CN117179860A - Penetration method for mammary gland penetration robot - Google Patents
Penetration method for mammary gland penetration robot Download PDFInfo
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- CN117179860A CN117179860A CN202311087470.1A CN202311087470A CN117179860A CN 117179860 A CN117179860 A CN 117179860A CN 202311087470 A CN202311087470 A CN 202311087470A CN 117179860 A CN117179860 A CN 117179860A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 210000005075 mammary gland Anatomy 0.000 title abstract description 17
- 230000035515 penetration Effects 0.000 title description 23
- 210000000481 breast Anatomy 0.000 claims abstract description 33
- 239000000523 sample Substances 0.000 claims abstract description 30
- 238000002604 ultrasonography Methods 0.000 claims description 25
- 238000005452 bending Methods 0.000 claims description 3
- 230000003902 lesion Effects 0.000 description 14
- 238000001574 biopsy Methods 0.000 description 5
- 206010006187 Breast cancer Diseases 0.000 description 3
- 208000026310 Breast neoplasm Diseases 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 3
- 238000013399 early diagnosis Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 201000011510 cancer Diseases 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The application discloses a puncturing method of a mammary gland puncturing robot, which comprises the following steps: acquiring a three-dimensional model of a breast of a patient, determining a part to be punctured according to the three-dimensional model, and giving out a puncture suggestion surface, wherein the three-dimensional model, the part to be punctured and the puncture suggestion surface are displayed on an interface; moving an ultrasonic probe, performing real-time scanning on the breast of a patient, obtaining a real-time scanning surface, matching the real-time scanning surface with the three-dimensional model, obtaining the position of the real-time scanning surface in the three-dimensional model, and displaying the position on an interface; according to the positions of the real-time scanning surface and the puncture suggestion surface in the three-dimensional model, guiding the ultrasonic probe to move at the interface so that the real-time scanning surface and the puncture suggestion surface coincide; the ultrasonic probe is kept fixed in position, a first puncture recommended path is planned on an interface according to the movement range of the puncture needle and the position relation of the part to be punctured, the puncture needle punctures along the first puncture recommended path, and the puncture needle is displayed on the interface in real time.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a puncturing method for a mammary gland puncturing robot.
Background
According to the data published by the national cancer center, the new incidence rate of the breast cancer of the female is 1 st onset of malignant tumor of the female, and the female is greatly harmed to the body health, so that the early diagnosis and treatment technology of the breast cancer has positive significance to the female health. The early diagnosis of the breast cancer adopts minimally invasive puncture biopsy guided by a B-ultrasonic image, is basically manually operated by a doctor, and the puncture precision mainly depends on the experience of the doctor.
The adoption of the robot for breast puncture biopsy is an effective way for solving the problems, the robot carries the puncture needle to enter a breast focus area of a patient under the guidance of a B ultrasonic image, and breast focus tissues are extracted for biopsy diagnosis. Compared with the traditional manual biopsy operation, the biopsy puncture precision and puncture efficiency of the robot are effectively improved.
In the robot mammary gland puncture operation, due to the characteristic of mammary gland tissue relaxation, the contact force of a puncture needle, a B ultrasonic probe and mammary glands can elastically deform the mammary glands. During the puncturing process, the operator cannot know the specific condition of the puncturing. Meanwhile, because the puncture is a complex work, the operation requirement on an operator is high, and the operation is complex and time-consuming.
Disclosure of Invention
The application aims to overcome the defects in the prior art and provide a puncturing method for a mammary gland puncturing robot, which can observe puncturing conditions in real time and simplify operation complexity.
To achieve the above technical object, the present application provides a penetration method of a mammary gland penetration robot, comprising:
acquiring a three-dimensional model of a breast of a patient, determining a part to be punctured according to the three-dimensional model, and giving out a puncture suggestion surface, wherein the three-dimensional model, the part to be punctured and the puncture suggestion surface are displayed on an interface;
moving an ultrasonic probe, performing real-time scanning on the breast of a patient, obtaining a real-time scanning surface, matching the real-time scanning surface with the three-dimensional model, obtaining the position of the real-time scanning surface in the three-dimensional model, and displaying the position on an interface;
according to the positions of the real-time scanning surface and the puncture suggestion surface in the three-dimensional model, guiding the ultrasonic probe to move at the interface so that the real-time scanning surface and the puncture suggestion surface coincide;
the ultrasonic probe is kept fixed in position, a first puncture recommended path is planned on an interface according to the movement range of the puncture needle and the position relation of the part to be punctured, the puncture needle punctures along the first puncture recommended path, and the puncture needle is displayed on the interface in real time.
Further, in the puncturing process, the puncture needle, the part to be punctured and the first puncture recommended path are displayed in real time, and if the puncture needle deforms and/or the part to be punctured moves, the color of the first puncture recommended path changes.
Further, if the color of the first puncture recommended path changes, the user decides whether to plan a second puncture recommended path, where the second puncture recommended path is planned on the interface according to the body of the puncture needle, the end of the puncture needle, and the portion to be punctured, and the second puncture recommended path is displayed on the interface.
Further, if the end of the puncture needle is located on the ultrasonic scanning surface and is not located on the first puncture recommended path, the user plans a second puncture recommended path on the interface; if the end of the puncture needle is not located on the ultrasonic scanning surface, the puncture needle is moved so that the end of the puncture needle is located on the ultrasonic scanning surface.
Further, matching the real-time scanning surface with the puncture suggestion surface, and if the similarity is larger than a set threshold value, considering that the scanning surface coincides with the surface to be punctured.
Further, when the scanning surface is overlapped with the surface to be punctured, the overlapped part is highlighted.
Further, the puncture needle and the ultrasonic scanning surface are positioned in the same plane, and the puncture needle and the ultrasonic probe are connected through the connecting arm.
Further, if the puncture needle is bent and deformed, the display color of the portion of the puncture needle located on the ultrasonic scanning surface is different from that of the portion not located on the ultrasonic scanning surface.
Further, the portion not located on the ultrasound scanning surface is generated by a speculative method.
Further, the three-dimensional model is obtained by CT, MR or ultrasound scanning.
The puncturing method for the mammary gland puncturing robot is used for accurately knowing the puncturing condition by guiding the ultrasonic probe to move and observing the condition of the puncturing needle in real time.
Drawings
Fig. 1 is a schematic view of a breast puncturing robot of the present application at the time of puncturing.
Fig. 2 is a schematic representation of a breast, breast lesion and puncture advice plane.
Fig. 3 is a schematic view of a breast penetration robot planning a first penetration suggestion path.
Fig. 4 is a schematic view of a breast penetration robot penetrating a breast along a first penetration recommendation path.
Fig. 5 is a schematic view of a mammary gland penetration robot with a bending of the penetration needle as it penetrates the mammary gland along a first penetration recommendation path.
Fig. 6 is a schematic diagram of a planned second proposed path for penetration after bending of the needle when the breast penetration robot penetrates the breast.
Fig. 7 is a schematic view of a breast penetration robot penetrating a breast along a second penetration recommendation path.
Fig. 8 is an enlarged view of "a" in fig. 7.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
For the sake of simplicity of the drawing, the parts relevant to the present application are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In this context, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
Referring to fig. 1, the present application provides a mammary gland penetration robot including an ultrasonic probe 30, a penetration needle 40, and a connection arm 50 connecting the penetration needle 40 and the ultrasonic probe 30. The connecting arm 50 is provided in a multi-stage manner so that the puncture needle 40 can move relative to the ultrasonic probe 30, i.e., the puncture position of the puncture needle 40 and the angle between the puncture needle 40 and the ultrasonic probe 30 are adjusted. At the time of puncturing, the ultrasonic probe 30 is placed on the surface of the breast 10, and the position of the lesion 11 is obtained. The puncture start point and the puncture angle of the puncture needle 40 are planned so that the puncture needle 40 can puncture the lesion 11. In this embodiment, the puncture needle 40 and the ultrasound scanning surface are located on the same plane, and this arrangement allows the ultrasound probe 30 to observe the position of the puncture needle 40 in the tissue and the relative positional relationship of the ultrasound probe 40 and the lesion 11 in real time.
Reference is made to fig. 2, which is a 3D schematic of the breast 10 displayed on the interface. In this embodiment, a 3D map (three-dimensional model) of the breast 10 is obtained by scanning with an imaging device such as magnetic resonance, CT, ultrasound, etc., and the three-dimensional model of the breast 10 may be displayed on the interface. The three-dimensional model of the breast 10 is a perspective setting, and internal tissue structures, such as lesions 11, can be seen. To facilitate viewing the lesion from different angles, the three-dimensional model of the breast 10 may be rotated as desired. The puncture advice surface 20 may be automatically generated based on information such as the position of the lesion 11, the shape of the lesion 11, the center position of the lesion 11, and the like. Preferably, the penetration enhancing surface 20 passes through the largest cross-section of the lesion 11. In this embodiment, the lesion 11 is a site to be penetrated. The user may adjust the lancing device surface 20, such as position or angle, as desired. In other real-time modes, the puncture suggestion surface 20 can also be added by a user by dragging.
When the ultrasound probe 30 is placed on the breast 10, the ultrasound probe 30 can obtain the internal structure of the breast 10, i.e., a real-time scan plane. And matching the real-time scanning surface with the three-dimensional model of the mammary gland 10 to obtain the position of the real-time scanning surface in the three-dimensional model, and displaying the position on an interface. And according to the relative positions of the real-time scanning surface and the puncture suggestion surface 20, a movement prompt of the ultrasonic probe 30 is given. According to the prompt, the user moves the ultrasound probe 30 so that the real-time scanning plane and the puncture suggestion plane coincide.
Referring to fig. 3 and 4, at this time, the position of the ultrasonic probe 30 is kept fixed, a first puncture recommended path 21 is planned on the interface according to the movement range of the puncture needle 30 and the positional relationship of the portion to be punctured, the puncture needle 40 punctures along the first puncture recommended path 21, and the puncture needle 40 is displayed on the interface in real time. In fig. 3, an ultrasound probe 30 obtains a field of view 31 on a breast 10, and a lesion (site to be penetrated) 11 is displayed on an ultrasound image. The tip 401 of the needle 40 is now in contact with the surface of the breast 10. The first puncture recommendation path 21 is located on the puncture recommendation surface 20, and the first puncture recommendation path 21 can be automatically generated by a system or can be automatically added by a user according to experience. In fig. 4, the needle 40 penetrates into the interior of the breast 10, when the needle 40 is shown on an ultrasound image. The user can observe the relative positional relationship of the needle 40 and the lesion 11 at the interface.
Referring to fig. 5, since the mammary gland 10 is relatively soft and the puncture needle 40 is relatively thin, the puncture needle 40 is easily bent and deformed during the puncture, and the mammary gland 10 is deformed by the force from left to right, so that the position of the lesion 11 is moved. Fig. 5 shows a case where the end portion of the puncture needle 40 is deformed. In this case, if the deformation does not affect the progress of the puncture, the user can continue the puncture; if this deformation affects the penetration, the penetration direction needs to be changed. In this case, the computer may automatically give the second puncture suggested path 22 or add the second puncture suggested path 22 by the user. In accordance with the second puncture suggested path 22, the puncture needle 40 is rotated such that the puncture needle 40 moves along the second puncture suggested path 22. Fig. 6 is a schematic view of the puncture needle 40 along the second puncture suggested path 22.
Fig. 5 and 6 show schematic views of the deflection of the needle 40 on the ultrasound scanning surface. In actual use, the needle 40 may deflect in other directions, and the deflected area is not displayed on the ultrasound image.
Fig. 7 and 8 show schematic views of the end 402 of the needle 40 deflected away from the ultrasound image, where the body 403 of the needle 40 is also on the ultrasound image. In order to allow the user to intuitively see the position of the end 402 of the puncture needle 40, the end 402 of the puncture needle 40 is calculated by a computer through an algorithm. To distinguish between the location of the needle 40 on the ultrasound image and the location not on the ultrasound image, the end 402 of the needle 40 and the body 403 of the needle 40 are shown in different colors.
Preferably, during the puncturing process, the puncture needle 40, the to-be-punctured portion and the first puncture suggestion path 21 are displayed in real time, and if the puncture needle 40 is deformed and/or the to-be-punctured portion is moved, the color of the first puncture suggestion path 21 is changed. The color is changed to prompt the user. The user decides whether the second puncture proposed path 22 needs to be planned, i.e., whether the puncture path of the puncture needle 40 needs to be changed, according to the deformation condition of the puncture needle 40 or the movement condition of the site to be punctured and the positional relationship between the puncture needle 40 and the site to be punctured.
Preferably, the second puncture proposed path 22 is planned at the interface according to the body of the puncture needle 40, the end of the puncture needle 40 and the site to be punctured, and the second puncture proposed path 22 is displayed at the interface.
Preferably, if the end of the needle 40 is located on the ultrasound scan surface and not on the first proposed puncture path 21, the user plans the second proposed puncture path 22 at the interface; if the end of the puncture needle 40 is not located on the ultrasonic scanning surface, the puncture needle 40 is moved so that the end of the puncture needle 40 is located on the ultrasonic scanning surface.
Preferably, the real-time scanning surface is matched with the puncture suggestion surface, and if the similarity is larger than a set threshold value, the scanning surface is considered to be overlapped with the surface to be punctured. When the scanning surface coincides with the surface to be punctured, the overlapping portion is highlighted to prompt the ultrasonic probe 30 to reach the target position.
Preferably, if the puncture needle 40 is bent and deformed, the display color of the portion of the puncture needle 40 located on the ultrasonic scanning surface is different from that of the portion not located on the ultrasonic scanning surface.
Preferably, the portion not located on the ultrasound scanning surface is generated by a speculative method.
The puncturing method of the application comprises the following steps:
acquiring a three-dimensional model of a breast of a patient, determining a part to be punctured according to the three-dimensional model, and giving out a puncture suggestion surface, wherein the three-dimensional model, the part to be punctured and the puncture suggestion surface are displayed on an interface;
moving the ultrasonic probe 30, scanning the breast 10 of the patient in real time, obtaining a real-time scanning surface, matching the real-time scanning surface with the three-dimensional model, obtaining the position of the real-time scanning surface in the three-dimensional model, and displaying the position on an interface;
according to the positions of the real-time scanning surface and the puncture suggestion surface in the three-dimensional model, guiding the ultrasonic probe 30 to move at the interface so that the real-time scanning surface and the puncture suggestion surface coincide;
the ultrasonic probe 30 is kept fixed in position, a first puncture suggestion path 21 is planned on an interface according to the movement range of the puncture needle 40 and the position relation of the part to be punctured, the puncture needle 40 punctures along the first puncture suggestion path 21, and the puncture needle 40 is displayed on the interface in real time.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A lancing method for a breast lancing robot, comprising:
acquiring a three-dimensional model of a breast of a patient, determining a part to be punctured according to the three-dimensional model, and giving out a puncture suggestion surface, wherein the three-dimensional model, the part to be punctured and the puncture suggestion surface are displayed on an interface;
moving an ultrasonic probe, performing real-time scanning on the breast of a patient, obtaining a real-time scanning surface, matching the real-time scanning surface with the three-dimensional model, obtaining the position of the real-time scanning surface in the three-dimensional model, and displaying the position on an interface;
according to the positions of the real-time scanning surface and the puncture suggestion surface in the three-dimensional model, guiding the ultrasonic probe to move at the interface so that the real-time scanning surface and the puncture suggestion surface coincide;
the ultrasonic probe is kept fixed in position, a first puncture recommended path is planned on an interface according to the movement range of the puncture needle and the position relation of the part to be punctured, the puncture needle punctures along the first puncture recommended path, and the puncture needle is displayed on the interface in real time.
2. The puncturing method as claimed in claim 1, wherein the puncture needle, the puncture site to be punctured and the first puncture recommended path are displayed in real time during puncturing, and the color of the first puncture recommended path is changed if the puncture needle is deformed and/or the puncture site to be punctured is moved.
3. The lancing method of claim 2, wherein if the color of the first lancing recommended path changes, the user decides whether a second lancing recommended path is to be planned, the second lancing recommended path being planned on an interface according to the body of the lancet, the end of the lancet and the site to be lanced, the second lancing recommended path being displayed on the interface.
4. The lancing method of claim 4, wherein if the tip of the lancet is located on the ultrasound scan surface and not on the first lancing recommended path, the user plans a second lancing recommended path on the interface; if the end of the puncture needle is not located on the ultrasonic scanning surface, the puncture needle is moved so that the end of the puncture needle is located on the ultrasonic scanning surface.
5. The puncturing method according to claim 1, wherein the real-time scanning surface is matched with the puncture recommended surface, and if the similarity is greater than a set threshold, the scanning surface is considered to coincide with the surface to be punctured.
6. The lancing method of claim 1, wherein the overlap is highlighted when the scan surface coincides with the surface to be lanced.
7. The method of lancing according to claim 1, wherein the lancet and the ultrasound scanning surface are in the same plane, and the lancet and the ultrasound probe are connected by a connecting arm.
8. The method according to claim 7, wherein if the puncture needle is deformed by bending, a display color of a portion of the puncture needle located on the ultrasonic scanning surface is different from a display color of a portion of the puncture needle not located on the ultrasonic scanning surface.
9. The method of lancing according to claim 8, wherein the portion not located on the ultrasound scan surface is generated by a speculative method.
10. The method of claim 1, wherein the three-dimensional model is obtained by CT, MR or ultrasound scanning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311087470.1A CN117179860A (en) | 2023-08-25 | 2023-08-25 | Penetration method for mammary gland penetration robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311087470.1A CN117179860A (en) | 2023-08-25 | 2023-08-25 | Penetration method for mammary gland penetration robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117179860A true CN117179860A (en) | 2023-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311087470.1A Pending CN117179860A (en) | 2023-08-25 | 2023-08-25 | Penetration method for mammary gland penetration robot |
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| Country | Link |
|---|---|
| CN (1) | CN117179860A (en) |
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2023
- 2023-08-25 CN CN202311087470.1A patent/CN117179860A/en active Pending
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