Lung puncture navigation system for pneumology department

Abstract

The invention discloses a lung puncture navigation system for pneumology department, which relates to the technical field of lung puncture navigation and comprises a data collection module, a data processing module, a calculation module and a navigation module. The method has the advantages that the focus position can be accurately positioned in real time by collecting the lung image data and the respiratory movement data of the patient and utilizing calculation of respiratory compensation, the need of adjusting the position of a puncture needle for multiple times is avoided, the optimal puncture path can be calculated, and the puncture accuracy is improved. Therefore, intelligent biopsy puncture path planning can be carried out according to specific conditions of the patient, biopsy risks are reduced, focus position changes caused by respiratory movement can be accurately compensated through real-time respiratory compensation application, and it is ensured that navigation precision and biopsy effects are not affected by the respiratory movement.

Description

Technical Field

[0001] The invention relates to the technical field of lung puncture navigation, and in particular to a navigation system for lung puncture in respiratory medicine. Background Art

[0002] Biopsy is abbreviated as living tissue examination. When patients seek medical treatment, doctors may find lumps and nodules through CT. At this time, a puncture biopsy is needed to remove living tissue samples or cell samples from the patient's body for pathologists to perform pathological tests, thereby guiding the patient's subsequent overall treatment plan. Biopsy puncture is performed after local anesthesia. The doctor uses a lung puncture needle and uses CT and other image guidance to pass the needle through the chest wall into the suspicious area and obtain lung tissue.

[0003] However, the current lung biopsy process may mostly rely on CT-guided lung puncture. Although it can provide a certain positioning basis, due to the lack of real-time navigation and precise position feedback, it may be difficult for doctors to ensure that the puncture needle accurately penetrates the lesion site at one time, which may lead to multiple punctures and repeated adjustments, increasing the patient's radiation exposure and biopsy risks. Doctors may design biopsy plans based on CT images and experience, so they can only provide simple path planning functions and cannot perform intelligent biopsy path planning based on the patient's specific conditions, such as lesion size, location, shape, and the structure of surrounding tissues, thus limiting the accuracy and safety of biopsy. In addition, due to the patient's breathing, the lung lesions will move up and down, and the existing system methods with navigation may not be able to accurately compensate for the respiratory movement, which may cause the lesion position to shift during breathing, thereby affecting the navigation accuracy and biopsy effect. Summary of the invention

[0004] The purpose of the present invention is to provide a navigation system for lung puncture in respiratory medicine, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a navigation system for lung puncture in respiratory department, comprising: Data collection module: used to scan the patient's lungs and obtain three-dimensional image data of the lungs to determine the location and shape of lung lesions and collect the patient's respiratory rate data; Data processing module: used to organize the three-dimensional image data of the lungs and the patient's respiratory rate data, output the position of the lung target point under the basic state and the respiratory rate at time t, match the image with the actual anatomical structure, and identify the lesion; Calculation module: used to input the position of the lung target point in the basic state and the respiratory frequency at time t, and output the position of the lung target point after compensation at time t, the optimal path value and the puncture needle angle to be adjusted; Navigation module: used to input the lung target point position after time t compensation, the optimal path value and the puncture needle angle that needs to be adjusted. The navigation module guides the doctor to perform biopsy puncture according to the optimal path value and the puncture needle angle that needs to be adjusted, and updates the data in real time through the data collection module, and uses the ECG monitoring equipment to monitor the patient's vital signs.

[0006] Optionally, the calculation module includes: a breathing compensation submodule, a path planning submodule, a biopsy adjustment submodule and a circulation submodule.

[0007] Optionally, the calculation formula of the breathing compensation submodule is as follows: ; in: PUGV t refers to the position of the lung target point after compensation at time t; PUGA refers to the position of the lung target point in the basic state, PUGB t refers to the respiratory frequency at time t, PA refers to the respiratory motion compensation coefficient 1, PB refers to the phase difference of the respiratory motion, PC refers to the respiratory motion compensation coefficient 2, PUGC refers to the center point position of the lung, PUVD refers to the apex position of the lung, Refers to the Euclidean norm of the PUGA-PUGC vector, which is used to calculate the length of the vector; The processing process of the respiratory compensation submodule is as follows: the position of the lung target point PUGA in the basic state and the respiratory frequency PUGB at time t are calculated. t Input to the respiratory compensation submodule, and adjust the compensation degree based on the respiratory motion compensation coefficient 1 PA, the phase difference of respiratory motion PB and the respiratory motion compensation coefficient 2, and output the lung target point position PUGV after compensation at time t t .

[0008] Optionally, the calculation formula of the path planning submodule is as follows: ; in: LPTS refers to the optimal path value, min refers to the minimum value, n refers to the number of points on the path, i refers to the index of the point on the path, and represents a point on the path. i ,y i ) refers to the coordinates of the i-th point on the path, (x i+1 ,y i+1) refers to the coordinates of the i+1th point on the path, LA refers to the weight coefficient 1, m refers to the number of obstacles encountered on the path, j refers to the index of the obstacle, indicating an obstacle, PL j refers to the position of the jth obstacle, LB refers to the weight coefficient 2, p refers to the number of bending points on the path, k refers to the index of the bending point, indicating a bending point, LPTB k Refers to the bending radius of the kth bending point on the path of the puncture needle, Refers to the sum of squared distances between adjacent points on the path; The processing process of the path planning submodule is as follows: the lung target point position PUGV after compensation at time t t Input to the path planning submodule, and based on the position PL of the jth obstacle j , weight coefficient 1 LA and weight coefficient 2 LB output the optimal path value LPTS.

[0009] Optionally, the calculation formula of the biopsy adjustment submodule is as follows: ; in: OADL refers to the angle of the puncture needle that needs to be adjusted; arctan refers to the inverse tangent function, (X pugv , Y pugv ) refers to the lung target point position PUGV after compensation at time t t The two-dimensional coordinates of sj , Y sj ) refers to the coordinates of the current actual position of the puncture needle, ODAB refers to the desired puncture needle angle, OADA refers to the current angle of the puncture needle, Vsj refers to the current velocity vector of the puncture needle, Vqw refers to the desired puncture needle velocity vector, and α refers to the adjustment coefficient; The processing process of the biopsy adjustment submodule is as follows: the lung target point position PUGV after compensation at time t t The two-dimensional coordinates (X pugv , Y pugv ) and the optimal path value LPTS are input into the biopsy adjustment submodule, and the puncture needle angle OADL to be adjusted is output based on the desired puncture needle angle ODAB and the current puncture needle angle OADA.

[0010] Optionally, the processing process of the loop submodule is as follows: first: ; Second: Set the loop termination condition: Termination condition 1: The number of iterations i is 83; Termination condition 2: |PA new -PA old|<0.0062; in: PA new refers to the updated respiratory motion compensation coefficient of one; PA old Refers to the respiratory motion compensation coefficient before updating, which is one; γ refers to the learning rate; Refers to OS about PA old The partial derivative of Based on the calculation of the puncture needle angle OADL to be adjusted and the expected puncture needle angle ODAB, the respiratory motion compensation coefficient PA before update is adjusted by the learning rate γ old The adjustment amplitude is used to output the updated respiratory motion compensation coefficient PA new , the updated respiratory motion compensation coefficient is PA new The respiratory motion compensation coefficient PA in the respiratory compensation submodule is replaced to continuously adjust the calculation results of the respiratory compensation submodule, the path planning submodule and the biopsy adjustment submodule, and finally the loop is terminated by the termination conditions one and two.

[0011] Optionally, the equipment used in the data collection module includes a CT scanner and a respiratory monitoring device; The patient is scanned using a T-scanner to obtain three-dimensional image data including the location, size, and shape of lung lesions; The patient's respiratory rate and respiratory phase information are collected in real time through respiratory monitoring equipment.

[0012] Optionally, the navigation module combines electromagnetic induction positioning technology and endoscopic technology to achieve real-time positioning and navigation. The electromagnetic induction positioning technology uses the principle of electromagnetic induction to place a sensor on the biopsy instrument and measure changes in electromagnetic signals to determine position and positioning information.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention outputs the position of the lung target point after time t compensation through the breathing compensation submodule. By calculating the position of the lung target point after time t compensation, the position of the target point can be tracked in real time during the biopsy navigation process, and accurate and intuitive positioning information is provided to the operator, which greatly reduces the difficulty of operation during the biopsy process.

[0014] 2. The present invention outputs the optimal path value through the path planning submodule. The calculation of the optimal path value has the characteristic of changing with time, so that the position of the target point can be tracked in real time during the navigation process, thereby improving the accuracy and safety of the biopsy. The optimal path value can accurately reflect the impact of respiratory movement on the position of the target point, reduce the positioning error caused by respiratory movement, and can accurately reflect the impact of respiratory movement on the position of the target point in the lungs, so that the biopsy navigation can track the position of the target point in real time, thereby improving the accuracy and safety of the biopsy.

[0015] 3. The present invention outputs the puncture needle angle that needs to be adjusted through the biopsy adjustment submodule. The puncture needle angle that needs to be adjusted can reflect the position change of the puncture needle caused by respiratory movement in real time, and dynamically adjust the puncture angle to ensure that it accurately reaches the target point, which is convenient for improving the accuracy and safety of puncture. By dynamically adjusting the puncture angle, the doctor can more easily control the position and direction of the puncture needle, thereby reducing the difficulty of biopsy operation. Accurate puncture and less operating difficulty help reduce pain and discomfort during the biopsy process, thereby improving the patient's comfort.

[0016] 4. The present invention iterates the respiratory motion compensation coefficient one through a loop submodule. By iteratively optimizing the respiratory motion compensation coefficient one, the puncture path and angle can be continuously adjusted, so that the puncture needle can reach the target lesion more accurately and reduce the risk of mispuncturing the target. Accurate biopsy puncture can reduce the occurrence of complications such as pneumothorax and hemothorax, and improve patient safety and comfort. This iterative method can continuously correct the errors of the navigation system, improve the accuracy and reliability of the biopsy navigation process, and provide doctors with more accurate biopsy guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of the method steps of the navigation system for lung puncture in the respiratory department; Figure 2 This is a schematic diagram of the overall structure of the navigation system for lung puncture used in the respiratory department; Figure 3 This is a schematic diagram of the computing module structure of the lung puncture navigation system for respiratory medicine. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The navigation system for lung puncture used in this respiratory department is different from the existing lung puncture methods. The existing navigation methods are mostly lung punctures under the guidance of CT. Although they can provide a certain positioning basis, due to the lack of real-time navigation and accurate position feedback, it is difficult for doctors to ensure that the puncture needle accurately punctures the lesion site at one time, which leads to multiple punctures and repeated adjustments, increasing the patient's radiation exposure and biopsy risks. In addition, during the patient's breathing, the lung lesions will move up and down, and the existing navigation methods and systems may not be able to accurately compensate for the respiratory movement, resulting in reduced navigation accuracy; The module of the lung puncture navigation system used in this respiratory department uses the real-time respiratory compensation parameter PUGV t The present invention can accurately compensate for the changes in lesion position caused by respiratory movement and ensure that the puncture needle can accurately penetrate the lesion site. This not only reduces the number of multiple punctures and repeated adjustments, reduces the patient's radiation exposure and biopsy risks, but also improves the success rate of sampling and the accuracy of biopsy.

[0020] Example 1: Please refer to Figures 1 to 3 This embodiment provides a navigation system for lung puncture in respiratory medicine, including: Data collection module: used to scan the patient's lungs and obtain three-dimensional image data of the lungs to determine the location and shape of lung lesions and collect the patient's respiratory rate data; Data processing module: used to organize the three-dimensional image data of the lungs and the patient's respiratory rate data, output the position of the lung target point under the basic state and the respiratory rate at time t, match the image with the actual anatomical structure, and identify the lesion; Calculation module: used to input the position of the lung target point in the basic state and the respiratory frequency at time t, and output the position of the lung target point after compensation at time t, the optimal path value and the puncture needle angle to be adjusted; Navigation module: used to input the lung target point position after time t compensation, the optimal path value and the puncture needle angle to be adjusted. The navigation module guides the doctor to perform biopsy puncture according to the optimal path value and the puncture needle angle to be adjusted, and updates the data in real time through the data collection module, and uses the ECG monitoring device to monitor the patient's vital signs; The calculation module includes a breathing compensation submodule, a path planning submodule, a biopsy adjustment submodule and a circulation submodule.

[0021] In this embodiment: by calculating the compensated lung target point position PUGV t, During the biopsy navigation process, the position of the target point can be tracked in real time, and accurate and intuitive positioning information can be provided to the operator, which greatly reduces the difficulty of operation during the biopsy process. By planning the optimal path LPTS and adjusting the puncture needle angle OADL, the biopsy navigation process can ensure that the puncture needle reaches the target point with the shortest distance and the least obstacle cost, and accurately punctures along the planned path, which greatly improves the accuracy and safety of the puncture. By adjusting the puncture needle angle in real time to adapt to the changes in the position of the target point caused by respiratory movement, the biopsy navigation process can reduce the occurrence of complications such as pneumothorax and pulmonary embolism caused by inaccurate puncture. At the same time, the planning of the optimal path also reduces the risk and uncertainty during the biopsy process. In summary, by real-time tracking the position of the lung target point and dynamically adjusting the puncture angle, the navigation system can achieve accurate positioning and ensure that the puncture needle accurately reaches the target point. The planning of the optimal path and the dynamic adjustment of the puncture angle help optimize the biopsy process, reduce the biopsy time and risk, and accurate puncture and optimized biopsy process help improve the treatment effect and reduce the occurrence of complications, thereby improving the patient's prognosis and quality of life.

[0022] See also Figures 1 to 3 , the breathing compensation submodule processing process is as follows: ; in: PUGV t refers to the position of the lung target point after compensation at time t; PUGA refers to the position of the lung target point in the basal state; PUGB t Refers to the respiratory rate at time t, PUGB t Determines the speed of breathing movement, indicating the number of breathing cycles per second; PA refers to the respiratory motion compensation coefficient of one, and the PA influences the changes related to the distance between the center point of the lung and the base position; PB refers to the phase difference of respiratory motion, and PB describes the offset of the starting point of respiratory motion relative to the reference point; PC refers to respiratory motion compensation coefficient two, PC affects changes related to the angle between the lung apex and base position; PUGC refers to the center of the lungs, PUVD refers to the apex of the lungs, Refers to the Euclidean norm of the PUGA-PUGC vector, which is used to calculate the length of the vector; The processing process of the breathing compensation submodule is as follows: the position of the lung target point PUGA in the basic state and the breathing frequency PUGB at time t tInput to the respiratory compensation submodule, and adjust the compensation degree based on the respiratory motion compensation coefficient 1 PA, the phase difference of respiratory motion PB and the respiratory motion compensation coefficient 2, and output the lung target point position PUGV after compensation at time t t .

[0023] In this embodiment: This submodule calculates the compensated lung target point position PUGV t , which substantially solves the influence of respiratory motion on the position of lung target points. In lung puncture biopsy, due to the patient's respiratory motion, the position of the lung target point will change over time. This submodule dynamically compensates the position of the lung target point, thereby ensuring that the position of the target point can be accurately tracked during the biopsy. t The position of the lung target point after compensation has the characteristic of changing with time. This feature enables the position of the target point to be tracked in real time during the navigation process, thereby improving the accuracy and safety of biopsy. By introducing the respiratory motion compensation algorithm, PUGV t It can accurately reflect the influence of respiratory motion on the position of the target point, reducing the positioning error caused by respiratory motion. Compared with the existing technology, PUGV t The calculation of PUGV introduces a respiratory motion compensation algorithm, which can accurately reflect the impact of respiratory motion on the position of the lung target point. This advantage enables the navigation system to track the position of the target point in real time, thereby improving the accuracy and safety of biopsy. t It can reflect the position changes of the lung target point caused by respiratory movement in real time, thereby improving the positioning accuracy of the navigation system during the biopsy process, which helps doctors to more accurately determine the insertion point and path of the puncture needle. Since the position of the lung target point can be accurately tracked, doctors can avoid accidental injury to surrounding important tissues or organs during the biopsy process, thereby reducing the risk of biopsy. Accurate positioning helps doctors find the target point faster, thereby shortening the biopsy time and improving the efficiency of biopsy.

[0024] See also Figures 1 to 3 , the path planning submodule processing process is as follows: ; in: LPTS refers to the optimal path value, min refers to the minimum value, n refers to the number of points on the path, i refers to the index of the point on the path, and represents a point on the path. i ,y i ) refers to the coordinates of the i-th point on the path, (x i+1 ,y i+1 ) refers to the coordinates of the i+1th point on the path, LA refers to the weight coefficient 1, m refers to the number of obstacles encountered on the path, j refers to the index of the obstacle, indicating an obstacle, PLj refers to the position of the jth obstacle, LB refers to the weight coefficient 2, p refers to the number of bending points on the path, k refers to the index of the bending point, indicating a bending point, LPTB k Refers to the bending radius of the kth bending point on the path of the puncture needle, Refers to the sum of squared distances between adjacent points on the path; The processing process of the path planning submodule is as follows: the lung target point position PUGV after compensation at time t t Input to the path planning submodule, and based on the position PL of the jth obstacle j , weight coefficient 1 LA and weight coefficient 2 LB output the optimal path value LPTS.

[0025] In this embodiment: this submodule is at the lung target point position PUGV after compensation t Based on the optimal path, the optimal path from the current position of the puncture needle to the target point is planned. The planning of the optimal path takes into account multiple factors, including path length, obstacle cost, and the influence of respiratory motion. By introducing obstacle cost terms and respiratory motion compensation terms, this submodule can ensure that the planned path is both safe and efficient, thereby reducing the risk and uncertainty in the biopsy process. LPTS, as the length of the optimal path, has the characteristics of shortest path and minimum obstacle cost. By planning the optimal path, the biopsy navigation process can ensure that the puncture needle reaches the target point with the shortest distance and the least obstacle cost. This feature not only improves the efficiency of the biopsy, but also reduces the risk and uncertainty in the biopsy process. The calculation of LPTS takes into account multiple factors. Factors include path length, obstacle cost, and the influence of respiratory motion. By introducing obstacle cost terms and respiratory motion compensation terms, LPTS can ensure that the planned path is both safe and efficient. This advantage not only improves the efficiency of biopsy, but also reduces the risk and uncertainty in the biopsy process. In summary, LPTS can plan a safe and efficient path, avoiding unnecessary tissue damage and biopsy risks. By selecting the optimal path, doctors can minimize complications during puncture biopsy, such as pneumothorax and pulmonary embolism, which helps improve patients' postoperative recovery and quality of life. The planning of the optimal path helps to improve the success rate of biopsy because doctors can reach the target point more accurately and perform effective treatment.

[0026] See also Figures 1 to 3 ,The processing process of the biopsy adjustment submodule is as follows: ; in: OADL refers to the angle of the puncture needle that needs to be adjusted; arctan refers to the inverse tangent function, (X pugv , Y pugv) refers to the lung target point position PUGV after compensation at time t t The two-dimensional coordinates of sj , Y sj ) refers to the coordinates of the current actual position of the puncture needle, ODAB refers to the desired puncture needle angle, OADA refers to the current angle of the puncture needle, Vsj refers to the current velocity vector of the puncture needle, Vqw refers to the desired puncture needle velocity vector, and α refers to the adjustment coefficient; The processing of the biopsy adjustment submodule is as follows: the lung target point position PUGV after compensation at time t t The two-dimensional coordinates (X pugv , Y pugv ) and the optimal path value LPTS are input into the biopsy adjustment submodule, and the puncture needle angle OADL to be adjusted is output based on the desired puncture needle angle ODAB and the current puncture needle angle OADA.

[0027] In this embodiment: this submodule is used to dynamically adjust the position and angle of the puncture needle to ensure that the puncture needle can accurately reach the target point along the planned path. By calculating the adjusted angle OADL, this submodule can adjust the direction and position of the puncture needle in real time, so as to adapt to the changes in the position of the target point caused by respiratory movement. This dynamic adjustment capability is of great significance for improving puncture accuracy and reducing complications. OADL, as the adjusted puncture needle angle, has the characteristics of real-time and dynamic. By adjusting the puncture needle angle in real time, the navigation process of the biopsy can adapt to the changes in the position of the target point caused by respiratory movement, so as to ensure that the puncture needle can accurately reach the target point along the planned path. This feature is of great significance for improving puncture accuracy and reducing complications. The calculation of OADL has the characteristics of real-time and dynamic. It can adjust the angle of the puncture needle in real time to adapt to the changes in the position of the target point caused by respiratory movement, so that the navigation system can ensure that the puncture needle accurately reaches the target point along the planned path, thereby improving the puncture accuracy and reducing the occurrence of complications. In summary, OADL can reflect the position changes of the puncture needle caused by respiratory movement in real time, and dynamically adjust the puncture angle to ensure that it accurately reaches the target point, which helps to improve the accuracy and safety of puncture. By dynamically adjusting the puncture angle, doctors can more easily control the position and direction of the puncture needle, thereby reducing the difficulty of biopsy operation, and accurate puncture and less operational difficulty help reduce pain and discomfort during biopsy, thereby improving patient comfort.

[0028] See also Figures 1 to 3 , the loop submodule processing process is as follows: first: ; Second: Set the loop termination condition: Termination condition 1: The number of iterations i is 83; Termination condition 2: |PA new -PA old |<0.0062; in: PA new refers to the updated respiratory motion compensation coefficient of one; PA old Refers to the respiratory motion compensation coefficient before updating, which is one; γ refers to the learning rate; Refers to OS about PA old The partial derivative of old How the OS changes when small changes occur; Based on the calculation of the puncture needle angle OADL to be adjusted and the expected puncture needle angle ODAB, the respiratory motion compensation coefficient PA before update is adjusted by the learning rate γ old The adjustment amplitude is used to output the updated respiratory motion compensation coefficient PA new , the updated respiratory motion compensation coefficient is PA new The respiratory motion compensation coefficient PA in the respiratory compensation submodule is replaced to continuously adjust the calculation results of the respiratory compensation submodule, the path planning submodule and the biopsy adjustment submodule, and finally the loop is terminated by the termination conditions one and two.

[0029] In this embodiment: by iteratively optimizing PA, the puncture path and angle can be continuously adjusted so that the puncture needle can reach the target lesion more accurately and reduce the risk of mispuncture or deviation from the target. The iterative method allows dynamic adjustment according to real-time feedback in biopsy navigation to adapt to the lung structure and lesion conditions of different patients, improve the applicability and flexibility of the navigation system, and accurate biopsy puncture can reduce the occurrence of complications such as pneumothorax and hemothorax, improve the safety and comfort of patients, and reduce biopsy time and radiation exposure through iterative optimization, improve biopsy efficiency, and reduce the workload of medical staff. OADL is used as the adjustment value of the puncture angle. By iteratively optimizing PA, fine adjustment of the puncture angle can be achieved to ensure that the puncture needle can reach the target lesion along the optimal path. The iterative method can continuously correct the errors of the navigation system, improve the accuracy and reliability of the navigation system, and provide doctors with more accurate biopsy guidance.

[0030] In the specific implementation process, multiple submodules in this method are used to form a navigation system for lung puncture in the respiratory department, by combining the position of the lung target point PUGA in the basic state and the respiratory frequency PUGB at time t t Input to the breathing compensation submodule, output the lung target point position PUGV after compensation at time t t ,PUGV tIt can reflect the position change of the lung target point caused by respiratory movement in real time, thereby improving the positioning accuracy of the navigation system during the biopsy process, helping doctors to more accurately determine the insertion point and path of the puncture needle. Since it can accurately track the position of the lung target point, it can avoid accidental injury to surrounding important tissues or organs during the biopsy process, thereby reducing the risk of biopsy. Accurate positioning helps doctors find the target point faster, thereby shortening the biopsy time and improving the efficiency of the biopsy. By setting the lung target point position PUGV after compensation at time t t Input to the path planning submodule, and output the optimal path value LPTS. LPTS can plan a safe and efficient path, avoiding unnecessary tissue damage and biopsy risks, and facilitating the performance of puncture biopsy. By selecting the optimal path, doctors can minimize possible complications after biopsy, such as pneumothorax, pulmonary embolism, etc., which helps improve the patient's postoperative recovery and quality of life. The planning of the optimal path helps to improve the success rate of biopsy, because doctors can reach the target point more accurately and perform effective treatment; By setting the lung target point position PUGV after compensation at time t t The two-dimensional coordinates (X pugv , Y pugv ) and the optimal path value LPTS are input into the biopsy adjustment submodule, and the puncture needle angle OADL to be adjusted is output. OADL can reflect the position change of the puncture needle caused by respiratory movement in real time, and dynamically adjust the puncture angle to ensure that it accurately reaches the target point, which helps to improve the accuracy and safety of puncture. By dynamically adjusting the puncture angle, the doctor can easily control the position and direction of the puncture needle, thereby reducing the difficulty of biopsy operation. Accurate puncture and less difficulty in operation help reduce pain and discomfort during the biopsy process, thereby improving the comfort of the patient; The respiratory motion compensation coefficient PA is calculated by calculating the required puncture needle angle OADL and the expected puncture needle angle ODAB. new Perform cyclic iterations. Through iterative optimization of PA, the puncture path and angle can be continuously adjusted, so that the puncture needle can reach the target lesion more accurately, reducing the risk of mispuncturing the target. Accurate biopsy puncture can reduce the occurrence of complications such as pneumothorax and hemothorax, and improve patient safety and comfort. Iterative optimization can reduce biopsy time and radiation exposure, improve biopsy efficiency, and reduce the workload of medical staff. OADL can be used as the adjustment value of the puncture angle through iterative optimization of PA to achieve fine adjustment of the puncture angle. The iterative method can continuously correct the errors of the navigation system, improve the accuracy and reliability of the biopsy navigation process, and provide doctors with more accurate biopsy guidance. This allows the various sub-modules to cooperate with each other in calculations, and to perform overall cycles and iterations, so that the overall system has the effect of automatic optimization and updating, and thus better adaptability.

[0031] Example 2: Please refer to Figure 1 , Figure 2 and Figure 3 The equipment used in the data collection module include CT scanner and respiratory monitoring equipment. The patient is scanned by T scanner to obtain three-dimensional image data including the location, size and shape of lung lesions; the patient's respiratory frequency and respiratory phase information are collected in real time by respiratory monitoring equipment; the navigation module combines electromagnetic induction positioning technology and endoscopic technology to achieve real-time positioning and navigation. Electromagnetic induction positioning technology is to place a sensor on the biopsy instrument through the principle of electromagnetic induction, and measure the changes in electromagnetic signals to determine the position and positioning information.

[0032] In this embodiment: the data collection module can comprehensively collect various lung data of the patient, and can collect the patient's own conditions in real time to optimize the algorithm and plan and run the biopsy based on navigation fuzziness.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A navigation system for lung puncture in respiratory medicine, characterized in that: include: Data collection module: used to scan the patient's lungs and obtain three-dimensional image data of the lungs to determine the location and shape of lung lesions and collect the patient's respiratory rate data; Data processing module: used to organize the three-dimensional image data of the lungs and the patient's respiratory rate data, output the position of the lung target point under the basic state and the respiratory rate at time t, match the image with the actual anatomical structure, and identify the lesion; Calculation module: used to input the position of the lung target point in the basic state and the respiratory frequency at time t, and output the position of the lung target point after compensation at time t, the optimal path value and the puncture needle angle to be adjusted; Navigation module: used to input the lung target point position after time t compensation, the optimal path value and the puncture needle angle that needs to be adjusted. The navigation module guides the doctor to perform biopsy puncture according to the optimal path value and the puncture needle angle that needs to be adjusted, and updates the data in real time through the data collection module, and uses the ECG monitoring equipment to monitor the patient's vital signs.

2. The navigation system for lung puncture in respiratory department according to claim 1, characterized in that: The calculation module includes: a breathing compensation submodule, a path planning submodule, a biopsy adjustment submodule and a circulation submodule.

3. The navigation system for lung puncture in respiratory department according to claim 2, characterized in that: The calculation formula of the breathing compensation submodule is as follows: ； in: PUGV t refers to the position of the lung target point after compensation at time t; PUGA refers to the position of the lung target point in the basic state, PUGB t refers to the respiratory frequency at time t, PA refers to the respiratory motion compensation coefficient 1, PB refers to the phase difference of the respiratory motion, PC refers to the respiratory motion compensation coefficient 2, PUGC refers to the center point position of the lung, PUVD refers to the apex position of the lung, Refers to the Euclidean norm of the PUGA-PUGC vector, which is used to calculate the length of the vector; The processing process of the respiratory compensation submodule is as follows: the position of the lung target point PUGA in the basic state and the respiratory frequency PUGB at time t are calculated. t Input to the respiratory compensation submodule, and adjust the compensation degree based on the respiratory motion compensation coefficient 1 PA, the phase difference of respiratory motion PB and the respiratory motion compensation coefficient 2, and output the lung target point position PUGV after compensation at time t t .

4. The navigation system for lung puncture in respiratory department according to claim 3, characterized in that: The calculation formula of the path planning submodule is as follows: ； in: LPTS refers to the optimal path value, min refers to the minimum value, n refers to the number of points on the path, i refers to the index of the point on the path, and represents a point on the path. i ,y i ) refers to the coordinates of the i-th point on the path, (x i+1 ,y i+1 ) refers to the coordinates of the i+1th point on the path, LA refers to the weight coefficient 1, m refers to the number of obstacles encountered on the path, j refers to the index of the obstacle, indicating an obstacle, PL j refers to the position of the jth obstacle, LB refers to the weight coefficient 2, p refers to the number of bending points on the path, k refers to the index of the bending point, indicating a bending point, LPTB k Refers to the bending radius of the kth bending point on the path of the puncture needle, Refers to the sum of squared distances between adjacent points on the path; The processing process of the path planning submodule is as follows: the lung target point position PUGV after compensation at time t t Input to the path planning submodule, and based on the position PL of the jth obstacle j , weight coefficient 1 LA and weight coefficient 2 LB output the optimal path value LPTS.

5. The navigation system for lung puncture in respiratory department according to claim 4, characterized in that: The calculation formula of the biopsy adjustment submodule is as follows: ； in: OADL refers to the angle of the puncture needle that needs to be adjusted; arctan refers to the inverse tangent function, (X pugv , Y pugv ) refers to the lung target point position PUGV after compensation at time t t The two-dimensional coordinates of sj , Y sj ) refers to the coordinates of the current actual position of the puncture needle, ODAB refers to the desired puncture needle angle, OADA refers to the current angle of the puncture needle, Vsj refers to the current velocity vector of the puncture needle, Vqw refers to the desired puncture needle velocity vector, and α refers to the adjustment coefficient; The processing process of the biopsy adjustment submodule is as follows: the lung target point position PUGV after compensation at time t t The two-dimensional coordinates (X pugv , Y pugv ) and the optimal path value LPTS are input into the biopsy adjustment submodule, and the puncture needle angle OADL to be adjusted is output based on the desired puncture needle angle ODAB and the current puncture needle angle OADA.

6. The navigation system for lung puncture in respiratory medicine according to claim 5, characterized in that: The processing process of the loop submodule is as follows: first: ; Second: Set the loop termination condition: Termination condition 1: The number of iterations i is 83; Termination condition 2: |PA new -PA old |<0.0062; in: PA new refers to the updated respiratory motion compensation coefficient of one; PA old Refers to the respiratory motion compensation coefficient before updating, which is one; γ refers to the learning rate; Refers to OS about PA old The partial derivative of Based on the calculation of the puncture needle angle OADL to be adjusted and the expected puncture needle angle ODAB, the respiratory motion compensation coefficient PA before update is adjusted by the learning rate γ old The adjustment amplitude is used to output the updated respiratory motion compensation coefficient PA new , the updated respiratory motion compensation coefficient is PA new The respiratory motion compensation coefficient PA in the respiratory compensation submodule is replaced to continuously adjust the calculation results of the respiratory compensation submodule, the path planning submodule and the biopsy adjustment submodule, and finally the loop is terminated by the termination conditions one and two.

7. The navigation system for lung puncture in respiratory medicine according to claim 1, characterized in that: The equipment used in the data collection module includes a CT scanner and a respiratory monitoring device; The patient is scanned using a T-scanner to obtain three-dimensional image data including the location, size, and shape of lung lesions; The patient's respiratory rate and respiratory phase information are collected in real time through respiratory monitoring equipment.

8. The navigation system for lung puncture in respiratory medicine according to claim 1, characterized in that: The navigation module combines electromagnetic induction positioning technology and endoscopic technology to achieve real-time positioning and navigation. The electromagnetic induction positioning technology uses the principle of electromagnetic induction to place a sensor on the biopsy instrument and measure the changes in electromagnetic signals to determine the position and positioning information.

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