WO2016041395A1

WO2016041395A1 - Image-guided elasticity detection system and detection method thereof

Info

Publication number: WO2016041395A1
Application number: PCT/CN2015/081923
Authority: WO
Inventors: 邵金华; 孙锦; 段后利
Original assignee: 无锡海斯凯尔医学技术有限公司
Priority date: 2014-09-16
Filing date: 2015-06-19
Publication date: 2016-03-24
Also published as: CN104224233B; CN104224233A

Abstract

An image-guided elasticity detection system and a detection method thereof. The image-guided elasticity detection system comprises a medical image detection apparatus (1), an elasticity detection apparatus (2) and a position and direction matching device (6). A first spatial positioning device (4) for acquiring spatial position information of a position or region to be detected is installed on the medical image detection apparatus (1). The elasticity detection apparatus (2) comprises an elasticity detection probe (3). A second spatial positioning device (5) for acquiring spatial position information of the elasticity detection probe (3) is installed on the elasticity detection apparatus (2). The first spatial positioning device (4) and the second spatial positioning device (5) are in communication connection with the position and direction matching device (6) in a wired or wireless mode. The image-guided elasticity detection system and the detection method thereof can ensure the accuracy and the reliability of the detection result.

Description

Image guiding type elastic detecting system and detecting method thereof

Technical field

The invention relates to the technical field of medical instruments, in particular to an image guiding type elastic detecting system and a detecting method thereof.

Background technique

The elasticity of biological tissues is closely related to the biological characteristics of the lesions, and has important reference value for the diagnosis process of diseases. However, traditional medical imaging modalities, including X-ray imaging, ultrasound imaging, magnetic resonance imaging (MRI), computed tomography (CT), etc., do not directly provide information on the fundamental mechanical properties of the tissue. In recent years, the elastic imaging (Elastography) technology has been rapidly developed. This technology can obtain the quantitative information of the elastic distribution within the organization, make up for the deficiency of traditional medical imaging modality, and has very important clinical value and broad application prospects.

Elastography is a technique for quantitatively detecting tissue elastic modulus. The basic principle is to apply an internal (including own) or external dynamic/static/quasi-static excitation to the tissue. Under the action of physical laws such as elastic mechanics and biomechanics, the tissue will produce a response. Due to the different elastic coefficients (stress/strain) of different tissues (including normal and pathological tissues), the strain is different after being pressed by external force. The change of the amplitude of the echo signal before and after compression is converted into an image to visually display the elasticity of the tissue through the color of the image, thereby locating the lesion. This technique can provide quantitative values of tissue elasticity.

Tissue elastography can effectively identify the benign and malignant nature of solid tumors, and has high specificity and sensitivity for the diagnosis of malignant lesions. Current research has shown that this technique has unique advantages in the qualitative and quantitative diagnosis of deep vein thrombosis, benign breast lesions, small breast mass, prostate cancer, malignant tumor, thyroid cancer and liver fibrosis.

Elastography is a new imaging modality that reflects the elasticity of biological tissue. However, this technique is only a useful supplement to the traditional medical imaging modality, simply applying elastography. There is no statistically significant difference between the differential diagnosis of pathology and the traditional medical imaging. Moreover, the technique of using the technique alone cannot know the tissue structure information of the detection site, especially the tissue two-dimensional structure information, so that when the elasticity detection is performed, if the detection position contains large blood vessels, cysts or ascites, the accuracy of the elasticity detection result is affected. In the case of a factor, a detection error will occur; and, for a specific detection position, if the direction in which the detector grips the probe is incorrect, a detection error will also occur; in addition, in the case of an abnormality in the elasticity detection result, the elastography cannot display the inside. Structural information, the examiner can not assess whether there are internal structural lesions; therefore, pure elastography cannot guarantee the accuracy and reliability of the test results.

Summary of the invention

The invention provides an image guiding type elastic detecting system and a detecting method thereof, and realizes ultrasonic elastic detecting based on image guiding, which can ensure the accuracy and reliability of the detection result.

In order to solve the above technical problem, the present invention provides the following technical solutions:

An image-guided elastic detecting system includes a medical image detecting device, an elastic detecting device, and a position and direction matching device, wherein the medical image detecting device is mounted with spatial position information for acquiring a position or an area to be detected. a first spatial positioning device, the elastic detecting device includes an elastic detecting probe, and the elastic detecting device is mounted with a second spatial positioning device for acquiring spatial position information of the elastic detecting probe, the first spatial positioning device and The second spatial positioning device is communicatively coupled to the position and direction matching device by wire or wirelessly.

Further, the elastic detecting probe is connected to the first mechanical arm, and the signal output end of the position and direction matching device is connected to the first mechanical arm.

Further, the medical image detecting apparatus includes one or more of B-ultrasound, color Doppler, A-type super, M-type super, CT, and MRI.

Further, the first spatial positioning device and the second spatial positioning device comprise a manual marking positioning device, a mechanical positioning device, a spatial magnetic field positioning device, an ultrasonic positioning device, a computer vision positioning device, a light tracking positioning device, an image analysis positioning device, One or more of a triangular positioning device, a magnetic field pressure sensing positioning device, the spatial magnetic field positioning device comprising an emission/ And a receiving control unit, a magnetic field transmitting coil and a magnetic sensor probe connected to the transmitting/receiving control unit, the transmitting/receiving control unit further connecting the position and direction matching device.

Further, the magnetic sensor probe of the first spatial positioning device is connected with a second mechanical arm, and the signal output end of the position and direction matching device is further connected to the second mechanical arm; the second spatial positioning device includes In the spatial magnetic field positioning device, the magnetic sensor probe of the spatial magnetic field positioning device and the elastic detecting probe are integrated.

Further, the position and direction matching device includes a position matching unit and a direction matching unit, and the position and direction matching device is composed of a DSP, a microcontroller or a computer with a communication interface, and the communication interface includes wired communication and wireless communication. interface.

The method for detecting by using the image-guided elastic detecting system described above includes:

Step 1: generating an organization structure information image by using a medical image detecting device;

Step 2: Select a location or area to be detected on the image of the organizational structure information;

Step 3: calculating spatial position information of the position or area to be detected by the first spatial positioning device, and transmitting the information to the position and direction matching device;

Step 4: obtaining spatial position information of the elastic detecting probe by the second spatial positioning device, and transmitting the spatial position information to the position and direction matching device;

Step 5: moving the elastic detecting probe so that the spatial position information of the elastic detecting probe is consistent with the spatial position information of the position or area to be detected;

Step 6: Perform elastic detection on the position or area to be detected by the elastic detecting device;

Step 7: Display the result of the elastic detection, and mark the elastic detection result of the elastic detection position in the tissue structure information image.

Further, the spatial location information includes location information and direction angle information.

Further, the elastic probe is moved by a manual method or by a first mechanical arm.

Further, the step 5 includes:

Step 51: The position and direction matching device compares the spatial position information of the elastic detecting probe with the spatial position information of the position or area to be detected. If the two are consistent, step 6 is performed; otherwise, steps 52 and 53 are performed;

Step 52: Move the elastic detecting probe so that the position information of the elastic detecting probe is consistent with the position information of the position or area to be detected;

Step 53: Rotate the elastic detecting probe so that the direction angle information of the elastic detecting probe is consistent with the direction angle information of the position or area to be detected.

The invention has the following beneficial effects:

Compared with the prior art, in the image-guided elastic detecting system and the detecting method thereof, the medical image detecting device detects the tissue structure, and then evaluates the internal condition of the tissue according to the organizational structure information, thereby selecting an appropriate position for elastic detection. It can avoid the detection error caused by large blood vessels, cysts or ascites, which affects the accuracy of the elastic detection results, and avoids the detection position being incorrect. At the same time, for a specific detection position, the system will provide the detector with a suitable detection direction. In order to avoid the detection error caused by the detector in the wrong direction of the probe; in addition, in the case where the elasticity detection result is abnormal, since the image-guided elastic detection system of the present invention can display the internal structure information, the examiner can also evaluate whether there is an internal The tissue structure lesion makes the detection result more reliable; therefore, the image-guided elastic detection system and the detection method thereof of the invention can ensure the accuracy and reliability of the detection result.

DRAWINGS

1 is a schematic diagram of an image guiding type elastic detecting system of the present invention;

2 is a schematic diagram of a first modification of the image-guided elastic detecting system of the present invention;

Figure 3 is a schematic diagram of a space magnetic field positioning device in the present invention;

4 is a schematic diagram of another modification of the image-guided elastic detecting system of the present invention.

detailed description

The technical problems, the technical solutions, and the advantages of the embodiments of the present invention will be more clearly described in the following description.

In one aspect, the present invention provides an image-guided elastic detecting system, as shown in FIG. 1, comprising a medical image detecting device 1, an elastic detecting device 2, and a position and direction matching device 6, wherein the medical image detecting device 1 is mounted There is a space for obtaining the location or area to be detected. The first spatial positioning device 4 of the information, the elastic detecting device 2 comprises an elastic detecting probe 3, and the elastic detecting device 2 is mounted with a second spatial positioning device 5 for acquiring spatial position information of the elastic detecting probe 3, the first spatial positioning device 4 and the second spatial positioning device 5 are communicatively coupled to the position and orientation matching device 6 by wire or wirelessly.

When working, the medical image detecting device 1 is first used to generate the tissue structure information image to display the structure information of the tissue; then, the user selects an appropriate elastic detecting position according to the tissue structure information image, that is, the position or region to be detected; The first spatial positioning device 4 acquires spatial position information of the position or region to be detected and transmits it to the position and direction matching device 6; next, the spatial position information of the elastic detecting probe 3 is acquired by the second spatial positioning device 5, And sending it to the position and direction matching device 6; then, moving the elastic detecting probe 3 to the position or region to be detected, so that the spatial position information of the position or region to be detected and the spatial position information of the elastic detecting probe 3 Consistently; finally, the position or area to be detected by the elastic detecting device is elastically detected.

Compared with the prior art, in the image-guided elastic detecting system of the present invention, the medical image detecting device detects the tissue structure, and then evaluates the internal condition of the tissue according to the organizational structure information, thereby selecting an appropriate position for elastic detection, which can avoid Contains large blood vessels, cysts or ascites, etc., which affects the accuracy of the elastic detection results and avoids detection errors caused by incorrect detection positions. At the same time, for a specific detection position, the system will provide the detector with a suitable detection direction to avoid the detector. In addition, in the case where the elastic detection result is abnormal, since the image-guided elastic detection system of the present invention can display internal structural information, the examiner can also evaluate whether there is an internal structural lesion, The detection result is more reliable; therefore, the image-guided elastic detection system of the present invention can ensure the accuracy and reliability of the detection result.

As a modification of the present invention, as shown in FIG. 2, the elastic detecting probe 3 is connected to the first robot arm 7, and the signal output end of the position and direction matching device 6 is connected to the first robot arm 7.

When the elastic detecting probe 3 is moved, it can be manually moved or automatically moved by the user. When moving automatically, the elastic detecting probe 3 is connected with the first mechanical arm 7, the control end of the first mechanical arm 7 and the signal of the position and direction matching device 6. The output is connected, the connection is a signal connection, which can be The wired mode may also be a wireless mode; in use, the position and direction matching device 6 compares the spatial position information of the elastic detecting probe 3 with the spatial position information of the position or area to be detected, if the two are inconsistent, The position and direction matching means 6 calculates the movement path based on the difference between the two, and controls the first robot arm 7 according to the movement path to move the elastic detecting probe 3; this makes it possible to more conveniently and accurately control the movement of the elastic detecting probe 3, reducing The error caused by human operation.

The above medical image detecting apparatus 1 includes one or more of B-mode ultrasound, color Doppler ultrasound, A-type super, M-type super, CT, and MRI. The medical image detecting apparatus 1 may include B-mode ultrasound, color Doppler ultrasound, CT or MRI, etc. capable of displaying two-dimensional or three-dimensional tissue structure information, or may include A-type ultrasound reflecting the one-dimensional structural information of the tissue or M of the one-dimensional structural dynamic information of the reaction tissue. The type ultrasound may also be a combination of the above different methods. The tissue structure information in the present invention may be an image or a video of the internal structure of the reaction tissue, or may be a one-dimensional signal. Since the medical image detecting apparatus 1 is rich in variety, different medical image detecting apparatuses 1 can be selected according to different clinical conditions to achieve different detection effects; and the above various medical image detecting apparatuses 1 can also be used in combination to further improve The accuracy and reliability of the test results.

The first spatial positioning device 4 and the second spatial positioning device 5 include a manual marking positioning device, a mechanical positioning device, a spatial magnetic field positioning device, an ultrasonic positioning device, a computer vision positioning device, a light tracking positioning device, an image analysis positioning device, and a triangular positioning device. One or more of a device, a magnetic field pressure sensing positioning device, the spatial magnetic field positioning device comprising a transmitting/receiving control unit 21, a magnetic field transmitting coil 22 and a magnetic sensor probe 23 connected to the transmitting/receiving control unit 21, and transmitting/receiving control Unit 21 is also coupled to position and orientation matching device 6, as shown in FIG.

The transmitting/receiving control unit 21 receives the microcomputer command to generate a carrier wave required for the magnetic field transmitting coil 22, and after being received by the magnetic field transmitting coil 22, the magnetic field transmitting coil 22 emits a magnetic field. The magnetic sensor probe 23 senses the alternating magnetic field, is quantized into a digital signal by the transmitting/receiving control unit 21, and is transmitted to the microcomputer, and the microcomputer processes the spatial position information. The microcomputer processes the magnetic field signals to calculate the spatial position, and methods known to those skilled in the art, such as the elliptical integration method based on Biot-Savart's law, etc., may be employed. Due to the variety of spatial positioning devices, it is suitable for different working environments, and multiple types of spatial positioning devices are used together to make spatial positioning more accurate.

As another improvement of the present invention, as shown in FIG. 4, the magnetic sensor probe 23 of the first spatial positioning device 4 is connected to the second mechanical arm 8, and the signal output end of the position and direction matching device 6 is also connected to the second mechanical arm. 8; The second spatial positioning device 5 includes a spatial magnetic field positioning device, and the magnetic sensor probe 23 of the spatial magnetic field positioning device and the elastic detecting probe 3 are integrated.

The movement of the magnetic sensor probe 3 on the tissue surface can be implemented by using the second mechanical arm 8, or can be manually moved by the user, or can be other methods;

If the medical image detecting apparatus 1 selects a CT, MRI or other magnetic field-based detecting method, the spatial positioning device 4 can transmit the component by means of the magnetic field in the medical detecting device 1 without using the transmitting/receiving control unit 21 and the magnetic field transmitting coil 22, Simply use the magnetic sensor probe 23; this reduces the investment in hardware and reduces energy consumption.

The magnetic sensor probe 23 of the spatial positioning device 5 can use the elastic detecting probe 3, and only the magnetic sensor can be mounted on the elastic detecting probe 3; the spatial positioning device 5 acquires the real-time position of the elastic detecting probe 3, and feeds back to the position and direction to match Device 6; this can reduce the investment of hardware devices.

The position and direction matching device comprises a position matching unit and a direction matching unit. The position and direction matching device 6 can be composed of a DSP, a microcontroller or a computer with a communication interface, and the communication interface comprises a wired communication and a wireless communication interface, and a wired communication interface. Including but not limited to Ethernet, USB or PCI, etc., wireless communication interfaces include, but are not limited to, Bluetooth, WiFi, and the like.

For USB or PCI, including position matching unit and direction matching unit. The spatial location information includes location information and direction angle information, and the location matching unit is configured to make the location information of the location or region to be detected consistent with the location information of the elastic detection probe 3, and the direction matching unit is configured to make the location or region to be detected. The direction angle information is identical to the direction angle information of the elastic detecting probe 3.

In another aspect, the present invention provides a method for detecting using the image-guided elastic detection system described above, comprising:

In this step, the medical image detecting device may be one or more of B-ultrasound, color Doppler, A-type super, M-type super, CT, MRI;

In this step, the user (multi-finger doctor) selects a location or region to be detected on the tissue structure information image;

In the

above steps

3 and 4, the first spatial positioning device and the second spatial positioning device may be a manual marking positioning device, a mechanical positioning device, a spatial magnetic field positioning device, an ultrasonic positioning device, a computer vision positioning device, a light tracking positioning device, and an image. One or more of an analysis positioning device, a triangular positioning device, and a magnetic field pressure sensing positioning device;

In this step, during the moving process, the system of the present invention will indicate the position or area to be detected in real time on the tissue structure information image generated by the medical image detecting device according to the position and direction of the magnetic sensor probe, and the indicator may be a point. , line, box or other symbol;

Compared with the prior art, in the method for detecting by the image-guided elastic detecting system of the present invention, the medical image detecting device detects the organizational structure, and then evaluates the internal condition of the tissue according to the organizational structure information, thereby selecting an appropriate position for elasticity. The detection can avoid the detection error caused by large blood vessels, cysts or ascites, which affects the accuracy of the elastic detection result, and avoids the detection position being incorrect. At the same time, for a specific detection position, the system will provide a suitable detection for the detector. Direction, in order to avoid detection error caused by the detector's misalignment of the probe; in addition, for the case where the elastic detection result is abnormal, since the image-guided elastic detection system of the present invention can display internal structural information, the examiner can also evaluate whether the internality is Organized structural lesions make the detection results more reliable; therefore, the image-guided elastic detection system of the present invention is utilized The method of detection can ensure the accuracy and reliability of the test results.

The above spatial location information includes location information and direction angle information. Correspondingly, the position and direction matching device comprises a position matching unit and a direction matching unit, wherein the position matching unit is configured to make the position information of the position or the area to be detected coincide with the position information of the elastic detecting probe, and the direction matching unit is configured to make the to-be-detected The direction angle information of the position or area is consistent with the direction angle information of the elastic detecting probe.

The elastic probe can be moved manually or by a mechanical arm, and the elastic detecting probe is connected with the first mechanical arm, and the control end of the first mechanical arm is connected with the signal output end of the position and direction matching device, and the connection is a signal connection, which can be The wired mode may also be a wireless mode; in use, the position and direction matching device compares the spatial position information of the elastic detecting probe with the spatial position information of the position or area to be detected, and if the two are inconsistent, the position and The direction matching device calculates the movement path according to the difference between the two, and controls the first robot arm according to the movement path to move the elastic detection probe; thereby more conveniently and accurately controlling the movement of the elastic detection probe, thereby reducing the error caused by the human operation. .

Further, step 5 includes:

Step 53: Rotate the elastic detecting probe so that the direction angle information of the elastic detecting probe is consistent with the direction angle information of the position or region to be detected.

First, the spatial position of the elastic detecting probe is moved to be located at a position or an area to be detected, and then the angular position of the elastic detecting probe is moved to make the elastic detecting probe reach a predetermined angle. This movement mode makes the spatial position and the angular position do not interfere with each other, the movement path is simple, and the control is convenient.

The above is a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make several modifications without departing from the principles of the present invention. These improvements and finishes should also be considered as protection of the present invention.

Claims

An image-guided elastic detecting system, comprising: a medical image detecting device, an elastic detecting device, and a position and direction matching device, wherein the medical image detecting device is mounted with a position or an area for acquiring a position to be detected. a first spatial positioning device for spatial position information, the elastic detecting device includes an elastic detecting probe, and the elastic detecting device is mounted with a second spatial positioning device for acquiring spatial position information of the elastic detecting probe, the first The spatial positioning device and the second spatial positioning device are communicatively coupled to the position and orientation matching device by wire or wirelessly.
The image-guided elastic detecting system according to claim 1, wherein the elastic detecting probe is connected to the first mechanical arm, and the signal output end of the position and direction matching device is connected to the first mechanical arm.
The image-guided elastic detecting system according to claim 1, wherein the medical image detecting device comprises one or more of B-mode ultrasound, color Doppler ultrasound, A-type super, M-type super, CT, and MRI.
The image-guided elastic detecting system according to any one of claims 1 to 3, wherein the first spatial positioning device and the second spatial positioning device comprise a manual marking positioning device, a mechanical positioning device, and a spatial magnetic field. One or more of a positioning device, an ultrasonic positioning device, a computer vision positioning device, a light tracking positioning device, an image analysis positioning device, a triangular positioning device, and a magnetic field pressure sensing positioning device, the spatial magnetic field positioning device including a transmitting/receiving control And a magnetic field transmitting coil and a magnetic sensor probe connected to the transmitting/receiving control unit, the transmitting/receiving control unit further connecting the position and direction matching device.
The image-guided elastic detecting system according to claim 4, wherein the magnetic sensor probe of the first spatial positioning device is connected to the second mechanical arm, and the signal output end of the position and direction matching device is further connected to The second mechanical arm; the second spatial positioning device includes the spatial magnetic field positioning device, and the magnetic sensor probe of the spatial magnetic field positioning device and the elastic detecting probe are integrated.
The image-guided elastic detecting system according to claim 5, wherein The position and direction matching device includes a position matching unit and a direction matching unit, and the position and direction matching device is composed of a DSP, a microcontroller or a computer with a communication interface, and the communication interface includes a wired communication interface and a wireless communication interface.
The method for detecting by the image-guided elastic detecting system of claim 1 is characterized in that it comprises:

Step 1: generating an organization structure information image by using a medical image detecting device;

Step 2: Select a location or area to be detected on the image of the organizational structure information;

Step 3: calculating spatial position information of the position or area to be detected by the first spatial positioning device, and transmitting the information to the position and direction matching device;

Step 4: obtaining spatial position information of the elastic detecting probe by the second spatial positioning device, and transmitting the spatial position information to the position and direction matching device;

Step 5: moving the elastic detecting probe so that the spatial position information of the elastic detecting probe is consistent with the spatial position information of the position or area to be detected;

Step 6: Perform elastic detection on the position or area to be detected by the elastic detecting device;

Step 7: Display the result of the elastic detection, and mark the elastic detection result of the elastic detection position in the tissue structure information image.
The method of claim 7, wherein the spatial location information comprises location information and direction angle information.
The method of claim 8 wherein the resilient probe is moved by hand or by a first robotic arm.
The method according to any one of claims 7 to 9, wherein the step 5 comprises:

Step 51: The position and direction matching device compares the spatial position information of the elastic detecting probe with the spatial position information of the position or area to be detected. If the two are consistent, step 6 is performed; otherwise, steps 52 and 53 are performed;

Step 52: Move the elastic detecting probe so that the position information of the elastic detecting probe is consistent with the position information of the position or area to be detected;

Step 53: Rotate the elastic detecting probe to make the direction angle information of the elastic detecting probe and the The direction angle information of the position or area to be detected is the same.