting object. And then determining the second position to be confirmed closest to the target puncture path as the first position, so that the accuracy of the first position can be improved.

Based on the technical scheme provided by the embodiment of the application, the real-time needle inserting depth of the surgical needle can be detected in the process of performing the puncture operation by using the surgical needle. In a possible implementation scenario, the detection device determines the real-time needle insertion depth of the surgical needle by executing the technical scheme provided by the embodiment of the application, and displays the real-time needle insertion depth of the surgical needle through the software interface, so that a doctor can know the real-time needle insertion depth of the surgical needle, and the doctor is further facilitated to be assisted to puncture by using the surgical needle. For example, fig. 5 shows a schematic diagram of displaying the real-time needle penetration depth of a surgical needle through a software interface, where, as shown in fig. 5, the left side is a CT image of an object to be penetrated, the concentric circles on the upper right represent the rotation angle of an ultrasonic probe during the penetration process, the right side shows the real-time needle penetration depth of the surgical needle as 10 mm, and the target needle penetration depth as 100 mm. The lower part also comprises three view angle buttons: the head is left, the kidney is centered, and the head is right. The click head faces to the left, and the left side of the object to be pierced can be displayed by adjusting the visual angle of the CT image of the object to be pierced. Clicking kidney center can display kidney of the object to be punctured in the middle of CT image of the object to be punctured by adjusting view angle of CT image of the object to be punctured. The click head faces to the right, and the right side of the object to be pierced can be displayed by adjusting the visual angle of the CT image of the object to be pierced.

It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.

The foregoing details the method of embodiments of the present application, and the apparatus of embodiments of the present application is provided below.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a device for detecting a needle insertion depth according to an embodiment of the present application. The device 1 for detecting the needle insertion depth comprises: a determining unit 11, an acquiring unit 12, a calculating unit 13, specifically:

the detection device 1 is used for determining the needle insertion depth of the surgical needle in the process of puncturing the surgical needle by moving along the guide groove of the puncture guide, and the initial position of puncturing the surgical needle is the position of the forefront end of the surgical needle at the inlet of the guide groove; the nearest point to the extreme end of the surgical needle on the guide groove is a first point, a first infrared reflecting object is fixed at a second point of the surgical needle except the extreme front end, and the detection device 1 comprises:

a determining unit 11 for determining a first position of the first infrared reflector during the surgical needle penetration based on an optical tracking system;

An acquisition unit 12 for acquiring a second position of the first point;

the determining unit 11 is configured to determine a first distance between the first point and the second point according to the first position and the second position;

the acquiring unit 12 is configured to acquire a second distance from the foremost end to the second point;

and a calculating unit 13, configured to calculate a difference between the second distance and the first distance, so as to obtain a needle insertion depth of the surgical needle.

the determining unit 11 is configured to:

In combination with any one of the embodiments of the present application, the determining unit 11 is configured to:

In combination with any one of the embodiments of the present application, the obtaining unit 12 is configured to:

In combination with any of the embodiments of the present application, the puncture guide further comprises a calibration hole, and the acquiring unit 12 is configured to:

Moving the foremost end to the calibrated hole;

and taking the position of the calibration hole as the fourth position.

In some embodiments, functions or modules included in the apparatus provided in the embodiments of the present application may be used to perform the methods described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.

Fig. 7 is a schematic hardware structure of an electronic device according to an embodiment of the present application. The electronic device 2 comprises a processor 21 and a memory 22. Optionally, the electronic device 2 further comprises input means 23 and output means 24. The processor 21, memory 22, input device 23, and output device 24 are coupled by connectors, including various interfaces, transmission lines or buses, etc., as not limited in this application. It should be understood that in various embodiments of the present application, coupled is intended to mean interconnected by a particular means, including directly or indirectly through other devices, e.g., through various interfaces, transmission lines, buses, etc.

The processor 21 may be one or more graphics processors (graphics processing unit, GPUs), which may be single-core GPUs or multi-core GPUs in the case where the processor 21 is a GPU. Alternatively, the processor 21 may be a processor group formed by a plurality of GPUs, and the plurality of processors are coupled to each other through one or more buses. In the alternative, the processor may be another type of processor, and the embodiment of the present application is not limited.

Memory 22 may be used to store computer program instructions as well as various types of computer program code for performing aspects of the present application. Optionally, the memory includes, but is not limited to, a random access memory (random access memory, RAM), a read-only memory (ROM), an erasable programmable read-only memory (erasable programmable read only memory, EPROM), or a portable read-only memory (compact disc read-only memory, CD-ROM) for associated instructions and data.

The input means 23 are for inputting data and/or signals and the output means 24 are for outputting data and/or signals. The input device 23 and the output device 24 may be separate devices or may be an integral device.

It will be appreciated that in the embodiments of the present application, the memory 22 may be used to store not only relevant instructions, but also relevant data, and the embodiments of the present application are not limited to the data specifically stored in the memory.

It will be appreciated that fig. 7 shows only a simplified design of an electronic device. In practical applications, the electronic device may further include other necessary elements, including but not limited to any number of input/output devices, processors, memories, etc., and all electronic devices that may implement the embodiments of the present application are within the scope of protection of the present application.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein. It will be further apparent to those skilled in the art that the descriptions of the various embodiments herein are provided with emphasis, and that the same or similar parts may not be explicitly described in different embodiments for the sake of convenience and brevity of description, and thus, parts not described in one embodiment or in detail may be referred to in the description of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disk (digital versatile disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

Those of ordinary skill in the art will appreciate that implementing all or part of the above-described method embodiments may be accomplished by a computer program to instruct related hardware, the program may be stored in a computer readable storage medium, and the program may include the above-described method embodiments when executed. And the aforementioned storage medium includes: a read-only memory (ROM) or a random access memory (random access memory, RAM), a magnetic disk or an optical disk, or the like.

Claims

1. The detection method is used for determining the needle penetration depth of the surgical needle in the process that the surgical needle is penetrated by moving along a guide groove of a penetration guide, and the starting position of the surgical needle in penetration is the position where the foremost end of the surgical needle is positioned at the inlet of the guide groove; a point on the guide slot closest to the extreme end of the surgical needle is a first point, and a first infrared reflector is fixed on the surgical needle at a second point except the extreme front end, and the method comprises:

Acquiring a second position of the first point;

acquiring a second distance from the foremost end to the second point;

2. The method of claim 1, wherein a second infrared reflector is affixed to the puncture guide;

3. The method of claim 2, wherein the determining the first location to be confirmed that is closest to the target penetration path is the first location, comprising:

4. A method according to any one of claims 1 to 3, wherein said determining a first distance between said first point and said second point from said first position and said second position comprises:

5. The method of claim 4, wherein the obtaining a second distance of the forwardmost end to the second point comprises:

6. The method of claim 5, wherein the piercing introducer further comprises a calibrated hole, the moving the forwardmost end to a fourth position comprising:

moving the foremost end to the calibrated hole;

and taking the position of the calibration hole as the fourth position.

7. A method according to any one of claims 1 to 3, wherein the second point is the extreme end of the surgical needle.

8. The detection device is used for determining the needle penetration depth of the surgical needle in the process that the surgical needle is penetrated by moving along a guide groove of a penetration guide, and the starting position of the surgical needle in penetration is the position where the foremost end of the surgical needle is positioned at the inlet of the guide groove; the nearest point of the guide groove to the extreme end of the surgical needle is a first point, a first infrared reflector is fixed at a second point of the surgical needle except the extreme front end, and the detection device comprises:

an acquisition unit configured to acquire a second position of the first point;

9. An electronic device, comprising: a processor and a memory for storing computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to perform the method of any one of claims 1 to 7.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method according to any of claims 1 to 7.