Respiratory motion compensation method for lung percutaneous puncture

Abstract

The invention discloses a respiratory motion compensation method for lung percutaneous puncture. The method comprises the following steps: constructing a four-dimensional visualization model by usingpre-operative 4DCT images; extracting a respiratory movement trajectory, selecting a target point and a skin insertion point based on the four-dimensional visualization model and respiratory movementtrajectory, forming a puncture path, and determining an initial position, direction and puncture depth of a puncture needle; and during intraoperative puncture needle insertion, acquiring respiratorysignals of a patient in real time by a respiratory monitoring device, inputting the respiratory signals into a control system of a puncture robot, and analyzing characteristic parameters of the respiratory signals by the control system to guide the puncture robot to iteratively adjust the needle insertion speed to ensure that a needle tip reaches the target point at a specified time, so as to compensate for tumor displacement caused by breathing. The method provided by the invention allows puncture to be performed in a state of free breathing, has a wider application range, and helps to reducepain of the patient and improve the success rate of surgery.

Description

technical field [0001] The invention relates to the field of medical assistance technology, in particular to a breathing motion compensation method for lung percutaneous puncture. Background technique [0002] As one of the most common malignant tumors, lung cancer has extremely high morbidity and mortality, and is constantly threatening human life and health. At present, percutaneous puncture surgery has become an important method for the diagnosis and treatment of lung cancer because of its advantages of small trauma, low cost and good curative effect. The main function of puncture surgery is to insert the puncture needle into the patient's body cavity to extract tissues and secretions for testing, or to inject drugs into the body cavity. Its application in the diagnosis and treatment of lung cancer includes needle biopsy and brachytherapy. Needle biopsy removes diseased tissue from the body cavity by puncture, conducts pathological examination, and obtains accurate and ...

AI Technical Summary

Problems solved by technology

Due to the limited breath-holding time, this method will prolong the operation time and reduce the operation efficiency, and has high requirements on the patient's tolerance, so it is not suitable for about 15% of the patients.

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