CN116966450A - Focusing ultrasonic noninvasive ablation device, and ablation preoperative planning method and system - Google Patents
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Abstract
The invention relates to the technical field of noninvasive ablation, and discloses a focused ultrasound noninvasive ablation device, an ablation preoperative planning method and a system, wherein the device comprises: the CT imaging device generates continuous tomographic images by scanning a human body; focusing ultrasonic energy to focus on a focus by the ultrasonic probe to generate high temperature so as to ablate pathological tissues; capturing a real-time image of a surgical scene with a binocular camera; the surgical mechanical arm aims and treats the treatment target according to the position and the direction of the control probe instructed by the computer; the reflective marker is used for acquiring relative position information of the mechanical arm and a patient; the computer equipment registers the image space of the CT image binocular camera, calculates the relative position and the posture between the mechanical arm and the vision system of the camera, and controls the movement of the mechanical arm to guide the focused ultrasonic probe to the target position to execute the corresponding treatment standard of the patient. The invention provides a personalized optimal treatment scheme for each patient, greatly reduces the wound and recovery time of the operation, and has little influence on the life quality of the patient.
Description
Technical Field
The invention relates to the technical field of noninvasive ablation, in particular to a focused ultrasound noninvasive ablation device, an ablation preoperative planning method and system.
Background
High intensity focused ultrasound ablation protocols are divided into invasive and invasive. Invasive ablation has obvious drawbacks, and non-invasive ablation is more promising. Currently, non-invasive ablation using high intensity focused ultrasound has been used in the treatment of many diseases. In contrast, high intensity focused ultrasound ablation presents certain difficulties, such as preoperative planning, intra-operative real-time navigation, and the like. In preoperative planning, effective ablation targets are selected and treatment schemes are formulated mainly by the experience of doctors, and human tissues can be injured due to high heat generated by focused ultrasound, or the treatment effect is poor due to too low heat, so that a safe ablation path is planned with difficulty.
Disclosure of Invention
In view of the above, the invention provides a focused ultrasound noninvasive ablation device, an ablation preoperative planning method, a system, computer equipment and a storage medium, so as to solve the problem that in the preoperative planning in the prior art, effective ablation targets are selected and treatment is formulated mainly depending on doctor experience, so that the most personal and most appropriate noninvasive ablation treatment scheme cannot be formulated for patient automation.
In a first aspect, the present invention provides a focused ultrasound non-invasive ablation preoperative planning apparatus comprising: CT imaging device, focused ultrasound probe, binocular camera, operation arm, reflection of light marker, computer equipment, wherein:
CT imaging equipment, which is used to scan human body at different angles by X-ray, generate continuous tomographic image, and provide detailed three-dimensional view of viscera structure;
the focusing ultrasonic probe is used for emitting ultrasonic waves and focusing ultrasonic energy at a focus to ablate pathological tissues;
a binocular camera for capturing real-time images of the surgical scene;
the surgical mechanical arm is used for controlling the position and the direction of the focused ultrasonic probe according to the instruction of the computer so as to aim and treat the treatment target;
the reflective marker is attached to the surface positions of the preset skin of the mechanical arm and the patient and used for acquiring real-time relative position information of the mechanical arm and the patient;
the computer equipment is used for acquiring CT images, binocular camera images and mechanical arm state information, registering a coordinate system of the CT images and an actual physical space in the visual field of the binocular camera images, capturing images of different moving positions of the surgical mechanical arm through the binocular camera, calculating the relative positions and postures between the mechanical arm and a visual system of the binocular camera, combining the mechanical arm state information and the real-time relative positions of the mechanical arm and a patient, and controlling the movement of the mechanical arm in real time to guide the focused ultrasonic probe to adjust the treatment target point coordinates to achieve the target positions and execute treatment standards corresponding to the patient.
In an alternative embodiment, the focused ultrasound non-invasive ablation pre-operative planning apparatus further comprises: the display equipment is used for displaying the CT images, the real-time images captured by the binocular camera, the treatment targets and the states of the mechanical arm, so that doctors can know the operation implementation states in real time.
The focused ultrasound noninvasive ablation preoperative planning device provided by the embodiment of the invention adopts the focused ultrasound as a noninvasive treatment tool, which is a high-precision and high-efficiency treatment mode. The focused nature of ultrasound allows for accurate localization and treatment of targets in vitro without surgical dissection of kidneys or other internal organs. Meanwhile, the temperature effect of the ultrasonic wave can generate enough heat in a target area, so that effective ablation of a target point is realized, surrounding normal tissues can be intact, and the physical injury and recovery time of a patient are reduced.
In a second aspect, the present invention provides a focused ultrasound non-invasive ablation preoperative planning method, based on the focused ultrasound non-invasive ablation preoperative planning device provided by the embodiment of the first aspect, the method includes:
acquiring a CT image and a binocular camera image, and registering a coordinate system in the CT image with an actual physical space in a binocular camera visual field by adopting a preset registration algorithm based on feature points;
acquiring images of different movement positions of the surgical mechanical arm captured by the binocular camera, and calculating the relative position and the posture between the mechanical arm and a vision system of the binocular camera through a preset calibration algorithm;
acquiring a cutting result of a CT image of a patient by adopting a first preset image cutting model, and determining an ablation target point by combining preset treatment experience data;
determining and acquiring the distance between the focused ultrasonic probe and an ablation target point according to the focal length of the focused ultrasonic probe and the lesion position of a patient, and determining the target position of the focused ultrasonic probe for ablation according to the ablation target point and the distance between the focused ultrasonic probe and the ablation target point;
and controlling the mechanical arm to guide the focused ultrasonic probe to reach the target position according to the state information of the mechanical arm and the real-time relative position of the mechanical arm and the patient, and executing the corresponding treatment standard of the patient.
According to the focus ultrasonic noninvasive ablation preoperative planning method provided by the embodiment, personalized ablation standards and path planning are made according to segmented target images of CT images and by combining information of lesion areas and characteristics of a focus ultrasonic probe. Can provide the most appropriate treatment regimen for each patient.
In an alternative embodiment, the patient's corresponding treatment criteria is determined by:
acquiring CT images of a patient, inputting the CT images into a second preset image segmentation model, acquiring segmentation results of organs and blood vessels in the images, and extracting imaging features based on the segmentation results;
after physiological text data of a patient are acquired and data processing is carried out, physiological text data characteristics are extracted;
and carrying out multi-mode feature projection and fusion on the imaging features and the physiological text data features, and inputting the multi-mode feature projection and fusion into an ablation treatment standard prediction model to obtain a treatment standard corresponding to the patient.
After the whole model provided by the embodiment of the invention is trained, full automation can be realized, and the reliability is higher, so that the corresponding treatment standard of the patient can be automatically acquired by inputting the relevant data of the patient into each model.
In an alternative embodiment, the physiological text data includes: structural data of organs and vessels of a patient and pathological data of the patient, the pathological data: including blood test data and blood pressure test data.
The embodiment of the invention can help to obtain the most suitable treatment standard of the patient more accurately by acquiring the physiological text data of the patient in various aspects.
In an alternative embodiment, the treatment criteria include: ablation power, treatment time, treatment interval, number of treatments.
The embodiment of the invention can automatically carry out noninvasive ablation treatment on a patient through specific ablation power, treatment time, treatment interval and treatment times included in the automatically generated treatment standard.
In an alternative embodiment, the imaging features include: the distance from the organ around the lesion to the ablation target, the distance between the entry point and the target surface, the target diameter and the distance from the target branch point to the lesion.
According to the embodiment of the invention, the imaging characteristics corresponding to the CT image of the patient can be extracted to obtain the distance data of the lesion organ, the target point and the surrounding organ tissues, so that the optimal treatment standard corresponding to the appointed patient is prepared well.
In a third aspect, the present invention provides a focused ultrasound non-invasive ablation pre-operative planning system, the system comprising:
the coordinate system registration module is used for acquiring the CT image and the binocular camera image, and registering a coordinate system in the CT image with an actual physical space in the binocular camera visual field by adopting a preset registration algorithm based on the feature points;
the mechanical arm space calibration module is used for acquiring images of different movement positions of the surgical mechanical arm captured by the binocular camera, and calculating the relative position and the posture between the mechanical arm and the vision system of the binocular camera through a preset calibration algorithm;
the ablation target point determining module is used for acquiring a cutting result of the CT image of the patient by adopting a first preset image cutting model and determining an ablation target point by combining preset treatment experience data;
the target position determining module is used for determining and acquiring the distance between the focusing ultrasonic probe and the ablation target point according to the focal length of the focusing ultrasonic probe and the lesion position of the patient, and determining the target position of the focusing ultrasonic probe for ablation according to the ablation target point and the distance between the focusing ultrasonic probe and the ablation target point;
and the probe guiding module is used for controlling the mechanical arm to guide the focused ultrasonic probe to reach the target position according to the state information of the mechanical arm and the real-time relative position of the mechanical arm and the patient so as to execute the corresponding treatment standard of the patient.
In a third aspect, the present invention provides a computer device comprising: the device comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions so as to execute the focusing ultrasonic non-invasive ablation preoperative planning method according to the second aspect or any corresponding implementation mode.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon computer instructions for causing a computer to perform the focused ultrasound non-invasive ablation pre-operative planning method of the second aspect or any of its corresponding embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of one embodiment of a focused ultrasound non-invasive ablation pre-operative planning apparatus in accordance with an embodiment of the present invention;
FIG. 2 is a block diagram of another embodiment of a focused ultrasound non-invasive ablation pre-operative planning apparatus in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a focused ultrasound non-invasive ablation pre-operative planning method in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart of an embodiment of determining treatment criteria for a patient according to an embodiment of the present invention;
FIG. 5 is a block diagram of a focused ultrasound non-invasive ablation pre-operative planning apparatus in accordance with an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this embodiment, a focused ultrasound noninvasive ablation device is provided, as shown in fig. 1, and the device flow includes: CT imaging device, focus ultrasonic probe, binocular camera, operation arm, reflection of light marker, computer equipment and display device, wherein:
a CT (Computed Tomography ) imaging device for scanning a human body at different angles with X-rays, generating successive tomographic images, providing a detailed three-dimensional view of visceral structures; the inclusion of diseased organ tissue (e.g., kidneys) and target sites in the image has a critical role in identifying the location of the lesions and determining the treatment objectives. Before operation, a doctor can know the accurate position, size, shape and relation with surrounding structures of a lesion through CT imaging, and the doctor is necessary for making an individualized treatment plan.
The focusing ultrasonic probe is used for emitting ultrasonic waves and focusing ultrasonic energy on a focus to generate high temperature so as to ablate pathological tissues, thereby achieving the treatment effect. The treatment mode is non-invasive, high in accuracy, small in damage to surrounding normal tissues, and the focused ultrasonic probe is controlled by the surgical mechanical arm, so that ultrasonic energy can be accurately directed to a preset treatment target.
A binocular camera for capturing real-time images of the surgical scene; the embodiment of the invention adopts a near infrared binocular camera, which is imaging equipment capable of acquiring depth information. Depth information of each point in the image can be calculated by utilizing the binocular vision principle, so that information of a three-dimensional space is obtained. In the surgical navigation system, near infrared binocular cameras are used to capture real-time images of the surgical scene while tracking the position of the retroreflective markers to determine in real time the position and state of the surgical robotic arm, as well as the relative position of the patient's body, thereby helping to accurately adjust the treatment target coordinates.
The surgical mechanical arm is high-precision programmable mechanical equipment and is used for controlling the position and the direction of the focused ultrasonic probe according to the instruction of a computer so as to accurately aim and treat a treatment target.
The reflective marker is attached to the surface positions of the preset skin of the mechanical arm and the patient and used for acquiring real-time relative position information of the mechanical arm and the patient; its material can reflect light so that the binocular camera can more easily recognize and track. In the operation navigation system, the real-time relative position information of the mechanical arm and the patient can be obtained by tracking the reflective marker, so that the treatment target point coordinate can be adjusted in real time.
The computer equipment is used for acquiring CT images, binocular camera images and mechanical arm state information, registering a coordinate system of the CT images and an actual physical space in the visual field of the binocular camera images, capturing images of different moving positions of the surgical mechanical arm through the binocular camera, calculating the relative positions and postures between the mechanical arm and a visual system of the binocular camera, combining the mechanical arm state information and the real-time relative positions of the mechanical arm and a patient, and controlling the movement of the mechanical arm in real time to guide the focused ultrasonic probe to adjust the treatment target point coordinates to achieve the target positions and execute treatment standards corresponding to the patient. Specifically, the computer device runs related software, such as image processing software, mechanical arm control software, deep learning model, and the like, to realize the whole image processing analysis and the whole control flow.
In an alternative embodiment, as shown in fig. 2, the system further includes: the display device is used for displaying the CT images, the real-time images captured by the binocular camera, the treatment targets and the states of the mechanical arm, so that a doctor can know the operation implementation state in real time, and the doctor can be helped to intervene in the ablation process in time under special conditions.
The focusing ultrasonic noninvasive ablation device provided by the embodiment of the invention adopts focusing ultrasonic as a noninvasive treatment tool, which is a high-precision and high-efficiency treatment mode. The focused nature of ultrasound allows us to precisely locate and treat targets in vitro without surgical dissection of kidneys or other internal organs. Meanwhile, the temperature effect of the ultrasonic wave can generate enough heat in a target area, so that effective ablation of a target point is realized, surrounding normal tissues can be intact, and the physical injury and recovery time of a patient are reduced.
In accordance with an embodiment of the present invention, there is provided an embodiment of a focused ultrasound non-invasive ablation pre-operative planning method, it being noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order other than that illustrated herein.
The method for planning the non-invasive ablation of the focused ultrasound provided by the embodiment of the invention is performed based on the non-invasive ablation device of the focused ultrasound provided by the embodiment of the invention, as shown in fig. 3, and comprises the following steps:
step S101, a CT image and a binocular camera image are obtained, and a coordinate system in the CT image and an actual physical space in a binocular camera view are registered by adopting a preset registration algorithm based on feature points.
Embodiments of the present invention select some distinguishing feature points (e.g., specific parts of the kidney or marker points on the instrument) in both the CT image and the binocular camera image. The conversion relationship between the image space and the binocular space is then estimated by the spatial position information of the feature points, and the process can adopt an optimization algorithm, such as a least square method or an Iterative Closest Point (ICP) algorithm, to register the coordinate system (image space) in the CT image with the actual physical space (binocular space) in the field of view of the binocular camera, so as to locate the target point of treatment in the actual physical space.
Step S102, acquiring images of different movement positions of the surgical mechanical arm captured by the binocular camera, and calculating the relative position and the posture between the mechanical arm and the vision system of the binocular camera through a preset calibration algorithm.
Embodiments of the present invention use the Tsai's hand-eye calibration algorithm to estimate the relative position and pose between a surgical robotic arm actuator ("hand") and the vision system ("eye") provided by a binocular camera, which requires a series of known movements of the robotic arm within the field of view of the binocular camera, while the camera captures images during those movements. And (3) by analyzing the relation between the image and the position of the mechanical arm, the mechanical arm moves to different positions, the position of the mechanical arm and the corresponding binocular camera image thereof are recorded respectively, and the relative position and the gesture between the actuator of the mechanical arm and the vision system are calculated. The mechanical arm can accurately position and guide the focused ultrasonic probe to reach the ablation target point.
Step S103, acquiring a cutting result of the CT image of the patient by adopting a first preset image cutting model, and determining an ablation target point by combining preset treatment experience data.
According to the embodiment of the invention, the lesion tissue region is segmented from the CT image by using a deep learning model, the model can learn how to identify the lesion tissue region through a large amount of labeled training data, and a doctor can manually adjust the segmentation result according to experience, so that the result is more accurate. And then determining an ablation target point according to the segmentation result and treatment experience.
Step S104, determining and obtaining the distance between the focused ultrasonic probe and the ablation target point according to the focal length of the focused ultrasonic probe and the lesion position of the patient, and determining the target position of the focused ultrasonic probe for ablation according to the ablation target point and the distance between the focused ultrasonic probe and the ablation target point.
In practice, in order to accurately focus ultrasonic energy on a given target treatment site, the focal length of the ultrasonic probe needs to be known. Specifically, a water layer or other sound-transmitting medium with known thickness is placed in front of the probe, the reflection or transmission condition of ultrasonic waves in the medium is observed artificially to calculate the focal length of the probe, the focal length parameter is used for transmitting focused ultrasonic waves in the treatment process, the distance between the focused ultrasonic probe and an ablation target point is determined according to the focal length of the focused ultrasonic probe and the lesion position of a patient, if the lesion position is deeper, a larger focal length and longer treatment time may need to be set to ensure enough energy to reach the ablation target point, and finally the target position of the focused ultrasonic probe for ablation is determined according to the ablation target point and the distance between the focused ultrasonic probe and the ablation target point.
Step S105, controlling the mechanical arm to guide the focusing ultrasonic probe to reach the target position according to the state information of the mechanical arm and the real-time relative position of the mechanical arm and the patient, and executing the corresponding treatment standard of the patient.
According to the embodiment of the invention, the ablation path is planned according to the state information of the mechanical arm and the real-time relative position of the mechanical arm and the patient, and a safe and effective path is found to guide the focused ultrasonic probe to reach the target point for noninvasive ablation according to the treatment standard of the patient.
According to the focus ultrasonic noninvasive ablation preoperative planning method provided by the embodiment of the invention, personalized ablation standards and path plans are established according to the segmented target point images of the CT images and by combining the information of the lesion areas and the characteristics of the focus ultrasonic probe, so that the most suitable treatment scheme can be provided for each patient.
In the embodiment of the invention, the treatment standard corresponding to the patient is determined by the steps shown in fig. 4:
s1051, acquiring CT images of a patient, inputting the CT images into a second preset image segmentation model, acquiring segmentation results of organs and blood vessels in the images, and extracting imaging features based on the segmentation results; an imaging feature comprising: the distance from the organ around the lesion to the ablation target, the distance between the entry point and the target surface, the target diameter and the distance from the target branch point to the lesion. For example, the abdominal cavity CT image of the patient is input to perform multi-organ segmentation and kidney fine granularity segmentation based on a deep learning model, and kidney parenchyma and targets can be accurately segmented except for different organs. According to the segmentation result, the distance from each organ around the kidney to the kidney ablation target point, the distance from the entry point to the target point (body surface), the diameter of the target point and the distance from the target point branching point to the renal pelvis are respectively calculated, so that each distance is taken as an imaging characteristic.
S1052, after acquiring the physiological text data of the patient and performing data processing, extracting the characteristics of the physiological text data; specifically, the physiological text data includes: structural data of organs and vessels of a patient and pathological data of the patient, the pathological data: the method comprises blood test data and blood pressure check data, wherein structural data of organs and blood vessels of a patient can be observed through CTA images enhanced by contrast agents, and specific structural data can be obtained through measurement, so that treatment standard data obtained through subsequent prediction has high reliability.
S1053, the imaging features and the physiological text data features are subjected to multi-mode feature projection and fusion, and then input into an ablation treatment standard prediction model to obtain treatment standards corresponding to patients. Specifically, the treatment criteria include: ablation power, treatment time, treatment interval, number of treatments. In practical application, a doctor can adjust specific parameters according to the tolerance degree of patient feedback, so that a user can obtain good treatment experience.
According to the method for planning the focus ultrasonic noninvasive ablation preoperative provided by the embodiment of the invention, personalized ablation treatment standards and path plans are prepared according to the segmented target image and by combining the information of the lesion area and the characteristics of the focus ultrasonic probe, so that a personalized treatment scheme can be provided for each patient, and a good ablation effect is achieved.
The embodiment also provides a focused ultrasound noninvasive ablation preoperative planning device, which is used for realizing the embodiment and the preferred implementation mode, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The present embodiment provides a focused ultrasound non-invasive ablation preoperative planning system, as shown in fig. 5, including:
the coordinate system registration module 501 is configured to acquire a CT image and a binocular camera image, and register a coordinate system in the CT image with an actual physical space in a field of view of the binocular camera by adopting a preset feature point-based registration algorithm;
the mechanical arm space calibration module 502 is used for acquiring images of different movement positions of the surgical mechanical arm captured by the binocular camera, and calculating the relative position and the gesture between the mechanical arm and the vision system of the binocular camera through a preset calibration algorithm;
an ablation target determination module 503, configured to acquire a cutting result of the CT image of the patient by using a first preset image cutting model, and determine an ablation target in combination with preset treatment experience data;
the ablation target position determining module 504 is configured to determine, according to the focal length of the focused ultrasound probe and the lesion position of the patient, a distance between the focused ultrasound probe and an ablation target, and determine, according to the ablation target, a target position of the focused ultrasound probe for ablation;
the probe guiding module 505 is configured to control the mechanical arm to guide the focused ultrasound probe to reach the target position according to the state information of the mechanical arm and the real-time relative position of the mechanical arm and the patient, and execute the treatment standard corresponding to the patient.
The focused ultrasound non-invasive ablation pre-operative planning apparatus in this embodiment is presented in the form of functional units, where the units refer to ASIC circuits, processors and memories executing one or more software or fixed programs, and/or other devices that can provide the above-described functions.
Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.
The embodiment of the invention also provides computer equipment, which is provided with the focused ultrasound noninvasive ablation preoperative planning device shown in the figure 5.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 6, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 6.
The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.
Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods shown in implementing the above embodiments.
The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created from the use of the computer device of the presentation of a sort of applet landing page, and the like. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.
The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.
The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (10)
1. A focused ultrasound non-invasive ablation device, comprising: CT imaging device, focused ultrasound probe, binocular camera, operation arm, reflection of light marker, computer equipment, wherein:
CT imaging equipment, which is used to scan human body at different angles by X-ray, generate continuous tomographic image, and provide detailed three-dimensional view of viscera structure;
the focusing ultrasonic probe is used for emitting ultrasonic waves and focusing ultrasonic energy at a focus to ablate pathological tissues;
a binocular camera for capturing real-time images of the surgical scene;
the surgical mechanical arm is used for controlling the position and the direction of the focused ultrasonic probe according to the instruction of the computer so as to aim and treat the treatment target;
the reflective marker is attached to the surface positions of the preset skin of the mechanical arm and the patient and used for acquiring real-time relative position information of the mechanical arm and the patient;
the computer equipment is used for acquiring CT images, binocular camera images and mechanical arm state information, registering a coordinate system of the CT images and an actual physical space in the visual field of the binocular camera images, capturing images of different moving positions of the surgical mechanical arm through the binocular camera, calculating the relative positions and postures between the mechanical arm and a visual system of the binocular camera, combining the mechanical arm state information and the real-time relative positions of the mechanical arm and a patient, and controlling the movement of the mechanical arm in real time to guide the focused ultrasonic probe to adjust the treatment target point coordinates to achieve the target positions and execute treatment standards corresponding to the patient.
2. The focused ultrasound non-invasive ablation device of claim 1, further comprising:
the display equipment is used for displaying the CT images, the real-time images captured by the binocular camera, the treatment targets and the states of the mechanical arm, so that doctors can know the operation implementation states in real time.
3. A focused ultrasound non-invasive ablation preoperative planning method, characterized in that it is based on the focused ultrasound non-invasive ablation device according to claim 1 or 2, the method comprising:
acquiring a CT image and a binocular camera image, and registering a coordinate system in the CT image with an actual physical space in a binocular camera visual field by adopting a preset registration algorithm based on feature points;
acquiring images of different movement positions of the surgical mechanical arm captured by the binocular camera, and calculating the relative position and the posture between the mechanical arm and a vision system of the binocular camera through a preset calibration algorithm;
acquiring a cutting result of a CT image of a patient by adopting a first preset image cutting model, and determining an ablation target point by combining preset treatment experience data;
determining and acquiring the distance between the focused ultrasonic probe and an ablation target point according to the focal length of the focused ultrasonic probe and the lesion position of a patient, and determining the target position of the focused ultrasonic probe for ablation according to the ablation target point and the distance between the focused ultrasonic probe and the ablation target point;
and controlling the mechanical arm to guide the focused ultrasonic probe to reach the target position according to the state information of the mechanical arm and the real-time relative position of the mechanical arm and the patient, and executing the corresponding treatment standard of the patient.
4. A method according to claim 3, wherein the patient's corresponding treatment criteria is determined by:
acquiring CT images of a patient, inputting the CT images into a second preset image segmentation model, acquiring segmentation results of organs and blood vessels in the images, and extracting imaging features based on the segmentation results;
after physiological text data of a patient are acquired and data processing is carried out, physiological text data characteristics are extracted;
and carrying out multi-mode feature projection and fusion on the imaging features and the physiological text data features, and inputting the multi-mode feature projection and fusion into an ablation treatment standard prediction model to obtain a treatment standard corresponding to the patient.
5. The method of claim 4, wherein the physiological text data comprises: structural data of organs and vessels of a patient and pathological data of the patient, the pathological data: including blood test data and blood pressure test data.
6. The method of claim 4, wherein the treatment criteria comprise: ablation power, treatment time, treatment interval, number of treatments.
7. The method of claim 4, wherein the imaging features comprise: the distance from the organ around the lesion to the ablation target, the distance between the entry point and the target surface, the target diameter and the distance from the target branch point to the lesion.
8. A focused ultrasound non-invasive ablation pre-operative planning system, comprising:
the coordinate system registration module is used for acquiring the CT image and the binocular camera image, and registering a coordinate system in the CT image with an actual physical space in the binocular camera visual field by adopting a preset registration algorithm based on the feature points;
the mechanical arm space calibration module is used for acquiring images of different movement positions of the surgical mechanical arm captured by the binocular camera, and calculating the relative position and the posture between the mechanical arm and the vision system of the binocular camera through a preset calibration algorithm;
the ablation target point determining module is used for acquiring a cutting result of the CT image of the patient by adopting a first preset image cutting model and determining an ablation target point by combining preset treatment experience data;
the target position determining module is used for determining and acquiring the distance between the focusing ultrasonic probe and the ablation target point according to the focal length of the focusing ultrasonic probe and the lesion position of the patient, and determining the target position of the focusing ultrasonic probe for ablation according to the ablation target point and the distance between the focusing ultrasonic probe and the ablation target point;
and the probe guiding module is used for controlling the mechanical arm to guide the focused ultrasonic probe to reach the target position according to the state information of the mechanical arm and the real-time relative position of the mechanical arm and the patient so as to execute the corresponding treatment standard of the patient.
9. A computer device, comprising:
a memory and a processor in communication with each other, the memory having stored therein computer instructions that, upon execution, perform the focused ultrasound non-invasive ablation pre-operative planning method of any of claims 3-7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the focused ultrasound non-invasive pre-ablation planning method of any of claims 3 to 7.
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| CN117838311A (en) * | 2024-03-07 | 2024-04-09 | 杭州海沛仪器有限公司 | Target spot ablation respiration gating method and system based on optical positioning |
| CN117838311B (en) * | 2024-03-07 | 2024-05-31 | 杭州海沛仪器有限公司 | Target spot ablation respiratory gating system based on optical positioning |
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