WO2023108625A1 - 穿刺定位系统及其控制方法 - Google Patents

穿刺定位系统及其控制方法 Download PDF

Info

Publication number
WO2023108625A1
WO2023108625A1 PCT/CN2021/139241 CN2021139241W WO2023108625A1 WO 2023108625 A1 WO2023108625 A1 WO 2023108625A1 CN 2021139241 W CN2021139241 W CN 2021139241W WO 2023108625 A1 WO2023108625 A1 WO 2023108625A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
workstation
image information
execution
moving mechanism
Prior art date
Application number
PCT/CN2021/139241
Other languages
English (en)
French (fr)
Inventor
王少白
吕文尔
Original Assignee
上海卓昕医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海卓昕医疗科技有限公司 filed Critical 上海卓昕医疗科技有限公司
Priority to CN202180004979.8A priority Critical patent/CN116096313B/zh
Priority to PCT/CN2021/139241 priority patent/WO2023108625A1/zh
Publication of WO2023108625A1 publication Critical patent/WO2023108625A1/zh

Links

Images

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging

Definitions

  • the invention relates to the field of clinical medical technology, in particular to a puncture positioning system and a control method thereof.
  • Puncture is a diagnosis and treatment technique in which a puncture needle is inserted into the body cavity to extract secretions for laboratory tests, inject gas or contrast agent into the body cavity for contrast examination, or inject drugs into the body cavity for blood test, blood transfusion, infusion and catheter placement Do angiography of the brain or spinal cavity. Puncture is used for diagnosis or treatment, such as subdural puncture, ventricle puncture, cerebrovascular puncture, lumbar puncture, thoracic body cavity puncture, etc. In addition, the puncture can also be used to establish a channel to facilitate the delivery of surgical instruments later.
  • CT compared with ultrasound guidance, CT has limited resolution of soft tissue organs, resulting in blurred boundaries between the prostate and surrounding tissues, and lesions are not easy to be visualized in CT, making it difficult for precise puncture and interventional surgery.
  • Soft tissue resolution is strong and can be used to identify and locate lesions, and ultrasound can detect images in real time. Therefore, the fusion of ultrasound and MRI is helpful to achieve precise puncture interventional surgery.
  • the purpose of the present invention is to provide a puncture positioning system and its control method. Clear and accurate image information can be obtained through the planning module and the ultrasonic module, and displayed in real time through the display module, and the adjustment can be realized through the workstation module. The precise control of the module and the execution module improves the accuracy of the operation.
  • the present invention provides a puncture positioning system, including a planning module, an ultrasound module, a workstation module, a display module, an adjustment module and an execution module, the planning module is electrically connected to the workstation module, and the planning module It is used to obtain MRI image information of the object, and is used to determine an operation area and a non-operation area according to the MRI image information, and the planning module reconstructs an image according to the operation area, the non-operation area, and the MRI image information to obtain a reconstruction Image information, the planning module transmits the reconstructed image information to the workstation module, the ultrasound module is electrically connected to the workstation module, and the ultrasound module is used to acquire the ultrasound image information of the object and transmit it to the workstation module The workstation module is electrically connected to the display module, the workstation module receives the reconstructed image information and the ultrasonic image information and establishes an operation path, and the workstation module combines the reconstructed image information and the The ultrasonic image information is transmitted to the display module, the
  • the beneficial effect of the puncture positioning system of the present invention is that the MRI image information of the object is obtained through the planning module, and the operation area and non-operation area of the object are determined according to the MRI image information, and then the operation area and the Segment or outline the non-operating area, and reconstruct the image to obtain the reconstructed image information, so that the operating area and the non-operating area can be displayed more clearly, obtain the ultrasonic image information of the object through the ultrasonic module, and obtain the ultrasonic image information of the object through The workstation module establishes an operation path according to the ultrasonic image information and the reconstructed image information, performs image fusion on the ultrasonic image information and the reconstructed image information, and transmits them to the display module for display, and then passes the The workstation module controls the opening and closing of the control module to adjust the position and angle of the execution module, and finally performs corresponding operations.
  • the puncture positioning system of the present application determines the operating area and the non-operating area through the MRI image, acquires real-time ultrasonic images through the ultrasonic module, and displays the reconstructed image information of the object and the obtained image information through the display module.
  • the ultrasonic image information is image fused and displayed in real time, so that the image information can be clearly and accurately observed, and the positions of the operating area and the non-operating area can be accurately judged, and the reconstruction image information and the ultrasonic image information can be established through the workstation module.
  • the operation path can make the operation path more accurate, and then the adjustment module is controlled by the workstation module to adjust the position of the execution module, so that the adjustment accuracy is higher, and finally the adjustment module is controlled by the workstation module
  • the execution module performs corresponding operations, and can accurately control the travel distance of the execution module.
  • the positioning module is arranged on the execution module, the positioning module is electrically connected to the workstation module, and the positioning module is used to obtain the position information of the execution module and Transfer to the workstation module.
  • the beneficial effect is that: by arranging the positioning module on the execution module, acquiring the real-time position information of the execution module and transmitting the position information to the workstation module, it is convenient to know the spatial position of the execution module, It is convenient to precisely move the position of the execution module, and to precisely control the relative position of the execution module and the object.
  • the fusion module is electrically connected to the workstation module, the display module and the calculation module, and the fusion module obtains the position information of the execution module and the operation path and fused into real-time position information, the fusion module transmits the real-time position information to the calculation module and the display module; the calculation module is electrically connected to the workstation module, and the calculation module The real-time position information is received, and the difference information between the execution module position information and the operation path is calculated according to the real-time position information and transmitted to the workstation module.
  • the beneficial effect is that the position information of the execution module and the operation path are integrated into real-time position information by the fusion module, and the difference information between the position information of the execution module and the operation path is calculated by the calculation module and transmitted to the workstation module, so that the workstation module can determine whether the execution module is adjusted to the position of the operation path according to the difference information, and facilitate the workstation module to adjust the position according to the difference value when it is not adjusted
  • the information continues to control the adjustment module to adjust the position of the execution module.
  • it also includes a mobile module and a connection module, the workstation module and the display module are arranged on the mobile module, the mobile module is used for position adjustment, and the connection module is arranged on the mobile module, the ultrasound module and the adjustment module are arranged on the connection module, and the connection module is used to adjust the positions of the ultrasound module and the adjustment module.
  • the beneficial effect is that the position of the puncture positioning system can be easily adjusted through the moving module, and the connection module is provided to facilitate the fixing and spatial position adjustment of the executive module and the ultrasonic module.
  • the moving module is provided with a hollow inner cavity, and the hollow inner cavity is used for storing the connecting module, the ultrasonic module, the adjusting module and the executing module. Its beneficial effect is that such setting is convenient for storing the execution module, the ultrasound module, the adjustment module and the execution module, on the one hand, it reduces the occupied space of the puncture positioning system, and on the other hand, it can reduce the influence of the external environment on the above-mentioned module effects, slow down aging.
  • the planning module includes an image acquisition unit, an analysis unit, a reconstruction unit, and an input-output unit, the image acquisition unit is electrically connected to the analysis unit and the reconstruction unit, and the image acquisition unit
  • the unit is used to obtain the MRI image information and transmit it to the analysis unit and the reconstruction unit
  • the analysis unit is electrically connected to the reconstruction unit
  • the analysis unit receives the MRI image information and determines the operation area and the non-operation area
  • the analysis unit transmits the information of the operation area and the non-operation area to the reconstruction unit
  • the reconstruction unit is electrically connected to the input and output unit
  • the reconstruction unit receives the MRI image information, the operating area and the non-operating area information, and reconstruct an image according to the MRI image information, the operating area and the non-operating area information to obtain the reconstructed image information and transmit it to the input and output
  • the input and output unit is electrically connected to the workstation module, and the input and output unit receives the reconstructed image information and transmits it to the workstation module.
  • the MRI image information is acquired by the image acquisition unit, the operation area and the non-operation area are determined by the analysis unit, and the MRI image and the operation area are analyzed by the reconstruction unit. Reconstructing with the non-operating area, outlining or dividing the operating area and the non-operating area to make the display more clear, transmitting the reconstructed image information to the workstation module through the input and output unit, At the same time, it is also convenient to obtain the instruction information of the workstation module through the input and output unit.
  • the ultrasonic module includes an ultrasonic probe, a rotating mechanism, a linear motion mechanism and an ultrasonic sheath; the ultrasonic probe is arranged on the rotating mechanism, and the rotating mechanism is used to drive the ultrasonic probe to rotate, The ultrasonic probe is used to obtain the ultrasonic image information; the ultrasonic sheath is arranged on one side of the ultrasonic probe, the rotating mechanism is arranged on the linear motion mechanism, and the linear motion mechanism is used to drive the ultrasonic probe Reciprocating motion; the ultrasonic probe, the rotating mechanism and the linear motion mechanism are electrically connected to the workstation module, the ultrasonic probe transmits the ultrasonic image information to the workstation module, and the workstation module controls the The opening and closing of the ultrasonic probe, the rotating mechanism and the linear motion mechanism. Its beneficial effects are: the friction between the ultrasonic sheath and the object can be reduced by setting the ultrasonic sheath, and the ultrasonic probe can acquire images of different orientations or different parts by setting the
  • the adjustment module includes a first moving mechanism, a second moving mechanism, a first fixing clip, a second fixing clip, a third moving mechanism and a first puncture needle holder; the first moving mechanism Set on the rotating mechanism, the second moving mechanism is set on the first moving mechanism, and the first moving mechanism and the second moving mechanism are set at a certain angle, and the first moving mechanism is used to drive The second moving mechanism moves; the first fixing clip and the third moving mechanism are arranged on the second moving mechanism, and the second moving mechanism is used to drive the first fixing clip and the third moving mechanism The moving mechanism moves; the second fixing clip is arranged on the third moving mechanism, and the third moving mechanism is used to drive the second fixing clip to rotate around the first fixing clip; the first puncture needle holder Set on the first fixing clip and the second fixing clip, the execution module is set on the first puncture needle frame or the third moving mechanism; the first moving mechanism, the second moving mechanism and the third moving mechanism are electrically connected to the workstation module, and the workstation module controls the opening and closing of the first moving mechanism
  • the beneficial effect is that: by setting the ultrasonic module to fix the first moving mechanism, the orientation of the plane where the first puncture needle holder is located can be adjusted in space through the rotating mechanism, and the first movement can mechanism and the second moving mechanism enable adjustment of the position of the plane where the first puncture needle holder is located in the space, and the first puncture needle holder on the second fixing clip is driven by the third moving mechanism Rotating around the first fixing clip can adjust the orientation of the first puncture needle holder in the plane where the rotation mechanism, the first moving mechanism, the second moving mechanism and the third moving mechanism are superimposed.
  • the function of the mechanism enables the first puncture needle holder to face to any point in the space, so that the first puncture needle holder can reach a desired path position.
  • the adjustment module includes a planar movement mechanism, a first angle adjustment mechanism, a second angle adjustment mechanism and a second puncture needle holder; the first angle adjustment mechanism is arranged on the planar movement mechanism, The second angle adjustment mechanism is arranged on the first angle adjustment mechanism, and the first angle adjustment mechanism and the second angle adjustment mechanism are arranged at a certain angle, and the second puncture needle holder is arranged on the first angle adjustment mechanism.
  • the plane moving mechanism is used to drive the first angle adjustment mechanism to move
  • the first angle adjustment mechanism is used to drive the second angle adjustment mechanism to rotate
  • the second angle adjustment mechanism is used to Drive the second puncture needle frame to rotate
  • the plane moving mechanism, the first angle adjustment mechanism and the second angle adjustment mechanism are respectively electrically connected to the workstation module, and the workstation module controls the plane movement mechanism, the opening and closing of the first angle adjustment mechanism and the second angle adjustment mechanism.
  • the beneficial effect is that: the position of the first angle adjustment mechanism is adjusted by setting the plane moving mechanism, and the second puncture needle holder is adjusted through the joint action of the first angle adjustment mechanism and the second angle adjustment mechanism. In the orientation in the space, the effect of the planar movement mechanism is superimposed so that the second puncture needle holder can be oriented to any point in the space.
  • the present invention also provides a control method for a puncture positioning system, which includes the following steps: S1: acquire the MRI image information of the object through the planning module, S2: determine the operation area and location of the object based on the MRI image information non-operation area, segmenting the operation area and the non-operation area, and reconstructing the image to obtain the reconstructed image information, S3: acquiring the ultrasound image information of the object through the ultrasound module, S4: through the workstation The module fuses the reconstructed image information and the ultrasonic image information, and transmits the fused image information to the display module for display, S5: establish an operation path through the workstation module, and control the operation path through the workstation module The adjustment module adjusts the position of the execution module to the position of the operation path, and controls the execution module to perform corresponding operations.
  • the beneficial effect of the control method of the puncture positioning system of the present invention is that: the MRI image information of the object is acquired through the planning module, and the operation area and the non-operation area are determined according to the MRI image information, and Segment the operation area and the non-operation area, and then reconstruct the image according to the segmented operation area, non-operation area information and the MRI image information, so that the display of the operation area and the non-operation area is more clear
  • the ultrasonic image information of the object is obtained through the ultrasonic module, and then the reconstructed image information and the ultrasonic image information are fused through the workstation module, and displayed in real time through the display module, which is convenient for the operator
  • the operation path is established through the workstation module, and the position of the execution module is adjusted according to the operation path. After the adjustment is in place, corresponding operations can be performed to make the adjusted position more accurate and improve the accuracy of the operation.
  • the step S5 specifically includes the following steps: S51: establish several operation paths through the workstation module, S52: select one of the operation paths in S51 through the workstation module, S53: Control the adjustment module to adjust the location of the execution module to the location of the selected operation path. S54: Perform corresponding operations through the execution module. S55: Repeat steps S52 to S54 until all operations are completed. Its beneficial effect is that: by setting up several said operation paths in this way, and by selecting a plurality of different said operation paths to perform corresponding operations, the pathological samples of the operation area can be obtained from different angles, and more accurate pathological analysis can be obtained result.
  • the step S53 specifically includes the following steps: S530: Provide a positioning module, the positioning module is set in the execution module, and the positioning module obtains the location information of the execution module in real time and transmits it to The workstation module and the display module, S531: the workstation module calculates the adjustment information and adjustment distance required by the execution module according to the real-time position information and the selected operation path, and according to the adjustment The information controls the adjustment module to start until the adjustment distance is zero and controls the adjustment module to turn off, and the display module receives the position information and displays it in real time.
  • the beneficial effect is that: the position information of the execution module is obtained through the positioning module, and the adjustment information and adjustment distance required by the execution module are calculated through the workstation module, so that the opening and closing of the adjustment module can be precisely controlled 1. Precisely adjust the position of the execution module.
  • the step S54 specifically includes the following steps: S540: the execution module includes an execution unit and a drive unit, the execution unit is arranged at the active end of the drive unit, and the execution unit is used to Perform corresponding operations, the driving unit is used to drive the execution unit to move, the workstation module is used to control the opening and closing of the driving unit, S541: the workstation module controls the opening of the driving unit, S542: the positioning module Obtain the initial position information of the execution unit, the workstation module calculates the depth information that the execution unit needs to travel according to the initial position information and the operation area, S543: Obtain the real-time location information of the execution unit through the positioning module until the travel distance information is equal to the depth information, control the drive unit to turn off, S544: perform corresponding operations through the execution unit, S545: the workstation module controls the drive unit to drive the The execution unit exits.
  • S540 the execution module includes an execution unit and a drive unit, the execution unit is arranged at the active end of the drive unit, and the execution unit
  • the beneficial effect is that: the real-time travel distance information of the execution unit is obtained through the positioning module, and the precise opening and closing control of the drive unit is performed according to the travel depth information calculated by the workstation module, so as to ensure that the The execution unit moves to the operation area to obtain the required pathological samples.
  • the step S3 specifically includes the following steps: S31: turn on the ultrasound module, S32: move the ultrasound module to the area to be operated on the object, S33: automatically run the ultrasound module
  • the ultrasound image information is acquired.
  • the beneficial effect is that the ultrasonic module is manually moved to the area to be detected, and the ultrasonic module is automatically controlled to rotate or move back and forth to obtain ultrasonic images, which is easy to use and saves the operator's energy.
  • a step is further included between the step S3 and the step S4: the ultrasound module segments and reconstructs the non-operation area according to the ultrasound image information acquired in the step S3.
  • the beneficial effect is that such setting can re-determine the position of the non-operating area during clinical operation, so as to avoid damage to the non-operating area.
  • Fig. 1 is a partial structural schematic diagram of the puncture positioning system in the first embodiment of the present invention
  • Fig. 2 is a structural block diagram of the puncture positioning system in the first embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the assembly structure of the adjustment module and the ultrasonic module in Fig. 1;
  • Fig. 4 is a schematic diagram of the assembly structure of the adjustment module and the ultrasonic module in the second embodiment of the present invention.
  • Fig. 5 is a flow chart of the control method of the puncture positioning system in the third embodiment of the present invention.
  • Ultrasonic module 201, ultrasonic probe; 202, rotating mechanism; 203, linear motion mechanism; 204, ultrasonic sheath;
  • Adjustment module 501, first moving mechanism; 502, second moving mechanism; 503, first fixing clip; 504, second fixing clip; 505, third moving mechanism; 506, first puncture needle holder; 507, Plane moving mechanism; 508, first angle adjustment mechanism; 509, second angle adjustment mechanism; 510, second puncture needle holder;
  • the embodiment of the present invention provides a puncture positioning system.
  • Fig. 1 is a partial structural diagram of the puncture positioning system in the first embodiment of the present invention
  • Fig. 2 is a structural block diagram of the puncture positioning system in the first embodiment of the present invention
  • Fig. 3 is the assembly of the adjustment module and the ultrasonic module in Fig. 1 Schematic.
  • FIG. 1 to FIG. 3 it includes a planning module 1, an ultrasound module 2, a workstation module 3, a display module 4, an adjustment module 5 and an execution module 6, and the planning module 1 and the workstation module 3 are electrically connected, the planning module 1 is used to acquire the MRI image information of the object, and is used to determine the operating area and the non-operating area according to the MRI image information, and the planning module 1 is used to determine the operating area and the non-operating area Reconstructing an image with the MRI image information to obtain reconstructed image information, the planning module 1 transmits the reconstructed image information to the workstation module 3, the ultrasound module 2 is electrically connected to the workstation module 3, and the ultrasound module 2 is used to obtain the ultrasonic image information of the object and transmit it to the workstation module 3, the workstation module 3 is electrically connected to the display module 4, and the workstation module 3 receives the reconstructed image information and the ultrasonic image information and establish an operation path, the workstation module 3 transmits the re
  • the planning module 1 is connected to the workstation module 3 through a cable
  • the ultrasonic module 2 is arranged on the workstation module 3
  • the ultrasonic module 2 includes an ultrasonic probe 201, a rotating mechanism 202, a linear motion mechanism 203 and an ultrasonic sheath 204
  • the ultrasonic sheath 204 is fixedly arranged at the front end of the ultrasonic probe 201
  • the ultrasonic sheath 204 is hollow
  • the front end of the ultrasonic probe 201 extends to the end of the ultrasonic sheath 204 Hollow part
  • the ultrasonic sheath 204 is used to be placed in the body of the subject
  • the ultrasonic probe 201 is set on the rotating mechanism 202
  • the rotating mechanism 202 is set on the linear motion mechanism 203
  • the ultrasonic probe 201 For obtaining the ultrasonic image information, the rotating mechanism 202 is used to drive the ultrasonic probe 201 to rotate, the linear motion mechanism 203 is used to drive the rotating mechanism 202
  • the adjustment module 5 includes a first moving mechanism 501, a second moving mechanism 502, a first fixing clip 503, a second fixing clip 504, a third moving mechanism 505 and a first puncture needle holder 506, and the first moving mechanism 501 Set on the rotating mechanism 202, the second moving mechanism 502 is arranged with the first moving mechanism 501, the first moving mechanism 501 and the second moving mechanism 502 are arranged perpendicular to each other, and the first moving mechanism 501 is used to drive the second moving mechanism 502 to move, the first fixing clip 503 and the third moving mechanism 505 are arranged on the second moving mechanism 502, and the second moving mechanism 502 is used to drive the The first fixing clip 503 and the third moving mechanism 505 move, the second fixing clip 504 is arranged on the third moving mechanism 505, and the third moving mechanism 505 is used to drive the second fixing clip 504 around The first fixing clip 503 rotates, the first puncture needle holder 506 is set on the first fixing clip 503 and the second fixing clip 504 , and the execution module 6 is
  • the puncture needle is used as an example in this application
  • the execution unit is set on the first puncture needle holder 506
  • the driving unit is a driving motor
  • the driving unit can drive the execution unit along the first A directional movement of the puncture needle holder 506 .
  • the first moving mechanism 501, the second moving mechanism 502 and the third moving mechanism 505 are all electrically connected to the workstation module 3, and the workstation module 3 controls the first moving mechanism 501, the The opening and closing of the second moving mechanism 502 and the third moving mechanism 505 .
  • the first moving mechanism 501 and the second moving mechanism 502 can adjust the position of the first puncture needle holder 506 mapped on the plane, and the mapping of the first puncture needle holder 506 can be adjusted by the third moving mechanism 505
  • the angle of the plane allows the first puncture needle holder 506 to face any point in the space, thereby realizing the adjustment of the angle of the first puncture needle holder 506 .
  • the MRI image information of the object is obtained through the planning module 1. Since the MRI image is generated slowly, it can be obtained and stored in advance, and then called out for use when necessary, and the operation of the object is determined through the MRI image information area and non-operation area, divide or outline the operation area and the non-operation area to make the display of the operation area and the non-operation area more obvious, and then according to the operation area and the non-operation area Reconstruct an image with the MRI image information, and transmit the reconstructed image information to the workstation module 3 .
  • the ultrasonic probe 201 is controlled to be turned on by the workstation module 3 , and then the rotation mechanism 202 and/or the linear motion mechanism 203 is controlled to be turned on, and the ultrasonic image information is acquired and transmitted to the workstation module 3 .
  • the information is transmitted to the display module 4 for display, which is convenient for the operator to observe, and then the position of the execution module 6 is adjusted according to the operation path, so that the first puncture needle holder 506 is collinear with the operation path , and finally the execution module 6 is controlled by the workstation module 3 to start corresponding operations.
  • the puncture positioning system of this embodiment can clearly determine the operating area and non-operating area of the object through the combination of MRI images and ultrasonic images, and display them through the display module 4, so that the operator can clearly Observation, and can establish a feasible operation path according to the operation area and the non-operation area, improve the safety of the operation, and then control the opening and closing of the adjustment module 5 and the execution module 6 through the workstation module 3, After the position is adjusted, the corresponding operation is performed, and the adjustment and operation execution are controlled by the workstation, which reduces the error caused by personnel and makes the operation more accurate.
  • a positioning module (not shown in the figure) is also included, the positioning module is arranged on the execution module 6, and the positioning module is electrically connected to the workstation module 3 , the positioning module is used to obtain the position information of the execution module 6 and transmit it to the workstation module 3 .
  • the positioning module (not shown in the figure) is arranged on the execution module 6, the positioning module is a positioning device, and the positioning module obtains the position of at least two points on the execution module 6. position information, determine the position and direction of the execution module 6 in space according to the position information, and determine the relative position information of the execution module 6 and the object, so as to facilitate the adjustment of the position of the execution module 6 , to improve the accuracy of position adjustment.
  • a fusion module (not shown in the figure) and a calculation module (not shown in the figure) are also included; the fusion module is connected with the workstation module 3, the display Module 4 is electrically connected to the calculation module, the fusion module obtains the position information of the execution module 6 and the operation path and fuses them into real-time position information, and the fusion module transmits the real-time position information to the calculation module and the display module 4; the calculation module is electrically connected to the workstation module 3, the calculation module receives the real-time position information, and calculates the execution module 6 position information and the operation according to the real-time position information The path difference information is transmitted to the workstation module 3 .
  • the fusion module is electrically connected to the display module 4 and the workstation module 3 respectively, and the fusion module acquires the position information of the execution module 6 and the operation path and fuses them into a real-time Position information, the display module generates real-time virtual image information according to the real-time position information, the MRI image information and the ultrasound image information, which is convenient for observation.
  • the calculation module is electrically connected to the fusion module, and the calculation module acquires the real-time position information and calculates the distance difference between the execution module 6 and the operation path to be reached. When the difference is zero, it indicates that the execution module 6 is properly adjusted. When the difference is not zero, it indicates that the execution module 6 has not been adjusted in place, and at this time, the azimuth difference between the execution module 6 and the operation path can be calculated according to the real-time position information, so as to facilitate continuous adjustment.
  • the workstation module 3 can reconstruct the image information of the positioning module according to the position information and fuse it into the reconstructed image information and/or the ultrasound image information, and transmit it to the display module 4 for real-time display , so that the operator can observe the position of the execution module 6 in real time through the display module 4 .
  • a mobile module 7 and a connection module 8 are also included, the workstation module 3 and the display module 4 are arranged on the mobile module 7, and the mobile module 7 is used At the adjustment position, the connecting module 8 is arranged on the moving module 7, the ultrasonic module 2 and the adjusting module 5 are arranged on the connecting module 8, and the connecting module 8 is used to adjust the ultrasonic module 2 and the The position of the adjustment module 5 .
  • the mobile module 7 includes a frame, the bottom side of the frame is provided with several rollers, the display module 4 is arranged on the upper side of the mobile module 7, and the host is set In the mobile module 7, the keyboard is fixedly arranged on the shell of the mobile module 7, the connecting module 8 is a mechanical arm or a universal arm, and the connecting module 8 is manually adjusted. One end is fixed or rotated on the moving module 7, and the rotating mechanism 202 is arranged on the other end of the connecting module 8.
  • the puncture positioning system is moved to the required position through the moving module 7, and the The connection module 8 adjusts the position of the ultrasonic module 2 and the adjustment module 5 to the area to be operated, so as to prepare for the operation.
  • the moving module 7 is provided with a hollow inner cavity, and the hollow inner cavity is used to store the connecting module 8, the ultrasonic module 2, the adjusting module 5 and the execution module 6 .
  • the hollow inner cavity is arranged on the lower side of the display module 4, and the end of the connection module 8 close to the workstation module 3 is fixed or movable in the hollow inner cavity, and the set
  • the hollow inner cavity is convenient for storing the connection module 8, the ultrasonic module 2, the adjustment module 5 and the execution module 6, and is convenient for adjusting the position of the puncture positioning system.
  • the planning module 1 includes an image acquisition unit (not shown in the figure), an analysis unit (not shown in the figure), a reconstruction unit (not shown in the figure) and an input and output unit (not shown in the figure), the image acquisition unit is electrically connected to the analysis unit and the reconstruction unit respectively, and the image acquisition unit is used to acquire the MRI image information and transmit it to the analysis unit and the reconstruction unit , the analysis unit is electrically connected to the reconstruction unit, the analysis unit receives the MRI image information and determines the operation area and the non-operation area, and the analysis unit combines the operation area and the non-operation area
  • the area information is transmitted to the reconstruction unit, the reconstruction unit is electrically connected to the input and output unit, the reconstruction unit receives the MRI image information, the operation area and the non-operation area information, and according to the MRI Image information, the operating area and the non-operating area information reconstruct an image to obtain the reconstructed image information and transmit it to the input and output unit, the input and output unit is electrically
  • the image acquisition unit is electrically connected to the analysis unit, the image acquisition unit is used to acquire the MRI image information of the object, and the analysis unit stores images of normal human bodies, through Comparing the MRI image information of the object with the image of the normal human body to determine the operation area and the non-operation area, the reconstruction unit is electrically connected to the image acquisition unit, the analysis unit and the input and output unit, respectively, The reconstruction unit performs image fusion and reconstructs an image according to the operation region, the non-operation region information and the MRI image information, obtains reconstructed image information emphatically displaying the operation region and the non-operation region, and passes the input and output unit The reconstructed image information is transmitted to the workstation module 3 .
  • the planning module 1 can receive an instruction to open and close from the workstation module 3 through the input and output unit, or a control unit can be set on the planning module 1 to control the opening and closing of the planning module 1 .
  • Fig. 4 is a schematic diagram of the assembly structure of the adjustment module and the ultrasonic module in the second embodiment of the present invention.
  • FIG. 1, FIG. 3 and FIG. 4 the difference between FIG. 4 and FIG. and the second puncture needle rack 510, the plane moving mechanism 507, the first angle adjusting mechanism 508 and the second angle adjusting mechanism 509 are respectively electrically connected to the workstation module 3, and the first angle adjusting mechanism 508 Set on the plane moving mechanism 507, the second angle adjusting mechanism 509 is set on the first angle adjusting mechanism 508, and the second moving mechanism 502 is set perpendicular to the first moving mechanism 501, the plane The moving mechanism 507 is used to drive the first angle adjustment mechanism 508 to move, the first angle adjustment mechanism 508 is used to drive the second angle adjustment mechanism 509 to rotate, and the second angle adjustment mechanism 509 is used to drive the The second puncture needle holder 510 rotates.
  • Fig. 5 is a flow chart of the control method of the puncture positioning system in the third embodiment of the present invention.
  • S1 Obtain the MRI image information of the object through the planning module 1
  • S2 Based on the MRI image information Determine the operation area and non-operation area of the object, segment the operation area and the non-operation area, and reconstruct the image to obtain the reconstructed image information
  • S3 Obtain the ultrasound of the object through the ultrasound module 2 image information
  • S4 fuse the reconstructed image information and the ultrasonic image information through the workstation module 3, and transmit the fused image information to the display module 4 for display
  • S5 through the workstation module 3. Establish an operation path, and control the adjustment module 5 through the workstation module 3 to adjust the position of the execution module 6 to the position of the operation path, and control the execution module 6 to perform corresponding operations.
  • the planning module 1 is used to acquire the MRI image information of the part to be operated on the object before operation, and the lesion point is segmented and the image is reconstructed based on the MRI image.
  • the The ultrasound module 2 is electrically connected to the workstation module 3, and then the ultrasound module 2 is turned on, and the rotation mechanism 202 and/or the linear motion mechanism 203 is controlled by the workstation module 3 to obtain an ultrasound image of the part to be operated on the object information, and then transmit the ultrasonic image information and the reconstructed image information to the workstation module 3, and the workstation module 3 determines the non-operating area of the part to be operated based on the ultrasonic image information, and according to the non-operating area An operation path is established between the operation area and the operation area, and the ultrasonic image information and the reconstructed image information are displayed through the display module 4 at the same time, and then the opening and closing pair of the adjustment module 5 is controlled by the workstation module 3
  • the execution module 6 adjusts the position of the pair, and after adjusting to the operation path, the workstation module 3 controls the execution module 6 to open for puncturing.
  • the step S5 specifically includes the following steps: S51: establish several operation paths through the workstation module 3, S52: through the workstation module 3. Select one of the operation paths in S51, S53: control the adjustment module 5 to adjust the location of the execution module 6 to the location of the selected operation path, S54: use the execution module 6 to make correspondence Operation, S55: Repeat steps S52 to S54 until all operations are completed.
  • multiple operating paths are established through the workstation module 3 for selection, and then one is selected For the operation path, adjust the position of the execution module 6 to the location of the selected operation path, and then select another operation path to perform the corresponding operation again after performing the corresponding operation, so as to obtain different pathological samples.
  • the step S53 specifically includes the following steps: S530: providing a positioning module, the positioning module is set in the execution module 6, and the positioning module real-time Obtaining the location information of the execution module 6 and transmitting it to the workstation module 3 and the display module 4, S531: the workstation module 3 calculates the execution module 6 according to the real-time location information and the selected operation path. The adjustment information and adjustment distance required by the module 6, and control the adjustment module 5 to start according to the adjustment information until the adjustment distance is zero and control the adjustment module 5 to close, and the display module 4 receives the position information and displayed in real time.
  • the positioning module obtains the position information of the execution module 6, specifically the execution unit, determines the position and angle of the execution module 6 in space, and transmits it to the display module 4
  • the transmission to the workstation module 3 facilitates the automatic control of the adjustment module 5 to open and close by the workstation module 3 according to the position information and the position of the selected operation path.
  • the step S54 specifically includes the following steps: S540: the execution module 6 includes an execution unit and a drive unit, and the execution unit is set on the drive The movable end of the unit, the execution unit is used to perform corresponding operations, the drive unit is used to drive the execution unit to move, the workstation module 3 is used to control the opening and closing of the drive unit, S541: the workstation module 3 Control the drive unit to turn on, S542: the positioning module obtains the initial position information of the execution unit, and the workstation module 3 calculates the depth information required by the execution unit according to the initial position information and the operation area , S543: Obtain real-time travel distance information of the execution unit through the positioning module, until the travel distance information is equal to the depth information, control the drive unit to turn off, S544: Perform corresponding operations through the execution unit , S545: The workstation module 3 controls the drive unit to drive the execution unit to exit.
  • S540 the execution module 6 includes an execution unit and a drive unit, and the execution unit is set on the drive The
  • the workstation module 3 controls the drive unit to be turned on, drives the execution unit to advance along the operation path, obtains the initial position information of the execution unit through the positioning module, and passes the The operating area calculates the depth information that the execution unit needs to travel, and obtains the travel distance information of the execution unit in real time, until the two are equal, the workstation module 3 controls the drive unit to close, at this time the execution unit Just move to the operation area, and then perform the corresponding operation through the execution unit to obtain the pathological samples in the operation area, and then control the execution unit to exit and close through the workstation module 3, which is convenient for automatic control of the execution Opening and closing of module 6.
  • the step S3 specifically includes the following steps: S31: turn on the ultrasonic module 2, S32: move the ultrasonic module 2 to the object The area to be operated, S33: automatically run the ultrasound module 2 to acquire the ultrasound image information.
  • the ultrasonic module 2 is arranged on the connecting module 8, and after the workstation module 3 and the ultrasonic module 2 are cable-connected, the ultrasonic module 2 is turned on, and then through The connecting module 8 moves the ultrasonic module 2 to the area to be operated of the object, adjusts the position of the ultrasonic probe 201 so that it is centered, and then automatically controls the operation of the ultrasonic module 2 to drive the ultrasonic probe 201 Rotate or move back and forth to obtain ultrasound image information, so that the obtained image is more accurate, and no human operation is required.
  • a step is further included between the step S3 and the step S4: the ultrasound module 2 corrects the ultrasound image information obtained in the step S3 The operating region is segmented and reconstructed.
  • the ultrasound module 2 is used to obtain the ultrasound image information of the object, and to segment and reconstruct the ultrasound image information, to obtain the image information displayed emphatically in the non-operation area of the object in the current state, and to The image information is transmitted to the workstation module 3 and the display module 4, which is convenient for the operator to observe, establish a safe operation path or correct the original operation path.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

一种穿刺定位系统及其控制方法，其中穿刺定位系统包括规划模块(1)、超声模块(2)、工作站模块(3)、显示模块(4)、调整模块(5)和执行模块(6)。该穿刺定位系统通过MRI图像确定操作区域和非操作区域，通过超声模块(2)获取实时的超声图像，并通过显示模块(4)对对象的重建图像信息和超声图像信息进行实时显示，可以清楚准确的观察图像信息，准确的判断操作区域的位置，并通过工作站模块(3)建立操作路径，可以使得操作路径更加准确，之后通过工作站模块(3)控制调整模块(5)开启对执行模块(6)的位置进行调整，使得调整的精度更高，最后通过工作站模块(3)控制执行模块(6)进行对应操作，能够精确控制执行模块(6)的行进距离。

Description

穿刺定位系统及其控制方法 技术领域
本发明涉及临床医疗技术领域，尤其涉及一种穿刺定位系统及其控制方法。
技术背景
穿刺是将穿刺针刺入体腔抽取分泌物做化验，向体腔注入气体或造影剂做造影检查，或向体腔内注入药物的一种诊疗技术，目的是抽血化验，输血、输液及置入导管做血管造影脑或脊髓腔。穿刺用于诊断或治疗，例如有硬脑膜下腔穿刺、脑室穿刺、脑血管穿刺、腰椎穿刺、胸部体腔穿刺等。此外穿刺还可以用于通道的建立，便于后边手术器械的送入。
[根据细则91更正 26.10.2022]
目前医生为患者做穿刺手术时，通常通过拍摄CT(Computed Tomography，电子计算机断层扫描)、MRI(Magnetic Resonance Imaging，磁共振成像)、超声、X射线等图像信息，由医生借助计算机辅助设置确定穿刺点和穿刺角度，然后制定相应手术方案，之后根据制定的方案进行穿刺。上述方式主要依赖术前制定的方案、医生的经验和观察到的情况手动进行手术，使得穿刺的精度受到多方面的因素影响，无法实现精准定位，且增加了操作者对影像的学习曲线，提升了手术的风险。
此外，一方面与超声引导相比，CT对软组织器官的分辨力有限，造成前列腺与周围组织的边界显示模糊，病灶不易在CT中显现，给精准的穿刺介入手术造成困难，另一方面MRI对软组织分辨力度强，可用于病灶的识别和定位，超声可实时检测图像。因此，将超声和MRI进行融合，有助于 实现精准的穿刺介入手术。
发明概要
[根据细则91更正 26.10.2022]
本发明的目的在于提供一种穿刺定位系统及其控制方法，通过所述规划模块和所述超声模块获取清楚准确的图像信息，并通过显示模块进行实时显示，通过所述工作站模块实现所述调整模块和所述执行模块的精确控制，提升操作的准确度。
为实现上述目的，本发明提供了一种穿刺定位系统，包括规划模块、超声模块、工作站模块、显示模块、调整模块和执行模块，所述规划模块与所述工作站模块电连接，所述规划模块用于获取对象的MRI图像信息，并用于根据所述MRI图像信息确定操作区域和非操作区域，所述规划模块根据所述操作区域、所述非操作区域和所述MRI图像信息重建图像得到重建图像信息，所述规划模块将所述重建图像信息传输给所述工作站模块，所述超声模块与所述工作站模块电连接，所述超声模块用于获取所述对象的超声图像信息并传输给所述工作站模块，所述工作站模块与所述显示模块电连接，所述工作站模块接收所述重建图像信息和所述超声图像信息并建立操作路径，所述工作站模块将所述重建图像信息和所述超声图像信息传输给所述显示模块，所述显示模块接收所述重建图像信息和所述超声图像信息并显示，所述调整模块和所述执行模块均与所述工作站模块电连接，所述工作站模块用于控制所述控制模块和所述执行模块的启闭，所述执行模块设置于所述调整模块，所述调整模块用于调整所述执行模块的位置和角度，所述执行模块用于进行对应操作。
[根据细则91更正 26.10.2022]
本发明的穿刺定位系统的有益效果在于：通过规划模块获取所述对象的 MRI图像信息，并根据所述MRI图像信息确定所述对象的操作区域和非操作区域，之后将所述操作区域和所述非操作区域进行分割或者勾勒，并重建图像得到所述重建图像信息，使得所述操作区域和所述非操作区域显示的更加清楚，通过所述超声模块获取所述对象的超声图像信息，通过所述工作站模块根据所述超声图像信息和所述重建图像信息建立操作路径，并将所述超声图像信息和所述重建图像信息进行图像融合，并传输至所述显示模块进行显示，之后通过所述工作站模块控制所述控制模块的启闭调整所述执行模块的位置和角度，最后进行对应操作。由此可见，本申请的穿刺定位系统通过MRI图像确定操作区域和非操作区域，通过所述超声模块获取实时的超声图像，并通过所述显示模块对所述对象的所述重建图像信息和所述超声图像信息进行图像融合并实时显示，可以清楚准确的观察图像信息，准确的判断操作区域和非操作区域的位置，并通过所述工作站模块根据所述重建图像信息和所述超声图像信息建立所述操作路径，可以使得所述操作路径更加准确，之后通过所述工作站模块控制所述调整模块开启对所述执行模块的位置进行调整，使得调整的精度更高，最后通过所述工作站模块控制所述执行模块进行对应操作，能够精确控制所述执行模块的行进距离。
[根据细则91更正 26.10.2022]
在一种可行的方案中，还包括定位模块，所述定位模块设置于所述执行模块，所述定位模块与所述工作站模块电连接，所述定位模块用于获取所述执行模块位置信息并传输至所述工作站模块。其有益效果在于：通过将所述定位模块设置于所述执行模块，获取所述执行模块的实时位置信息并将所述位置信息传输至所述工作站模块，便于知晓所述执行模块的空间位置，便于精确移动所述执行模块的位置，便于精确控制所述执行模块与所述对象的相 对位置。
[根据细则91更正 26.10.2022]
在一种可行的方案中，还包括融合模块和计算模块；所述融合模块分别与所述工作站模块、所述显示模块和所述计算模块电连接，所述融合模块获取所述执行模块位置信息和所述操作路径并融合成实时位置信息，所述融合模块将所述实时位置信息传输给所述计算模块和所述显示模块；所述计算模块与所述工作站模块电连接，所述计算模块接收所述实时位置信息，并根据所述实时位置信息计算所述执行模块位置信息和所述操作路径的差值信息并传输给所述工作站模块。其有益效果在于：通过所述融合模块将所述执行模块位置信息和所述操作路径整合成实时位置信息，通过所述计算模块计算所述执行模块位置信息和所述操作路径的差值信息并传输给所述工作站模块，便于所述工作站模块根据所述差值信息便于判定所述执行模块是否调整至所述操作路径所在位置，且便于在未调整到位时所述工作站模块根据所述差值信息继续控制所述调整模块调整所述执行模块的位置。
在一种可行的方案中，还包括移动模块和连接模块，所述工作站模块和所述显示模块设置于所述移动模块，所述移动模块用于调整位置，所述连接模块设置于所述移动模块，所述超声模块和所述调整模块设置于所述连接模块，所述连接模块用于调整所述超声模块和所述调整模块的位置。其有益效果在于：通过所述移动模块便于调整穿刺定位系统的位置，设置连接模块便于所述执行模块和所述超声模块的固定和空间位置调整。
在一种可行的方案中，所述移动模块设有中空内腔，所述中空内腔用于存储所述连接模块、所述超声模块、所述调整模块和所述执行模块。其有益效果在于：这样设置便于对所述执行模块、所述超声模块、所述调整模块和 所述执行模块进行存储，一方面降低穿刺定位系统的占用空间，另一方面能够降低外界环境对上述模块的影响，减缓老化。
在一种可行的方案中，所述规划模块包括图像获取单元、分析单元、重建单元和输入输出单元，所述图像获取单元分别与所述分析单元和所述重建单元电连接，所述图像获取单元用于获取所述MRI图像信息并传输给所述分析单元和所述重建单元，所述分析单元与所述重建单元电连接，所述分析单元接收所述MRI图像信息并确定所述操作区域和所述非操作区域，所述分析单元将所述操作区域和所述非操作区域信息传输给所述重建单元，所述重建单元与所述输入输出单元电连接，所述重建单元接收所述MRI图像信息、所述操作区域和所述非操作区域信息，并根据所述MRI图像信息、所述操作区域和所述非操作区域信息重建图像得到所述重建图像信息并传输给所述输入输出单元，所述输入输出单元与所述工作站模块电连接，所述输入输出单元接收所述重建图像信息并传输给所述工作站模块。其有益效果在于：通过所述图像获取单元获取所述MRI图像信息，通过所述分析单元确定所述操作区域和所述非操作区域，通过所述重建单元对所述MRI图像、所述操作区域和所述非操作区域进行重建，对所述操作区域和所述非操作区域进行勾勒或者分割，使之显示更加清楚，通过所述输入输出单元将重建后的图像信息传输至所述工作站模块，同时也便于通过所述输入输出单元获取所述工作站模块的指令信息。
在一种可行的方案中，所述超声模块包括超声探头、转动机构、直线运动机构和超声鞘；所述超声探头设置于所述转动机构，所述转动机构用于带动所述超声探头转动，所述超声探头用于获取所述超声图像信息；所述超声 鞘设置于所述超声探头一侧，所述转动机构设置于所述直线运动机构，所述直线运动机构用于带动所述超声探头往复运动；所述超声探头、所述转动机构和所述直线运动机构与所述工作站模块电连接，所述超声探头将所述超声图像信息传输给所述工作站模块，所述工作站模块分别控制所述超声探头、所述转动机构和所述直线运动机构的启闭。其有益效果在于：通过设置所述超声鞘降低所述超声鞘与所述对象之间摩擦，通过设置所述转动机构和所述直线运动机构使得所述超声探头能够获取不同方位或不同部位的图像信息。
在一种可行的方案中，所述调整模块包括第一移动机构、第二移动机构、第一固定夹、第二固定夹、第三移动机构和第一穿刺针架；所述第一移动机构设置于所述转动机构，所述第二移动机构设置于所述第一移动机构，且所述第一移动机构和所述第二移动机构呈一定角度设置，所述第一移动机构用于带动所述第二移动机构移动；所述第一固定夹和所述第三移动机构设置于所述第二移动机构，所述第二移动机构用于带动所述第一固定夹和所述第三移动机构运动；所述第二固定夹设置于所述第三移动机构，所述第三移动机构用于带动所述第二固定夹绕所述第一固定夹转动；所述第一穿刺针架设置于所述第一固定夹和所述第二固定夹，所述执行模块设置于所述第一穿刺针架或所述第三移动机构；所述第一移动机构、所述第二移动机构和所述第三移动机构均与所述工作站模块电连接，所述工作站模块分别控制所述第一移动机构、所述第二移动机构和所述第三移动机构的启闭。
其有益效果在于：通过设置所述超声模块对所述第一移动机构进行固定，通过所述转动机构能够调整所述第一穿刺针架所在的平面在空间内的朝向，通过所述第一移动机构和所述第二移动机构使得能够调整所述第一穿刺 针架所在的平面在空间内的位置，通过所述第三移动机构带动所述第二固定夹上的所述第一穿刺针架绕所述第一固定夹转动，能够调整所述第一穿刺针架在所在平面内的朝向，叠加所述转动机构、所述第一移动机构、所述第二移动机构和所述第三移动机构的作用使得所述第一穿刺针架可以朝向空间内的任意一点，使得所述第一穿刺针架可以到达所需的路径位置。
在一种可行的方案中，所述调整模块包括平面移动机构、第一角度调节机构、第二角度调节机构和第二穿刺针架；所述第一角度调节机构设置于所述平面移动机构，所述第二角度调节机构设置于所述第一角度调节机构，且所述第一角度调节机构与所述第二角度调节机构呈一定角度设置，所述第二穿刺针架设置于所述第二角度调节机构，所述平面移动机构用于带动所述第一角度调节机构移动，所述第一角度调节机构用于带动所述第二角度调节机构转动，所述第二角度调节机构用于带动所述第二穿刺针架转动；所述平面移动机构、所述第一角度调节机构和所述第二角度调节机构分别与所述工作站模块电连接，所述工作站模块分别控制所述平面移动机构、所述第一角度调节机构和所述第二角度调节机构的启闭。
其有益效果在于：通过设置所述平面移动机构调整所述第一角度调节机构的位置，通过所述第一角度调节机构和所述第二角度调节机构的共同作用调整所述第二穿刺针架在空间内的朝向，叠加所述平面移动机构的作用使得所述第二穿刺针架可以朝向空间内的任一点。
本发明还提供了一种穿刺定位系统的控制方法，包括以下步骤：S1：通过所述规划模块获取所述对象的MRI图像信息，S2：基于所述MRI图像信息确定所述对象的操作区域和非操作区域，对所述操作区域和所述非操作区 域进行分割，并重建图像得到所述重建图像信息，S3：通过所述超声模块获取所述对象的超声图像信息，S4：通过所述工作站模块对所述重建图像信息和所述超声图像信息进行融合，并将融合后的图像信息传输至所述显示模块进行显示，S5：通过所述工作站模块建立操作路径，并通过所述工作站模块控制所述调整模块调整所述执行模块所在位置至所述操作路径所在位置，控制所述执行模块进行对应操作。
本发明的穿刺定位系统的控制方法的有益效果在于：通过所述规划模块获取所述对象的所述MRI图像信息，并根据所述MRI图像信息确定所述操作区域和所述非操作区域，并对所述操作区域和所述非操作区域进行分割，之后根据分割后的操作区域、非操作区域信息和所述MRI图像信息重建图像，使得所述操作区域和所述非操作区域显示的更加清楚，同时通过所述超声模块获取所述对象的超声图像信息，再通过所述工作站模块对所述重建图像信息和所述超声图像信息进行融合，并通过所述显示模块进行实时显示，便于操作人员观察，之后通过所述工作站模块建立操作路径，并根据所述操作路径对所述执行模块的位置进行调整，调整到位后进行对应操作，能够使得调整的位置更加准确，提升操作的精确度。
在一种可行的方案中，所述步骤S5具体包括以下步骤：S51：通过所述工作站模块建立若干个所述操作路径，S52：通过所述工作站模块选定S51中的一个所述操作路径，S53：控制所述调整模块调整所述执行模块所在位置至选定的所述操作路径的所在位置，S54：通过所述执行模块进行对应操作，S55：重复执行步骤S52至S54直至完成所有操作。其有益效果在于：这样设置通过建立若干个所述操作路径，并通过选定多个不同的所述操作路 径进行对应操作，可以通过不同角度获取操作区域的病理样本，可以得到更加准确的病理分析结果。
在一种可行的方案中，所述步骤S53具体包括以下步骤：S530：提供定位模块，所述定位模块设置于所述执行模块，所述定位模块实时获取所述执行模块的位置信息并传输至所述工作站模块和所述显示模块，S531：所述工作站模块根据实时的所述位置信息和选定的所述操作路径计算所述执行模块所需的调整信息和调整距离，并根据所述调整信息控制所述调整模块启动直至所述调整距离为零时控制所述调整模块关闭，所述显示模块接收所述位置信息并实时显示。其有益效果在于：通过所述定位模块获取所述执行模块的位置信息，并通过所述工作站模块计算所述执行模块所需的调整信息和调整距离，这样能够精确控制所述调整模块的启闭、精确调整所述执行模块的位置。
在一种可行的方案中，所述步骤S54具体包括以下步骤：S540：所述执行模块包括执行单元和驱动单元，所述执行单元设置于所述驱动单元的活动端，所述执行单元用于进行对应操作，所述驱动单元用于驱动所述执行单元移动，所述工作站模块用于控制所述驱动单元启闭，S541：所述工作站模块控制所述驱动单元开启，S542：所述定位模块获取所述执行单元的初始位置信息，所述工作站模块根据所述初始位置信息和所述操作区域计算所述执行单元所需行进的深度信息，S543：通过所述定位模块获取所述执行单元实时的行进距离信息，直至所述行进距离信息与所述深度信息相等时，控制所述驱动单元关闭，S544：通过所述执行单元进行对应操作，S545：所述工作站模块控制所述驱动单元带动所述执行单元退出。其有益效果在于：通过所述 定位模块获取所述执行单元实时的行进距离信息，并根据所述工作站模块计算的所述行进深度信息，对所述驱动单元进行精确的启闭控制，保证所述执行单元运动至操作区域，获取所需的病理样本。
在一种可行的方案中，所述步骤S3具体包括以下步骤：S31：开启所述超声模块，S32：将所述超声模块移动至所述对象的待操作区域，S33：自动化运行所述超声模块获取所述超声图像信息。其有益效果在于：这样设置通过手动移动将所述超声模块移动至待检测区域，并通过自动控制控制所述超声模块旋转或前后移动获取超声图像，使用方式简单，便于节省操作人员的精力。
在一种可行的方案中，所述步骤S3和所述步骤S4之间还包括步骤：所述超声模块根据所述步骤S3获取的超声图像信息对非操作区域进行分割和重建。其有益效果在于：这样设置能够在临床进行操作时再次确定所述非操作区域的位置，避免对所述非操作区域造成损伤。
附图说明
图1为本发明第一种实施例中穿刺定位系统的部分结构示意图；
图2为本发明第一种实施例中穿刺定位系统的结构框图；
图3为图1中调整模块和超声模块的装配结构示意图；
图4为本发明第二种实施例中调整模块和超声模块的装配结构示意图；
图5为本发明第三种实施例中穿刺定位系统的控制方法的流程图。
图中标号：
1、规划模块；
2、超声模块；201、超声探头；202、转动机构；203、直线运动机构；204、超声鞘；
3、工作站模块；
4、显示模块；
5、调整模块；501、第一移动机构；502、第二移动机构；503、第一固定夹；504、第二固定夹；505、第三移动机构；506、第一穿刺针架；507、平面移动机构；508、第一角度调节机构；509、第二角度调节机构；510、第二穿刺针架；
6、执行模块；
7、移动模块；
8、连接模块。
发明内容
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，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例，都属于本发明保护的范围。除非另外定义，此处使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本文中使用的“包括”等类似的词语意指出现该词前面的元件或者物件 涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。
针对现有技术存在的问题，本发明的实施例提供了一种穿刺定位系统。
图1为本发明第一种实施例中穿刺定位系统的部分结构示意图，图2为本发明第一种实施例中穿刺定位系统的结构框图，图3为图1中调整模块和超声模块的装配结构示意图。
本发明的一些实施例中，参考图1至图3，包括规划模块1、超声模块2、工作站模块3、显示模块4、调整模块5和执行模块6，所述规划模块1与所述工作站模块3电连接，所述规划模块1用于获取对象的MRI图像信息，并用于根据所述MRI图像信息确定操作区域和非操作区域，所述规划模块1根据所述操作区域、所述非操作区域和所述MRI图像信息重建图像得到重建图像信息，所述规划模块1将所述重建图像信息传输给所述工作站模块3，所述超声模块2与所述工作站模块3电连接，所述超声模块2用于获取所述对象的超声图像信息并传输给所述工作站模块3，所述工作站模块3与所述显示模块4电连接，所述工作站模块3接收所述重建图像信息和所述超声图像信息并建立操作路径，所述工作站模块3将所述重建图像信息和所述超声图像信息传输给所述显示模块4，所述显示模块4接收所述重建图像信息和所述超声图像信息并显示，所述调整模块5和所述执行模块6均与所述工作站模块3电连接，所述工作站模块3用于控制所述控制模块和所述执行模块6的启闭，所述执行模块6设置于所述调整模块5，所述调整模块5用于调整所述执行模块6的位置和角度，所述执行模块6用于进行对应操作。
本发明的一些具体实施例中，所述规划模块1与所述工作站模块3通过 线缆连接，所述超声模块2设置于所述工作站模块3，所述超声模块2包括超声探头201、转动机构202、直线运动机构203和超声鞘204，所述超声鞘204固定设置于所述超声探头201的前端，所述超声鞘204中空设置，所述超声探头201的前端延伸至所述超声鞘204的中空部位，所述超声鞘204用于置入所述对象的体内，所述超声探头201设置于所述转动机构202，所述转动机构202设置于所述直线运动机构203，所述超声探头201用于获取所述超声图像信息，所述转动机构202用于带动所述超声探头201转动，所述直线运动机构203用于带动所述转动机构202前后运动，所述超声探头201、所述转动机构202和所述直线运动机构203与所述工作站模块3电连接，所述工作站模块3分别控制所述超声探头201、所述转动机构202和所述直线运动机构203的启闭。所述工作站模块3为主机，所述主机连接有用于输入控制指令的鼠标键盘。所述显示模块4设置于所述工作站模块3上，所述显示模块4与所述工作站模块3电连接。
所述调整模块5包括第一移动机构501、第二移动机构502、第一固定夹503、第二固定夹504、第三移动机构505和第一穿刺针架506，所述第一移动机构501设置于所述转动机构202，所述第二移动机构502设置与所述第一移动机构501，所述第一移动机构501和所述第二移动机构502相互垂直设置，所述第一移动机构501用于带动所述第二移动机构502移动，所述第一固定夹503和所述第三移动机构505设置于所述第二移动机构502，所述第二移动机构502用于带动所述第一固定夹503和所述第三移动机构505运动，所述第二固定夹504设置于所述第三移动机构505，所述第三移动机构505用于带动所述第二固定夹504绕所述第一固定夹503转动，所述第一 穿刺针架506设置于所述第一固定夹503和所述第二固定夹504，所述执行模块6设置于所述第一穿刺针架506或所述第三移动机构505，所述执行模块6包括执行单元(图中未示)和驱动单元(图中未示)，所述执行单元为穿刺针、消融针或椎间孔镜等进行操作的器械，本申请中以穿刺针举例说明，所述执行单元设置于所述第一穿刺针架506，所述驱动单元为驱动电机，所述驱动单元能够带动所述执行单元沿所述第一穿刺针架506的方向运动。所述第一移动机构501、所述第二移动机构502和所述第三移动机构505均与所述工作站模块3电连接，所述工作站模块3分别控制所述第一移动机构501、所述第二移动机构502和所述第三移动机构505的启闭。通过所述转动机构202调整所述第一移动机构501和所述第二移动机构502的位置，能够调整所述第一移动机构501或所述第二移动机构502所在平面的位置，通过所述第一移动机构501和所述第二移动机构502可以调整所述第一穿刺针架506映射在所述平面的位置，通过所述第三移动机构505可以调整所述第一穿刺针架506映射在所述平面的角度，进而使得所述第一穿刺针架506可以朝向空间内的任一点，进而实现所述第一穿刺针架506的角度的调整。
使用时，通过所述规划模块1获取对象的MRI图像信息，由于MRI图像生成较慢，可以事先获取进行存储，需要时再调出进行使用，并通过所述MRI图像信息确定所述对象的操作区域和非操作区域，对所述操作区域和所述非操作区域进行分割或者勾勒，使所述操作区域和所述非操作区域显示的更加明显，之后根据所述操作区域、所述非操作区域和所述MRI图像信息重建图像，并将所述重建图像信息传输给所述工作站模块3。同时通过所述工作站模块3控制所述超声探头201开启，之后控制所述转动机构202和/ 或所述直线运动机构203开启，获取所述超声图像信息并传输至所述工作站模块3。通过所述工作站模块3将所述超声图像信息和所述重建图像信息进行融合，确定所述对象的非操作区域和操作区域，并建立操作路径，同时将所述超声图像信息和所述重建图像信息传输至所述显示模块4进行显示，便于操作人员进行观察，之后根据所述操作路径对所述执行模块6的位置进行调整，使所述第一穿刺针架506与所述操作路径共线，最后通过所述工作站模块3控制所述执行模块6开启进行对应操作。由此可见，本实施例的穿刺定位系统通过MRI图像和超声图像的结合，能够清楚的确定所述对象的操作区域和非操作区域，并通过所述显示模块4进行显示，使操作人员能够清楚的观察，并能够根据所述操作区域和所述非操作区域建立可行的操作路径，提升操作的安全程度，之后通过所述工作站模块3控制所述调整模块5和所述执行模块6启闭，对位置进行调整后进行对应操作，通过工作站控制调整和操作执行，降低人员方面产生的误差，使得操作的准确度更高。
[根据细则91更正 26.10.2022]
本发明的一些实施例中，参考图1和图2，还包括定位模块(图中未示)，所述定位模块设置于所述执行模块6，所述定位模块与所述工作站模块3电连接，所述定位模块用于获取所述执行模块6位置信息并传输至所述工作站模块3。
本发明的一些具体实施例中，所述定位模块(图中未示)设置于所述执行模块6，所述定位模块为定位装置，所述定位模块获取所述执行模块6上至少两点的位置信息，根据所述位置信息确定所述执行模块6在空间内的位置和方向，并能够确定所述执行模块6和所述对象的相对位置信息，便于对所述执行模块6的位置进行调整，提升位置调整时的准确度。
[根据细则91更正 26.10.2022]
本发明的一些实施例中，参考图1和图2，还包括融合模块(图中未示)和计算模块(图中未示)；所述融合模块分别与所述工作站模块3、所述显示模块4和所述计算模块电连接，所述融合模块获取所述执行模块6位置信息和所述操作路径并融合成实时位置信息，所述融合模块将所述实时位置信息传输给所述计算模块和所述显示模块4；所述计算模块与所述工作站模块3电连接，所述计算模块接收所述实时位置信息，并根据所述实时位置信息计算所述执行模块6位置信息和所述操作路径的差值信息并传输给所述工作站模块3。
[根据细则91更正 26.10.2022]
本发明的一些具体实施例中，所述融合模块分别与所述显示模块4和所述工作站模块3电连接，所述融合模块获取所述执行模块6位置信息和所述操作路径并融合成实时位置信息，所述显示模块根据所述实时位置信息、所述MRI图像信息和所述超声图像信息生成实时虚拟图像信息，这样便于进行观察。所述计算模块与所述融合模块电连接，所述计算模块获取所述实时位置信息并计算当前所述执行模块6与所需到达的所述操作路径的距离差值。当差值为零时，表明所述执行模块6调整到位。当差值不为零时，表明所述执行模块6未调整到位，此时可以根据所述实时位置信息计算所述执行模块6与所述操作路径的方位差值，便于继续进行调整。
此外，所述工作站模块3可以根据所述位置信息重建所述定位模块的图像信息并融合至所述重建图像信息和/或所述超声图像信息内，并传输至所述显示模块4进行实时显示，使得操作人员可以通过所述显示模块4实时观察到所述执行模块6的位置。
本发明的一些实施例中，参考图1和图2，还包括移动模块7和连接模块8，所述工作站模块3和所述显示模块4设置于所述移动模块7，所述移 动模块7用于调整位置，所述连接模块8设置于所述移动模块7，所述超声模块2和所述调整模块5设置于所述连接模块8，所述连接模块8用于调整所述超声模块2和所述调整模块5的位置。
本发明的一些具体实施例中，所述移动模块7包括机架，所述机架的底侧面设有若干个滚轮，所述显示模块4设置于所述移动模块7上侧，所述主机设置于所述移动模块7内，所述键盘固定设置于所述移动模块7外壳上，所述连接模块8为机械臂或万向臂，所述连接模块8为手动调节，所述连接模块8的一端固定或转动设置于所述移动模块7，所述转动机构202设置于所述连接模块8的另一端，使用时通过所述移动模块7将所述穿刺定位系统移动至所需位置，通过所述连接模块8调整所述超声模块2和所述调整模块5的位置至待操作区域，便于为操作的进行做好准备工作。
本发明的一些实施例中，参考图1和图2，所述移动模块7设有中空内腔，所述中空内腔用于存储所述连接模块8、所述超声模块2、所述调整模块5和所述执行模块6。
本发明的一些具体实施例中，所述中空内腔设置于所述显示模块4下侧，所述连接模块8靠近所述工作站模块3的一端固定或活动设置于所述中空内腔，设置所述中空内腔便于存储所述连接模块8、所述超声模块2、所述调整模块5和所述执行模块6，便于对所述穿刺定位系统的位置进行调整。
本发明的一些实施例中，参考图2，所述规划模块1包括图像获取单元(图中未示)、分析单元(图中未示)、重建单元(图中未示)和输入输出单元(图中未示)，所述图像获取单元分别与所述分析单元和所述重建单元电连接，所述图像获取单元用于获取所述MRI图像信息并传输给所述分析 单元和所述重建单元，所述分析单元与所述重建单元电连接，所述分析单元接收所述MRI图像信息并确定所述操作区域和所述非操作区域，所述分析单元将所述操作区域和所述非操作区域信息传输给所述重建单元，所述重建单元与所述输入输出单元电连接，所述重建单元接收所述MRI图像信息、所述操作区域和所述非操作区域信息，并根据所述MRI图像信息、所述操作区域和所述非操作区域信息重建图像得到所述重建图像信息并传输给所述输入输出单元，所述输入输出单元与所述工作站模块3电连接，所述输入输出单元接收所述重建图像信息并传输给所述工作站模块3。
[根据细则91更正 26.10.2022]
本发明的一些具体实施例中，所述图像获取单元与所述分析单元电连接，所述图像获取单元用于获取所述对象的MRI图像信息，所述分析单元存储有正常人体的图像，通过对比所述对象的MRI图像信息和所述正常人体的图像确定操作区域和所述非操作区域，所述重建单元分别与所述图像获取单元、所述分析单元和所述输入输出单元电连接，所述重建单元根据所述操作区域、所述非操作区域信息和所述MRI图像信息进行图像融合并重建图像，得到着重显示操作区域和非操作区域的重建图像信息，并通过所述输入输出单元将所述重建图像信息传输给所述工作站模块3。所述规划模块1可以通过所述输入输出单元接收所述工作站模块3的指令启闭，也可以在所述规划模块1上设置控制单元，对所述规划模块1的启闭进行控制。
图4为本发明第二种实施例中调整模块和超声模块的装配结构示意图。
[根据细则91更正 26.10.2022]
本发明一些实施例中，参考图1、图3和图4，图4和图3的区别在于，所述调整模块5包括平面移动机构507、第一角度调节机构508、第二角度调节机构509和第二穿刺针架510，所述平面移动机构507、所述第一角度 调节机构508和所述第二角度调节机构509分别与所述工作站模块3电连接，所述第一角度调节机构508设置于所述平面移动机构507，所述第二角度调节机构509设置于所述第一角度调节机构508，且所述第二移动机构502垂直于所述第一移动机构501设置，所述平面移动机构507用于带动所述第一角度调节机构508移动，所述第一角度调节机构508用于带动所述第二角度调节机构509转动，所述第二角度调节机构509用于带动所述第二穿刺针架510转动。
图5为本发明第三种实施例中穿刺定位系统的控制方法的流程图。
本发明的一些实施例中，参考图1、图2、图3和图5，包括以下步骤：S1：通过所述规划模块1获取所述对象的MRI图像信息，S2：基于所述MRI图像信息确定所述对象的操作区域和非操作区域，对所述操作区域和所述非操作区域进行分割，并重建图像得到所述重建图像信息，S3：通过所述超声模块2获取所述对象的超声图像信息，S4：通过所述工作站模块3对所述重建图像信息和所述超声图像信息进行融合，并将融合后的图像信息传输至所述显示模块4进行显示，S5：通过所述工作站模块3建立操作路径，并通过所述工作站模块3控制所述调整模块5调整所述执行模块6所在位置至所述操作路径所在位置，控制所述执行模块6进行对应操作。
[根据细则91更正 26.10.2022]
本发明的一些具体实施例中，术前通过所述规划模块1获取所述对象的待操作部位的MRI图像信息，并基于所述MRI图像进行病灶点的分割和重建图像，操作时将所述超声模块2与所述工作站模块3电连接，之后开启所述超声模块2，通过所述工作站模块3控制所述转动机构202和/或直线运动机构203获取所述对象的待操作部位的超声图像信息，之后将所述超声图像 信息和所述重建图像信息传输至所述工作站模块3，所述工作站模块3基于所述超声图像信息确定所述待操作部位的非操作区域，并根据所述非操作区域和所述操作区域建立操作路径，同时通过所述显示模块4对所述超声图像信息和所述重建图像信息进行显示，之后通过所述工作站模块3控制所述调整模块5的启闭对所述执行模块6对的位置进行调整，调整至所述操作路径处后再通过所述工作站模块3控制所述执行模块6开启进行穿刺即可。
本发明的一些实施例中，参考图1、图2和图5，所述步骤S5具体包括以下步骤：S51：通过所述工作站模块3建立若干个所述操作路径，S52：通过所述工作站模块3选定S51中的一个所述操作路径，S53：控制所述调整模块5调整所述执行模块6所在位置至选定的所述操作路径的所在位置，S54：通过所述执行模块6进行对应操作，S55：重复执行步骤S52至S54直至完成所有操作。
本发明的一些具体实施例中，由于穿刺往往需要获取操作区域多次不同方位的病理样本，提升病例分析的准确性，通过所述工作站模块3建立多个操作路径用于选择，之后选定一个操作路径，调整所述执行模块6的位置至选定的操作路径的所在位置，进行对应操作后选定其他的操作路径再次进行对应操作，即可获取不同的病理样本。
本发明的一些实施例中，参考图1、图2和图5，所述步骤S53具体包括以下步骤：S530：提供定位模块，所述定位模块设置于所述执行模块6，所述定位模块实时获取所述执行模块6的位置信息并传输至所述工作站模块3和所述显示模块4，S531：所述工作站模块3根据实时的所述位置信息和选定的所述操作路径计算所述执行模块6所需的调整信息和调整距离，并根 据所述调整信息控制所述调整模块5启动直至所述调整距离为零时控制所述调整模块5关闭，所述显示模块4接收所述位置信息并实时显示。
[根据细则91更正 26.10.2022]
本发明的一些具体实施例中，通过定位模块获取所述执行模块6具体的是所述执行单元的位置信息，确定所述执行模块6在空间内的位置和角度，传输至所述显示模块4便于观察，传输至所述工作站模块3便于所述工作站模块3根据所述位置信息和选定的操作路径的位置自动化控制所述调整模块5启闭。
本发明的一些实施例中，参考图1、图2和图5，所述步骤S54具体包括以下步骤：S540：所述执行模块6包括执行单元和驱动单元，所述执行单元设置于所述驱动单元的活动端，所述执行单元用于进行对应操作，所述驱动单元用于驱动所述执行单元移动，所述工作站模块3用于控制所述驱动单元启闭，S541：所述工作站模块3控制所述驱动单元开启，S542：所述定位模块获取所述执行单元的初始位置信息，所述工作站模块3根据所述初始位置信息和所述操作区域计算所述执行单元所需行进的深度信息，S543：通过所述定位模块获取所述执行单元实时的行进距离信息，直至所述行进距离信息与所述深度信息相等时，控制所述驱动单元关闭，S544：通过所述执行单元进行对应操作，S545：所述工作站模块3控制所述驱动单元带动所述执行单元退出。
本发明的一些具体实施例中，通过所述工作站模块3控制所述驱动单元开启，带动所述执行单元沿操作路径前进，通过所述定位模块获取所述执行单元的初始位置信息，并通过所述操作区域计算所述执行单元所需行进的深度信息，并实时获取所述执行单元的行进距离信息，直至两者相等时所述工 作站模块3控制所述驱动单元关闭，此时所述执行单元正好运动至所述操作区域，之后通过所述执行单元进行对应操作即可获取操作区域的病理样本，之后通过所述工作站模块3控制所述执行单元退出后关闭，这样设置便于自动化控制所述执行模块6的启闭。
本发明的一些实施例中，参考图1、图2和图5，所述步骤S3具体包括以下步骤：S31：开启所述超声模块2，S32：将所述超声模块2移动至所述对象的待操作区域，S33：自动化运行所述超声模块2获取所述超声图像信息。
本发明的一些具体实施例中，将所述超声模块2设置于所述连接模块8上，对所述工作站模块3和所述超声模块2线缆连接后，开启所述超声模块2，之后通过所述连接模块8将所述超声模块2移动至所述对象的待操作区域，调整所述超声探头201的位置使之居中设置，再自动化控制所述超声模块2运行，带动所述超声探头201转动或前后运动获取超声图像信息，使获取的图像更加准确，且无需人员操作。
[根据细则91更正 26.10.2022]
本发明的一些实施例中，参考图1、图2和图5，所述步骤S3和所述步骤S4之间还包括步骤：所述超声模块2根据所述步骤S3获取的超声图像信息对非操作区域进行分割和重建。
本发明的一些具体实施例中，通过所述超声模块2获取对象的超声图像信息，并对超声图像信息进行分割和重建，获取当前状态下对象的非操作区域着重显示的图像信息，并将该图像信息传输至所述工作站模块3和所述显示模块4，便于操作者观察、建立安全的操作路径或对原有的操作路径进行修正。
虽然在上文中详细说明了本发明的实施方式，但是对于本领域的技术人员来说显而易见的是，能够对这些实施方式进行各种修改和变化。但是，应理解，这种修改和变化都属于权利要求书中所述的本发明的范围和精神之内。而且，在此说明的本发明可有其它的实施方式，并且可通过多种方式实施或实现。

Claims (15)

  1. 一种穿刺定位系统，其特征在于，包括规划模块、超声模块、工作站模块、显示模块、调整模块和执行模块；
    所述规划模块与所述工作站模块电连接，所述规划模块用于获取对象的MRI图像信息，并用于根据所述MRI图像信息确定操作区域和非操作区域，所述规划模块根据所述操作区域、所述非操作区域和所述MRI图像信息重建图像得到重建图像信息，所述规划模块将所述重建图像信息传输给所述工作站模块；
    所述超声模块与所述工作站模块电连接，所述超声模块用于获取所述对象的超声图像信息并传输给所述工作站模块；
    所述工作站模块与所述显示模块电连接，所述工作站模块接收所述重建图像信息和所述超声图像信息并建立操作路径，所述工作站模块将所述重建图像信息和所述超声图像信息传输给所述显示模块，所述显示模块接收所述重建图像信息和所述超声图像信息并显示；
    所述调整模块和所述执行模块均与所述工作站模块电连接，所述工作站模块用于控制所述控制模块和所述执行模块的启闭，所述执行模块设置于所述调整模块，所述调整模块用于调整所述执行模块的位置和角度，所述执行模块用于进行对应操作。
  2. [根据细则91更正 26.10.2022]
    根据权利要求1所述的穿刺定位系统，其特征在于，还包括定位模块；
    所述定位模块设置于所述执行模块，所述定位模块与所述工作站模块电连接，所述定位模块用于获取所述执行模块位置信息并传输至所述工作站模 块。
  3. 根据权利要求2所述的穿刺定位系统，其特征在于，还包括融合模块和计算模块；
    所述融合模块分别与所述工作站模块、所述显示模块和所述计算模块电连接，所述融合模块获取所述执行模块位置信息和所述操作路径并融合成实时位置信息，所述融合模块将所述实时位置信息传输给所述计算模块和所述显示模块；
    所述计算模块与所述工作站模块电连接，所述计算模块接收所述实时位置信息，并根据所述实时位置信息计算所述执行模块位置信息和所述操作路径的差值信息并传输给所述工作站模块。
  4. 根据权利要求1所述的穿刺定位系统，其特征在于，还包括移动模块和连接模块；
    所述工作站模块和所述显示模块设置于所述移动模块，所述移动模块用于调整位置；
    所述连接模块设置于所述移动模块，所述超声模块和所述调整模块设置于所述连接模块，所述连接模块用于调整所述超声模块和所述调整模块的位置。
  5. 根据权利要求4所述的穿刺定位系统，其特征在于，所述移动模块设有中空内腔，所述中空内腔用于存储所述连接模块、所述超声模块、所述调整模块和所述执行模块。
  6. 根据权利要求1所述的穿刺定位系统，其特征在于，所述规划模块包 括图像获取单元、分析单元、重建单元和输入输出单元；
    所述图像获取单元分别与所述分析单元和所述重建单元电连接，所述图像获取单元用于获取所述MRI图像信息并传输给所述分析单元和所述重建单元；
    所述分析单元与所述重建单元电连接，所述分析单元接收所述MRI图像信息并确定所述操作区域和所述非操作区域，所述分析单元将所述操作区域和所述非操作区域信息传输给所述重建单元；
    所述重建单元与所述输入输出单元电连接，所述重建单元接收所述MRI图像信息、所述操作区域和所述非操作区域信息，并根据所述MRI图像信息、所述操作区域和所述非操作区域信息重建图像得到所述重建图像信息并传输给所述输入输出单元；
    所述输入输出单元与所述工作站模块电连接，所述输入输出单元接收所述重建图像信息并传输给所述工作站模块。
  7. 根据权利要求1至6任一项所述的穿刺定位系统，其特征在于，所述超声模块包括超声探头、转动机构、直线运动机构和超声鞘；
    所述超声探头设置于所述转动机构，所述转动机构用于带动所述超声探头转动，所述超声探头用于获取所述超声图像信息；
    所述超声鞘设置于所述超声探头一侧，所述转动机构设置于所述直线运动机构，所述直线运动机构用于带动所述超声探头往复运动；
    所述超声探头、所述转动机构和所述直线运动机构与所述工作站模块电连接，所述超声探头将所述超声图像信息传输给所述工作站模块，所述工作 站模块分别控制所述超声探头、所述转动机构和所述直线运动机构的启闭。
  8. 根据权利要求7所述的穿刺定位系统，其特征在于，所述调整模块包括第一移动机构、第二移动机构、第一固定夹、第二固定夹、第三移动机构和第一穿刺针架；
    所述第一移动机构设置于所述转动机构，所述第二移动机构设置于所述第一移动机构，且所述第一移动机构和所述第二移动机构呈一定角度设置，所述第一移动机构用于带动所述第二移动机构移动；
    所述第一固定夹和所述第三移动机构设置于所述第二移动机构，所述第二移动机构用于带动所述第一固定夹和所述第三移动机构运动；
    所述第二固定夹设置于所述第三移动机构，所述第三移动机构用于带动所述第二固定夹绕所述第一固定夹转动；
    所述第一穿刺针架设置于所述第一固定夹和所述第二固定夹，所述执行模块设置于所述第一穿刺针架或所述第三移动机构；
    所述第一移动机构、所述第二移动机构和所述第三移动机构均与所述工作站模块电连接，所述工作站模块分别控制所述第一移动机构、所述第二移动机构和所述第三移动机构的启闭。
  9. 根据权利要求1至6任一项所述的穿刺定位系统，其特征在于，所述调整模块包括平面移动机构、第一角度调节机构、第二角度调节机构和第二穿刺针架；
    所述第一角度调节机构设置于所述平面移动机构，所述第二角度调节机构设置于所述第一角度调节机构，且所述第一角度调节机构与所述第二角度 调节机构呈一定角度设置，所述第二穿刺针架设置于所述第二角度调节机构，所述平面移动机构用于带动所述第一角度调节机构移动，所述第一角度调节机构用于带动所述第二角度调节机构转动，所述第二角度调节机构用于带动所述第二穿刺针架转动；
    所述平面移动机构、所述第一角度调节机构和所述第二角度调节机构分别与所述工作站模块电连接，所述工作站模块分别控制所述平面移动机构、所述第一角度调节机构和所述第二角度调节机构的启闭。
  10. 根据权利要求1所述的穿刺定位系统的控制方法，其特征在于，包括以下步骤：
    S1：通过所述规划模块获取所述对象的MRI图像信息；
    S2：基于所述MRI图像信息确定所述对象的操作区域和非操作区域，对所述操作区域和所述非操作区域进行分割，并重建图像得到所述重建图像信息；
    S3：通过所述超声模块获取所述对象的超声图像信息；
    S4：通过所述工作站模块对所述重建图像信息和所述超声图像信息进行融合，并将融合后的图像信息传输至所述显示模块进行显示；
    S5：通过所述工作站模块建立操作路径，并通过所述工作站模块控制所述调整模块调整所述执行模块所在位置至所述操作路径所在位置，控制所述执行模块进行对应操作。
  11. 根据权利要求10所述的穿刺定位系统的控制方法，其特征在于，所述S5具体包括以下步骤：
    S51：通过所述工作站模块建立若干个所述操作路径；
    S52：通过所述工作站模块选定S51中的一个所述操作路径；
    S53：控制所述调整模块调整所述执行模块所在位置至选定的所述操作路径的所在位置；
    S54：通过所述执行模块进行对应操作；
    S55：重复执行步骤S52至S54直至完成所有操作。
  12. 根据权利要求11所述的穿刺定位系统的控制方法，其特征在于，所述S53具体包括以下步骤：
    S530：提供定位模块，所述定位模块设置于所述执行模块，所述定位模块实时获取所述执行模块的位置信息并传输至所述工作站模块和所述显示模块；
    S531：所述工作站模块根据实时的所述位置信息和选定的所述操作路径计算所述执行模块所需的调整信息和调整距离，并根据所述调整信息控制所述调整模块启动直至所述调整距离为零时控制所述调整模块关闭，所述显示模块接收所述位置信息并实时显示。
  13. 根据权利要求12所述的穿刺定位系统的控制方法，其特征在于，所述S54具体包括以下步骤：
    S540：所述执行模块包括执行单元和驱动单元，所述执行单元设置于所述驱动单元的活动端，所述执行单元用于进行对应操作，所述驱动单元用于驱动所述执行单元移动，所述工作站模块用于控制所述驱动单元启闭；
    S541：所述工作站模块控制所述驱动单元开启；
    S542：所述定位模块获取所述执行单元的初始位置信息，所述工作站模块根据所述初始位置信息和所述操作区域计算所述执行单元所需行进的深度信息；
    S543：通过所述定位模块获取所述执行单元实时的行进距离信息，直至所述行进距离信息与所述深度信息相等时，控制所述驱动单元关闭；
    S544：通过所述执行单元进行对应操作；
    S545：所述工作站模块控制所述驱动单元带动所述执行单元退出。
  14. 根据权利要求10所述的穿刺定位系统的控制方法，其特征在于，所述S3具体包括以下步骤：
    S31：开启所述超声模块；
    S32：将所述超声模块移动至所述对象的待操作区域；
    S33：自动化运行所述超声模块获取所述超声图像信息。
  15. 根据权利要求10所述的穿刺定位系统的控制方法，其特征在于，所述S3和所述S4之间还包括：所述超声模块根据所述S3获取的超声图像信息对非操作区域进行分割和重建。
PCT/CN2021/139241 2021-12-17 2021-12-17 穿刺定位系统及其控制方法 WO2023108625A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202180004979.8A CN116096313B (zh) 2021-12-17 2021-12-17 穿刺定位系统及其控制方法
PCT/CN2021/139241 WO2023108625A1 (zh) 2021-12-17 2021-12-17 穿刺定位系统及其控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/139241 WO2023108625A1 (zh) 2021-12-17 2021-12-17 穿刺定位系统及其控制方法

Publications (1)

Publication Number Publication Date
WO2023108625A1 true WO2023108625A1 (zh) 2023-06-22

Family

ID=86201121

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/139241 WO2023108625A1 (zh) 2021-12-17 2021-12-17 穿刺定位系统及其控制方法

Country Status (2)

Country Link
CN (1) CN116096313B (zh)
WO (1) WO2023108625A1 (zh)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996025882A1 (en) * 1995-02-22 1996-08-29 Groenningsaeter Aage Method for ultrasound guidance during clinical procedures
WO2015086848A1 (en) * 2013-12-13 2015-06-18 Koninklijke Philips N.V. Imaging system for imaging a region of interest
CN107028626A (zh) * 2017-05-26 2017-08-11 北京龙慧珩医疗科技发展有限公司 一种前列腺术弹性配准方法及装置
CN109646089A (zh) * 2019-01-15 2019-04-19 浙江大学 一种基于多模式医学融合图像的脊柱脊髓体表穿刺入路点智能定位系统及方法
CN109758213A (zh) * 2019-01-11 2019-05-17 宋刚 一种磁共振-超声融合前列腺穿刺针定位方法及系统
US20200146635A1 (en) * 2018-11-08 2020-05-14 General Electric Company System and method for unsupervised deep learning for deformable image registration
CN112494118A (zh) * 2020-12-04 2021-03-16 上海睿刀医疗科技有限公司 一种多针穿刺系统
US20210077077A1 (en) * 2019-09-13 2021-03-18 General Electric Company Biopsy workflow using multimodal imaging
CN112690776A (zh) * 2020-12-31 2021-04-23 河南大学 磁共振靶向前列腺穿刺在前列腺癌诊断中的应用
WO2021196633A1 (zh) * 2020-03-30 2021-10-07 中国科学院深圳先进技术研究院 一种穿刺手术机器人系统
CN113729941A (zh) * 2021-09-23 2021-12-03 上海卓昕医疗科技有限公司 基于vr的手术辅助定位系统及其控制方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110071380A1 (en) * 2009-09-09 2011-03-24 Goldenberg Andrew A Manual Instrumented Medical Tool System
CN106063726B (zh) * 2016-05-24 2019-05-28 中国科学院苏州生物医学工程技术研究所 实时穿刺导航系统及其导航方法
CN109464194A (zh) * 2018-12-29 2019-03-15 上海联影医疗科技有限公司 医学图像的显示方法、装置、医学设备及计算机存储介质
CN110464459B (zh) * 2019-07-10 2022-04-15 丽水市中心医院 基于ct-mri融合的介入计划导航系统及其导航方法
US20210015448A1 (en) * 2019-07-15 2021-01-21 GE Precision Healthcare LLC Methods and systems for imaging a needle from ultrasound imaging data

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996025882A1 (en) * 1995-02-22 1996-08-29 Groenningsaeter Aage Method for ultrasound guidance during clinical procedures
WO2015086848A1 (en) * 2013-12-13 2015-06-18 Koninklijke Philips N.V. Imaging system for imaging a region of interest
CN107028626A (zh) * 2017-05-26 2017-08-11 北京龙慧珩医疗科技发展有限公司 一种前列腺术弹性配准方法及装置
US20200146635A1 (en) * 2018-11-08 2020-05-14 General Electric Company System and method for unsupervised deep learning for deformable image registration
CN109758213A (zh) * 2019-01-11 2019-05-17 宋刚 一种磁共振-超声融合前列腺穿刺针定位方法及系统
CN109646089A (zh) * 2019-01-15 2019-04-19 浙江大学 一种基于多模式医学融合图像的脊柱脊髓体表穿刺入路点智能定位系统及方法
US20210077077A1 (en) * 2019-09-13 2021-03-18 General Electric Company Biopsy workflow using multimodal imaging
WO2021196633A1 (zh) * 2020-03-30 2021-10-07 中国科学院深圳先进技术研究院 一种穿刺手术机器人系统
CN112494118A (zh) * 2020-12-04 2021-03-16 上海睿刀医疗科技有限公司 一种多针穿刺系统
CN112690776A (zh) * 2020-12-31 2021-04-23 河南大学 磁共振靶向前列腺穿刺在前列腺癌诊断中的应用
CN113729941A (zh) * 2021-09-23 2021-12-03 上海卓昕医疗科技有限公司 基于vr的手术辅助定位系统及其控制方法

Also Published As

Publication number Publication date
CN116096313A (zh) 2023-05-09
CN116096313B (zh) 2023-10-31

Similar Documents

Publication Publication Date Title
WO2020000963A1 (zh) 针的超声引导辅助装置及系统
KR102590620B1 (ko) 연조직에 대한 최소 절개 의료 개입을 위한 로봇 장치
US10258413B2 (en) Human organ movement monitoring method, surgical navigation system and computer readable medium
US7671887B2 (en) System and method of navigating a medical instrument
JP4865547B2 (ja) Ｃｔフルオロスコピーのための遠隔操作ニードル
CN107970060A (zh) 手术机器人系统及其控制方法
CN109758233B (zh) 一种诊疗一体化手术机器人系统及其导航定位方法
CN112220557B (zh) 用于颅脑穿刺的手术导航及机器臂装置及定位方法
CN110025379B (zh) 一种超声图像与ct图像融合实时导航系统及方法
US20090082784A1 (en) Interventional medical system
CN108852473B (zh) 一种穿刺手术系统
JPH11313837A (ja) 像誘導式の介在的手順のプランニング方法及び装置
WO2017050201A1 (zh) 微创医疗机器人系统
KR102348720B1 (ko) 니들 가이드 및 이를 포함하는 생검 시술 장치
CN208573801U (zh) 手术机器人系统
EP3673854B1 (en) Correcting medical scans
CN112690881A (zh) 一种用于ct穿刺辅助引导定位装置
CN113558735A (zh) 一种面向胆道穿刺的机器人穿刺定位方法及装置
CN113729941B (zh) 基于vr的手术辅助定位系统及其控制方法
CN109745074B (zh) 一种三维超声成像的系统及方法
US20220409291A1 (en) Planning and real-time updating a 3d trajectory of a medical instrument
WO2023108625A1 (zh) 穿刺定位系统及其控制方法
EP1795143A1 (en) Device for guiding needles, particularly biopsy needles or the like
CN113729940B (zh) 手术辅助定位系统及其控制方法
WO2023019479A1 (zh) 一种面向胆道穿刺的机器人穿刺定位方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21967758

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2021967758

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2021967758

Country of ref document: EP

Effective date: 20240716