WO2022037702A1 - 乳腺x射线成像设备、乳腺活检定位装置校验方法和系统 - Google Patents

乳腺x射线成像设备、乳腺活检定位装置校验方法和系统 Download PDF

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WO2022037702A1
WO2022037702A1 PCT/CN2021/114108 CN2021114108W WO2022037702A1 WO 2022037702 A1 WO2022037702 A1 WO 2022037702A1 CN 2021114108 W CN2021114108 W CN 2021114108W WO 2022037702 A1 WO2022037702 A1 WO 2022037702A1
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Prior art keywords
positioning device
coordinates
breast biopsy
needle
biopsy positioning
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PCT/CN2021/114108
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English (en)
French (fr)
Inventor
梁侃
夏昂然
储冬玮
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上海联影医疗科技股份有限公司
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Priority claimed from CN202010850716.6A external-priority patent/CN111839567A/zh
Priority claimed from CN202011123415.XA external-priority patent/CN112022229B/zh
Application filed by 上海联影医疗科技股份有限公司 filed Critical 上海联影医疗科技股份有限公司
Priority to EP21857789.8A priority Critical patent/EP4183345A4/en
Publication of WO2022037702A1 publication Critical patent/WO2022037702A1/zh
Priority to US18/172,270 priority patent/US20230190389A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/502—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of breast, i.e. mammography
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B10/0041—Detection of breast cancer
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/022—Stereoscopic imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
    • A61B6/0414—Supports, e.g. tables or beds, for the body or parts of the body with compression means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4447—Tiltable gantries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/582—Calibration
    • A61B6/583—Calibration using calibration phantoms
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/025—Tomosynthesis

Definitions

  • the present application relates to the fields of medical devices and imaging technologies, and in particular, to mammography equipment, and a method and system for verifying breast biopsy positioning devices.
  • Breast disease diagnosis usually uses a breast machine for disease screening or minimally invasive puncture sampling.
  • puncture sampling the ray tube and detector in the mammary machine will rotate relative to the gantry to obtain imaging images of lesions at different angles, such as Scout frame image (Scout frame), stereo paired frame image (Stero Pair frame) taken before puncture, pre-fire needle image (Prefire frame) taken during puncture, and launch completion frame image taken after puncture (Postfire frame) , for reference by physicians to determine the location of the lesion.
  • Sonic frame Stereo paired frame image
  • Prefire frame pre-fire needle image
  • Postfire frame launch completion frame image taken after puncture
  • the needle holder In a traditional mammography machine, the needle holder is mounted on the mammography machine frame and is located between the ray tube and the detector. In order to avoid capturing the needle holder during imaging, the needle holder must be moved to the farthest end to prevent the needle holder from entering the shooting area when taking the scout frame image; And when the frame image is completed, the needle holder cannot be prevented from being photographed, so that some of the images captured will be blocked by the needle holder, which affects the doctor's diagnosis.
  • the present application provides a mammography X-ray imaging device, including a detection mechanism and a needle holder, the detection mechanism includes a ray tube and a detector arranged opposite to each other, and a formation is formed between the ray tube and the detector. A photographing area; the needle holder can move relative to the detection mechanism, and the needle holder is located outside the photographing area.
  • the mammography apparatus further includes a robotic arm, the needle holder is mounted on the robotic arm, and the needle holder can be driven relative to the robotic arm Detecting mechanism movement.
  • the detection mechanism further includes a frame, the ray tube and the detector are mounted on the frame; the mechanical arm is arranged independently of the detection mechanism, and the The installation position is relatively fixed with the position of the rack.
  • the robotic arm can be fixed on the ward wall, ceiling, floor or other positions independent of the detection mechanism, which not only increases the flexibility of the robotic arm when it moves relative to the detection mechanism, but also reduces the number of times of position calibration of the robotic arm without the need for It is calibrated every time it is used. It only needs to be calibrated once after the mechanical arm reaches a certain length of use.
  • the time interval of the calibration cycle can be increased to 1 to 3 months.
  • the detection mechanism further includes a compression plate and a compression platform, and the compression plate and the compression platform are both mounted on the frame and located between the ray tube and the detector, so The compression plate is arranged opposite to the compression platform;
  • the mammography device further includes a puncture needle, the puncture needle is installed on the needle holder, and the mechanical arm can drive the puncture needle to be relatively compressed The plate is tilted into the needle.
  • the compression plate cooperates with the compression platform, so that the breast is deformed into a relatively thin and uniform shape, thereby facilitating the acquisition of high-quality images.
  • the puncture needle in the traditional detection mechanism can only be inserted vertically or horizontally, while in the present application, the puncture needle and the needle holder move with the robotic arm, which can greatly increase the range of the needle insertion angle of the puncture needle and improve the flexibility of needle insertion.
  • the puncture needle can be inserted vertically, horizontally or obliquely relative to the compression plate, thereby reducing the depth of the wound for the patient.
  • the detection mechanism further includes a rotating bracket, the rotating bracket is rotatably mounted on the frame, and the ray tube and the detector are respectively installed at both ends of the opening of the rotating bracket ;
  • the rotating bracket can rotate relative to the compression plate and the compression platform.
  • the compression plate and the compression platform in the traditional detection mechanism usually move with the rotating bracket.
  • the patient needs to reposition the breast after the rotation of the rotating bracket, which prolongs the detection time.
  • the rotating bracket in the present application can be rotated relative to the compression plate and the compression platform.
  • the patient does not need to reposition the breast, but only needs to rotate the bracket to take images of different angles.
  • the robotic arm includes at least two arm segments, and the two arm segments are rotatably connected; one end of one arm segment is relatively fixed to the position of the frame, and the other arm segment is relatively fixed in position.
  • One end of the arm section is for the needle holder to be mounted on.
  • This arrangement can improve the flexibility of the robotic arm during use, facilitate the physician to quickly adjust the needle holder and the puncture needle to an appropriate needle insertion angle, and improve diagnostic efficiency.
  • At least one boom section of the robotic arm is a telescopic boom section.
  • This arrangement can further improve the flexibility of the robotic arm during use.
  • the mammography apparatus further includes a host, which is connected in communication with the robotic arm, and the host is capable of controlling the motion of the robotic arm.
  • the movement of the robotic arm can be controlled by the host, which is convenient for the doctor to operate; and no additional device for controlling the movement of the robotic arm is required, which reduces the footprint of the mammography equipment.
  • the mammography device further includes an imaging element, the imaging element is communicatively connected with the host, and the needle holder is positioned between the shooting area based on the visual guidance of the imaging element outside.
  • the camera element can help the physician to observe the real-time situation of the detection mechanism during the puncture, avoiding the embarrassment and discomfort of the patient; in addition, the camera element can also cooperate with the host to guide the motion of the robotic arm to avoid obstacles through visual navigation, and enable the robotic arm to drive The needle holder and puncture needle are moved to the optimal needle insertion position and puncture is performed.
  • the host can control the movement of the camera element, and the installation position of the camera element is relatively fixed with the position of the frame.
  • the position of the imaging element is relatively fixed, which can increase the time interval of the calibration cycle, making the visual navigation process more accurate.
  • the needle holder can move relative to the detection mechanism, and the needle holder is in the shooting state of the detection mechanism before puncturing, during puncturing and after puncturing, that is, when the detection frame image, stereoscopic image is taken, and the puncturing is completed.
  • the paired frame image, the pre-launch pin image and the launch completed frame image are all located outside the shooting area.
  • the mammography imaging equipment provided by the present application optimizes the image screen shot by the detection mechanism, avoids the appearance of a needle holder in the screen shot before and after the puncture, can better diagnose the position of the lesion, and prevents the appearance of the image.
  • the lesion is covered by the needle holder; on the other hand, it can make the operation of the doctor more efficient, and there is no need to move the needle holder to the farthest end when shooting the reconnaissance frame image, which saves the time of diagnosis and avoids the doctor's shooting of the reconnaissance frame. Duplicate shots caused by forgetting to move the needle holder to the farthest end before the image.
  • the present application provides a method for verifying a breast biopsy positioning device.
  • the breast biopsy positioning device is installed on the above-mentioned mammography X-ray imaging device, and the breast biopsy positioning device is connected to a needle holder.
  • the verification method includes the following steps:
  • the needle holder In response to the first driving instruction, the needle holder is driven to move the needle tip of the puncture needle on the needle holder to a first preset position;
  • a first pair of stereotaxic images of the region opposite to the needle tip of the puncture needle is collected, and the coordinates of the actual position of the needle tip and the coordinates of the first preset position are obtained according to the first pair of stereotaxic images, and the first preset position is obtained. the coordinate difference between the position and the actual position;
  • the breast biopsy positioning device In response to the acquisition of the coordinate difference, the breast biopsy positioning device is corrected according to the coordinate difference.
  • acquiring the coordinates of the actual position of the needle tip and the coordinates of the first preset position according to the first stereotaxic image pair includes the following steps:
  • the coordinates of the first preset marker are identified, and the coordinates of the actual position and the coordinates of the first preset position are determined according to the coordinates of the first preset marker, wherein the first stereotaxic each image of the image pair contains a first preset marker at the same position;
  • Correcting the breast biopsy positioning device according to the coordinate difference includes the following steps:
  • the breast biopsy positioning device is corrected according to the coordinate difference of each image.
  • the method for calibrating the breast biopsy positioning device further includes the following steps:
  • the correction compensation value of the breast biopsy positioning device is acquired according to the coordinate differences obtained at the plurality of first preset positions, and the breast biopsy positioning device is corrected according to the correction compensation value.
  • the present application provides a verification system for a breast biopsy positioning device, the breast biopsy positioning device is installed on the above-mentioned mammography X-ray imaging equipment, the breast biopsy positioning device is connected to a needle holder, and the verification system includes:
  • a first needle holder driving unit configured to drive the needle holder to move the needle tip of the puncture needle mounted on the needle holder to a first preset position in response to the first driving instruction
  • a first position processing unit configured to collect a first pair of stereotaxic images of an area opposite to the needle tip of the puncture needle in response to the movement end signal, and obtain the coordinates of the actual position of the needle tip and a first preset position according to the first pair of stereotaxic images , obtain the coordinate difference between the first preset position and the actual position;
  • the positioning correction unit is used for correcting the breast biopsy positioning device according to the coordinate difference in response to the acquisition of the coordinate difference.
  • the present application provides another method for verifying a breast biopsy positioning device.
  • the breast biopsy positioning device is installed on the above-mentioned mammography X-ray imaging device, and the breast biopsy positioning device is connected to a needle holder.
  • the verification method includes the following steps: :
  • the phantom is installed under the breast biopsy positioning device, and in response to the second driving instruction, the phantom is compressed by the compression plate of the detection mechanism;
  • a third stereotaxic image pair of the phantom is collected, the coordinates of the needle tip position of the puncture needle are obtained according to the third stereotaxic image pair, and the coordinate error is obtained according to the coordinates of the calibration position and the coordinates of the needle tip position of the puncture needle;
  • the breast biopsy positioning device In response to the acquisition of the coordinate errors, the breast biopsy positioning device is validated according to the coordinate errors.
  • obtaining the coordinates of the calibration position according to the second stereotaxic image pair includes the following steps:
  • each image of the second stereotaxic image pair the coordinates of the second preset marker are identified, and the coordinates of the calibration position are determined according to the coordinates of the second preset marker; wherein each image of the second stereotaxic image pair includes a second preset marker at the same location;
  • Acquiring the coordinates of the needle tip position of the puncture needle according to the third stereotaxic image pair includes the following steps:
  • each image of the third stereotaxic image pair the coordinates of the second preset marker are identified, and the coordinates of the needle tip position of the puncture needle are determined according to the coordinates of the second preset marker; wherein, each of the third stereotaxic image pair
  • the images all contain a second preset marker at the same location.
  • the calibration method of the breast biopsy positioning device further includes the following steps:
  • the step of moving the needle tip of the puncture needle to the next calibration position is performed;
  • Target verification results of the breast biopsy positioning device are obtained based on verification results obtained at a plurality of calibration positions.
  • the present application also provides another verification system for a breast biopsy positioning device.
  • the breast biopsy positioning device is installed on the above-mentioned mammography X-ray imaging equipment, and the breast biopsy positioning device is connected to a needle holder.
  • the verification system includes:
  • a calibration preparation unit used for installing the phantom under the breast biopsy positioning device, and in response to the second driving instruction, using the compression plate to compress the phantom;
  • a calibration position determination unit configured to collect a second stereotaxic image pair of the phantom in response to the compression end signal, and obtain the coordinates of the calibration position according to the second stereotaxic image pair;
  • a second needle holder driving unit configured to drive the needle holder of the breast biopsy positioning device to move the needle tip of the puncture needle to the calibration position in response to the acquisition of the coordinates of the calibration position;
  • the second position processing unit is configured to collect a third stereotaxic image pair of the phantom in response to the movement end signal, obtain the coordinates of the needle tip position of the puncture needle according to the third stereotaxic image pair, and obtain the coordinates of the puncture needle according to the coordinates of the calibration position and the puncture needle.
  • the coordinates of the needle tip position get the coordinate error;
  • the positioning verification unit is used for verifying the breast biopsy positioning device according to the coordinate error in response to the acquisition of the coordinate error.
  • the present application provides a readable storage medium on which an executable program is stored, and when the executable program is executed by a processor, implements the steps of any of the above-mentioned methods for verifying a breast biopsy positioning device.
  • the present application provides a calibration device for a breast biopsy positioning device, comprising a memory and a processor, the memory stores an executable program, and when the processor executes the executable program, the calibration of any of the above-mentioned breast biopsy positioning devices is realized. steps of the test method.
  • the calibration method, system, readable storage medium and device for a breast biopsy positioning device provided by the present application, in the process of accuracy calibration and verification of the breast biopsy positioning device, according to different procedures of calibration and verification, the needle holder is driven to move, The needle tip of the puncture needle moves to the designated position, collects and identifies the stereotaxic image pair, and realizes the accuracy correction and verification of the breast biopsy positioning device by measuring the needle tip position and the preset position, effectively reducing the human error introduced by the human operation in the judgment and identification. , to improve the efficiency of precision correction and verification of the breast biopsy positioning device.
  • FIG. 1 is a schematic structural diagram of a mammography apparatus according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of the principle of the imaging component when shooting the reconnaissance frame image and the stereo paired frame image;
  • FIG. 3 is a schematic diagram of the imaging assembly when capturing an image of a pre-fire needle
  • FIG. 4 is a schematic diagram of a pre-fire needle image captured by an imaging assembly
  • FIG. 5 is a schematic diagram of the imaging assembly when shooting and transmitting a frame image
  • Fig. 6 is the schematic diagram of the frame image of the emission completion photographed by the imaging assembly
  • FIG. 7 is a schematic flowchart of a method for verifying a breast biopsy positioning device according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a method for verifying a breast biopsy positioning device in another embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a verification system of a breast biopsy positioning device in an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a verification system of a breast biopsy positioning device in another embodiment of the present application.
  • FIG. 11 is an internal structural diagram of a calibration device of a breast biopsy positioning device in an embodiment of the present application.
  • a component when referred to as being "connected to" another component, it can be directly connected to the other component or an intervening component may also exist.
  • a component When a component is considered to be “set on” another component, it may be directly set on the other component or there may be a co-existing centered component.
  • a component When a component is said to be “fixed” to another component, it may be directly fixed to the other component or there may also be an intervening component.
  • FIG. 1 is a schematic structural diagram of a mammography apparatus 100 in an embodiment of the present application.
  • the present application provides a mammography apparatus 100, which is used to assist physicians in performing needle biopsy.
  • the mammography apparatus 100 is used to assist a physician in performing a breast needle biopsy.
  • the mammography apparatus 100 can also be applied to other types of breast biopsy such as fine needle aspiration biopsy, as well as other application occasions such as computed tomography (CT scan) examination and magnetic resonance examination.
  • CT scan computed tomography
  • the mammography device 100 includes a mammography machine 10 and a puncture component 20.
  • the mammography machine 10 is used for photographing and imaging the breast 200, so as to facilitate physicians to locate the lesion 210; Physicians will sample the tissue for pathological examination to determine whether malignant lesions.
  • the breast machine 10 includes a frame 11, a rotating support 12, an imaging assembly 13 and a compression assembly 14.
  • the rotating support 12 is rotatably connected to the frame 11;
  • the imaging assembly 13 is mounted on the rotating support 12 and can rotate with the rotating support 12 to obtain X-ray images from different angles;
  • the compression assembly 14 is mounted on the gantry 11, and the compression assembly 14 is used to carry and compress the patient's breast 200, so that the breast is deformed into a relatively thin and uniform shape, thereby facilitating the acquisition of high-quality images.
  • the frame 11 is used to carry the rotating bracket 12, the imaging assembly 13 and the compression assembly 14.
  • the frame 11 can be fixed on the ground, which can not only prevent the breast machine 10 from tipping over, but also facilitate the positioning between the breast machine 10 and other surgical instruments.
  • the time interval for the position calibration cycle is used to carry the rotating bracket 12, the imaging assembly 13 and the compression assembly 14.
  • the swivel bracket 12 is roughly in the shape of a "C", and the opening of the swivel bracket 12 is located on the side relatively far away from the frame 11.
  • the swivel bracket 12 can rotate relative to the frame 11 and drive the imaging assembly 13 mounted on the swivel bracket 12 to rotate together. , so that an angle is formed between the imaging component 13 and the compression component 14 , and the imaging component 13 can obtain images of the patient's breast 200 at different angles, so that the physician can accurately determine the location of the lesion 210 .
  • the imaging assembly 13 includes a ray tube 131 and a detector 132 .
  • the ray tube 131 and the detector 132 are respectively disposed at two ends of the rotating bracket 12 , and a shooting area 133 is formed between the ray tube 131 and the detector 132 .
  • the X-ray tube 131 emits X-rays to the detector 132. Since X-rays are penetrating, and the density and thickness of different positions of the breast 200 are different, when the X-rays pass through different positions of the breast 200, the degree of absorption is different. After the rays reach the detector 132 , the intensity of the X-rays at different positions is different, and the displayed images are different in depth, thus forming an image of the patient's breast 200 .
  • the compression assembly 14 includes a compression plate 141 and a compression platform 142.
  • the compression plate 141 and the compression platform 142 are directly or indirectly mounted on the frame 11.
  • the compression plate 141 and the compression platform 142 are both located in the shooting area 133, and the compression plate 141 is located relatively close to each other.
  • the compression platform 142 is located on the side relatively close to the detector 132 , and the compression plate 141 is disposed opposite to the compression platform 142 .
  • the compression plate 141 is detachably installed on the frame 11, and different styles of the compression plate 141 can be replaced according to different examination requirements of the patient, so that the breast can be shaped into a relatively thin and uniform shape, thereby facilitating the acquisition of high-quality images.
  • the compression plate 141 is a transparent plastic part, and the compression plate 141 is provided with a puncture hole for puncturing the puncture assembly 20 . It can be understood that, in other embodiments, the compression plate 141 may also be non-transparent, and may also be made of other transparent materials; when the needle insertion path does not pass through the compression plate 141, the compression plate 141 may not be provided with a puncture hole.
  • the puncture assembly 20 includes a needle holder 21 and a puncture needle 22.
  • the needle holder 21 is used for installing the puncture needle 22, and the puncture needle 22 is used to puncture the breast 200 of the patient.
  • the doctor can determine the size and location of the lesion 210 according to the pictures taken by the patient, and judge that a coarse needle aspiration biopsy, a fine needle aspiration biopsy, or other methods of detection is required.
  • the puncture needle 22 is a hollow thick needle with a larger inner diameter, and the tissue specimens taken out by puncture are sent to the pathology department for fixation, dehydration, embedding, sectioning, staining and sealing for microscope observation.
  • the puncture needle 22 is a hollow fine needle with a smaller inner diameter, and the cells are punctured and taken out for pathological diagnosis.
  • FIG. 2 is a schematic diagram of the principle of the imaging assembly 13 when capturing the scout frame image and the stereo paired frame image
  • FIG. 3 is the imaging assembly 13 capturing the pre-fire pin image
  • 4 is a schematic diagram of a pre-hair pin image captured by the imaging assembly 13;
  • the procedure of breast needle biopsy is as follows: use the compression component 14 to fix the breast 200 so that the breast becomes a relatively thin and uniform shape; (vertical direction), take a scout frame image, identify whether the placement is appropriate through the scout frame image, confirm whether the lesion 210 is clear, and determine whether the lesion 210 is located within the punctureable range; as shown in FIG.
  • the rotating bracket 12 drives the shooting assembly to rotate , shoot a stereo paired frame image at ⁇ 15 degrees (that is, the line between the ray tube 131 and the detector 132 is deflected 15 degrees clockwise or counterclockwise with respect to the vertical direction); Image information in the image, integrate and calculate the three-dimensional spatial position information of the lesion 210 in the breast 200, mark the lesion 210 as the target point; select an appropriate puncture needle 22, install the puncture needle 22 on the needle holder 21, control the The puncture needle 22 enters the shooting area 133 and is aimed at the target point; as shown in FIG. 3 and FIG.
  • one image of the pre-shot needle is taken at ⁇ 15 degrees each for the purpose of Confirm whether the needle insertion position of the puncture needle 22 is correct. If the position of the puncture needle 22 deviates from the preset needle insertion position, fine-tune the position of the puncture needle 22 to make the puncture needle 22 coincide with the preset needle insertion position; The needle 22 pierces the breast 200 of the patient, and the puncture needle 22 samples the lesion 210; as shown in FIG. 5 and FIG. On the puncture path of the puncture needle 22, and determine whether the lesion 210 is located within the sampling range of the puncture needle 22 to confirm whether the lesion 210 has been removed; take the puncture needle 22 out of the breast 200, and perform a Pathological testing.
  • the needle holder In a traditional mammography machine, the needle holder is mounted on the mammography machine frame and is located between the ray tube and the detector. In order to avoid capturing the needle holder during imaging, the needle holder must be moved to the farthest end to prevent the needle holder from entering the shooting area when taking the scout frame image; And when the frame image is completed, the needle holder cannot be prevented from being photographed, so that some of the images captured will be blocked by the needle holder, which affects the doctor's diagnosis.
  • the needle holder 21 can move relative to the mammography machine 10, and the needle holder 21 is located outside the shooting area 133, no matter when shooting the scout frame image, or in the When shooting the stereo paired frame image, the pre-release needle image, and the shot completion frame image, the imaging component 13 can prevent the needle holder 21 from being photographed, thereby preventing the needle holder 21 from affecting the doctor to judge the position of the lesion 210 .
  • the mammography apparatus 100 further includes a robotic arm 30 , the needle holder 21 is mounted on the robotic arm 30 , and the needle holder 21 can move relative to the breast machine 10 under the driving of the robotic arm 30 .
  • One end of the mechanical arm 30 is fixed, and the other end is installed with the needle holder 21 , and the mechanical arm 30 can drive the needle holder 21 to perform translation, rotation and other movements to adjust the relative position of the needle holder 21 .
  • the robotic arm 30 to drive the needle holder 21 to move can make the movement of the needle holder 21 more flexible, and it is convenient for the needle holder 21 to puncture at the best needle insertion angle, so as to reduce the wound depth of the patient;
  • the device 21 is installed on the robotic arm 30 without repeated disassembly and assembly, which can not only reduce the error caused by installing the needle holder 21, but also further reduce the calibration time of the needle holder 21, thereby improving the diagnostic efficiency.
  • the needle holder 21 may also be provided on other mechanisms, as long as the puncture operation can be achieved and the needle holder 21 can be prevented from entering the photographing area 133 .
  • the robotic arm 30 includes at least two arm segments 31, and the two arm segments 31 are rotatably connected; one end of one arm segment 31 is connected to the machine
  • the position of the frame 11 is relatively fixed, and the needle holder 21 is installed at one end of the other arm section 31 .
  • This arrangement can improve the flexibility of the robotic arm 30 during use, facilitate the physician to quickly adjust the needle holder 21 and the puncture needle 22 to an appropriate needle insertion angle, and improve diagnostic efficiency.
  • the robotic arm 30 may also be provided with only one arm segment 31, as long as the surgical operation can be achieved.
  • the robotic arm 30 may also include three, four or even more boom segments 31, and the multiple boom segments 31 may be rotationally connected, fixedly connected, or telescopically connected, as long as the multiple boom segments 31 are connected 31 cooperate with each other to achieve better sports effect.
  • At least one arm section 31 in the robotic arm 30 is a telescopic arm section 31, which can further improve the flexibility of the robotic arm 30 during use.
  • the robotic arm 30 is provided independently of the breast machine 10 , and the installation position of the robotic arm 30 is relatively fixed with the position of the frame 11 .
  • the robotic arm 30 is provided independently of the mammography machine 10
  • the robotic arm 30 is not provided on the mammography machine 10, but is fixed at other positions.
  • the robotic arm 30 can be fixed on the ward wall, ceiling, floor or other positions independent of the breast machine 10 . This arrangement not only increases the flexibility of the movement of the robotic arm 30 relative to the breast machine 10, but also reduces the number of times that the robotic arm 30 needs to perform position calibration, so that the robotic arm 30 does not need to be calibrated before each use, and only needs to be calibrated after a certain use. Calibration can be carried out after a period of time, and the time interval of the calibration cycle can be increased to 1 to 3 months.
  • the robotic arm 30 can also be provided on the breast machine 10 , as long as the robotic arm 30 can drive the needle holder 21 to perform a surgical operation and is located outside the shooting area 133 .
  • the robotic arm 30 can drive the puncture needle 22 to enter the needle vertically, horizontally or obliquely relative to the compression plate 141 .
  • the compression plate 141 cooperates with the compression platform 142 to shape and position the patient's breast 200 to avoid photographing errors caused by the displacement of the breast 200 .
  • the puncture needle in the traditional breast machine can only be inserted vertically or horizontally, while the puncture needle 22 and the needle holder 21 in the present application both move with the robotic arm 30, which can greatly increase the range of the needle insertion angle of the puncture needle 22.
  • the flexibility of needle insertion is improved, so that the puncture needle 22 can be inserted vertically, horizontally or obliquely relative to the compression plate 141 , thereby reducing the depth of the wound of the patient.
  • the compression plate and compression platform in the traditional breast machine usually move with the rotating bracket.
  • the patient needs to reposition the breast after the rotation of the rotating bracket, which prolongs the detection time.
  • the rotating bracket 12 can be rotated relative to the compression plate 141 and the compression platform 142.
  • the patient does not need to reposition the breast 200, but only needs to rotate the bracket 12 to take images of different angles.
  • the compression plate 141 and the compression platform 142 can also be rotated with the rotating bracket 12 if the detection time is not considered, as long as the surgical purpose can be achieved.
  • the mammography apparatus 100 further includes a host, which is connected to the robotic arm 30 in communication, and the host can control the movement of the robotic arm 30, which is convenient for the doctor to operate; and there is no need to additionally set a mechanism for controlling the movement of the robotic arm 30.
  • the device reduces the footprint of the mammography apparatus 100 . It can be understood that, in other embodiments, the mammography apparatus 100 can also be used alone under the judgment and operation of the physician.
  • the mammography apparatus 100 further includes an imaging element 40 , the imaging element 40 is communicatively connected with the host, and the needle holder 21 is located outside the shooting area 133 based on the visual guidance of the imaging element 40 .
  • the camera element 40 can help the physician to observe the real-time situation of the breast machine 10 during puncture, so as to avoid embarrassment and discomfort of the patient; and the camera element 40 can also cooperate with the host to guide the movement of the robotic arm 30 to avoid obstacles through visual navigation, and make the robotic arm 30 It can drive the needle holder 21 and the puncture needle 22 to move to the best needle insertion position and perform puncture.
  • the imaging element 40 may not be provided, and the surgical operation can be realized by relying on the judgment and experience of the physician.
  • the host calculates the position and needle insertion angle of the needle holder 21 and the puncture needle 22, and controls the movement of the robotic arm 30 to drive the needle holder 21 and the puncture needle 22 to move;
  • the camera element 40 Collect image data in real time and transmit the image data to the host;
  • the host receives the image data and detects whether there are obstacles in the image, judges the position information of the obstacles, analyzes and calculates the position information of the obstacles, and re-plans the movement of the robotic arm 30 path to avoid obstacles, and control the robotic arm 30 to move in a re-planned motion path, so as to avoid obstacles, so that the needle holder 21 and the puncture needle 22 reach the optimal needle insertion position.
  • the camera element 40 may be a 3D camera or a multi-camera machine, so as to determine the obstacle information.
  • the host can control the movement of the camera element 40 , and the installation position of the camera element 40 is relatively fixed with the position of the frame 11 . In this way, the position of the camera element 40 is relatively fixed, which can increase the time interval of the calibration cycle, so that the visual navigation process is more accurate.
  • the needle holder 21 can move relative to the mammography machine 10, and the needle holder 21 is in the photographing state before the mammography machine 10, during the puncture, and when the puncture is completed, that is, in the photographing state.
  • the detection frame image, the stereo paired frame image, the pre-launch pin image, and the launch completion frame image are all located outside the shooting area 133 .
  • the mammography device 100 provided by the present application optimizes the images captured by the mammography machine 10, prevents the needle holder 21 from appearing in the images captured before and after the puncture, and can better diagnose the location of the lesion 210.
  • the lesion 210 from being blocked by the needle holder 21 during imaging; on the other hand, it can make the operation of the doctor more efficient, and it is not necessary to move the needle holder 21 to the farthest end when taking the investigation frame image, which saves the time for diagnosis, and at the same time Repeated shooting caused by forgetting to move the needle holder 21 to the farthest end before shooting the scout frame image is avoided.
  • the breast biopsy positioning device is an important functional part of the DBT system. In terms of morphology, the breast biopsy positioning device is an additional device independent of the overall structure of the DBT system. The physician can activate it by manual loading. With the aid of the breast biopsy positioning device, physicians can perform precise operations such as stereotaxic positioning and needle biopsy on the patient.
  • the breast biopsy positioning device flexibly mounted on the DBT system is mainly responsible for the precise positioning of breast biopsy.
  • the breast biopsy positioning device is usually calibrated by means of manual calibration. Due to human error, a large deviation may occur in the puncture position of the puncture needle for breast biopsy.
  • the present application also provides a verification method for a breast biopsy positioning device, and the verification method can be applied to the above-mentioned mammography X-ray imaging apparatus 100 .
  • FIG. 7 it is a schematic flowchart of a verification method of a breast biopsy positioning device according to an embodiment of the present application.
  • the breast biopsy positioning device is installed on the above-mentioned mammography X-ray imaging equipment, the breast biopsy positioning device is connected to the needle holder, and the calibration method of the breast biopsy positioning device includes the following steps:
  • Step S310 driving the needle holder to move the needle tip of the puncture needle mounted on the needle holder to a first preset position in response to the first driving instruction;
  • the breast biopsy positioning device is provided with a driving device.
  • a driving device When receiving a first driving command, it can respond to it and drive the needle holder to move.
  • the first driving command can be that the user is calibrating the breast biopsy positioning device.
  • the instructions generated when the puncture needle is generated can be triggered by a touch signal or a key signal; the puncture needle is clamped on the needle holder, and the puncture needle can also be moved by the movement of the needle holder, thereby moving the needle tip of the puncture needle to the designated position
  • the first preset position is a fixed position that needs to be selected according to breast detection. After the breast biopsy positioning device receives the instruction information of the first preset position, it can drive the needle holder to move automatically, so that the needle tip of the puncture needle moves to the first preset position. Preset position.
  • Step S320 In response to the movement end signal, collect a first pair of stereotaxic images of the region opposite to the needle tip of the puncture needle, obtain the coordinates of the actual position of the needle tip and the coordinates of the first preset position according to the first pair of stereotaxic images, and obtain the first pair of stereotaxic images. a coordinate difference between the preset position and the actual position;
  • the needle tip of the puncture needle reaches the first preset position, and the corresponding status information will be reported to the system where the breast biopsy positioning device is located, and the system will trigger the image acquisition process to collect the puncture
  • the first stereotaxic image pair of the area where the needle tip of the needle is located may include more than two stereotaxic images, which are taken at different scanning angles, and the first stereotaxic image pair can be used to determine the needle tip.
  • the coordinate difference between the two can be determined based on the first preset position and the actual position of the needle tip identified and determined based on the first stereotaxic image pair.
  • Step S330 In response to the acquisition of the coordinate difference, correct the breast biopsy positioning device according to the coordinate difference.
  • the breast biopsy positioning device can be corrected by using the determined coordinate difference, so that the deviation of the breast biopsy positioning device can be minimized during the positioning process, and the positioning accuracy of the breast biopsy positioning device in the system can be improved.
  • the needle holder of the breast biopsy positioning device in the accuracy calibration of the breast biopsy positioning device, is driven to move according to the calibration process, and the needle tip of the puncture needle is moved to the first preset position.
  • the first preset position is used to realize the precision correction of the breast biopsy positioning device, which effectively reduces the human error introduced by the human operation in the judgment and identification, and improves the precision correction efficiency of the breast biopsy positioning device.
  • the above-mentioned verification method of the breast biopsy positioning device can be executed on the console of the breast biopsy positioning device, also can be executed on the post-processing workstation of the breast biopsy positioning device, or can be communicated with the breast biopsy positioning device. It can be executed on a terminal or a computing device, and can also be executed on other breast examination devices other than the mammography device 100 , and it is not limited to this, and can be changed and adjusted according to the needs of practical applications, such as in the mammography device 100 . executed on the host.
  • the needle tip of the puncture needle reaches the first preset position.
  • the corresponding status information will be reported to the system where the breast biopsy positioning device is located, and the system will trigger the image acquisition process, specifically the exposure work.
  • the exposure data of different angles are collected for the area where the needle tip of the puncture needle is located, and after the exposure data is processed algorithmically, the stereotaxic image pair is obtained; further, the different angles can be two absolute values.
  • the same angle such as +20 degrees and -20 degrees, etc., the specific angle can be adjusted according to actual needs; since the breast entity is not involved in the calibration process, the compression plate for the breast can be removed in the actual operation, and then performed The calibration process of the program.
  • obtaining the coordinates of the actual position and the coordinates of the first preset position according to the first stereotaxic image pair includes the following steps:
  • the coordinates of the first preset marker are identified, and the coordinates of the actual position and the coordinates of the first preset position are determined according to the coordinates of the first preset marker, wherein the first stereotaxic
  • Each image of the image pair includes the first preset mark at the same position, and here, the actual position of the needle tip of the puncture needle is the target position, and in other embodiments, other positions may also be included;
  • Correcting the breast biopsy positioning device according to the coordinate difference includes the following steps:
  • the breast biopsy positioning device is corrected according to the coordinate difference of each image.
  • coordinates can be acquired for each image of the first stereotaxic image pair; when the first stereotaxic image pair is captured, a certain position in the area where the needle tip of the puncture needle is located may be provided with a first stereotaxic image pair.
  • a preset marker the first preset marker is displayed in each image of the first stereotaxic image pair, the marker can be used as an associated reference point, and the coordinates of the associated reference point position are associated with the coordinates of the first preset position, and then A positional relationship between the actual position and the first preset position is established, and the breast biopsy positioning device is corrected by using the positional coordinate difference between the two.
  • the first preset mark includes, but is not limited to, a mark on the stage of the breast biopsy positioning device, and may also be a mark at other positions in the shooting area.
  • the current The scale of the image, so that the current image can be displayed completely; in addition, the coordinate difference of all the images of the first stereotaxic image pair can be averaged or weighted to obtain the correction compensation value corresponding to the first stereotaxic image pair, and the correction compensation value can be used. Correction of the breast biopsy positioning device.
  • the method for calibrating the breast biopsy positioning device further includes the following steps:
  • the correction compensation value of the breast biopsy positioning device is acquired according to the coordinate differences obtained at the plurality of first preset positions, and the breast biopsy positioning device is corrected according to the correction compensation value.
  • coordinate differences can be obtained at multiple first preset positions.
  • operations can be performed at different first preset positions in sequence, and the coordinate differences at different first preset positions can be used to comprehensively determine
  • the correction compensation value of the breast biopsy positioning device is used to improve the accuracy of the precision correction of the breast biopsy positioning device.
  • first preset positions there may be two or more than three first preset positions, and after obtaining the coordinate difference of each first preset position, an average or weighted average of the plurality of coordinate differences can be performed to obtain a correction compensation value.
  • FIG. 8 it is a schematic flowchart of a verification method of a breast biopsy positioning device according to another embodiment of the present application.
  • the breast biopsy positioning device is installed on the above-mentioned mammography X-ray imaging equipment, the breast biopsy positioning device is connected to the needle holder, and the calibration method of the breast biopsy positioning device includes the following steps:
  • Step S410 installing the phantom under the breast biopsy positioning device, and in response to the second driving instruction, using the compression plate of the detection mechanism to compress the phantom;
  • the phantom of the breast can be selected for installation, and when receiving the second drive command, it can respond to it, and use the compression plate 141 of the detection mechanism to compress it, simulating the actual application of the breast biopsy positioning device Scenario, the compression of the installation phantom and the compression plate 141 can be performed by the driving accessory of the breast biopsy positioning device, and the second driving instruction can be an instruction generated by the user when verifying the breast biopsy positioning device, which can be triggered by a touch signal or a key signal. .
  • Step S420 in response to the compression end signal, collect a second stereotaxic image pair of the phantom, and obtain the coordinates of the calibration position according to the second stereotaxic image pair;
  • the corresponding status information can be reported to the system where the breast biopsy positioning device is located, and the system will trigger the image acquisition process to collect the second stereotaxic image pair in the area where the phantom is located, the second stereotaxic image pair
  • the positioning image pair can include more than two stereotaxic images, which are captured at different scanning angles, and the second stereotaxic image pair can be used to obtain the coordinates of the calibration position where the tissue needs to be extracted, that is, the needle tip that needs to be punctured should actually reach s position.
  • Step S430 in response to the acquisition of the coordinates of the calibration position, drive the needle holder to move the needle tip of the puncture needle mounted on the needle holder to the calibration position;
  • the breast biopsy positioning device is provided with a driving device.
  • the needle holder can be driven to move, the puncture needle is clamped on the needle holder, and the puncture needle is moved by the movement of the needle holder. It is also possible to move the needle tip to the calibrated position.
  • Step S440 In response to the movement end signal, collect a third stereotaxic image pair of the phantom, obtain the coordinates of the needle tip position of the puncture needle according to the third stereotaxic image pair, and obtain the coordinates of the needle tip position of the puncture needle according to the coordinates of the calibration position and the needle tip position of the puncture needle. coordinate error;
  • the needle tip of the puncture needle is expected to reach the calibration position.
  • the corresponding status information will be reported to the system where the breast biopsy positioning device is located, and the system will trigger the image acquisition process to collect the data of the puncture needle.
  • the third stereotaxic image pair may include more than two stereotaxic images, which were taken under different scanning angles.
  • the third stereotaxic image pair can be used to determine the needle tip position and calibration. The coordinates of the position, because the puncture process will cause the spatial position of the phantom to change, and the needle tip position and the calibration position will deviate, and the coordinate error between the two can be determined through the identification of the third stereotaxic image pair.
  • Step S450 In response to the acquisition of the coordinate error, verify the breast biopsy positioning device according to the coordinate error.
  • the breast biopsy positioning device can be verified by using the determined coordinate error to verify whether the breast biopsy positioning device meets the corresponding accuracy requirements.
  • the calibration position for verification is determined according to the verification process, the needle holder of the breast biopsy positioning device is driven to move, the needle tip of the puncture needle is moved to the calibration position, and the collection and identification are performed.
  • the stereotaxic image pair realizes the accuracy verification of the breast biopsy positioning device by measuring the position of the needle tip and the calibration position, effectively reducing the human error introduced by the human operation in the judgment and identification, and improving the efficiency of the accuracy verification of the breast biopsy positioning device.
  • the verification method of the breast biopsy positioning device can be performed on the console of the breast biopsy positioning device, or on the post-processing workstation of the breast biopsy positioning device, or on a computer that can communicate with the breast biopsy positioning device. It can be executed on a terminal or a computing device, but is not limited to this, and can be changed and adjusted according to the needs of practical applications, such as executing on the host of the mammography device 100 .
  • the system triggers the image acquisition process, which is specifically the exposure workflow, and uses the exposure dose parameters fixed by the system to collect exposure data from different angles in the area where the phantom is located, and after performing algorithm processing on the exposure data, a stereotaxic image pair is obtained;
  • the different angles can be two angles with the same absolute value, such as +20 degrees and -20 degrees, and the specific angles can be adjusted according to actual needs.
  • obtaining the coordinates of the calibration position according to the second stereotaxic image pair includes the following steps:
  • each image of the second stereotaxic image pair the coordinates of the second preset marker are identified, and the coordinates of the calibration position are determined according to the coordinates of the second preset marker; wherein each image of the second stereotaxic image pair includes a second preset marker at the same location;
  • Acquiring the coordinates of the needle tip position of the puncture needle according to the third stereotaxic image pair includes the following steps:
  • each image of the third stereotaxic image pair the coordinates of the second preset marker are identified, and the coordinates of the needle tip position of the puncture needle are determined according to the coordinates of the second preset marker; wherein, each of the third stereotaxic image pair
  • the images all contain a second preset marker at the same location.
  • the coordinates of each image of the second stereotaxic image pair can be obtained separately; when the second stereotaxic image pair is captured, a certain actual position in the area where the phantom is located may be provided with a second preset Set a marker, a second preset marker is displayed in each image of the second stereotaxic image pair, and the marker can be used as a reference point to determine the coordinates of the calibration position; in the third stereotaxic image pair, the same can also be used.
  • the coordinates of the position of the needle tip of the puncture needle are determined in a similar manner, and the positional coordinate error between the two is used to verify the breast biopsy positioning device.
  • the second preset mark includes, but is not limited to, a mark on the stage of the breast biopsy positioning device, and may also be a mark at other positions in the shooting area.
  • the current The scale of the image, so that the current image can be displayed completely; in addition, the coordinates of the calibration positions of all the images of the second stereotaxic image pair can be averaged or weighted to obtain the coordinates of the calibration position corresponding to the second stereotaxic image pair, which can be used for
  • the coordinates of the needle tip positions of all the images of the third stereotaxic image pair are averaged or weighted to obtain the coordinates of the needle tip position corresponding to the third stereotaxic image pair, and the pair is determined by using the coordinates of the calibration position and the needle tip position to compensate for this correction.
  • the calibration method of the breast biopsy positioning device further includes the following steps:
  • the step of moving the needle tip of the puncture needle to the next calibration position is performed;
  • Target verification results of the breast biopsy positioning device are obtained based on verification results obtained at a plurality of calibration positions.
  • verification can be performed at multiple calibration positions.
  • operations can be performed at different calibration positions in sequence, and the overall accuracy level of the breast biopsy positioning device can be comprehensively verified by using the verification results at different calibration positions.
  • the above-mentioned verification method of the breast biopsy positioning device may include two processes of calibration and verification. After the calibration process is completed, the verification process may be further performed.
  • an embodiment of the present application further provides a verification system for a breast biopsy positioning device.
  • the following describes the embodiments of the verification system for a breast biopsy positioning device in detail.
  • FIG. 9 it is a schematic structural diagram of a verification system of a breast biopsy positioning device according to an embodiment.
  • the breast biopsy positioning device is installed on the above-mentioned mammography X-ray imaging equipment, the breast biopsy positioning device is connected with the needle holder, and the calibration system of the breast biopsy positioning device includes:
  • a first needle holder driving unit 510 configured to drive the needle holder to move the needle tip of the puncture needle mounted on the needle holder to a first preset position in response to the first driving instruction
  • the first position processing unit 520 is configured to, in response to the movement end signal, acquire a first pair of stereotaxic images of an area opposite to the needle tip of the puncture needle, and obtain the coordinates of the actual position of the needle tip and a first preset according to the first pair of stereotaxic images. The coordinates of the position, to obtain the coordinate difference between the first preset position and the actual position;
  • the positioning correction unit 530 is configured to correct the breast biopsy positioning device according to the coordinate difference in response to the acquisition of the coordinate difference.
  • the first position processing unit 520 is further configured to identify the coordinates of the first preset marker for each image of the first stereotaxic image pair, and determine the coordinates of the actual position according to the coordinates of the first preset marker and the coordinates of a first preset position, wherein each image of the first stereotaxic image pair contains a first preset marker at the same position;
  • the positioning correction unit 530 is further configured to correct the breast biopsy positioning device according to the coordinate difference of each image.
  • first needle holder driving unit 510 moves the needle tip of the puncture needle to the next first preset position. preset position;
  • the positioning correction unit 530 is further configured to obtain a correction compensation value of the breast biopsy positioning device according to the coordinate differences obtained at the plurality of first preset positions, and correct the breast biopsy positioning device according to the correction compensation value.
  • FIG. 10 it is a schematic structural diagram of a verification system of a breast biopsy positioning device according to another embodiment.
  • the breast biopsy positioning device is installed on the above-mentioned mammography X-ray imaging equipment, the breast biopsy positioning device is connected with the needle holder, and the calibration system of the breast biopsy positioning device includes:
  • a calibration preparation unit 610 configured to install the phantom under the breast biopsy positioning device, and in response to the second driving instruction, use the compression plate to compress the phantom;
  • a calibration position determination unit 620 configured to acquire a second stereotaxic image pair of the phantom in response to the compression end signal, and obtain the coordinates of the calibration position according to the second stereotaxic image pair;
  • the second needle holder driving unit 630 is configured to drive the needle holder to move the needle tip of the puncture needle mounted on the needle holder to the calibration position in response to the acquisition of the coordinates of the calibration position;
  • the second position processing unit 640 is configured to acquire a third stereotaxic image pair of the phantom in response to the movement end signal, acquire the coordinates of the needle tip position of the puncture needle according to the third stereotaxic image pair, and obtain the coordinates of the puncture needle according to the coordinates of the calibration position and the puncture needle The coordinates of the needle tip position get the coordinate error;
  • the positioning verification unit 650 is configured to verify the breast biopsy positioning device according to the coordinate error in response to the acquisition of the coordinate error.
  • the calibration position determining unit 620 is further configured to identify the coordinates of the second preset marker for each image of the second stereotaxic image pair, and determine the coordinates of the calibration position according to the coordinates of the second preset marker; Wherein, each image of the second stereotaxic image pair includes a second preset marker at the same position;
  • the second position processing unit 640 is further configured to identify the coordinates of the second preset marker for each image of the third stereotaxic image pair, and determine the coordinates of the position of the needle tip of the puncture needle according to the coordinates of the second preset marker; wherein, Each image of the third stereotaxic image pair contains a second preset marker at the same location.
  • the second needle holder driving unit 630 drives the needle holder to move the needle tip of the puncture needle to the lower position.
  • the positioning verification unit 650 is further configured to obtain target verification results of the breast biopsy positioning device according to the verification results obtained at the plurality of calibration positions.
  • the verification system of the breast biopsy positioning device in the embodiment of the present application corresponds to the verification method of the breast biopsy positioning device described above, and the technical features and beneficial effects described in the embodiments of the verification method of the breast biopsy positioning device are all applicable.
  • a calibration system for a breast biopsy positioning device In an embodiment of a calibration system for a breast biopsy positioning device.
  • a readable storage medium stores an executable program thereon, and when the executable program is executed by a processor, implements the steps of the above-mentioned method for verifying a breast biopsy positioning device.
  • the above-mentioned readable storage medium through the executable program stored therein, can realize that in the process of accuracy calibration and verification of the breast biopsy positioning device, according to different procedures of calibration and verification, the needle holder of the breast biopsy positioning device can be driven to move, and the puncture is performed.
  • the needle tip of the needle is moved to the designated position, the stereotaxic image pair is collected and identified, and the accuracy correction and verification of the breast biopsy positioning device is realized by measuring the needle tip position and the preset position, which effectively reduces the human error introduced by the human operation in the judgment and identification.
  • Improve the efficiency of precision calibration and validation of breast biopsy positioning devices can realize that in the process of accuracy calibration and verification of the breast biopsy positioning device, according to different procedures of calibration and verification, the needle holder of the breast biopsy positioning device can be driven to move, and the puncture is performed.
  • the needle tip of the needle is moved to the designated position, the stereotaxic image pair is collected and identified, and the accuracy correction and verification of the breast biopsy positioning device is realized by measuring the needle tip position and the prese
  • a verification device for a breast biopsy positioning device includes a memory and a processor, the memory stores an executable program, and the processor implements the steps of the above-mentioned verification method for a breast biopsy positioning device when the executable program is executed.
  • the above-mentioned calibration device of the breast biopsy positioning device by running the executable program on the processor, can realize the process of accuracy calibration and verification of the breast biopsy positioning device, according to the different procedures of calibration and verification, drive the maintenance of the breast biopsy positioning device.
  • the needle movement moves the needle tip of the puncture needle to the designated position, collects and identifies the stereotaxic image pair, and realizes the accuracy correction and verification of the breast biopsy positioning device by measuring the needle tip position and the preset position, effectively reducing the need for personnel to judge and identify.
  • On the introduced human error improve the efficiency of accuracy correction and verification of breast biopsy positioning device.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.
  • the verification device of the above-mentioned breast biopsy positioning device may be a terminal, and its internal structure diagram may be as shown in FIG. 11 .
  • the verification equipment includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Wherein, the processor of the verification device is used to provide computing and control capabilities.
  • the memory of the verification device includes a non-volatile storage medium and an internal memory.
  • the nonvolatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium.
  • the network interface of the verification device is used to communicate with an external terminal through a network connection.
  • the computer program when executed by the processor, implements a method for verifying a breast biopsy positioning device.
  • the display screen of the verification device can be a liquid crystal display screen or an electronic ink display screen
  • the input device of the verification device can be a touch layer covered on the display screen, or a button, trackball or
  • the touchpad can also be an external keyboard, touchpad or mouse.
  • FIG. 11 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the verification equipment to which the solution of the present application is applied.
  • a device may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

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Abstract

一种乳腺X射线成像设备（100），包括检测机构及持针器（21），检测机构包括相对设置的射线管（131）及探测器（132），射线管（131）与探测器（132）之间形成拍摄区域（133）；持针器（21）能够相对于检测机构运动，且持针器（21）位于拍摄区域（133）之外。乳腺X射线成像设备（100）还安装有乳腺活检定位装置，根据校正与验证的不同流程，驱动持针器（21）运动，将穿刺针（22）的针尖移动至指定位置，采集并识别立体定位图像对，通过测量针尖位置与预设位置来实现乳腺活检定位装置的精度校正和验证。

Description

乳腺X射线成像设备、乳腺活检定位装置校验方法和系统
相关申请
本申请要求2020年8月21日申请的，申请号为202010850716.6，发明名称为“乳腺X射线成像设备”，以及2020年10月20日申请的，申请号为202011123415.X，发明名称为“乳腺活检定位装置校验方法、系统、设备和可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械和影像技术领域，特别是涉及乳腺X射线成像设备、乳腺活检定位装置校验方法和系统。
背景技术
乳腺疾病诊断通常使用乳腺机进行病症筛查或者进行微创性穿刺取样，在穿刺取样时，乳腺机中的射线管及探测器会相对于机架转动，以获取不同角度的病灶成像图片，例如在穿刺前拍摄的侦查帧图像(Scout帧)、立体配对帧图像(Stero Pair帧)，穿刺中拍摄的预发针图像(Prefire帧)，以及穿刺完成后拍摄的发射完成帧图像(Postfire帧)，用于供医师参考，以确定病灶的位置。
传统的乳腺机中持针器安装在乳腺机的机架上，并且位于射线管与探测器之间。为了避免在成像时拍摄到持针器，在拍摄侦查帧图像时，必须将持针器移动至最远端才能够避免持针器进入拍摄区域；而在拍摄立体配对帧图像、预发针图像及发射完成帧图像时，均无法避免持针器被拍摄，导致拍摄出的图像中有部分图像会被持针器遮挡，影响医师诊断。
发明内容
第一方面，本申请提供了一种乳腺X射线成像设备，包括检测机构及持针器，所述检测机构包括相对设置的射线管及探测器，所述射线管与所述探测器之间形成拍摄区域；所述持针器能够相对于所述检测机构运动，且所述持针器位于所述拍摄区域之外。
在其中一个实施例中，所述乳腺X射线成像设备还包括机械臂，所述持针器安装于所述机械臂，且所述持针器能够在所述机械臂的带动下相对于所述检测机构运动。
如此设置，采用机械臂带动持针器运动，能够使持针器的运动更加灵活，便于持针器以最佳的进针角度进行穿刺，以减小患者的创口深度；此外，将持针器安装在机械臂上，无需反复拆装，不仅能够减小因安装持针器带来的误差，还能够进一步减少持针器校准时长，从而提高了诊断效率。
在其中一个实施例中，所述检测机构还包括机架，所述射线管及所述探测器安装于所述机架；所述机械臂独立于所述检测机构设置，且所述机械臂的安装位置与所述机架的位置相对固定。
如此设置，机械臂可以固定在病房墙壁、天花板、地面或者独立于检测机构的其他位 置上，不仅增加了机械臂相对于检测机构运动时的灵活性，而且能够减少机械臂位置校准的次数，无需每次使用时都进行校准，只需机械臂到达一定使用时长后校准一次即可，校准周期的时间间隔可增加至1～3个月。
在其中一个实施例中，所述检测机构还包括压迫板及压迫平台，所述压迫板及所述压迫平台均安装于所述机架且位于所述射线管与所述探测器之间，所述压迫板与所述压迫平台相对设置；所述乳腺X射线成像设备还包括穿刺针，所述穿刺针安装于所述持针器，所述机械臂能够带动所述穿刺针相对于所述压迫板倾斜进针。
如此设置，由于乳房是柔性组织，压迫板与压迫平台相配合，以使得乳房形变为相对薄和均匀的形状，进而便于获得高质量的图像。此外，传统检测机构中穿刺针只能垂直进针或水平进针，而本申请中穿刺针及持针器均随机械臂运动，能够大幅度增加穿刺针的进针角度范围及提高进针灵活性，使得穿刺针能够相对于压迫板垂直进针、水平进针或倾斜进针，从而减小患者的创口深度。
在其中一个实施例中，所述检测机构还包括转动支架，所述转动支架可转动地安装于所述机架，所述射线管与所述探测器分别安装于所述转动支架开口的两端；所述转动支架能够相对于所述压迫板及所述压迫平台转动。
如此设置，传统检测机构中的压迫板及压迫平台通常都随转动支架运动，在检查乳腺过程中，转动支架转动后需要患者重新定位乳房，延长了检测时间。而本申请中的转动支架能够相对于压迫板及压迫平台转动，在检测时，患者无需重新定位乳房，只需要转动支架转动即可拍摄不同角度的图像。
在其中一个实施例中，所述机械臂包括至少两根臂节，两根所述臂节之间可转动连接；其中一根臂节的一端与所述机架的位置相对固定，另一根臂节的一端供所述持针器安装。
如此设置，能够提高机械臂在使用过程中的灵活性，便于医师快速地将持针器和穿刺针调整到合适的进针角度，提高诊断效率。
在其中一个实施例中，所述机械臂中的至少一根臂节为可伸缩臂节。
如此设置，能够进一步提高机械臂在使用过程中的灵活性。
在其中一个实施例中，所述乳腺X射线成像设备还包括主机，所述主机与所述机械臂通信连接，且所述主机能够控制所述机械臂运动。
如此设置，能够通过主机控制机械臂运动，便于医师操作；并且无需额外设置操控机械臂运动的装置，减少了乳腺X射线成像设备的占地面积。
在其中一个实施例中，所述乳腺X射线成像设备还包括摄像元件，所述摄像元件与所述主机通信连接，且所述持针器基于所述摄像元件的视觉引导位于所述拍摄区域之外。
如此设置，摄像元件能够帮助医师观察检测机构在进行穿刺时的实时情况，避免患者尴尬不适；并且，摄像元件还能够与主机配合，通过视觉导航引导机械臂运动避障，并使得机械臂能够带动持针器和穿刺针运动至最佳进针位置并进行穿刺。
在其中一个实施例中，所述主机能够控制所述摄像元件运动，且所述摄像元件的安装位置与所述机架的位置相对固定。
如此设置，摄像元件的位置相对固定，能够增加校准周期的时间间隔，使得视觉导航过程更加精确。
本申请提供的乳腺X射线成像设备中，持针器能够相对于检测机构运动，并且持针器 在检测机构处于穿刺前、穿刺中及穿刺完成的拍摄状态下，即在拍摄侦查帧图像、立体配对帧图像、预发针图像及发射完成帧图像时，均位于所述拍摄区域之外。本申请提供的乳腺X射线成像设备一方面优化了检测机构拍摄出的图像画面，避免穿刺前和穿刺完成后拍摄的画面中出现持针器，能够更好地诊断病灶的位置，防止呈像时病灶处被持针器遮挡；另一方面，能够使得医师的操作更加高效，无需在拍摄侦查帧图像时将持针器移动到最远端，节省了诊断时长，同时避免了医师在拍摄侦查帧图像之前忘记将持针器移至最远端而造成的重复拍摄。
第二方面，本申请提供了一种乳腺活检定位装置的校验方法，乳腺活检定位装置安装于上述的乳腺X射线成像设备，乳腺活检定位装置与持针器连接，校验方法包括以下步骤：
响应于第一驱动指令，驱动持针器将持针器上的穿刺针的针尖移动至第一预设位置；
响应于移动结束信号，采集穿刺针的针尖相对的区域的第一立体定位图像对，根据第一立体定位图像对获取针尖的实际位置的坐标和第一预设位置的坐标，获取第一预设位置和实际位置之间的坐标差；
响应于坐标差的获取，根据坐标差对乳腺活检定位装置进行校正。
在其中一个实施例中，根据第一立体定位图像对获取针尖的实际位置的坐标和第一预设位置的坐标包括以下步骤：
针对第一立体定位图像对的每个图像，识别第一预设标记的坐标，并根据第一预设标记的坐标确定实际位置的坐标和第一预设位置的坐标，其中，第一立体定位图像对的每个图像均包含同一位置的第一预设标记；
根据坐标差对乳腺活检定位装置进行校正包括以下步骤：
根据每个图像的坐标差对乳腺活检定位装置进行校正。
在其中一个实施例中，第一预设位置为多个，乳腺活检定位装置的校验方法还包括以下步骤：
在当前第一预设位置获取坐标差后，执行将穿刺针的针尖移动至下一第一预设位置的步骤；
根据在多个第一预设位置得到的坐标差获取乳腺活检定位装置的校正补偿值，根据校正补偿值对乳腺活检定位装置进行校正。
第三方面，本申请提供了一种乳腺活检定位装置的校验系统，乳腺活检定位装置安装于上述的乳腺X射线成像设备，乳腺活检定位装置与持针器连接，校验系统包括：
第一持针器驱动单元，用于响应于第一驱动指令，驱动持针器将安装于持针器上的穿刺针的针尖移动至第一预设位置；
第一位置处理单元，用于响应于移动结束信号，采集穿刺针的针尖相对的区域的第一立体定位图像对，根据第一立体定位图像对获取针尖的实际位置的坐标和第一预设位置的坐标，获取第一预设位置和实际位置之间的坐标差；
定位校正单元，用于响应于坐标差的获取，根据坐标差对乳腺活检定位装置进行校正。
第四方面，本申请提供了另一种乳腺活检定位装置的校验方法，乳腺活检定位装置安装于上述的乳腺X射线成像设备，乳腺活检定位装置与持针器连接，校验方法包括以下步骤：
在乳腺活检定位装置下安装模体，并响应于第二驱动指令，采用检测机构的压迫板对 模体进行压迫；
响应于压迫结束信号，采集模体的第二立体定位图像对，根据第二立体定位图像对获取校准位置的坐标；
响应于校准位置的坐标的获取，驱动持针器将安装于持针器上的穿刺针的针尖移动至校准位置；
响应于移动结束信号，采集模体的第三立体定位图像对，根据第三立体定位图像对获取穿刺针的针尖位置的坐标，根据校准位置的坐标和穿刺针的针尖位置的坐标获取坐标误差；
响应于坐标误差的获取，根据坐标误差对乳腺活检定位装置进行验证。
在其中一个实施例中，根据第二立体定位图像对获取校准位置的坐标包括以下步骤：
针对第二立体定位图像对的每个图像，识别第二预设标记的坐标，并根据第二预设标记的坐标确定校准位置的坐标；其中，第二立体定位图像对的每个图像均包含同一位置的第二预设标记；
根据第三立体定位图像对获取穿刺针的针尖位置的坐标包括以下步骤：
针对第三立体定位图像对的每个图像，识别第二预设标记的坐标，并根据第二预设标记的坐标确定穿刺针的针尖位置的坐标；其中，第三立体定位图像对的每个图像均包含同一位置的第二预设标记。
在其中一个实施例中，校准位置为多个，乳腺活检定位装置的校验方法还包括以下步骤：
在当前校准位置对乳腺活检定位装置进行验证后，执行将穿刺针的针尖移动至下一校准位置的步骤；
根据在多个校准位置得到的验证结果获取乳腺活检定位装置的目标验证结果。
第五方面，本申请还提供了另一种乳腺活检定位装置的校验系统，乳腺活检定位装置安装于上述的乳腺X射线成像设备，乳腺活检定位装置与持针器连接，校验系统包括：
校验准备单元，用于在乳腺活检定位装置下安装模体，并响应于第二驱动指令，采用压迫板对模体进行压迫；
校准位置确定单元，用于响应于压迫结束信号，采集模体的第二立体定位图像对，根据第二立体定位图像对获取校准位置的坐标；
第二持针器驱动单元，用于响应于校准位置的坐标的获取，驱动乳腺活检定位装置的持针器将穿刺针的针尖移动至校准位置；
第二位置处理单元，用于响应于移动结束信号，采集模体的第三立体定位图像对，根据第三立体定位图像对获取穿刺针的针尖位置的坐标，根据校准位置的坐标和穿刺针的针尖位置的坐标获取坐标误差；
定位验证单元，用于响应于坐标误差的获取，根据坐标误差对乳腺活检定位装置进行验证。
第六方面，本申请提供了一种可读存储介质，其上存储有可执行程序，可执行程序被处理器执行时实现上述任意一种乳腺活检定位装置的校验方法的步骤。
第七方面，本申请提供了一种乳腺活检定位装置的校验设备，包括存储器和处理器，存储器存储有可执行程序，处理器执行可执行程序时实现上述任意一种乳腺活检定位装置 的校验方法的步骤。
本申请提供的乳腺活检定位装置的校验方法、系统、可读存储介质和设备，在乳腺活检定位装置的精度校正和验证过程中，根据校正与验证的不同流程，驱动持针器运动，将穿刺针的针尖移动至指定位置，采集并识别立体定位图像对，通过测量针尖位置与预设位置来实现乳腺活检定位装置的精度校正和验证，有效降低人员操作在判断与识别上引入的人为误差，提高乳腺活检定位装置的精度校正和验证的效率。
本申请的一个或多个实施例的细节在以下附图和描述中提出，以使本申请的其他特征、目的和优点更加简明易懂。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本申请一个实施方式中乳腺X射线成像设备的结构示意图；
图2为成像组件在拍摄侦查帧图像与立体配对帧图像时的原理示意图；
图3为成像组件在拍摄预发针图像时的示意图；
图4为成像组件拍摄的预发针图像的示意图；
图5为成像组件在拍摄发射完成帧图像时的示意图；
图6为成像组件拍摄的发射完成帧图像的示意图；
图7为本申请一个实施例中的乳腺活检定位装置的校验方法的流程示意图；
图8为本申请另一个实施例中的乳腺活检定位装置的校验方法的流程示意图；
图9为本申请一个实施例中的乳腺活检定位装置的校验系统的结构示意图；
图10为本申请另一个实施例中的乳腺活检定位装置的校验系统的结构示意图；
图11为本申请一个实施例中的乳腺活检定位装置的校验设备的内部结构图。
附图中：100、乳腺X射线成像设备；10、乳腺机；11、机架；12、转动支架；13、成像组件；131、射线管；132、探测器；133、拍摄区域；14、压迫组件；141、压迫板；142、压迫平台；20、穿刺组件；21、持针器；22、穿刺针；30、机械臂；31、臂节；40、摄像元件；200、乳房；210、病灶。
具体实施方式
下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅仅是本申请一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。
需要说明的是，当组件被称为“连接于”另一个组件，它可以直接连接于另一个组件上或者也可以存在居中的组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。当一个组件被认为是“固定于”另一个组件，它可以是直接固定在另一个组件上或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的 实施方式的目的，不是旨在于限制本申请。本文所使用的术语“或/及”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1，图1为本申请一个实施方式中乳腺X射线成像设备100的结构示意图。
本申请提供一种乳腺X射线成像设备100，其用于辅助医师进行穿刺活检。本实施方式中，乳腺X射线成像设备100用于辅助医师进行乳腺粗针穿刺活检。可以理解，在其他实施方式中，乳腺X射线成像设备100还可以应用于细针穿刺活检等其他类型乳腺穿刺活检，以及电子计算机断层扫描(CT扫描)检查、磁共振检查等其他使用场合。下面以乳腺机为例进行说明。
乳腺X射线成像设备100包括乳腺机10以及穿刺组件20，乳腺机10用于拍摄乳房200并成像，便于医师进行病灶210定位；穿刺组件20用于对乳房200中的乳腺结节进行穿刺取样，医师将取样的组织进行病理检查，以判断是否恶性病变。
乳腺机10包括机架11、转动支架12、成像组件13以及压迫组件14，转动支架12可转动地连接于机架11；成像组件13安装于转动支架12且能够跟随转动支架12转动，以获取不同角度的X射线图像；压迫组件14安装于机架11，压迫组件14用于承载和压迫患者的乳房200，以使得乳房形变为相对薄和均匀的形状，进而便于获得高质量的图像。
机架11用于承载转动支架12、成像组件13以及压迫组件14，机架11能够固设于地面上，不仅能够防止乳腺机10倾倒，还便于乳腺机10与其他手术器械之间定位，增加位置校准周期的时间间隔。
转动支架12大致呈“C”字形，转动支架12的开口位于相对远离机架11的一侧，转动支架12能够相对于机架11转动，并带动安装在转动支架12上的成像组件13一同转动，从而使得成像组件13与压迫组件14之间形成夹角，成像组件13能够获取患者乳房200在不同角度下的图像，便于医师准确地判断病灶210的位置。
成像组件13包括射线管131以及探测器132，射线管131与探测器132分别设置于转动支架12的两端，且射线管131与探测器132之间形成拍摄区域133。射线管131向探测器132发射X射线，由于X射线具有穿透性，而乳房200不同位置的密度和厚度不同，当X射线透过乳房200不同位置时，被吸收的程度不同，因此当X射线到达探测器132后不同位置的X射线的强度不同，呈现出的图像深浅不同，就形成了患者乳房200的影像。
压迫组件14包括压迫板141及压迫平台142，压迫板141与压迫平台142直接或间接地安装于机架11，压迫板141与压迫平台142均位于拍摄区域133内，且压迫板141位于相对靠近射线管131的一侧，压迫平台142位于相对靠近探测器132的一侧，且压迫板141与压迫平台142相对设置。压迫板141可拆卸地安装于机架11，根据患者不同的检查需求可更换不同样式的压迫板141，以使得乳房形变为相对薄和均匀的形状，进而便于获得高质量的图像。
为了避免压迫板141影响医师观察患者的待测部位，在其中一个实施方式中，压迫板141为透明塑料件，且压迫板141上开设有用于供穿刺组件20穿刺的穿刺孔。可以理解，在其他实施方式中，压迫板141也可以是非透明的，还可以是其他透明材质；当进针路径不经过压迫板141时，压迫板141上也可以不设置穿刺孔。
穿刺组件20包括持针器21以及穿刺针22，持针器21用于供穿刺针22安装，穿刺针22用于对患者的乳房200进行穿刺。在实际操作过程中，医师可以根据患者拍摄出的图片 确定病灶210大小及位置，并判断需要进行粗针穿刺活检、细针穿刺活检或其他方式检测。当需要进行粗针穿刺活检时，穿刺针22选用内径较大的中空型粗针头，穿刺取出的组织标本送至病理科进行固定、脱水、包埋、切片、染色及封片后进行显微镜观察，从而判断病理组织是否病变，粗针穿刺活检的准确率较高，并且相较于手术切除，患者创口较小，比较容易恢复。当需要进行细针穿刺活检时，穿刺针22选用内径较小的中空型细针头，穿刺取出细胞进行病理学诊断，诊断速度较快，并且患者创口更小，恢复速度更快。
请再次参阅图1，且一并参阅图2至图6，图2为成像组件13在拍摄侦查帧图像与立体配对帧图像时的原理示意图；图3为成像组件13在拍摄预发针图像时的示意图；图4为成像组件13拍摄的预发针图像的示意图；图5为成像组件13在拍摄发射完成帧图像时的示意图；图6为成像组件13拍摄的发射完成帧图像的示意图。
通常乳腺穿刺活检的过程为：使用压迫组件14固定乳房200，以使得乳房形变为相对薄和均匀的形状；将拍摄组件设置为0度(即射线管131与探测器132之间的连线为竖直方向)，拍摄侦查帧图像，通过侦查帧图像识别摆位是否合适，确认病灶210是否清晰，判断病灶210是否位于可穿刺的范围内；如图2所示，转动支架12带动拍摄组件转动，在±15度(即射线管131与探测器132之间的连线相对于竖直方向顺时针或逆时针偏转15度)各拍摄一张立体配对帧图像；根据侦查帧图像与立体配对帧图像中的图像信息，整合并计算出病灶210在乳房200内的立体空间位置信息，将病灶210标记为目标点；选择合适的穿刺针22，将穿刺针22安装至持针器21上，控制穿刺针22进入拍摄区域133内，并对准目标点；如图3及图4所示，穿刺针22刺入患者乳房200前，在±15度各拍一张拍摄预发针图像，用于确认穿刺针22的进针位置是否正确，若穿刺针22的位置与预设的进针位置有偏差，对穿刺针22进行位置微调，使穿刺针22与预设的进针位置重合；将穿刺针22刺入患者的乳房200并穿刺针22对病灶210进行取样；如图5及图6所示，穿刺针22发射后，在±15度拍摄发射完成帧图像，用于判断目标点是否在穿刺针22的穿刺路径上，并判断病灶210是否位于穿刺针22的可取样范围内，以确认病灶210是否被取出；将穿刺针22从乳房200中取出，并对穿刺针22取出的组织进行病理检测。
传统的乳腺机中持针器安装在乳腺机的机架上，并且位于射线管与探测器之间。为了避免在成像时拍摄到持针器，在拍摄侦查帧图像时，必须将持针器移动至最远端才能够避免持针器进入拍摄区域；而在拍摄立体配对帧图像、预发针图像及发射完成帧图像时，均无法避免持针器被拍摄，导致拍摄出的图像中有部分图像会被持针器遮挡，影响医师诊断。
基于此，本申请提供的乳腺X射线成像设备100中，持针器21能够相对于乳腺机10运动，且持针器21位于拍摄区域133之外，无论是在拍摄侦查帧图像时，还是在拍摄立体配对帧图像、预发针图像及发射完成帧图像时，均能够避免成像组件13拍摄到持针器21，从而避免了持针器21影响医生判断病灶210位置。
需要说明的是，本申请中“持针器21位于拍摄区域133之外”是指，在拍摄侦查帧图像、立体配对帧图像、预发针图像及发射完成帧图像中任意一张图像时，持针器21均不在射线管131与探测器132形成的拍摄区域133内，也即持针器21不会被探测器132探测到。
在本申请的一个实施例中，乳腺X射线成像设备100还包括机械臂30，持针器21安装于机械臂30，且持针器21能够在机械臂30的带动下相对于乳腺机10运动。机械臂30 的一端固定，另一端供持针器21安装，并且机械臂30能够带动持针器21进行平移、旋转等运动，以调节持针器21的相对位置。采用机械臂30带动持针器21运动，能够使持针器21的运动更加灵活，便于持针器21以最佳的进针角度进行穿刺，以减小患者的创口深度；此外，将持针器21安装在机械臂30上，无需反复拆装，不仅能够减小因安装持针器21带来的误差，还能够进一步减少持针器21校准时长，从而提高了诊断效率。
可以理解，在其他实施方式中，持针器21也可以设置在其他机构上，只要能够实现穿刺操作，并且避免持针器21进入拍摄区域133即可。
为了增加机械臂30的灵活性，在本申请的一个实施例中，机械臂30包括至少两根臂节31，两根臂节31之间可转动连接；其中一根臂节31的一端与机架11的位置相对固定，另一根臂节31的一端供持针器21安装。如此设置，能够提高机械臂30在使用过程中的灵活性，便于医师快速地将持针器21和穿刺针22调整到合适的进针角度，提高诊断效率。
可以理解，在其他实施方式中，若不考虑机械臂30的灵活性，机械臂30也可以仅设置一根臂节31，只要能够实现手术操作即可。当然，机械臂30也可以包括三根、四根甚至更多根臂节31，多根臂节31之间可以是转动连接，也可以是固定连接，还可以是可伸缩连接，只要多根臂节31相互配合能够达到较好的运动效果即可。
在本申请的一个实施例中，机械臂30中的至少一根臂节31为可伸缩臂节31，能够进一步提高机械臂30在使用过程中的灵活性。
在本申请的一个实施例中，机械臂30独立于乳腺机10设置，且机械臂30的安装位置与机架11的位置相对固定。需要说明的是，“机械臂30独立于乳腺机10设置”是指，机械臂30不设置在乳腺机10上，而是固定在其他位置。在本申请中，机械臂30可以固定在病房墙壁、天花板、地面或者其他独立于乳腺机10的其他位置上。如此设置，不仅增加了机械臂30相对于乳腺机10的运动灵活性，而且能够减少机械臂30需要进行位置校准的次数，使得机械臂30无需每次使用前都进行校准，只需要在一定使用时长后进行校准即可，校准周期的时间间隔可增加至1～3个月。
可以理解，在其他实施方式中，机械臂30也可以设置在乳腺机10上，只要机械臂30能够带动持针器21进行手术操作，并且位于拍摄区域133外即可。
在本申请的一个实施例中，机械臂30能够带动穿刺针22相对于压迫板141垂直进针、水平进针或倾斜进针。由于乳房200是柔性组织，压迫板141与压迫平台142相配合，能够将患者的乳房200定型定位，避免由于乳房200位移造成拍摄误差。此外，传统乳腺机中穿刺针只能垂直进针或水平进针，而本申请中穿刺针22及持针器21均随机械臂30运动，能够大幅度增加穿刺针22的进针角度范围及提高进针灵活性，使得穿刺针22能够相对于压迫板141垂直进针、水平进针或倾斜进针，从而减小患者的创口深度。
传统乳腺机中的压迫板及压迫平台通常都随转动支架运动，在检查乳腺过程中，转动支架转动后需要患者重新定位乳房，延长了检测时间。在本申请的一个实施例中，转动支架12能够相对于压迫板141及压迫平台142转动，在检测时，患者无需重新定位乳房200，只需要转动支架12转动即可拍摄不同角度的图像。
可以理解，在其他实施方式中，若不考虑检测时长，压迫板141与压迫平台142也可以随转动支架12转动，只要能实现手术目的即可。
在本申请的一个实施例中，乳腺X射线成像设备100还包括主机，主机与机械臂30 通信连接，且主机能够控制机械臂30运动，便于医师操作；并且无需额外设置操控机械臂30运动的装置，减少了乳腺X射线成像设备100的占地面积。可以理解，在其他实施方式中，乳腺X射线成像设备100也可以在医师的判断和操作下单独使用。
在本申请的一个实施例中，乳腺X射线成像设备100还包括摄像元件40，摄像元件40与主机通信连接，且持针器21基于摄像元件40的视觉引导位于拍摄区域133之外。摄像元件40能够帮助医师观察乳腺机10在进行穿刺时的实时情况，避免患者尴尬不适；并且，摄像元件40还能够与主机配合，通过视觉导航引导机械臂30运动避障，并使得机械臂30能够带动持针器21和穿刺针22运动至最佳进针位置并进行穿刺。可以理解，在其他实施方式中，也可以不设置摄像元件40，依靠医师的判断和经验实现手术操作。
具体地说，确定最佳进针位置后，主机计算持针器21和穿刺针22的位置和进针角度，并控制机械臂30运动并带动持针器21和穿刺针22运动；摄像元件40实时采集图像数据并将图像数据传送至主机；主机接收图像数据并检测图像中是否有障碍物，判断障碍物的位置信息，并对障碍物的位置信息进行分析计算，重新规划机械臂30的运动路径以避开障碍物，并控制机械臂30以重新规划的运动路径运动，从而避开障碍物，使得持针器21和穿刺针22到达最佳进针位置。
需要说明的是，摄像元件40可以是3D摄像头，也可以为多摄像头机器，从而确定障碍物信息。
作为可选，主机能够控制摄像元件40运动，且摄像元件40的安装位置与机架11的位置相对固定。如此设置，摄像元件40的位置相对固定，能够增加校准周期的时间间隔，使得视觉导航过程更加精确。
本申请提供的乳腺X射线成像设备100中，持针器21能够相对于乳腺机10运动，并且持针器21在乳腺机10处于穿刺前、穿刺中及穿刺完成的拍摄状态下，即在拍摄侦查帧图像、立体配对帧图像、预发针图像及发射完成帧图像时，均位于拍摄区域133之外。本申请提供的乳腺X射线成像设备100一方面优化了乳腺机10拍摄出的图像画面，避免穿刺前和穿刺完成后拍摄的画面中出现持针器21，能够更好地诊断病灶210的位置，防止呈像时病灶210处被持针器21遮挡；另一方面，能够使得医师的操作更加高效，无需在拍摄侦查帧图像时将持针器21移动到最远端，节省了诊断时长，同时避免了医师在拍摄侦查帧图像之前忘记将持针器21移至最远端而造成的重复拍摄。
随着影像设备不断更新，出现了数字化乳腺断层合成技术，又称数字乳腺断层摄影(Digital Breast Tomosynthesis，DBT)。乳腺活检定位装置是DBT系统的一个重要功能组成部分，在形态上乳腺活检定位装置是独立于DBT系统整体结构之外的附加装置，医师可以通过人工装载的方式进行激活使用的。在乳腺活检定位装置的辅助下，医师可以对患者实施完成病灶的立体定位与穿刺活检等精准操作。
灵活装载于DBT系统之上的乳腺活检定位装置，主要负责乳腺活检的精准定位。在实际应用中，通常是通过人工校验的方式对乳腺活检定位装置进行校验，由于人为误差可能导致乳腺活检的穿刺针的穿刺位置出现较大的偏差。
基于此，本申请还提供一种乳腺活检定位装置的校验方法，该校验方法可应用于上述乳腺X射线成像设备100中。
参见图7所示，为本申请一个实施例的乳腺活检定位装置的校验方法的流程示意图。 该实施例中，乳腺活检定位装置安装于上述的乳腺X射线成像设备，乳腺活检定位装置与持针器连接，乳腺活检定位装置的校验方法包括以下步骤：
步骤S310：响应于第一驱动指令，驱动持针器将安装于持针器上的穿刺针的针尖移动至第一预设位置；
在本步骤中，乳腺活检定位装置具备驱动装置，在接收到第一驱动指令时，可以对其进行响应，驱动持针器进行移动，第一驱动指令可以是用户在对乳腺活检定位装置进行校正时生成的指令，可通过触摸信号或按键信号触发生成；穿刺针夹持在持针器上，借由持针器的移动，穿刺针也可以进行移动，进而使穿刺针的针尖移动至指定位置，第一预设位置是根据乳腺检测需要选取的固定位置，在乳腺活检定位装置接收到第一预设位置的指令信息后，可驱动持针器自动移动，使穿刺针的针尖移动至第一预设位置。
步骤S320：响应于移动结束信号，采集穿刺针的针尖相对的区域的第一立体定位图像对，根据第一立体定位图像对获取针尖的实际位置的坐标和第一预设位置的坐标，获取第一预设位置和实际位置之间的坐标差；
在本步骤中，持针器的驱动过程结束后，穿刺针的针尖达到第一预设位置，此时相应的状态信息会上报乳腺活检定位装置所在的系统，系统会触发图像采集流程，采集穿刺针的针尖所在区域的第一立体定位图像对，第一立体定位图像对可包含两张以上的立体定位图像，分别在不同的扫描角度下拍摄，利用第一立体定位图像对可以从中确定针尖的实际位置的坐标，由于第一预设位置与针尖的实际位置会有所偏差，基于第一预设位置和第一立体定位图像对识别确定的针尖实际位置可确定两者之间的坐标差。
步骤S330：响应于坐标差的获取，根据坐标差对乳腺活检定位装置进行校正。
在本步骤中，在获取得到坐标差后，利用确定的坐标差可以对乳腺活检定位装置进行校正，使乳腺活检定位装置在定位过程中尽量减少偏差，提高乳腺活检定位装置在系统中的定位精度。
在本实施例中，在乳腺活检定位装置的精度校正中，根据校正的流程驱动乳腺活检定位装置的持针器运动，将穿刺针的针尖移动至第一预设位置，通过测量针尖实际位置与第一预设位置来实现乳腺活检定位装置的精度校正，有效降低人员操作在判断与识别上引入的人为误差，提高乳腺活检定位装置的精度校正的效率。
需要说明的是，上述乳腺活检定位装置的校验方法可以在乳腺活检定位装置的控制台上执行，也可以在乳腺活检定位装置的后处理工作站上执行，或在能与乳腺活检定位装置通信的终端或计算设备上执行，也可以在除乳腺X射线成像设备100以外的其他乳腺检查设备上执行，且不局限于此，可以根据实际应用的需要进行变化调整，如在乳腺X射线成像设备100的主机上执行。
具体的，持针器的驱动过程结束后，穿刺针的针尖达到第一预设位置，此时相应的状态信息会上报乳腺活检定位装置所在的系统，系统会触发图像采集流程，具体为曝光工作流，利用系统固定的曝光剂量参数，对穿刺针的针尖所在区域进行不同角度的曝光数据采集，对曝光数据进行算法处理后，得到立体定位图像对；进一步的，不同角度可以是两个绝对值相同的角度，如+20度和-20度等，具体角度可根据实际需要进行调整；由于在校正过程中并未涉及乳腺实体，因此在实际操作中可将针对乳腺的压迫板去除，再执行方案的校正过程。
在一个实施例中，根据第一立体定位图像对获取实际位置的坐标和第一预设位置的坐标包括以下步骤：
针对第一立体定位图像对的每个图像，识别第一预设标记的坐标，并根据第一预设标记的坐标确定实际位置的坐标和第一预设位置的坐标，其中，第一立体定位图像对的每个图像均包含同一位置的第一预设标记，在此，穿刺针针尖的实际位置为目标位置，在其他实施例中，也可以包括其他位置；
根据坐标差对乳腺活检定位装置进行校正包括以下步骤：
根据每个图像的坐标差对乳腺活检定位装置进行校正。
在本实施例中，可针对第一立体定位图像对的每个图像，分别进行坐标的获取；在拍摄第一立体定位图像对时，穿刺针的针尖所在区域的某一位置可设有第一预设标记，第一预设标记在第一立体定位图像对的每个图像中显示，该标记可作为一关联基准点，将关联基准点位置的坐标和第一预设位置的坐标关联，进而建立实际位置与第一预设位置之间的位置关系，利用两者之间的位置坐标差对乳腺活检定位装置进行校正。
具体的，第一预设标记包括但不限于是乳腺活检定位装置的载物台上的标记，也可以是在拍摄区域其他位置的标记，在识别第一预设标记的坐标之前，可调整当前图像的比例尺，以使当前图像完整显示；另外可对第一立体定位图像对的所有图像的坐标差进行平均或加权平均，得到对应第一立体定位图像对的校正补偿值，利用该校正补偿值对乳腺活检定位装置进行校正。
在一个实施例中，第一预设位置为多个，乳腺活检定位装置的校验方法还包括以下步骤：
在当前第一预设位置获取坐标差后，执行将穿刺针的针尖移动至下一第一预设位置的步骤；
根据在多个第一预设位置得到的坐标差获取乳腺活检定位装置的校正补偿值，根据校正补偿值对乳腺活检定位装置进行校正。
在本实施例中，可在多个第一预设位置获取坐标差，在实际操作中，可依次在不同第一预设位置进行操作，利用在不同第一预设位置的坐标差，综合确定乳腺活检定位装置的校正补偿值，以提高乳腺活检定位装置的精度校正的准确性。
进一步的，第一预设位置可以为两个或三个以上，得到每个第一预设位置的坐标差后，可对多个坐标差进行平均或加权平均，得到校正补偿值。
参见图8所示，为本申请另一个实施例的乳腺活检定位装置的校验方法的流程示意图。该实施例中，乳腺活检定位装置安装于上述的乳腺X射线成像设备，乳腺活检定位装置与持针器连接，乳腺活检定位装置的校验方法包括以下步骤：
步骤S410：在乳腺活检定位装置下安装模体，并响应于第二驱动指令，采用检测机构的压迫板对模体进行压迫；
在本步骤中，可选择乳腺的模体进行安装，并在接收到第二驱动指令时，可以对其进行响应，采用检测机构的压迫板141对其进行压迫，模拟乳腺活检定位装置的实际应用场景，安装模体和压迫板141压迫可通过乳腺活检定位装置的驱动配件执行，第二驱动指令可以是用户在对乳腺活检定位装置进行验证时生成的指令，可通过触摸信号或按键信号触发生成。
步骤S420：响应于压迫结束信号，采集模体的第二立体定位图像对，根据第二立体定位图像对获取校准位置的坐标；
在本步骤中，在压迫模拟完毕之后，可将相应的状态信息会上报乳腺活检定位装置所在的系统，系统会触发图像采集流程，采集模体所在区域的第二立体定位图像对，第二立体定位图像对可包含两张以上的立体定位图像，分别在不同的扫描角度下拍摄，利用第二立体定位图像对可以从中获取需要抽取组织的校准位置的坐标，即需要穿刺针的针尖实际应该到达的位置。
步骤S430：响应于校准位置的坐标的获取，驱动持针器将安装于持针器上的穿刺针的针尖移动至校准位置；
在本步骤中，乳腺活检定位装置具备驱动装置，在获取得到校准位置的坐标后，可以驱动持针器进行移动，穿刺针夹持在持针器上，借由持针器的移动，穿刺针也可以进行移动，进而使穿刺针的针尖移动至校准位置。
步骤S440：响应于移动结束信号，采集模体的第三立体定位图像对，根据第三立体定位图像对获取穿刺针的针尖位置的坐标，根据校准位置的坐标和穿刺针的针尖位置的坐标获取坐标误差；
在本步骤中，持针器的驱动过程结束后，穿刺针的针尖预计到达校准位置，此时相应的状态信息会上报乳腺活检定位装置所在的系统，系统会触发图像采集流程，采集穿刺针的针尖所在区域的第三立体定位图像对，第三立体定位图像对可包含两张以上的立体定位图像，分别在不同的扫描角度下拍摄，利用第三立体定位图像对可以从中确定针尖位置和校准位置的坐标，由于穿刺过程会导致模体的空间位置变化，针尖位置和校准位置会有所偏差，通过第三立体定位图像对的识别可确定两者之间的坐标误差。
步骤S450：响应于坐标误差的获取，根据坐标误差对乳腺活检定位装置进行验证。
在本步骤中，在获取得到坐标误差后，利用确定的坐标误差可以对乳腺活检定位装置进行验证，验证乳腺活检定位装置是否满足相应的精度需求。
在本实施例中，在乳腺活检定位装置的精度验证中，根据验证的流程确定验证的校准位置，驱动乳腺活检定位装置的持针器运动，将穿刺针的针尖移动至校准位置，采集并识别立体定位图像对，通过测量针尖位置与校准位置来实现乳腺活检定位装置的精度验证，有效降低人员操作在判断与识别上引入的人为误差，提高乳腺活检定位装置的精度验证的效率。
需要说明的是，上述乳腺活检定位装置的校验方法可以在乳腺活检定位装置的控制台上执行，也可以在乳腺活检定位装置的后处理工作站上执行，或在能与乳腺活检定位装置通信的终端或计算设备上执行，且不局限于此，可以根据实际应用的需要进行变化调整，如在乳腺X射线成像设备100的主机上执行。
具体的，系统触发图像采集流程，具体为曝光工作流，利用系统固定的曝光剂量参数，对模体所在区域进行不同角度的曝光数据采集，对曝光数据进行算法处理后，得到立体定位图像对；进一步的，不同角度可以是两个绝对值相同的角度，如+20度和-20度等，具体角度可根据实际需要进行调整。
在一个实施例中，根据第二立体定位图像对获取校准位置的坐标包括以下步骤：
针对第二立体定位图像对的每个图像，识别第二预设标记的坐标，并根据第二预设标 记的坐标确定校准位置的坐标；其中，第二立体定位图像对的每个图像均包含同一位置的第二预设标记；
根据第三立体定位图像对获取穿刺针的针尖位置的坐标包括以下步骤：
针对第三立体定位图像对的每个图像，识别第二预设标记的坐标，并根据第二预设标记的坐标确定穿刺针的针尖位置的坐标；其中，第三立体定位图像对的每个图像均包含同一位置的第二预设标记。
在本实施例中，可针对第二立体定位图像对的每个图像，分别进行坐标的获取；在拍摄第二立体定位图像对时，模体所在区域的某一实际位置可设有第二预设标记，第二预设标记在第二立体定位图像对的每个图像中显示，该标记可作为一基准点，用于确定校准位置的坐标；在第三立体定位图像对中，同样也能以相似方式确定穿刺针的针尖位置的坐标，利用两者之间的位置坐标误差对乳腺活检定位装置进行验证。
具体的，第二预设标记包括但不限于是乳腺活检定位装置的载物台上的标记，也可以是在拍摄区域其他位置的标记，在识别第二预设标记的坐标之前，可调整当前图像的比例尺，以使当前图像完整显示；另外可对第二立体定位图像对的所有图像的校准位置的坐标进行平均或加权平均，得到对应第二立体定位图像对的校准位置的坐标，可对第三立体定位图像对的所有图像的针尖位置的坐标进行平均或加权平均，得到对应第三立体定位图像对的针尖位置的坐标，利用校准位置的坐标和针尖位置的坐标确定对利用该校正补偿值对乳腺活检定位装置进行校正的精度。
在一个实施例中，校准位置为多个，乳腺活检定位装置的校验方法还包括以下步骤：
在当前校准位置对乳腺活检定位装置进行验证后，执行将穿刺针的针尖移动至下一校准位置的步骤；
根据在多个校准位置得到的验证结果获取乳腺活检定位装置的目标验证结果。
在本实施例中，可在多个校准位置进行验证，在实际操作中，可依次在不同校准位置进行操作，利用在不同校准位置的验证结果，综合验证乳腺活检定位装置的整体精度水平。
进一步的，校准位置可以为两个或三个以上。
需要说明的是，上述乳腺活检定位装置的校验方法可包括校正和验证两个过程，在校正过程结束后，可以进一步进行验证过程，两种过程可相互配合实现，并不矛盾。
根据上述乳腺活检定位装置的校验方法，本申请实施例还提供一种乳腺活检定位装置的校验系统，以下就乳腺活检定位装置的校验系统的实施例进行详细说明。
参见图9所示，为一个实施例的乳腺活检定位装置的校验系统的结构示意图。该实施例中，乳腺活检定位装置安装于上述的乳腺X射线成像设备，乳腺活检定位装置与持针器连接，乳腺活检定位装置的校验系统包括：
第一持针器驱动单元510，用于响应于第一驱动指令，驱动持针器将安装于持针器上的穿刺针的针尖移动至第一预设位置；
第一位置处理单元520，用于响应于移动结束信号，采集穿刺针的针尖相对的区域的第一立体定位图像对，根据第一立体定位图像对获取针尖的实际位置的坐标和第一预设位置的坐标，获取第一预设位置和实际位置之间的坐标差；
定位校正单元530，用于响应于坐标差的获取，根据坐标差对乳腺活检定位装置进行校正。
在一个实施例中，第一位置处理单元520还用于针对第一立体定位图像对的每个图像，识别第一预设标记的坐标，并根据第一预设标记的坐标确定实际位置的坐标和第一预设位置的坐标，其中，第一立体定位图像对的每个图像均包含同一位置的第一预设标记；
定位校正单元530还用于根据每个图像的坐标差对乳腺活检定位装置进行校正。
在一个实施例中，第一预设位置为多个，定位校正单元530在当前第一预设位置获取坐标差后，第一持针器驱动单元510将穿刺针的针尖移动至下一第一预设位置；
定位校正单元530还用于根据在多个第一预设位置得到的坐标差获取乳腺活检定位装置的校正补偿值，根据校正补偿值对乳腺活检定位装置进行校正。
参见图10所示，为另一个实施例的乳腺活检定位装置的校验系统的结构示意图。该实施例中，乳腺活检定位装置安装于上述的乳腺X射线成像设备，乳腺活检定位装置与持针器连接，乳腺活检定位装置的校验系统包括：
校验准备单元610，用于在乳腺活检定位装置下安装模体，并响应于第二驱动指令，采用压迫板对模体进行压迫；
校准位置确定单元620，用于响应于压迫结束信号，采集模体的第二立体定位图像对，根据第二立体定位图像对获取校准位置的坐标；
第二持针器驱动单元630，用于响应于校准位置的坐标的获取，驱动持针器将安装于持针器上的穿刺针的针尖移动至校准位置；
第二位置处理单元640，用于响应于移动结束信号，采集模体的第三立体定位图像对，根据第三立体定位图像对获取穿刺针的针尖位置的坐标，根据校准位置的坐标和穿刺针的针尖位置的坐标获取坐标误差；
定位验证单元650，用于响应于坐标误差的获取，根据坐标误差对乳腺活检定位装置进行验证。
在一个实施例中，校准位置确定单元620还用于针对第二立体定位图像对的每个图像，识别第二预设标记的坐标，并根据第二预设标记的坐标确定校准位置的坐标；其中，第二立体定位图像对的每个图像均包含同一位置的第二预设标记；
第二位置处理单元640还用于针对第三立体定位图像对的每个图像，识别第二预设标记的坐标，并根据第二预设标记的坐标确定穿刺针的针尖位置的坐标；其中，第三立体定位图像对的每个图像均包含同一位置的第二预设标记。
在其中一个实施例中，校准位置为多个，定位验证单元650在当前校准位置对乳腺活检定位装置进行验证后，第二持针器驱动单元630驱动持针器将穿刺针的针尖移动至下一校准位置；
定位验证单元650还用于根据在多个校准位置得到的验证结果获取乳腺活检定位装置的目标验证结果。
本申请实施例的乳腺活检定位装置的校验系统与上述乳腺活检定位装置的校验方法一一对应，在上述乳腺活检定位装置的校验方法的实施例阐述的技术特征及其有益效果均适用于乳腺活检定位装置的校验系统的实施例中。
一种可读存储介质，其上存储有可执行程序，可执行程序被处理器执行时实现上述的乳腺活检定位装置的校验方法的步骤。
上述可读存储介质，通过其存储的可执行程序，可以实现在乳腺活检定位装置的精度校正和验证过程中，根据校正与验证的不同流程，驱动乳腺活检定位装置的持针器运动，将穿刺针的针尖移动至指定位置，采集并识别立体定位图像对，通过测量针尖位置与预设位置来实现乳腺活检定位装置的精度校正和验证，有效降低人员操作在判断与识别上引入的人为误差，提高乳腺活检定位装置的精度校正和验证的效率。
一种乳腺活检定位装置的校验设备，包括存储器和处理器，存储器存储有可执行程序，处理器执行可执行程序时实现上述的乳腺活检定位装置的校验方法的步骤。
上述乳腺活检定位装置的校验设备，通过在处理器上运行可执行程序，可以实现在乳腺活检定位装置的精度校正和验证过程中，根据校正与验证的不同流程，驱动乳腺活检定位装置的持针器运动，将穿刺针的针尖移动至指定位置，采集并识别立体定位图像对，通过测量针尖位置与预设位置来实现乳腺活检定位装置的精度校正和验证，有效降低人员操作在判断与识别上引入的人为误差，提高乳腺活检定位装置的精度校正和验证的效率。
本领域普通技术人员可以理解实现上述实施例用于乳腺活检定位装置的校验方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，程序可存储于一非易失性的计算机可读取存储介质中，如实施例中，该程序可存储于计算机系统的存储介质中，并被该计算机系统中的至少一个处理器执行，以实现包括如上述乳腺活检定位装置的校验方法的实施例的流程。其中，存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
上述乳腺活检定位装置的校验设备可以是终端，其内部结构图可以如图11所示。该校验设备包括通过系统总线连接的处理器、存储器、网络接口、显示屏和输入装置。其中，该校验设备的处理器用于提供计算和控制能力。该校验设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该校验设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种乳腺活检定位装置的校验方法。该校验设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该校验设备的输入装置可以是显示屏上覆盖的触摸层，也可以是校验设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图11中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的校验设备的限定，具体的校验设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说， 在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (28)

  1. 一种乳腺X射线成像设备，其特征在于，包括检测机构及持针器，所述检测机构包括相对设置的射线管及探测器，所述射线管与所述探测器之间形成拍摄区域；
    所述持针器能够相对于所述检测机构运动，且所述持针器位于所述拍摄区域之外。
  2. 根据权利要求1所述的乳腺X射线成像设备，其特征在于，所述乳腺X射线成像设备还包括机械臂，所述持针器安装于所述机械臂，且所述持针器能够在所述机械臂的带动下相对于所述检测机构运动。
  3. 根据权利要求2所述的乳腺X射线成像设备，其特征在于，所述检测机构还包括机架，所述射线管及所述探测器安装于所述机架；所述机械臂独立于所述检测机构设置，且所述机械臂的安装位置与所述机架的位置相对固定。
  4. 根据权利要求3所述的乳腺X射线成像设备，其特征在于，所述检测机构还包括压迫板及压迫平台，所述压迫板及所述压迫平台均安装于所述机架且位于所述射线管与所述探测器之间，所述压迫板与所述压迫平台相对设置；
    所述乳腺X射线成像设备还包括穿刺针，所述穿刺针安装于所述持针器，所述机械臂能够带动所述穿刺针相对于所述压迫板倾斜进针。
  5. 根据权利要求4所述的乳腺X射线成像设备，其特征在于，所述检测机构还包括转动支架，所述转动支架可转动地安装于所述机架，所述射线管与所述探测器分别安装于所述转动支架开口的两端；所述转动支架能够相对于所述压迫板及所述压迫平台转动。
  6. 根据权利要求3所述的乳腺X射线成像设备，其特征在于，所述机械臂包括至少两根臂节，两根所述臂节之间可转动连接；其中一根臂节的一端与所述机架的位置相对固定，另一根臂节的一端供所述持针器安装。
  7. 根据权利要求6所述的乳腺X射线成像设备，其特征在于，所述机械臂中的至少一根臂节为可伸缩臂节。
  8. 根据权利要求3所述的乳腺X射线成像设备，其特征在于，所述乳腺X射线成像设备还包括主机，所述主机与所述机械臂通信连接，且所述主机能够控制所述机械臂(30)运动。
  9. 根据权利要求8所述的乳腺X射线成像设备，其特征在于，所述乳腺X射线成像设备还包括摄像元件，所述摄像元件与所述主机通信连接，且所述持针器基于所述摄像元件的视觉引导位于所述拍摄区域之外。
  10. 根据权利要求9所述的乳腺X射线成像设备，其特征在于，所述主机能够控制所述摄像元件运动，且所述摄像元件的安装位置与所述机架的位置相对固定。
  11. 一种乳腺活检定位装置的校验方法，其特征在于，所述乳腺活检定位装置安装于如权利要求1至10中任意一项所述的乳腺X射线成像设备，所述乳腺活检定位装置与所述持针器连接，所述方法包括以下步骤：
    响应于第一驱动指令，驱动所述持针器将安装于所述持针器上的穿刺针的针尖移动至第一预设位置；
    响应于移动结束信号，采集所述穿刺针的针尖相对的区域的第一立体定位图像对，根据所述第一立体定位图像对获取所述针尖的实际位置的坐标和所述第一预设位置的坐标， 获取所述第一预设位置和所述实际位置之间的坐标差；
    响应于所述坐标差的获取，根据所述坐标差对所述乳腺活检定位装置进行校正。
  12. 根据权利要求11所述的乳腺活检定位装置的校验方法，其特征在于，所述根据所述第一立体定位图像对获取所述针尖的实际位置的坐标和所述第一预设位置的坐标包括以下步骤：
    针对所述第一立体定位图像对的每个图像，识别第一预设标记的坐标，并根据所述第一预设标记的坐标确定所述实际位置的坐标和所述第一预设位置的坐标，其中，所述第一立体定位图像对的每个图像均包含同一位置的第一预设标记；
    所述根据所述坐标差对所述乳腺活检定位装置进行校正包括以下步骤：
    根据所述每个图像的所述坐标差对所述乳腺活检定位装置进行校正。
  13. 根据权利要求11所述的乳腺活检定位装置的校验方法，其特征在于，所述第一预设位置为多个，所述方法还包括以下步骤：
    在当前第一预设位置获取所述坐标差后，执行将所述穿刺针的针尖移动至下一第一预设位置的步骤；
    根据在多个所述第一预设位置得到的所述坐标差获取所述乳腺活检定位装置的校正补偿值，根据所述校正补偿值对所述乳腺活检定位装置进行校正。
  14. 一种乳腺活检定位装置的校验方法，其特征在于，所述乳腺活检定位装置安装于如权利要求1至10中任意一项所述的乳腺X射线成像设备，所述乳腺活检定位装置与所述持针器连接，所述方法包括以下步骤：
    在所述乳腺活检定位装置下安装模体，并响应于第二驱动指令，采用所述检测机构的压迫板对所述模体进行压迫；
    响应于压迫结束信号，采集所述模体的第二立体定位图像对，根据所述第二立体定位图像对获取校准位置的坐标；
    响应于所述校准位置的坐标的获取，驱动所述持针器将安装于所述持针器上的穿刺针的针尖移动至所述校准位置；
    响应于移动结束信号，采集所述模体的第三立体定位图像对，根据所述第三立体定位图像对获取所述穿刺针的针尖位置的坐标，根据所述校准位置的坐标和所述穿刺针的针尖位置的坐标获取坐标误差；
    响应于所述坐标误差的获取，根据所述坐标误差对所述乳腺活检定位装置进行验证。
  15. 根据权利要求14所述的乳腺活检定位装置的校验方法，其特征在于，所述根据所述第二立体定位图像对获取校准位置的坐标包括以下步骤：
    针对所述第二立体定位图像对的每个图像，识别第二预设标记的坐标，并根据所述第二预设标记的坐标确定所述校准位置的坐标；其中，所述第二立体定位图像对的每个图像均包含同一位置的第二预设标记；
    所述根据所述第三立体定位图像对获取所述穿刺针的针尖位置的坐标包括以下步骤：
    针对所述第三立体定位图像对的每个图像，识别所述第二预设标记的坐标，并根据所述第二预设标记的坐标确定所述穿刺针的针尖位置的坐标；其中，所述第三立体定位图像对的每个图像均包含同一位置的第二预设标记。
  16. 根据权利要求14所述的乳腺活检定位装置的校验方法，其特征在于，所述校准位 置为多个，所述方法还包括以下步骤：
    在当前校准位置对所述乳腺活检定位装置进行验证后，执行将所述穿刺针的针尖移动至下一校准位置的步骤；
    根据在多个校准位置得到的验证结果获取所述乳腺活检定位装置的目标验证结果。
  17. 一种乳腺活检定位装置的校验系统，其特征在于，所述乳腺活检定位装置安装于如权利要求1至10中任意一项所述的乳腺X射线成像设备，所述乳腺活检定位装置与所述持针器连接，所述乳腺活检定位装置的校验系统包括：
    第一持针器驱动单元，用于响应于第一驱动指令，驱动所述持针器将安装于所述持针器上的穿刺针的针尖移动至第一预设位置；
    第一位置处理单元，用于响应于移动结束信号，采集所述穿刺针的针尖的相对区域的第一立体定位图像对，根据所述第一立体定位图像对获取所述针尖的实际位置的坐标和所述第一预设位置的坐标，获取所述第一预设位置和所述实际位置之间的坐标差；
    定位校正单元，用于响应于所述坐标差的获取，根据所述坐标差对所述乳腺活检定位装置进行校正。
  18. 一种乳腺活检定位装置的校验系统，其特征在于，所述乳腺活检定位装置安装于如权利要求1至10中任意一项所述的乳腺X射线成像设备，所述乳腺活检定位装置与所述持针器连接，所述乳腺活检定位装置的校验系统包括：
    校验准备单元，用于在乳腺活检定位装置下安装模体，并响应于第二驱动指令，采用所述检测机构的压迫板对所述模体进行压迫；
    校准位置确定单元，用于响应于压迫结束信号，采集所述模体的第二立体定位图像对，根据所述第二立体定位图像对获取校准位置的坐标；
    第二持针器驱动单元，用于响应于所述校准位置的坐标的获取，驱动所述乳腺活检定位装置的持针器将穿刺针的针尖移动至所述校准位置；
    第二位置处理单元，用于响应于移动结束信号，采集所述模体的第三立体定位图像对，根据所述第三立体定位图像对获取所述穿刺针的针尖位置的坐标，根据所述校准位置的坐标和所述穿刺针的针尖位置的坐标获取坐标误差；
    定位验证单元，用于响应于所述坐标误差的获取，根据所述坐标误差对所述乳腺活检定位装置进行验证。
  19. 一种乳腺活检定位装置的校验方法，其特征在于，所述方法包括以下步骤：
    响应于第一驱动指令，驱动乳腺活检定位装置的持针器将穿刺针的针尖移动至第一预设位置；
    响应于移动结束信号，采集所述穿刺针的针尖相对的区域的第一立体定位图像对，根据所述第一立体定位图像对获取所述针尖的实际位置的坐标和所述第一预设位置的坐标，获取所述第一预设位置和所述实际位置之间的坐标差；
    响应于所述坐标差的获取，根据所述坐标差对所述乳腺活检定位装置进行校正。
  20. 根据权利要求19所述的乳腺活检定位装置的校验方法，其特征在于，所述根据所述第一立体定位图像对获取所述针尖的实际位置的坐标和所述第一预设位置的坐标包括以下步骤：
    针对所述第一立体定位图像对的每个图像，识别第一预设标记的坐标，并根据所述第 一预设标记的坐标确定所述实际位置的坐标和所述第一预设位置的坐标，其中，所述第一立体定位图像对的每个图像均包含同一位置的第一预设标记；
    所述根据所述坐标差对所述乳腺活检定位装置进行校正包括以下步骤：
    根据所述每个图像的所述坐标差对所述乳腺活检定位装置进行校正。
  21. 根据权利要求19所述的乳腺活检定位装置的校验方法，其特征在于，所述第一预设位置为多个，所述方法还包括以下步骤：
    在当前第一预设位置获取所述坐标差后，执行将所述穿刺针的针尖移动至下一第一预设位置的步骤；
    根据在多个所述第一预设位置得到的所述坐标差获取所述乳腺活检定位装置的校正补偿值，根据所述校正补偿值对所述乳腺活检定位装置进行校正。
  22. 一种乳腺活检定位装置的校验方法，其特征在于，所述方法包括以下步骤：
    在乳腺活检定位装置下安装模体，并响应于第二驱动指令，采用压迫板对所述模体进行压迫；
    响应于压迫结束信号，采集所述模体的第二立体定位图像对，根据所述第二立体定位图像对获取校准位置的坐标；
    响应于所述校准位置的坐标的获取，驱动所述乳腺活检定位装置的持针器将穿刺针的针尖移动至所述校准位置；
    响应于移动结束信号，采集所述模体的第三立体定位图像对，根据所述第三立体定位图像对获取所述穿刺针的针尖位置的坐标，根据所述校准位置的坐标和所述穿刺针的针尖位置的坐标获取坐标误差；
    响应于所述坐标误差的获取，根据所述坐标误差对所述乳腺活检定位装置进行验证。
  23. 根据权利要求22所述的乳腺活检定位装置的校验方法，其特征在于，所述根据所述第二立体定位图像对获取校准位置的坐标包括以下步骤：
    针对所述第二立体定位图像对的每个图像，识别第二预设标记的坐标，并根据所述第二预设标记的坐标确定所述校准位置的坐标；其中，所述第二立体定位图像对的每个图像均包含同一位置的第二预设标记；
    所述根据所述第三立体定位图像对获取所述穿刺针的针尖位置的坐标包括以下步骤：
    针对所述第三立体定位图像对的每个图像，识别所述第二预设标记的坐标，并根据所述第二预设标记的坐标确定所述穿刺针的针尖位置的坐标；其中，所述第三立体定位图像对的每个图像均包含同一位置的第二预设标记。
  24. 根据权利要求22所述的乳腺活检定位装置的校验方法，其特征在于，所述校准位置为多个，所述方法还包括以下步骤：
    在当前校准位置对所述乳腺活检定位装置进行验证后，执行将所述穿刺针的针尖移动至下一校准位置的步骤；
    根据在多个校准位置得到的验证结果获取所述乳腺活检定位装置的目标验证结果。
  25. 一种乳腺活检定位装置的校验系统，其特征在于，所述乳腺活检定位装置的校验系统包括：
    第一持针器驱动单元，用于响应于第一驱动指令，驱动乳腺活检定位装置的持针器将穿刺针的针尖移动至第一预设位置；
    第一位置处理单元，用于响应于移动结束信号，采集所述穿刺针的针尖的相对区域的第一立体定位图像对，根据所述第一立体定位图像对获取所述针尖的实际位置的坐标和所述第一预设位置的坐标，获取所述第一预设位置和所述实际位置之间的坐标差；
    定位校正单元，用于响应于所述坐标差的获取，根据所述坐标差对所述乳腺活检定位装置进行校正。
  26. 一种乳腺活检定位装置的校验系统，其特征在于，所述乳腺活检定位装置的校验系统包括：
    校验准备单元，用于在乳腺活检定位装置下安装模体，并响应于第二驱动指令，采用压迫板对所述模体进行压迫；
    校准位置确定单元，用于响应于压迫结束信号，采集所述模体的第二立体定位图像对，根据所述第二立体定位图像对获取校准位置的坐标；
    第二持针器驱动单元，用于响应于所述校准位置的坐标的获取，驱动所述乳腺活检定位装置的持针器将穿刺针的针尖移动至所述校准位置；
    第二位置处理单元，用于响应于移动结束信号，采集所述模体的第三立体定位图像对，根据所述第三立体定位图像对获取所述穿刺针的针尖位置的坐标，根据所述校准位置的坐标和所述穿刺针的针尖位置的坐标获取坐标误差；
    定位验证单元，用于响应于所述坐标误差的获取，根据所述坐标误差对所述乳腺活检定位装置进行验证。
  27. 一种可读存储介质，其上存储有可执行程序，其特征在于，所述可执行程序被处理器执行时实现权利要求11至16，19至24中任意一项所述的乳腺活检定位装置的校验方法的步骤。
  28. 一种乳腺活检定位装置的校验设备，包括存储器和处理器，所述存储器存储有可执行程序，其特征在于，所述处理器执行所述可执行程序时实现权利要求11至16，19至24中任意一项所述的乳腺活检定位装置的校验方法的步骤。
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