CN117338387A - Laser guided lung puncture positioning method - Google Patents
Laser guided lung puncture positioning method Download PDFInfo
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- CN117338387A CN117338387A CN202311299009.2A CN202311299009A CN117338387A CN 117338387 A CN117338387 A CN 117338387A CN 202311299009 A CN202311299009 A CN 202311299009A CN 117338387 A CN117338387 A CN 117338387A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 210000004072 lung Anatomy 0.000 title claims abstract description 20
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical group C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 claims abstract description 4
- 206010028980 Neoplasm Diseases 0.000 claims description 14
- 230000011218 segmentation Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000002347 injection Methods 0.000 abstract 1
- 239000007924 injection Substances 0.000 abstract 1
- 230000001678 irradiating effect Effects 0.000 abstract 1
- 238000001574 biopsy Methods 0.000 description 6
- 238000011282 treatment Methods 0.000 description 6
- 238000002591 computed tomography Methods 0.000 description 4
- 230000035515 penetration Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 201000011510 cancer Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 208000020816 lung neoplasm Diseases 0.000 description 2
- 208000037841 lung tumor Diseases 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 206010058467 Lung neoplasm malignant Diseases 0.000 description 1
- 206010027476 Metastases Diseases 0.000 description 1
- 206010056342 Pulmonary mass Diseases 0.000 description 1
- 238000002679 ablation Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 201000005202 lung cancer Diseases 0.000 description 1
- 230000036210 malignancy Effects 0.000 description 1
- 230000009401 metastasis Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002685 pulmonary effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30061—Lung
- G06T2207/30064—Lung nodule
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Abstract
The invention discloses a laser guided lung puncture positioning method, which comprises the steps of S1, enabling a patient to enter CT equipment, scanning to generate CT image data, primarily judging the position of a focus area, placing patch auxiliary positioning marks at proper positions, and scanning again; s2, image processing: extracting focus 3D data and calculating focus surrounding spheres, wherein the sphere center position is F; s3, identifying auxiliary positioning marks A, B, C, D; s4, forming a conical region enveloped by four ABF, BDF, CDF, ACF surfaces, selecting an intersection point of AD and BC as a puncture point P, and taking 1/2 angle BFC and 1/2 angle AFD as puncture needle guide angles; s5, shooting to obtain the position of the ABCD mark, and calculating and guiding a laser direct-injection puncture point P; s6, aligning the front end of the puncture needle with the point P, irradiating laser on the tail end of the puncture needle, and taking out a focus sample after reaching the puncture depth. The laser guided lung puncture positioning method is adopted, and patch assisted positioning and laser guiding are adopted to assist medical staff in accurately and rapidly realizing puncture operation.
Description
Technical Field
The invention relates to the technical field of medical image processing, in particular to a laser guided lung puncture positioning method.
Background
Lung cancer is the most common malignancy, and lung is also the site of most metastasis. Because of the lack of specificity in imaging lung tumors, percutaneous lung biopsy under CT guidance remains one of the important diagnostic tools. Puncture surgery is widely used clinically for the examination and treatment of cancer, such as puncture biopsy and ablation. Whether examination or treatment, accurate positioning to the focus part is the most critical step, and the percutaneous lung puncture technology is also the technical foundation for treatment such as Hookwire wire positioning before the television thoracoscopy of the lung nodule and tumor particle implantation treatment. Unlike ultrasound real-time guidance, freehand puncture is very time consuming, especially when the lesion is small or deep.
To improve lancing accuracy and efficiency, many students have developed a variety of auxiliary lancing systems: from low cost simple needle holding devices to complex electromechanical systems such as robotic puncture systems, electromagnetic or laser navigation systems, etc., that need to be integrated into the CT scanning hardware and communicate with the system software.
With the continuous development of medical imaging, computer science and other technologies, computer-assisted medical treatment is increasingly used in clinical examinations and treatments. Therefore, the technology for helping doctors to locate focus by the percutaneous pulmonary aspiration biopsy with the assistance of the computer medical image is very critical.
Disclosure of Invention
The invention aims to provide a laser guided lung puncture positioning method which assists medical staff to accurately and rapidly realize puncture operation.
In order to achieve the above object, the present invention provides a laser guided lung puncture positioning method, comprising the steps of:
s1, a patient enters CT equipment, CT image data are generated through scanning, the position of a focus area is primarily judged, a patch auxiliary positioning mark is placed at a proper position in front of or behind the chest, and the CT image data are generated through scanning again;
s2, image processing: dividing a focus area by adopting a 3D segmentation algorithm, extracting focus 3D data and calculating focus surrounding spheres, wherein the sphere center position is F;
s3, identifying auxiliary positioning marks A, B, C, D;
s4, connecting and forming a conical region enveloped by four ABF, BDF, CDF, ACF surfaces, selecting an intersection point of AD and BC as a puncture point P, and taking 1/2 angle BFC and 1/2 angle AFD as puncture needle guide angles;
s5, shooting by a camera to obtain the position of the ABCD mark, calculating a puncture point P, and guiding the laser to directly shoot the puncture point P;
s6, the front end of the puncture needle is aligned with the point P, the laser irradiates the tail end of the puncture needle, and after the puncture depth is reached, the laser stops and a focus sample is taken out.
Preferably, in the step S2, the 3D segmentation algorithm flow of the image processing includes the following steps:
s2-1, acquiring a chest image, adjusting color display of the chest image, and positioning to a tumor part;
s2-2, segmenting the tumor, and calculating a focus 3D structure surrounding sphere;
s2-3, adjusting the image posture, calculating the spherical surface normal direction and the puncture path, and guiding the puncture.
Preferably, in the step S3, the auxiliary positioning mark A, B, C, D is identified by using ICP algorithm.
Preferably, in the step S5, the guiding laser is either visual guiding or camera guiding.
Preferably, in the step S6, the laser spot is kept at the tail end of the puncture needle all the time during the puncture process.
Therefore, the laser guided lung puncture positioning method has the following technical effects:
(1) By preprocessing CT scanning data, focus is rapidly positioned;
(2) The patch auxiliary positioning is adopted, so that the rapid selection of skin penetration points and penetration directions is realized;
(3) The correction of the medical staff by manual operation is realized by using laser guidance;
(4) The operation time of the puncture biopsy is reduced.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of puncture setpoint and orientation;
FIG. 2 is an exemplary view of chest CT;
FIG. 3 is a chest CT 3D reconstruction;
FIG. 4 is a 3D segmentation map of a focal tumor;
FIG. 5 is a schematic view of a minimal outer sphere of a lesion;
FIG. 6 is a puncture path localization map;
FIG. 7 is a diagram of a laser guidance process;
fig. 8 is a schematic in vivo view of a lancing operation.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
Example 1
A laser guided lung puncture positioning method, comprising the steps of:
s1, a patient enters CT equipment, CT image data are generated through scanning, the focus area position is primarily judged, a patch auxiliary positioning mark is placed at a proper position in front of or behind the chest, and the CT image data are generated through scanning again.
S2, image processing: and (3) segmenting the focus area by adopting a 3D segmentation algorithm, extracting focus 3D data and calculating focus surrounding spheres, wherein the sphere center position is F. The 3D segmentation algorithm flow comprises the following steps: s2-1, acquiring a chest image, adjusting color display of the chest image, and positioning to a tumor part; s2-2, segmenting the tumor, and calculating a focus 3D structure surrounding sphere; s2-3, adjusting the image posture, calculating the spherical surface normal direction and the puncture path, and guiding the puncture.
S3, identifying the auxiliary positioning mark A, B, C, D by adopting an ICP algorithm;
s4, as shown in FIG 1, connecting and forming a conical region enveloped by four ABF, BDF, CDF, ACF surfaces, selecting an intersection point of AD and BC as a puncture point P, and taking 1/2 angle BFC and 1/2 angle AFD as puncture needle guide angles;
s5, shooting by a camera to obtain the position of the ABCD mark, and calculating a puncture point P, and guiding the laser to directly puncture the puncture point P by vision or the camera;
s6, the front end of the puncture needle is aligned with the point P, laser irradiates the tail end of the puncture needle, a laser spot is kept at the tail end of the puncture needle all the time in the puncture process, and after the puncture depth is reached, the laser spot is stopped, and a focus sample is taken out.
Example two
In the method in the first embodiment, in the actual operation process, firstly, a positioning label is attached to the body surface of a patient, then, CT scanning is performed on the lung of the patient, and the obtained 3D reconstruction of CT is shown in FIG. 2; since the normal lung CT value is obviously different from the tumor, the tumor area can be highlighted by adjusting the color coding, as shown in figure 3; defining a tumor region, and realizing the integral separation of the tumor region by adopting 3D semi-automatic segmentation, as shown in figure 4; calculating a tumor minimum enclosing sphere, and taking the sphere center of the minimum enclosing sphere as a focus puncture biopsy sampling positioning point, as shown in fig. 5; calculating a puncture point in combination with the positioning label, as shown in fig. 6; in fig. 7, the broken line is a laser guide line, laser rays are projected through the puncture point and the puncture direction obtained by the previous calculation, the front end of the puncture needle is held by a medical staff to be aligned with the puncture point on the body surface, the laser spots are always kept to perform the puncture operation on the tail part of the puncture needle, and the in-vivo image of the puncture operation is shown in fig. 8.
Therefore, the laser guided lung puncture positioning method is adopted, and focus is rapidly positioned by preprocessing CT scanning data; the patch auxiliary positioning is adopted, so that the rapid selection of skin penetration points and penetration directions is realized; the correction of the medical staff by manual operation is realized by using laser guidance; the operation time of the puncture biopsy is reduced.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (5)
1. A laser guided lung puncture positioning method is characterized in that: the method comprises the following steps:
s1, a patient enters CT equipment, CT image data are generated through scanning, the position of a focus area is primarily judged, a patch auxiliary positioning mark is placed at a proper position in front of or behind the chest, and the CT image data are generated through scanning again;
s2, image processing: dividing a focus area by adopting a 3D segmentation algorithm, extracting focus 3D data and calculating focus surrounding spheres, wherein the sphere center position is F;
s3, identifying auxiliary positioning marks A, B, C, D;
s4, connecting and forming a conical region enveloped by four ABF, BDF, CDF, ACF surfaces, selecting an intersection point of AD and BC as a puncture point P, and taking 1/2 angle BFC and 1/2 angle AFD as puncture needle guide angles;
s5, shooting by a camera to obtain the position of the ABCD mark, calculating a puncture point P, and guiding the laser to directly shoot the puncture point P;
s6, the front end of the puncture needle is aligned with the point P, the laser irradiates the tail end of the puncture needle, and after the puncture depth is reached, the laser stops and a focus sample is taken out.
2. A laser guided lung puncture positioning method according to claim 1, characterized in that: in the step S2, the 3D segmentation algorithm flow of the image processing includes the following steps:
s2-1, acquiring a chest image, adjusting color display of the chest image, and positioning to a tumor part;
s2-2, segmenting the tumor, and calculating a focus 3D structure surrounding sphere;
s2-3, adjusting the image posture, calculating the spherical surface normal direction and the puncture path, and guiding the puncture.
3. A laser guided lung puncture positioning method according to claim 2, characterized in that: in the step S3, the auxiliary positioning mark A, B, C, D is identified by ICP algorithm.
4. A laser guided lung puncture positioning method according to claim 1, characterized in that: in step S5, the guiding laser light is either visual guiding or camera guiding.
5. A laser guided lung puncture positioning method according to claim 1, characterized in that: in the step S6, the laser spot is kept at the tail end of the puncture needle all the time in the puncture process.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311299009.2A CN117338387B (en) | 2023-10-09 | 2023-10-09 | Laser guided lung puncture positioning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311299009.2A CN117338387B (en) | 2023-10-09 | 2023-10-09 | Laser guided lung puncture positioning method |
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| CN117338387A true CN117338387A (en) | 2024-01-05 |
| CN117338387B CN117338387B (en) | 2024-07-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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