CN116919545A - Puncture needle and focus visualization method and system based on microwave thermo-acoustic imaging - Google Patents
Puncture needle and focus visualization method and system based on microwave thermo-acoustic imaging Download PDFInfo
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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Abstract
The application discloses a puncture needle and focus visualization method and system based on microwave thermo-acoustic imaging, relates to the technical field of microwave thermo-acoustic imaging, and solves the problems of limited puncture angle and poor imaging effect of the traditional puncture guiding imaging technology. Compared with the traditional puncture guiding imaging technology, the puncture needle and focus visualization method and system provided by the application have the characteristics of high contrast, non-ionization, low cost, good portability and real-time imaging, and can visualize the puncture condition of the puncture needle without angle limitation.
Description
Technical Field
The application relates to the technical field of microwave thermo-acoustic imaging, in particular to a puncture needle based on microwave thermo-acoustic imaging and a focus visualization method and a focus visualization system.
Background
Modern medical Imaging technology is an indispensable technical means in clinical medicine, and with the continuous development of technology, medical Imaging technology is also continuously advancing, and common medical Imaging technologies include ultrasonic Imaging (Ultrasound Imaging), X-ray Imaging (X-ray Imaging), computed tomography Imaging (Computed Tomography, CT) and magnetic resonance Imaging (Magnetic Resonance Imaging, MRI). The medical imaging technology enables the focus to be visualized, and is greatly convenient for medical staff to grasp the focus position and size. In actual clinical procedures, the focal tissue is often punctured by a puncture to sample or inject the drug. In the puncturing process, the visualization of the puncture needle is necessary, and the puncture needle can be observed by using the modern medical imaging technology, so that the puncture is more convenient and accurate.
Various medical imaging technologies have advantages and disadvantages in the aspect of puncture needle visualization: ultrasonic imaging is a commonly used imaging technique in puncture needle visualization, and has the characteristics of non-ionization, real-time imaging and easy operation, and is the most applicable to the crowd. However, when the acoustic impedance of the focal tissue is similar to that of the surrounding normal tissue, it is difficult to obtain a significant contrast difference between the two by ultrasonic imaging. In addition, it has been found that, due to the smooth surface of the puncture needle, when the angle between the puncture needle and the ultrasonic beam is too large, the ultrasonic probe will have difficulty in receiving the reflected ultrasonic signal, i.e., the ultrasonic imaging cannot observe the puncture needle without angular limitation. X-ray imaging has the advantages of high contrast and high resolution, particularly high sensitivity to calcified lesions, which has great advantages when observing tissue with calcified lesions, but the inherent ionizing radiation hazard limits its long-term frequent use. The CT imaging auxiliary puncture needle can obtain deep tissue images with high accuracy, eliminates adverse effects caused by overlapping tissues, and can determine the optimal puncture angle by rotating the images. However, the CT imaging process has larger ionizing radiation hazard and huge equipment body, and brings inconvenience for observing puncture conditions in real time. MRI imaging assisted penetration needles can also obtain deep tissue images with high accuracy, and have high specificity and sensitivity, but the popularity is limited by the expensive cost. And MRI has metal sensitivity, can not image in real time, and is difficult to observe puncture condition.
To sum up, in order to solve the limitations of the current imaging technology in the process of visualizing the puncture needle, it is highly desirable to develop a novel biomedical imaging technology to improve the visualization of the puncture needle.
Disclosure of Invention
The application aims to provide a puncture needle and focus visualization method and system based on microwave thermo-acoustic imaging, which are used for driving an antenna and an ultrasonic transducer to rotate and increasing a metal reflecting surface by combining the microwave thermo-acoustic imaging with a mechanical arm so as to realize the optimal visualization effect of the puncture needle and the focus.
In a first aspect, the application provides a puncture needle and focus visualization system based on microwave thermo-acoustic imaging, which comprises a microwave excitation module, a data acquisition module, an image reconstruction module, a mechanical arm control module and a visualization enhancement module;
the microwave excitation module comprises a microwave source, a coaxial line, an antenna and a microwave source control program which are sequentially connected, wherein the microwave source control program is arranged in the computer and is used for radiating microwaves generated by the microwave source to biological tissues and the puncture needle, and the microwave source control program is used for adjusting the frequency of the microwaves;
the data acquisition module comprises an ultrasonic transducer, a multichannel amplifier and a multichannel acquisition card which are sequentially connected, and is used for acquiring thermoacoustic signals generated by biological tissues and a puncture needle;
the image reconstruction module comprises a computer, wherein a delay superposition algorithm and an image fusion algorithm are built in the computer, and the computer is respectively connected with the multichannel acquisition card, the microwave source and the servo motor and is used for constructing a visual thermo-acoustic image, adjusting the microwave frequency and sending a control instruction according to the acquired thermo-acoustic signal;
the mechanical arm control module comprises a multi-axis mechanical arm, a servo motor and a mechanical arm motor control program which are sequentially connected, wherein the control program is used for sending control instructions and receiving returned movement angles, and different axes of the multi-axis mechanical arm are respectively connected with an ultrasonic transducer and an antenna and used for responding to the control instructions, driving the antenna and the ultrasonic transducer to move and returning the movement angles;
the visualization enhancement module comprises a single or array of metal reflective surfaces disposed on opposite sides of the antenna for reflecting microwaves transmitted or diffracted through the biological tissue back to the needle and the biological tissue.
The second aspect of the present application provides a puncture needle and focus visualization method based on microwave thermo-acoustic imaging, which is applied to the puncture needle and focus visualization system based on microwave thermo-acoustic imaging, and the method comprises the following steps:
s1, responding to a first control instruction, and adjusting the relative positions of an antenna, an ultrasonic transducer and biological tissues by a servo motor to enable the ultrasonic transducer to be positioned on an imaging layer capable of obtaining a focus form complete thermo-acoustic image;
s2, responding to a second control instruction, adjusting the antenna to face the focus by the servo motor, enabling the focus to be positioned on an antenna microwave transmission path, rotating the antenna along the central axis of the transmission path, and obtaining an optimal thermo-acoustic image of the focus if the polarization direction or the incidence direction of an antenna electric field is parallel to the long axis of the focus in the rotation process;
s3, adjusting the microwave frequency to enable the microwave half wavelength to be equal to the length of the puncture needle;
and S4, responding to a third control instruction, and driving the antenna to rotate by the servo motor, so that the polarization direction of the antenna electric field rotates towards an angle parallel to the puncture needle until the optimal thermo-acoustic image containing the puncture needle and the focus is obtained.
By adopting the technical scheme, the puncture needle and the focus can obtain higher dielectric contrast in the thermo-acoustic image and show a clear and complete form by adjusting the included angle between the polarization direction of the antenna electric field and the puncture needle and selecting microwaves with corresponding frequencies under half wavelengths similar to the length of the puncture needle. Compared with the traditional puncture guiding imaging technology, the imaging device has the characteristics of high contrast, non-ionization, low cost, good portability and real-time imaging, and can visualize the puncture condition of the puncture needle without angle limitation.
In one possible implementation manner, the step S2 includes: in the process that the servo motor drives the antenna to rotate along the central axis of the transmission path, the focus CNR value in the thermo-acoustic image is calculated and displayed at a fixed frequency, the computer automatically determines the maximum CNR value, and feeds back the corresponding antenna rotation angle to the mechanical arm control module, and the servo motor drives the antenna to rotate to the antenna angle to obtain the optimal thermo-acoustic image of the focus.
In one possible implementation manner, the step S4 includes: the method comprises the steps that when a focus CNR value is maximum, a corresponding antenna rotation angle is used as an initial angle, a servo motor drives an antenna to rotate, the focus CNR value and a puncture needle CNR value are calculated and displayed in real time in the rotation process, and an optimal thermo-acoustic image containing the puncture needle and the focus is obtained on the premise that the focus CNR value is not lower than a visual threshold.
In one possible embodiment, during rotation, if the puncture needle CNR value can obtain a maximum value, analyzing whether the puncture needle CNR maximum value is smaller than the focus CNR value, if so, maintaining the antenna at the angle, and if not, backing the servo motor rotating antenna to an angle when the focus CNR value is equal to the puncture needle CNR value, so as to obtain an optimal thermo-acoustic image comprising the puncture needle and the focus.
In one possible embodiment, during rotation, if the puncture needle CNR value cannot obtain the maximum value, analyzing whether the puncture needle CNR maximum value is smaller than the focus CNR value, if so, maintaining the antenna at the angle, and if not, retracting the servo motor rotary antenna to an angle when the focus CRN value is equal to the puncture needle CNR value, thereby obtaining the optimal thermo-acoustic image including the puncture needle and the focus.
In one possible embodiment, the method further comprises: in the optimal thermo-acoustic image containing the puncture needle and the focus, if the puncture needle and the focus CNR value are smaller than the visual threshold, two microwaves with frequencies matched with the focus and the puncture needle microwave are set in the microwave excitation module.
In one possible embodiment, the method further comprises: after the data acquisition module acquires the two single-frequency thermo-acoustic signals, an image fusion algorithm is executed through the image reconstruction module, and two single-frequency thermo-acoustic images and a fusion thermo-acoustic image are obtained and displayed.
In one possible embodiment, the method further comprises: if the visualization effect of the puncture needle and the focus is poor, a visualization enhancement module can be placed around the biological tissue and used for reflecting the microwaves which penetrate or diffract through the biological tissue back to the puncture needle and the focus tissue.
In one possible embodiment, the visual threshold is 1.02.
Compared with the prior art, the application has the following beneficial effects:
1. the microwave thermo-acoustic imaging technology is used as a novel biomedical imaging technology, has the advantages of non-ionization, low cost, real-time imaging and good portability, and can greatly facilitate the continuous visualization of the puncture needle and the focus in the puncture operation.
2. The method and the improvement of the microwave thermo-acoustic imaging system can lead the puncture needle and the focus to have higher contrast and clearer and more complete form in the thermo-acoustic image, and can visualize the puncture needle and the focus without angle limitation.
3. The application has the same principle of receiving acoustic signals as the existing medical ultrasonic imaging technology, can use the ultrasonic probe of medical ultrasonic equipment to simultaneously receive thermoacoustic signals and ultrasonic signals, and can integrate the ultrasonic imaging puncture guiding system technology with the ultrasonic imaging puncture guiding system technology into a bimodal imaging puncture visualization system because the same ultrasonic probe is used for receiving signals and the two images are naturally registered, supplements ultrasonic imaging by utilizing the high contrast advantage of microwave thermoacoustic imaging, and realizes the puncture visualization effect without angle limitation.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
fig. 1 is a schematic structural diagram of a puncture needle and focus visualization system based on microwave thermo-acoustic imaging provided by the application;
fig. 2 is a schematic flow chart of a method for visualizing a puncture needle and a focus based on microwave thermo-acoustic imaging according to the present application;
FIG. 3 is a simulation diagram of breast cancer puncture with a puncture needle provided by the application in parallel with the polarization direction of an electric field;
fig. 4 is a schematic diagram of breast cancer puncture of a puncture needle according to the present application perpendicular to the polarization direction of an electric field (whether a metal reflecting surface exists or not).
Detailed Description
Hereinafter, the terms "comprises" or "comprising" as may be used in various embodiments of the present application indicate the presence of the claimed function, operation or element, and are not limiting of the increase of one or more functions, operations or elements. Furthermore, as used in various embodiments of the application, the terms "comprises," "comprising," and their cognate terms are intended to refer to a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be interpreted as first excluding the existence of or increasing likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
It should be noted that: if it is described that one constituent element is "connected" to another constituent element or "connected" with another constituent element, a first constituent element may be directly connected to a second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. Conversely, when one constituent element is "directly connected" to another constituent element or "directly connected" with another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The terminology used in the various embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the application. As used herein, the singular is intended to include the plural as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.
For the purpose of making apparent the objects, technical solutions and advantages of the present application, the present application will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present application and the descriptions thereof are for illustrating the present application only and are not to be construed as limiting the present application.
Based on the limitation of the current imaging technology in the puncture needle visualization process, the inventor provides a puncture needle and focus visualization method and system based on microwave thermo-acoustic imaging, and the microwave thermo-acoustic imaging technology is converted and improved to be applied to puncture needle imaging.
Microwave thermo-acoustic imaging is used as a novel biomedical imaging technology, and combines the advantages of high resolution of traditional ultrasonic imaging and high contrast and large penetration depth of microwave imaging. The operation process and the ultrasonic imaging similarity are higher, so that the learning threshold of medical staff is lower, and the medical staff is convenient to popularize in primary hospitals. In addition, the microwave thermo-acoustic imaging technology has the advantages of high imaging contrast, non-ionization, low cost, good portability and real-time imaging, thereby having the potential of providing a novel and effective imaging tool for the visualization of the puncture needle and the focus.
The application provides a puncture needle and focus visualization method and system based on microwave thermo-acoustic imaging, which are described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a puncture needle visualization system based on microwave thermo-acoustic imaging, wherein the system comprises a microwave excitation module, a data acquisition module, an image reconstruction module, a mechanical arm control module and a visualization enhancement module; the microwave excitation module comprises a microwave source, a coaxial line, an antenna and a microwave source control program which are sequentially connected, wherein the microwave source control program is arranged in the computer and is used for radiating microwaves generated by the microwave source to biological tissues and the puncture needle, and the microwave source control program is used for adjusting the frequency of the microwaves; the data acquisition module comprises an ultrasonic transducer, a multichannel amplifier and a multichannel acquisition card which are sequentially connected, and is used for acquiring thermoacoustic signals generated by biological tissues and a puncture needle; the image reconstruction module comprises a computer, wherein a delay superposition algorithm and an image fusion algorithm are built in the computer, and the computer is respectively connected with the multichannel acquisition card, the microwave source and the servo motor and is used for constructing a visual thermo-acoustic image, adjusting the microwave frequency and sending a control instruction according to the acquired thermo-acoustic signal; the mechanical arm control module comprises a multi-axis mechanical arm, a servo motor and a mechanical arm motor control program which are sequentially connected, wherein the control program is used for sending control instructions and receiving returned movement angles, and different axes of the multi-axis mechanical arm are respectively connected with an ultrasonic transducer and an antenna and used for responding to the control instructions, driving the antenna and the ultrasonic transducer to move and returning the movement angles; the visualization enhancement module comprises a single or array of metal reflective surfaces disposed on opposite sides of the antenna for reflecting microwaves transmitted or diffracted through the biological tissue back to the needle and the biological tissue.
Specifically, the microwave source generates microwaves with a certain frequency, and the microwaves are transmitted to the antenna through the coaxial line and then radiated to the biological tissues and the puncture needle through the antenna. The puncture needle is heated by microwave radiation to generate strong thermo-acoustic signals, the thermo-acoustic signals are received and converted into electric signals through the semi-ring array ultrasonic transducer, and the electric signals are amplified and filtered through the multichannel amplifier and then collected by the multichannel collecting card. The computer of the image reconstruction module is internally provided with an acquisition card control program, a delay superposition algorithm program, a microwave control program and a mechanical arm motor control program, imaging setting is carried out through the acquisition card control program, the acquired thermo-acoustic data is subjected to image reconstruction by utilizing the delay superposition algorithm program, a thermo-acoustic image is generated, and the visualization of the puncture needle and the focus is realized; the microwave frequency emitted by the microwave source is adjusted through a microwave control program, so that the half wavelength of the microwave is equal to the length of the puncture needle; the mechanical arm motor control program drives the mechanical arm joint to rotate or the tail end servo motor to rotate, so that the antenna and the ultrasonic transducer are driven to move and rotate, and meanwhile, the mechanical arm can return the real-time movement angles of the joint and the servo motor to the mechanical arm motor control program. The single metal reflecting surface or the array metal reflecting surface formed by a plurality of metal reflecting surfaces in the visualization enhancement module surrounds a part of the biological tissue and is arranged at the opposite side of the antenna, so that microwaves which penetrate or diffract the tissue are reflected back to the puncture needle and the focus, and the visualization effect of the puncture needle and the focus is enhanced.
Referring to fig. 2, fig. 2 is a schematic flow chart of a method for visualizing a puncture needle based on microwave thermo-acoustic imaging; the method is applied to the puncture needle and focus visualization system based on microwave thermo-acoustic imaging. The method comprises the following steps: s1, responding to a first control instruction, and adjusting the relative positions of an antenna, an ultrasonic transducer and biological tissues by a servo motor to enable the ultrasonic transducer to be positioned on an imaging layer capable of obtaining a focus form complete thermo-acoustic image; s2, responding to a second control instruction, adjusting the antenna to face the focus by the servo motor, enabling the focus to be positioned on an antenna microwave transmission path, rotating the antenna along the central axis of the transmission path, and obtaining an optimal thermo-acoustic image of the focus if the polarization direction or the incidence direction of an antenna electric field is parallel to the long axis of the focus in the rotation process; s3, adjusting the microwave frequency to enable the microwave half wavelength to be equal to the length of the puncture needle; and S4, responding to a third control instruction, and driving the antenna to rotate by the servo motor, so that the polarization direction of the antenna electric field rotates towards an angle parallel to the puncture needle until the optimal thermo-acoustic image containing the puncture needle and the focus is obtained.
Specifically, in step S1, the puncture needle visualization system based on microwave thermo-acoustic imaging controls the mechanical arm to drive the antenna and the ultrasonic transducer to probe the focus part, obtains a thermo-acoustic image with complete focus outline, and fixes the ultrasonic transducer, wherein the thermo-acoustic image can accurately reflect the position of the focus and can show a form with complete focus. In step S2, by running a control program of a mechanical arm motor, the mechanical arm is controlled to adjust the position of the antenna so that the antenna faces the focus, and adjust the pitch angle and yaw angle of the antenna, so that the focus is located on the microwave transmission path of the antenna, the servo motor drives the antenna to rotate 180 ° along the transmission central axis, and meanwhile, focus CNR values (Contrast-to-Noise Ratio) in the thermo-acoustic image are calculated and displayed in real time in the rotation process, and when the focus CNR values are maximum, that is, when the polarization direction or incidence direction of the antenna electric field is parallel to the long axis of the focus, the rotation angle of the antenna is fixed, and the optimal thermo-acoustic image of the focus is obtained, and at the moment, the focus visualization effect is optimal. In step S3, the microwave frequency is adjusted according to the length of the puncture needle, so that the half wavelength of the microwave is similar to the length of the puncture needle, and the optimal response of the puncture needle is achieved. In step S4, on the premise of ensuring visualization of the focus, the mechanical arm takes the antenna angle corresponding to the maximum focus CNR value as the initial angle, drives the antenna to rotate, calculates and displays the focus CNR value and the puncture needle CNR value in the thermo-acoustic image in real time in the rotation process, and determines the optimal imaging angle through the CNR value to obtain the optimal thermo-acoustic image comprising the puncture needle and the focus.
It should be noted that the puncture needle in the microwave field can be regarded as a dipole antenna, and the puncture needle will obtain an optimal response when the half wavelength of the radiated microwave is close to the puncture needle length. The microwave frequency commonly used in the microwave thermo-acoustic imaging technology is different in the range of 400MHz-9.4GHz, the corresponding half wavelength range is about 1.5cm-37.5cm, and the length of the puncture needle used in most cases can be covered. The corresponding frequency microwaves are selected according to the actual puncture needle length, and the puncture needle can achieve the best visual effect in the thermo-acoustic image.
Further, the step S2 includes: in the process that the servo motor drives the antenna to rotate along the central axis of the transmission path, the focus CNR value in the thermo-acoustic image is calculated and displayed at a fixed frequency, the computer automatically determines the maximum CNR value, and feeds back the corresponding antenna rotation angle to the mechanical arm control module, and the servo motor drives the antenna to rotate to the antenna angle to obtain the optimal thermo-acoustic image of the focus.
Specifically, the servo motor is controlled to drive the antenna to rotate 180 degrees along the transmission central axis, and focus CNR values corresponding to each angle are stored by taking 1 degree as a stepping angle. After obtaining all focus CNR values in the antenna rotation process, the computer determines the maximum focus CNR value, and feeds back the corresponding rotation angle to a mechanical arm motor control program to control the mechanical arm to drive the antenna to be placed at the rotation angle when the focus CNR value is maximum, and at the moment, the optimal thermo-acoustic image of the focus is obtained.
It is understood that lesions of different growth orientations produce different imaging effects in the microwave thermo-acoustic field. The incident direction and angle of the antenna are adjusted by controlling the mechanical arm, so that the polarization direction or the incident direction of an electric field is parallel to the long axis of the focus, at the moment, the microwave absorption capacity of the focus is maximum, the amplitude of the generated thermo-acoustic signal is maximum, and the focus achieves the optimal visual effect in the thermo-acoustic image.
Further, the step S4 includes: the method comprises the steps that when a focus CNR value is maximum, a corresponding antenna rotation angle is used as an initial angle, a servo motor drives an antenna to rotate, the focus CNR value and a puncture needle CNR value are calculated and displayed in real time in the rotation process, and an optimal thermo-acoustic image containing the puncture needle and the focus is obtained on the premise that the focus CNR value is not lower than a visual threshold.
In the rotating process, if the puncture needle CNR value can obtain the maximum value, analyzing whether the puncture needle CNR maximum value is smaller than the focus CNR value, if so, keeping the antenna at the angle, and if not, backing the servo motor rotating antenna to the angle when the focus CNR value is equal to the puncture needle CNR value, so as to obtain the optimal thermo-acoustic image comprising the puncture needle and the focus. In the rotating process, if the puncture needle CNR value can not obtain the maximum value, analyzing whether the puncture needle CNR maximum value is smaller than the focus CNR value, if so, keeping the antenna at the angle, and if not, backing the servo motor rotating antenna to the angle when the focus CRN value is equal to the puncture needle CNR value, so as to obtain the optimal thermo-acoustic image comprising the puncture needle and the focus.
It is understood that the needle acts as a conductor in the microwave thermo-acoustic field, and when the microwaves radiate biological tissue and the needle, the needle heats surrounding tissue to generate a strong thermo-acoustic signal; the electric characteristics of the surface of the puncture needle can be influenced by the polarization direction of the antenna electric field, when the polarization direction of the electric field is parallel to the puncture needle, the coupling efficiency of microwaves and the puncture needle is highest, and the puncture needle has the best visualization effect in a thermo-acoustic image. Therefore, the method drives the antenna to rotate through the servo motor, so that the polarization direction of the antenna electric field rotates towards an angle parallel to the puncture needle until the optimal thermo-acoustic image containing the puncture needle and the focus is obtained.
In one possible implementation, the method further includes: in the optimal thermo-acoustic image containing the puncture needle and the focus, if the puncture needle and the focus CNR value are smaller than the visual threshold, two microwaves with frequencies matched with the focus and the puncture needle microwave are set in the microwave excitation module. After the data acquisition module acquires the two single-frequency thermo-acoustic signals, an image fusion algorithm is executed through the image reconstruction module, and two single-frequency thermo-acoustic images and a fusion thermo-acoustic image are obtained and displayed.
When the visual threshold is 1.02 and the CNR value is not lower than 1.02, the contrast difference between the target and the background in the thermo-acoustic image and the details of the target can be distinguished by human eyes.
Specifically, in special cases, for example, the influence of the complexity of biological tissue structures, the thermo-acoustic signals of the focus and the puncture needle are weak, the image noise is large, the CNR values of the puncture needle and the focus are difficult to be larger than 1.02 at the same time, at the moment, the single-frequency microwaves cannot simultaneously give consideration to the visualization effects of the focus and the puncture needle, and the visualization effects of the focus and the puncture needle are deteriorated. The computer controls the two microwaves matched with the focus and the puncture needle to rapidly switch and output microwaves, the microwaves are radiated to the focus and the puncture needle through the broadband antenna, the same ultrasonic transducer is utilized to receive thermoacoustic signals, and thermoacoustic images under two different microwave frequencies are fused and output. Because the same ultrasonic transducer is used for receiving the thermo-acoustic signals, the thermo-acoustic signals generated under different microwave frequencies have the same physical coordinate system when being received, namely, the two thermo-acoustic images are naturally registered. The two thermo-acoustic images are fused by utilizing an image fusion algorithm, and the two single-frequency thermo-acoustic images and the fused thermo-acoustic images are displayed simultaneously, so that the fused thermo-acoustic images can simultaneously give consideration to the visualization effects of the focus and the puncture needle. Specifically, the microwave frequency matched with the focal tissue should maximize the contrast difference value between the focal tissue and the surrounding normal tissue; the microwave frequency matched with the puncture needle should make the corresponding half wavelength of the microwave frequency be similar to the length of the puncture needle.
In one possible implementation, the method further includes: a visualization enhancing module is placed around the biological tissue for reflecting microwaves transmitted or diffracted through the biological tissue back to the needle and the biological tissue.
Specifically, in visualizing the puncture needle and the lesion, there may be two cases:
1. in the process that the servo motor drives the antenna to rotate, the space of the puncture part and the body position of a patient are affected, the microwave field at the puncture needle is unevenly distributed, the visual effect of the puncture needle in a thermo-acoustic image is always poor, and even when the polarization direction of an electric field is perpendicular to the puncture needle, the outline of the puncture needle is hardly visible.
2. The puncture needle assumes an intermittent shape in the thermo-acoustic image, subject to the complexity of the tissue structure and the puncture length and depth.
Under the condition, a single or array metal reflecting surface can be placed around the irradiated biological tissue, and the transmitted or diffracted microwaves are reflected back to the puncture needle and focus tissue, so that the outline of the puncture needle is more complete, the focus tissue is clearer, the visual effect of the puncture needle and the focus tissue is enhanced, and the puncture condition of the puncture needle can be observed without angle limitation through a microwave thermo-acoustic imaging technology. The metal reflecting surface is generally square or arc-shaped, wherein the square metal reflecting surface has the simplest structure, and the arc-shaped metal reflecting surface has the best enhancement effect.
Compared with the puncture needle/focus visualization realized by the existing imaging technology, the method realizes the puncture needle visualization based on microwave thermo-acoustic imaging, has the advantages of non-ionization, low cost, real-time imaging and good portability, and can greatly facilitate the continuous implementation of the puncture needle and focus visualization in the puncture operation; according to the method steps provided by the application, the puncture needle and the focus have higher contrast and clearer and more complete forms in the thermo-acoustic image, and the puncture needle and the focus can be visualized without angle limitation; in addition, the thermoacoustic signal of the application is the same as the existing medical ultrasonic imaging technology in the principle of receiving the acoustic signal, the ultrasonic probe of the medical ultrasonic equipment can be used for receiving the thermoacoustic signal and the ultrasonic signal at the same time, and because the same ultrasonic probe is used for receiving the signal, and two images are naturally registered, the application and the ultrasonic imaging puncture guiding system technology can be integrated into a dual-mode imaging puncture visualization system, the high contrast advantage of microwave thermoacoustic imaging is utilized to supplement the ultrasonic imaging, and the puncture visualization effect without angle limitation is realized.
Next, in order to further explain the implementation procedure of the puncture needle visualization method based on the microwave thermo-acoustic imaging, the microwave thermo-acoustic imaging method for puncture needle and lesion visualization provided by the present application will be described below taking breast cancer puncture visualization as an example.
Referring to fig. 1, a microwave thermo-acoustic imaging puncture visualization system is started, a microwave source is set by a computer to generate 1.3GHZ microwaves commonly used in the microwave thermo-acoustic imaging technology, a mechanical arm motor is used for controlling a program to control a mechanical arm, so that the mechanical arm drives an antenna and an ultrasonic transducer to be positioned at a diseased breast part and probe tumors, an imaging layer which is favorable for puncture is determined, the ultrasonic transducer is fixed on the layer, the layer can accurately reflect the position of tumor tissues, and the layer can present a relatively complete form of the tumor tissues.
The mechanical arm motor control program controls the mechanical arm to move the antenna to face the tumor, adjusts the pitch angle and the yaw angle of the antenna to enable the tumor to be located on the microwave transmission path of the antenna, controls the servo motor to drive the antenna to rotate 180 degrees along the transmission central axis through running the mechanical arm motor control program, simultaneously displays a tumor CNR value (Contrast-to-Noise Ratio) in a thermo-acoustic image in real time in the rotating process, and stores the tumor CNR value corresponding to each angle by taking 1 degree as a stepping angle. After all the tumor CNR values in the rotation process of the antenna are obtained, the computer determines the maximum tumor CNR value, and feeds back the corresponding rotation angle to a mechanical arm motor control program to control the mechanical arm to drive the antenna to be placed at the rotation angle when the tumor CNR value is maximum, so that the optimal imaging effect of the tumor is obtained. In practice, the tumor visualization is best when the antenna electric field polarization or incidence direction is parallel to the tumor long axis, as shown in fig. 3.
Since the puncture needle in the microwave field can be regarded as a dipole antenna, the puncture needle will obtain an optimal response when the half wavelength of the radiated microwaves approaches the puncture needle length. If an 18G puncture needle with a 15cm gauge is used for the breast cancer puncture guide in this example, the microwave frequency is adjusted to 1GHZ. Under the microwave radiation with the frequency, the responsivity of the puncture needle is highest, the visual effect is best in the thermo-acoustic image, and the frequency can also achieve the imaging effect of the puncture needle and the breast tumor.
In addition, the puncture needle acts as a conductor in the microwave thermo-acoustic field, and the polarization direction of the antenna electric field affects the electrical characteristics of the surface thereof. On the premise of ensuring tumor visualization (namely, when the tumor CNR value is not lower than 1.02, the contrast difference between tumor tissues and background and the details of the tumor in the thermo-acoustic image can be resolved by human eyes), the mechanical arm control module takes the antenna angle corresponding to the maximum tumor CNR value as an initial angle, controls a servo motor at the tail end of the mechanical arm to drive the antenna to rotate, and calculates and displays the CNR values of the tumor and the puncture needle in the thermo-acoustic image in real time in the rotating process. If the puncture needle CNR value can obtain a maximum value in the rotating process, comparing the puncture needle CNR maximum value with the tumor CNR value at the moment, and if the puncture needle CNR maximum value is smaller than the tumor CNR value, maintaining the antenna at the angle; if the maximum value of the puncture needle CNR is larger than the CNR value of the tumor, the servo motor is controlled to retract to an angle equal to the CNR value of the puncture needle. If the puncture needle CNR value can not obtain the maximum value in the rotating process, comparing the puncture needle CNR maximum value with the tumor CNR value at the moment, and if the puncture needle CNR maximum value is smaller than the tumor CNR value, maintaining the antenna at the angle; if the maximum value of the puncture needle CNR is larger than the CNR value of the tumor, the servo motor is controlled to retract to an angle equal to the CNR value of the puncture needle. In fact, if the polarization direction of the antenna electric field is parallel to the puncture needle, the puncture needle will achieve the best visualization effect.
In the actual breast cancer puncturing process, when the servo motor drives the antenna to rotate, if the antenna is influenced by the space of a puncturing part and the position of a patient, the microwave field at the puncturing needle is unevenly distributed, the visualization effect of the puncturing needle in a thermo-acoustic image is always poor, and even when the polarization direction of an electric field is perpendicular to the puncturing needle, the outline of the puncturing needle is hardly visible, and please refer to fig. 4 (a) and (c); or by the complexity of the tissue structure and penetration depth, the needle assumes an intermittent shape in the thermo-acoustic image. The arc-shaped metal reflecting surface can be placed on the opposite side of the radiated breast, and the transmitted or diffracted microwaves are reflected back to the puncture needle and the tumor tissue, so that the outline of the puncture needle is more complete, the tumor tissue is clearer, and the visual effect of the puncture needle and the tumor tissue is enhanced, so that the puncture condition of the puncture needle can be observed without angle limitation through the microwave thermo-acoustic imaging technology, and the puncture needle can be seen in fig. 4 (b) and (d).
Under special conditions, for example, the effect of tissue structure complexity is affected, the thermo-acoustic signals of the tumor and the puncture needle are weak, the image noise is large, the CNR values of the puncture needle and the tumor are difficult to be larger than 1.02 at the same time, at the moment, the single-frequency microwaves cannot simultaneously give consideration to the visualization effects of the tumor and the puncture needle, and the visualization effects of the tumor and the puncture needle are deteriorated. The computer controls two microwaves with microwave frequencies matched with the tumor and the puncture needle to rapidly switch and output microwaves, the microwaves are radiated to the tumor and the puncture needle through the broadband antenna, the same ultrasonic transducer is utilized to receive thermoacoustic signals, and thermoacoustic images under two different microwave frequencies are fused and output. Because the same ultrasonic transducer is used for receiving the thermo-acoustic signals, the thermo-acoustic signals generated under different microwave frequencies have the same physical coordinate system when being received, namely, the two thermo-acoustic images are naturally registered. The two thermo-acoustic images are fused by utilizing an image fusion algorithm, and the two single-frequency thermo-acoustic images and the fused thermo-acoustic images are displayed simultaneously, so that the fused thermo-acoustic images can simultaneously give consideration to the visualization effects of tumors and puncture needles. Specifically, the microwave frequency matched with the tumor tissue should make the contrast difference value between the tumor tissue and the surrounding normal tissue maximum; the microwave frequency matched with the puncture needle should make the corresponding half wavelength of the microwave frequency be similar to the length of the puncture needle.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (10)
1. A puncture needle and focus visualization system based on microwave thermo-acoustic imaging is characterized by comprising a microwave excitation module, a data acquisition module, an image reconstruction module, a mechanical arm control module and a visualization enhancement module;
the microwave excitation module comprises a microwave source, a coaxial line, an antenna and a microwave source control program which are sequentially connected, wherein the microwave source control program is arranged in the computer and is used for radiating microwaves generated by the microwave source to biological tissues and the puncture needle, and the microwave source control program is used for adjusting the frequency of the microwaves;
the data acquisition module comprises an ultrasonic transducer, a multichannel amplifier and a multichannel acquisition card which are sequentially connected, and is used for acquiring thermoacoustic signals generated by biological tissues and a puncture needle;
the image reconstruction module comprises a computer, wherein a delay superposition algorithm and an image fusion algorithm are built in the computer, and the computer is respectively connected with the multichannel acquisition card, the microwave source and the servo motor and is used for constructing a visual thermo-acoustic image, adjusting the microwave frequency and sending a control instruction according to the acquired thermo-acoustic signal;
the mechanical arm control module comprises a multi-axis mechanical arm, a servo motor and a mechanical arm motor control program which are sequentially connected, wherein the control program is used for sending control instructions and receiving returned movement angles, and different axes of the multi-axis mechanical arm are respectively connected with an ultrasonic transducer and an antenna and used for responding to the control instructions, driving the antenna and the ultrasonic transducer to move and returning the movement angles;
the visualization enhancement module comprises a single or array of metal reflective surfaces disposed on opposite sides of the antenna for reflecting microwaves transmitted or diffracted through the biological tissue back to the needle and the biological tissue.
2. A method for visualizing a puncture needle and a focus based on microwave thermo-acoustic imaging, which is applied to the puncture needle and the focus visualization system based on microwave thermo-acoustic imaging as set forth in claim 1, comprising:
s1, responding to a first control instruction, and adjusting the relative positions of an antenna, an ultrasonic transducer and biological tissues by a servo motor to enable the ultrasonic transducer to be positioned on an imaging layer capable of obtaining a focus form complete thermo-acoustic image;
s2, responding to a second control instruction, adjusting the antenna to face the focus by the servo motor, enabling the focus to be positioned on an antenna microwave transmission path, rotating the antenna along the central axis of the transmission path, and obtaining an optimal thermo-acoustic image of the focus if the polarization direction or the incidence direction of an antenna electric field is parallel to the long axis of the focus in the rotation process;
s3, adjusting the microwave frequency to enable the microwave half wavelength to be equal to the length of the puncture needle;
and S4, responding to a third control instruction, and driving the antenna to rotate by the servo motor, so that the polarization direction of the antenna electric field rotates towards an angle parallel to the puncture needle until the optimal thermo-acoustic image containing the puncture needle and the focus is obtained.
3. The method for visualizing a puncture needle and a lesion based on microwave thermo-acoustic imaging according to claim 2, wherein said step S2 comprises: in the process that the servo motor drives the antenna to rotate along the central axis of the transmission path, the focus CNR value in the thermo-acoustic image is calculated and displayed at a fixed frequency, the computer automatically determines the maximum CNR value, and feeds back the corresponding antenna rotation angle to the mechanical arm control module, and the servo motor drives the antenna to rotate to the antenna angle to obtain the optimal thermo-acoustic image of the focus.
4. The method for visualizing a puncture needle and a lesion based on microwave thermo-acoustic imaging according to claim 2, wherein said step S4 comprises: the method comprises the steps that when a focus CNR value is maximum, a corresponding antenna rotation angle is used as an initial angle, a servo motor drives an antenna to rotate, the focus CNR value and a puncture needle CNR value are calculated and displayed in real time in the rotation process, and an optimal thermo-acoustic image containing the puncture needle and the focus is obtained on the premise that the focus CNR value is not lower than a visual threshold.
5. The method according to claim 4, wherein during rotation, if the maximum value of the puncture needle CNR is obtained, analyzing whether the maximum value of the puncture needle CNR is smaller than the maximum value of the focus CNR, if so, maintaining the antenna at the angle, and if not, retracting the servo motor rotating antenna to an angle at which the focus CNR value is equal to the maximum value of the puncture needle CNR, thereby obtaining an optimal thermo-acoustic image including the puncture needle and the focus.
6. The method according to claim 5, wherein during rotation, if the maximum value of the puncture needle CNR cannot be obtained, analyzing whether the maximum value of the puncture needle CNR is smaller than the maximum value of the puncture needle CNR, if so, maintaining the antenna at the angle, and if not, retracting the rotating antenna of the servo motor to the angle at which the focal CRN value is equal to the maximum value of the puncture needle CNR, thereby obtaining the optimal thermo-acoustic image including the puncture needle and the focal.
7. The method for visualizing a needle and a lesion based on microwave thermo-acoustic imaging as in claim 2, further comprising: in the optimal thermo-acoustic image containing the puncture needle and the focus, if the puncture needle and the focus CNR value are smaller than the visual threshold, two microwaves with frequencies matched with the focus and the puncture needle microwave are set in the microwave excitation module.
8. The method for visualizing a needle and a lesion based on microwave thermo-acoustic imaging as in claim 7, further comprising: after the data acquisition module acquires the two single-frequency thermo-acoustic signals, an image fusion algorithm is executed through the image reconstruction module, and two single-frequency thermo-acoustic images and a fusion thermo-acoustic image are obtained and displayed.
9. The method for visualizing a needle and a lesion based on microwave thermo-acoustic imaging as in claim 2, further comprising: if the visualization effect of the puncture needle and the focus is poor, a visualization enhancement module can be placed around the biological tissue and used for reflecting the microwaves which penetrate or diffract through the biological tissue back to the puncture needle and the focus tissue.
10. The method for visualizing a needle and a lesion based on microwave thermo-acoustic imaging according to claim 7, wherein said visualization threshold is 1.02.
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