Puncture path determination systems, methods, devices, and media for brain lesions

Abstract

The embodiment of the specification provides a puncture path determination system, method, device and medium for a brain lesion, the system comprising a measurement handle, a positioning device and a computing device; the positioning device is used to acquire the spatial position and pose of the probe end point of the measurement handle, select a reference surface in a medical image scanning picture, select three feature points on the body surface as registration points on the layer, acquire the spatial coordinates of the registration points by the probe end point of the measurement handle contacting the registration points, so as to determine the reference surface; acquire the position information of the target point relative to the reference surface through the medical image scanning data, and obtain the spatial position coordinates of the target point; and according to the spatial position coordinates of the target point, the direction of the measurement handle is adjusted to point to the target point, so as to determine the direction and depth of the puncture path. The above technical scheme is convenient for positioning information acquisition, simple to operate, avoids the trauma caused by the device to the patient, is easy to popularize, and guarantees the operation effect of the patient.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of medical surgical technology, and in particular to a system, method, device and medium for determining the puncture path for brain lesions. Background Technology

[0002] Various space-occupying lesions in the brain, such as cerebral hemorrhage, brain tumors, and brain abscesses, are common clinical conditions. Precise localization of these lesions is fundamental to surgery and is crucial in determining patient mortality and disability rates. However, because the brain is approximately a closed sphere with few obvious surface markers, precise lesion localization often requires specific methods and equipment.

[0003] Previously, determining the location of brain lesions was generally based on two-dimensional imaging data and the surgeon's experience. However, this method is inaccurate and may result in overly large incisions, excessive attempts, and ultimately, significant trauma to the patient. Methods such as constructing three-dimensional models, three-dimensional stereotactic brain surgery, and neuronavigation systems require the pre-construction of a three-dimensional model corresponding to the patient's brain. While this ensures accuracy, it involves excessive preoperative preparation time, demands high-end equipment, and may even cause trauma to the patient during the stereotactic fixation process. This hinders its use in emergency situations and large-scale application. Therefore, there is an urgent need for a method that can conveniently and accurately locate brain lesions and determine the surgical puncture path. Summary of the Invention

[0004] The purpose of the embodiments in this specification is to provide a system, method, device, and medium for determining the puncture path for brain lesions, so as to solve the problem of how to conveniently and accurately locate brain lesions in patients and determine the surgical puncture path.

[0005] To address the aforementioned technical problems, embodiments of this specification also propose a puncture path determination system for brain lesions, comprising a measuring handle, a positioning device, and a computing device; the measuring handle includes a probe for contacting a measuring point; the measuring handle is sensed by the positioning device; the positioning device is used to acquire the pose of the measuring handle and the spatial coordinates of the probe tip of the measuring handle; the computing device is used to calculate a reference plane equation based on the spatial coordinates of the registration point on the patient's body surface contacted by the probe of the measuring handle as measured by the positioning device; based on the reference plane equation, the spatial coordinates of the target point are calculated using the position data of the target point from the reference plane and the midline in medical image scan data; the puncture path is calculated using the spatial coordinates of the puncture point and the target point; and the pose of the measuring handle is determined after the measuring handle is moved until the probe of the measuring handle coincides with the puncture path.

[0006] This specification provides an embodiment of a method for determining a puncture path for brain lesions, comprising: selecting a reference plane in a patient's medical imaging scan; selecting at least three points on the body surface as registration points on the reference plane; measuring the spatial position of the registration points on the patient's body surface based on a measuring handle; determining the spatial position of the reference plane based on the spatial position of the registration points; obtaining the position information of the target point relative to the reference plane and its coordinate information within the target point level through medical imaging scan data; obtaining the spatial coordinates of the target point based on the position information and coordinate information; placing the end of the measuring handle on the selected puncture point on the body surface, adjusting the pose of the measuring handle so that the extension line of the probe of the measuring handle passes through the target point; and determining the puncture path based on the pose of the probe and the spatial coordinates of the target point.

[0007] This specification also proposes a device for determining the puncture path for brain lesions, comprising: a registration point measurement module, which uses a measuring handle for sensing by a positioning device to contact the registration point with the probe tip of the measuring handle to record the spatial coordinates of the registration point; a reference plane equation construction module, which calculates and constructs the plane equation of a reference plane using the spatial coordinates of the registration point; the plane equation of the reference plane is used to determine the spatial position of the reference plane; a lesion plane equation construction module, which calculates and constructs the plane equation of the lesion plane using the plane equation of the reference plane and the positional relationship between the lesion plane and the reference plane in a medical scan image; the plane equation of the lesion plane is used to determine the spatial position of the lesion plane; a target point spatial position determination module, which calculates the spatial coordinates of the target point based on the plane equation of the lesion plane and the positional relationship data of the target point on the lesion plane; and a puncture path determination module, which determines the puncture path based on the spatial coordinates of the target point and the spatial coordinates of the puncture point.

[0008] This specification also proposes a computer-readable storage medium storing a computer program / instruction that, when executed, implements the above-described method for determining the puncture path for brain lesions.

[0009] As can be seen from the technical solutions provided in the embodiments of this specification above, the aforementioned system, method, device, and medium for determining the puncture path for brain lesions can determine the position of points on a reference plane by measuring the spatial pose of the handle, and then construct the plane equation corresponding to the reference plane. Combined with scanning data, the spatial position of the lesion target point can be directly determined based on the plane equation, thereby determining the puncture path. The above technical solutions not only ensure the accuracy of the measurement results, enabling precise determination of the puncture path for brain lesions and avoiding interference from irregularities on the brain surface, but also require simple measurement data and systems, the equipment does not cause trauma to the patient, the required algorithm is simple and reliable, easy to promote, and also ensures the patient's surgical outcome and experience. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a structural diagram of a puncture path determination system for brain lesions, as described in an embodiment of this specification.

[0012] Figure 2 This is a schematic diagram illustrating a scenario for recognizing a measuring handle, as described in this specification.

[0013] Figure 3 This is a flowchart illustrating a method for determining the puncture path for brain lesions, as described in this specification.

[0014] Figure 4 This is a schematic diagram of a CT plain film including a reference plane and a lesion plane, as described in an embodiment of this specification;

[0015] Figure 5 This is a schematic diagram of a patient's head including a midline plane, a reference plane, and a lesion plane, as described in an embodiment of this specification.

[0016] Figure 6 This is a schematic diagram of a CT scan corresponding to a lesion surface in an embodiment of this specification;

[0017] Figure 7 This is a schematic diagram of a puncture scenario as described in this specification.

[0018] Figure 8 This is a block diagram of a puncture path determination device for brain lesions, as described in an embodiment of this specification. Detailed Implementation

[0019] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0020] To better understand the inventive concept of this application, an embodiment of this specification, namely a puncture path determination system for brain lesions, is first introduced. For example... Figure 1As shown, the puncture path determination system 100 for brain lesions includes a measuring handle 110, a positioning device 120, and a computing device 130.

[0021] The measuring handle 110 can be a device with a specific geometry. The measuring handle 110 may include a probe and a device that can sense position information via a positioning device. When the probe tip of the measuring handle 110 is placed at a specific location on the patient's body surface, the overall spatial pose of the measuring handle 110 can be identified, thereby determining the position of the probe tip, i.e., determining the spatial coordinates of the specific location on the patient's body surface corresponding to the probe tip. This is then used to determine the location of the lesion target in subsequent stages.

[0022] The positioning device 120 can sense and identify the handle 110 to determine its pose. The positioning device 120 can identify the overall state of the handle 110, or it can identify specific points on the handle 110 and construct the overall spatial position of the handle 110 based on the positions of these specific points. Preferably, when the handle 110 has a fixed geometric structure, the overall spatial pose of the handle 110 can be identified and determined by combining this with the geometric structure of the handle 110 pre-registered in the positioning device 120.

[0023] like Figure 2 The diagram illustrates a specific scenario for identifying the measuring handle 110. The measuring handle 110 has a three-pronged structure, with measurement sensing points located at its center and in each direction of the prongs. A probe extends from one end of the measuring handle 110, with the probe tip coinciding with the measurement point. After the positioning device 120 performs positioning and identification of the measuring handle 110, it can determine the coordinates (X, Y, Z) of the measurement point and the orientation of the probe tip relative to the overall structure based on the overall pose of the measuring handle 110 and the positional relationship between the probe tip and the overall structure.

[0024] In some embodiments, the positioning device 120 may be, for example, an optical positioning device 120. The optical positioning device 120 may include two cameras, which can capture corresponding images of the positioning device 120 respectively. Based on the acquired images, the spatial pose of the measuring device can be determined using the principle of binocular vision. Because there is a certain distance between the two cameras, when images of the same object are captured, the position of the object in the captured images will differ. The spatial pose of the object can be calculated based on the magnitude of the difference.

[0025] In practical applications, the positioning device 120 can also be used to position the measuring handle 110 based on other principles. For example, the positioning device 120 can be used to position the measuring handle 110 based on the electromagnetic signal emitted by the measuring handle 110, or the positioning device 120 can be used to position the measuring handle 110 based on the ultrasonic / infrared ranging principle, etc. There are no restrictions on this.

[0026] The computing device 130 can communicate with the positioning device 120, receive the spatial pose data of the measuring handle 110 acquired by the positioning device 120, and process the acquired spatial pose data based on pre-set logic.

[0027] Specifically, the computing device 130 may include a memory and a processor. In this embodiment, the memory can be implemented in any suitable manner. For example, the memory can be a memory chip, a hard disk drive, a solid-state drive, or a USB flash drive, etc. The memory can be used to store computer programs / instructions, as well as structural feature data corresponding to the measuring handle 110, etc.

[0028] In this embodiment, the processor can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. The processor can execute computer programs / instructions to: record the spatial position of the registration point when the end of the measuring handle contacts the registration point; calculate the plane equation of the reference plane based on the coordinates of the registration point; obtain the plane equation of the lesion surface based on the distance between the reference plane and the lesion surface and the plane equation of the reference plane; calculate and determine the spatial position of the lesion target point by combining the lesion surface scan data and the lesion surface plane equation; and determine the puncture path for the patient's brain lesion based on the spatial position of the lesion target point and the spatial position of the puncture point. Specific details regarding the executed content will be described in detail in the subsequent execution method steps, and will not be repeated here.

[0029] It should be noted that the process of calculating the spatial pose of the measuring handle 110 based on the acquired data can be performed by the computing device 130 or by the computing module in the positioning device 120; there is no restriction on which method is used. For ease of description, the process of determining the spatial pose will be set to be directly executed by the positioning device 120 in the following process, but there are no restrictions on the actual execution end.

[0030] Based on the aforementioned puncture path determination system for brain lesions, this specification proposes a method for determining puncture paths for brain lesions. The executing entity of the method for determining puncture paths for brain lesions can be the computing device within the aforementioned puncture path determination system for brain lesions. For example... Figure 3 As shown, the method for determining the puncture path for brain lesions includes the following specific implementation steps.

[0031] S310: Select a plane in the patient's medical image scan as a reference plane for measurement; select no less than three points on the body surface on the reference plane as registration points; measure the spatial position of the registration points on the patient's body surface based on the measuring handle.

[0032] To determine the actual spatial location of this reference plane on the patient's body, we can select at least three points that are not on the same straight line in the reference plane image as registration points, use the measuring handle to contact these registration points on the patient's body surface, and measure the spatial coordinates of these registration points.

[0033] These registration points are characterized in that they are all located on the reference plane, including identifiable features on the body surface and artificially marked points on the body surface. These registration points are also characterized in that they are identifiable on the body surface and visible in medical imaging scans.

[0034] The registration point can be a point on the intersection of a reference plane and the patient's body surface. The reference plane is a plane used as a reference for subsequent calculations, and there are no restrictions on its selection. The reference plane is a cross-sectional medical imaging scan of the patient's brain, parallel to other slice images.

[0035] Registration points can be obtained directly or indirectly, for example... Figure 4 As shown, after determining the reference layer in the image, we can see from the image that this layer passes through the right eye. Therefore, the right eye's midline can be directly obtained as the registration point. However, the image scan shows that the left eye's midline does not pass through this reference layer, but rather through the layer preceding it, as shown in the image scan. Figure 4 As shown, based on the arrangement of the scanned images from bottom to top, the reference plane passes through a plane difference position above the left eye. We can mark a point at this plane difference position above the patient's left eye as a registration point, thus indirectly obtaining a registration point.

[0036] Preferably, the reference plane can be a plane that facilitates identification by corresponding to a characteristic region. For example, the reference plane can be a plane passing through the patient's lens and external auditory canal. The reference plane can also be a layer determined based on artificial markings on the patient's head. For example, corresponding markings are pre-set on the patient's external surface, and the reference plane is determined based on these markings.

[0037] In some implementations, the reference plane can be determined based on scan data. Before performing step S310, the patient's brain can be scanned to obtain data from multiple scan planes. For example, the patient's brain can be scanned at fixed intervals using CT scans to obtain corresponding CT images. The scanned data is analyzed to identify the features, and the reference plane can be determined based on the correspondence between these features and the actual physical appearance.

[0038] For example, such as Figure 4 As shown, this is a series of CT scans of patient A. Based on the selected reference plane, it can be seen that the lens of the right eye is included in this plane. The position of the patient's right eye can be directly used as the registration point. Correspondingly, the features corresponding to the reference plane can also be measured and marked on the patient's body surface. In this example, the upper part of the patient's left eyeball and the upper part of the right ear canal can be marked as registration points.

[0039] After determining the registration points based on the reference plane, the probe tip of the measuring handle can be placed on each registration point marked on the patient's body surface to determine the plane equation corresponding to the reference plane based on subsequent steps. Since three points not on the same straight line can determine a plane, when at least three registration points are not on the same straight line, the plane equation corresponding to the reference plane can be determined based on the location of the registration points, and thus the location of the reference plane in actual space can be determined.

[0040] When the end point of the measuring handle contacts the registration point on the patient's body surface, since the geometry of the measuring handle does not change, the spatial position of the probe end point of the measuring handle, i.e. the registration point, can be determined based on the overall position of the measuring handle or the position of the sensing point within it.

[0041] S320: Obtain the position information of the target point relative to the reference plane and the coordinate information within the target point plane through medical image scanning data.

[0042] After obtaining the registration point locations, a reference plane equation can be constructed based on these locations. Based on geometry, three points not on the same straight line can define a plane. Even when the registration points are not on the same straight line, the reference plane equation can still be constructed using the coordinates of the registration points, thus determining the spatial position of the reference plane on the patient's body.

[0043] The specific calculation process is based on the actual application and will not be elaborated here.

[0044] S330: Obtain the spatial coordinates of the target point based on the location information and coordinate information.

[0045] The target plane intersection point refers to the point on the patient's facial surface where the line of intersection between the midline plane and the lesion plane meets. The midline plane is the plane corresponding to the midline of the patient's brain. For example... Figure 5 As shown, the midline plane is a plane located between the eyes, passing through the nose and lips. Since the human head generally exhibits symmetry, the midline plane can be directly determined. When examining surface features or scan data, the intersection line corresponding to the midline plane can be determined based on the symmetry of the displayed image to ensure the application of the midline plane.

[0046] By using the midline's position on the body surface and the distance from the lesion surface to the reference surface, the spatial coordinates of the target surface intersection point on the patient's body can be measured using the measuring handle.

[0047] The intersection of the target surface and the target surface can be simultaneously reflected in the scanned image data corresponding to the patient's body surface and the lesion surface. Therefore, the position of the intersection of the target surface and the target surface can be measured and determined. The position data from the lesion target point to the intersection of the target surface can also be measured on the image scan.

[0048] Specifically, when obtaining the position of the target surface intersection point, the method in step S310 can be referenced: place the probe tip of the measuring handle at the target surface intersection point, and then use a positioning device to identify the spatial pose of the measuring handle at the intersection point. To ensure measurement accuracy, after determining the target surface intersection point, a corresponding mark can be set on the intersection point.

[0049] S340: Obtain the plane equation of the lesion surface based on the distance between the reference plane and the lesion surface and the plane equation of the reference plane.

[0050] The lesion plane is the plane corresponding to the lesion in the patient's brain. This lesion plane is parallel to a reference plane, and the distance between the lesion plane and the reference plane can be obtained in advance by reading the image scan data. During the scanning of the patient, the distance between each scan position can be controlled to be equal. By statistically analyzing the slice difference data between the reference plane and the lesion plane, the distance between them can be determined. Alternatively, the distance between the reference plane and the lesion plane can be determined directly through scanning parameters; there are no restrictions on this method.

[0051] Correspondingly, the lesion surface can also be a plane determined by CT scan data. For example... Figure 4 As shown, the lesion plane can directly display feature data based on the CT plain film, that is, the plane where the lesion is located and its position in the plane can be directly determined through the scanning data.

[0052] Since the reference plane and the lesion plane are parallel to each other, and the distance between them is predetermined, the plane equation corresponding to the lesion plane can be directly calculated from the plane equation of the reference plane, thus determining the spatial position of the lesion plane on the patient's body. The specific calculation process can be tailored to the needs of the actual application and will not be elaborated upon here.

[0053] S350: Combining lesion surface scanning data and intersection point locations, the spatial location of the lesion target point is determined using the lesion surface plane equation.

[0054] Since the intersection of the target surface and the target surface is also reflected in the lesion surface scanning data, after determining the relative position between the lesion target point and the intersection of the target surface in the lesion surface scanning data, the spatial position of the lesion target point can be determined using the lesion surface plane equation based on the position of the intersection point.

[0055] In the specific calculation process, one can determine the foot of the perpendicular from the lesion target point to the scan midline, and then determine the distances between the foot of the perpendicular and the intersection of the lesion target point and the target surface, thereby determining the planar position of the lesion target point. There are no restrictions on the specific calculation method.

[0056] Combined with appendix Figure 6 To further explain the above process, Figure 6 This refers to the CT plain image corresponding to the lesion. The scanning midline can be determined based on the symmetry of the brain, and the intersection of the scanning midline and the upper outer surface of the brain is the target surface intersection point. The location of the target surface intersection point can be calculated by combining the distances between various parts in the image with the specific location corresponding to the target surface intersection point. The specific calculation process can be tailored to the needs of practical applications and will not be elaborated here.

[0057] S360: Determine the puncture path for the patient's brain lesion based on the spatial location of the lesion target and the spatial location of the puncture point.

[0058] The puncture point is the point on the body surface that is punctured into the brain during brain surgery. Since surgical instruments need to be inserted to the target lesion during the procedure, a puncture path must be determined between the puncture point and the target lesion. Generally, this puncture path is the line segment between the puncture point and the target lesion.

[0059] The spatial location of the puncture point can be determined using positioning equipment and measuring handles to determine the specific coordinates of the puncture point.

[0060] In the embodiments of this specification, since the spatial location of the lesion target and the spatial location of the puncture point have been determined, the puncture path can be directly determined based on these two location values. The puncture path includes the puncture angle and the puncture depth.

[0061] To better apply the determined puncture path in practical applications, a measuring handle can be used for puncture path guidance. For example... Figure 7 As shown, the endpoint of the measuring handle probe is placed at the puncture point, allowing the positioning device to acquire the real-time spatial pose of the measuring handle and determine the probe angle based on this pose. When the probe angle differs from the puncture angle, the computing device calculates the deviation between the real-time spatial pose and the puncture path and issues correction information based on the corresponding output module. This correction information can be, for example, displayed as an image showing the difference between the current probe angle and the puncture angle, issued as a voice prompt indicating the deviation, or directly sent to a motion module such as a robotic arm. Upon receiving the correction information, the pose of the measuring handle can be adjusted until the probe is on the puncture path, i.e., the probe angle is the same as the puncture angle. When the probe angle and the puncture angle are the same, a corresponding prompt can be issued to indicate that the current pose is correct.

[0062] Correspondingly, based on the initial position of the probe tip and the puncture depth, a reminder message can be issued to indicate whether the lesion target has been reached, thereby ensuring the effective execution of the puncture process.

[0063] Based on the above methodological process, a specific scenario example will be used for further explanation. First, the configured hardware consists of an optical positioning measuring instrument and a measuring handle. The measuring handle is equipped with four photosensitive markers that the optical positioning measuring instrument can recognize. The measuring handle has a linear probe rod, with the end point of the probe rod serving as the probe endpoint. The geometric dimensions of this measuring handle and the relative positions of the photosensitive markers are registered in the optical positioning measuring instrument. This allows the measuring instrument to measure the position coordinates of the probe endpoint and the linear function of the probe rod's pose once it captures the measuring handle within its measurement range.

[0064] Secondly, information from the scanned images of the patient requiring localization is read to determine an easily identifiable plane as the reference plane; and a target lesion is identified as the lesion plane. The distance from the lesion plane to the reference plane is obtained through plane difference. The distance from the target lesion to the midline of the sagittal plane and the distance from the foot of the perpendicular from the target lesion to the midline to the intersection of the target plane are measured on the lesion plane. The reference plane should be a plane with clearly marked points for easy localization on the body surface. Registration points can be clearly stable markers on the body surface that can be displayed and identified in medical imaging images, including natural surface markers and artificial markers. Surface markers include the lens of the eye, the external auditory canal, etc. Artificial markers refer to markings that can be displayed in medical imaging images simultaneously applied to the patient before the medical imaging scan.

[0065] Next, measure the position of the reference plane on the patient's body. Determining a plane requires obtaining the positions of at least three points within that plane that are not collinear. In this example scenario, the right eye lens passes through this point. During measurement, place the probe tip of the measuring handle at this point to obtain the coordinates of point A (X1, Y1, Z1). Then, using the left eye as the second marker point, but since the left eye is one level lower than the right eye (each level is 5mm apart), the marker point for the left eye on this level is 5mm above the left eye. Mark this point 5mm above the left eye with the probe tip of the measuring handle to obtain the coordinates of point B (X2, Y2, Z2). Continue this process to obtain the relative position of the marker point in the right ear canal, marking the coordinates of point C (X3, Y3, Z3). Based on the values ​​of points A, B, and C, the equation for the reference plane is calculated as: ax + by + cz + d = 0.

[0066] Then, mark three points on the surface of the head that are not on a straight line along the midline of the sagittal plane, and obtain the equation of the midline plane: ex + fy + gz + h = 0. Translate the equation of the reference plane along the Z-axis by the distance from the reference plane to the target plane, and obtain the equation of the target plane: mx + ny + ox + p = 0. Mark and measure the coordinates of the intersection point P of the midline plane and the target plane on the target plane as (X4, Y4, Z4). Given that the target point is on the target plane, and given the distance from point P to the foot of the perpendicular from the target point to the midline and the distance from the target point to the midline plane, the coordinates of the target point O can be calculated as (X5, Y5, Z5).

[0067] Finally, the doctor determines the location of the surgical incision. The straight line connecting the incision location and the target point O is the puncture path. The measuring handle is placed at the surgical incision location, and the measuring handle is adjusted to match the puncture path. The puncture depth from the incision location to the target point can be calculated. The surgeon can then perform the surgery according to the direction of the measuring handle, thus completing the positioning measurement for the surgery.

[0068] Based on the above embodiments and scenario examples, it can be seen that the method for determining the puncture path for brain lesions can determine the positions of points on the reference plane and the lesion surface by measuring the spatial pose of the handle, and then construct the plane equations corresponding to the reference plane and the lesion surface. Combined with the scanning data, the spatial position of the lesion target point can be directly determined according to the plane equations, thereby determining the puncture path. This technical solution not only ensures the accuracy of the measurement results, enabling precise determination of the puncture path for brain lesions and avoiding interference from irregularities on the brain surface, but also requires a simple measurement system, the equipment does not cause trauma to the user, the algorithm is simple and reliable, easy to promote, and also ensures the patient's surgical outcome and experience.

[0069] based on Figure 3Corresponding to the method for determining the puncture path for brain lesions, this specification also proposes a device for determining the puncture path for brain lesions. The device for determining the puncture path for brain lesions can be installed on the computing device. For example... Figure 8 As shown, the device for determining the puncture path for brain lesions includes the following specific modules.

[0070] The registration point measurement module 810 uses a measuring handle for sensing by the positioned device to contact the probe tip of the measuring handle with the registration point to record the spatial coordinates of the registration point.

[0071] The reference plane equation construction module 820 calculates and constructs the plane equation of the reference plane using the spatial coordinates of the registered point; the plane equation of the reference plane is used to determine the spatial position of the reference plane.

[0072] The lesion surface plane equation construction module 830 calculates and constructs the plane equation of the lesion surface by using the plane equation of the reference plane and the positional relationship between the lesion surface and the reference plane in the medical scan image; the plane equation of the lesion surface is used to determine the spatial position of the lesion surface.

[0073] The target spatial location determination module 840 calculates the spatial coordinates of the target based on the plane equation of the lesion surface and the positional relationship data of the target on the lesion surface.

[0074] The puncture path determination module 850 is used to determine the puncture path based on the spatial coordinates of the target point and the spatial coordinates of the puncture point.

[0075] based on Figure 3 Regarding the corresponding method for determining the puncture path for brain lesions, embodiments of this specification provide a computer-readable storage medium storing computer programs / instructions. The computer-readable storage medium can be read by a processor via the internal bus of a computing device, and the processor can then implement the program instructions in the computer-readable storage medium.

[0076] In this embodiment, the computer-readable storage medium can be implemented in any suitable manner. The computer-readable storage medium includes, but is not limited to, random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD), memory card, etc. The computer storage medium stores computer program instructions. When the computer program instructions are executed, this specification is implemented. Figure 3 The program instructions or modules corresponding to the embodiments.

[0077] It should be noted that the above-mentioned system, method, device and medium for determining the puncture path for brain lesions can be applied to the field of medical surgical technology, as well as to other technical fields, without limitation.

[0078] Although the process described above includes multiple operations that occur in a specific order, it should be clearly understood that these processes may include more or fewer operations, which may be executed sequentially or in parallel (e.g., using parallel processors or a multithreaded environment).

[0079] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0080] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0081] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0082] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0083] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0084] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0085] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of computer program products implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] The embodiments described in this specification can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. The embodiments of this specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0087] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, system embodiments are basically similar to method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments in this specification. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0088] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A system for determining the puncture path for brain lesions, characterized in that, Includes measuring handles, positioning devices, and computing devices; The measuring handle includes a probe for contacting the measuring point; the measuring handle is used for sensing by the positioning device. The positioning device is used to acquire the pose of the measuring handle and the spatial coordinates of the probe tip of the measuring handle; The computing device is used to calculate the reference plane equation of the reference plane based on the spatial coordinates of the registration point on the patient's body surface contacted by the probe of the measuring handle, as measured by the positioning device. The registration point is selected from at least three points that are not on the same straight line in the reference plane. The device also obtains the lesion plane equation based on the distance between the reference plane and the lesion surface and the reference plane equation. The lesion surface is a plane parallel to the reference plane, and the distance between the reference plane and the lesion surface is obtained by reading image scan data. The device determines the relative position between the lesion target point and the intersection point of the target surface in the lesion surface scan data, and determines the spatial coordinates of the lesion target point using the lesion plane equation based on the relative position. The device calculates the puncture path using the spatial coordinates of the puncture point and the lesion target point. The puncture path includes the puncture direction and puncture depth. Finally, the device determines the pose of the measuring handle after it is moved until the angle of the probe of the measuring handle coincides with the puncture path. The angle of the probe is determined by placing the end point of the measuring handle probe on the puncture point, allowing the positioning device to obtain the real-time spatial pose of the measuring handle, and then determining the puncture path based on the real-time spatial pose.

2. The system as described in claim 1, characterized in that, The measuring handle is equipped with a device for the positioned device to sense its position information.

3. The system as described in claim 1, characterized in that, The reference plane is a plane selected as the measurement reference based on a medical imaging scan image.

4. The system as described in claim 1, characterized in that, The reference plane and the lesion plane each have imaging scan layer images.

5. The system as described in claim 1, characterized in that, The puncture path is determined by placing the end of the measuring handle on a selected puncture point on the body surface and adjusting the position of the measuring handle so that the extension line of the probe of the measuring handle passes through the lesion target point, and the puncture path is determined based on the probe.

6. The system as described in claim 1, characterized in that, The registration points of the reference plane include characteristic parts of the body surface and / or artificially set markers on the body surface; the registration points are visible on the body surface and / or medical imaging scan images.

7. The system as described in claim 1, characterized in that, The computing device is also used for: Receive and save the real-time spatial pose corresponding to the measuring handle collected by the positioning device; under the real-time spatial pose, obtain the spatial position of the probe tip of the measuring handle; During guided puncture, correction information is issued based on the deviation between the real-time spatial pose and the puncture path. The pose of the measuring handle is adjusted so that the probe of the measuring handle coincides with the puncture path, thereby determining the puncture path.

8. A method for determining the puncture path for brain lesions, characterized in that, include: Select a reference plane from the patient's medical imaging scans; Select no fewer than three points located on the body surface on the reference plane as registration points; The spatial location of the registration point on the patient's body surface is measured using a measuring handle; the measuring handle includes a probe for contacting the measuring point; the measuring handle is sensed by a positioning device, which acquires the pose of the measuring handle and the spatial coordinates of the probe tip of the measuring handle; the registration point is at least three points that are not on the same straight line selected in a reference plane. The plane equation of the lesion surface is obtained based on the distance between the reference plane and the lesion surface and the plane equation of the reference plane. The lesion surface is a plane parallel to the reference plane. The distance between the reference plane and the lesion surface is obtained by reading the image scan data. In the lesion surface scanning data, determine the relative position between the lesion target point and the intersection point of the target surface, and based on the relative position, use the lesion surface plane equation to determine the spatial position coordinates of the lesion target point; Place the end of the measuring handle on the selected puncture point on the body surface, and adjust the position of the measuring handle so that the extension line of the probe of the measuring handle passes through the lesion target point. The puncture path is determined based on the probe's pose and the spatial coordinates of the lesion target. The puncture path includes the puncture direction and puncture depth.

9. A device for determining the puncture path for brain lesions, characterized in that, include: The registration point measurement module uses a measuring handle for sensing by the device being located to contact the registration point with the probe tip of the measuring handle to record the spatial coordinates of the registration point. The reference plane equation construction module calculates and constructs the plane equation of the reference plane using the spatial coordinates of the registered point; the plane equation of the reference plane is used to determine the spatial position of the reference plane. The lesion surface plane equation construction module calculates and constructs the plane equation of the lesion surface by using the plane equation of the reference plane and the positional relationship between the lesion surface and the reference plane in the medical scan image; the plane equation of the lesion surface is used to determine the spatial position of the lesion surface. The target spatial location determination module calculates the spatial coordinates of the target based on the plane equation of the lesion surface and the positional relationship data of the target on the lesion surface. The puncture path determination module is used to determine the puncture path based on the spatial coordinates of the target point and the puncture point.

10. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When executed, the computer program / instruction performs the following steps: recording the spatial position of the registration point when the probe tip of the measuring handle contacts the registration point; calculating the plane equation of the reference plane based on the spatial position of the registration point; obtaining the plane equation of the lesion surface based on the distance between the reference plane and the lesion surface and the plane equation of the reference plane; and further combining the target point position information of the lesion surface scanning data with the plane equation of the lesion surface to calculate the spatial position of the lesion target point, and determining the puncture path for the patient's brain lesion based on the spatial position of the lesion target point and the spatial position of the puncture point.

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