Hematoma puncture equipment, hematoma form division method and device and readable storage medium

Abstract

The invention provides hematoma puncture equipment, a hematoma form division method and device and a readable storage medium, the hematoma puncture equipment comprises a processor, the processor is used for executing the following steps: obtaining a plurality of cross-sectional images of a target object, each cross-sectional image in the plurality of cross-sectional images comprising a hematoma area; hematoma morphological division is carried out on a hematoma area in the first cross-sectional image to obtain a hematoma morphological distribution result of the first cross-sectional image, the hematoma morphological distribution result of the first cross-sectional image comprises at least one of a hematoma solid-state area, a hematoma liquid-state area and an edema area, and the first cross-sectional image is any one cross-sectional image in the plurality of cross-sectional images; according to the hematoma form distribution result corresponding to each cross-sectional image in the plurality of cross-sectional images, determining the volume of solid hematoma in the to-be-punctured hematoma; and according to the volume of the solid hematoma in the hematoma to be punctured, determining the dosage of the hemolysis medicine for the hematoma to be punctured. The accuracy of the dosage of the hemolytic medicine can be ensured.

Description

Technical Field

[0001] This application belongs to the technical field of medical devices, and particularly relates to a hematoma puncture device, a hematoma morphology division method, a device, and a readable storage medium. Background Art

[0002] A hematoma generally refers to a cavity filled with blood formed by the separation of blood spilled from a ruptured blood vessel from surrounding tissues due to various external forces. Common hematomas include: scalp hematoma, epidural hematoma, subdural hematoma of the brain, etc. In addition, it also includes hematomas caused by iatrogenic injuries, such as hematoma symptoms that appear after medical procedures such as surgery or puncture.

[0003] For hematomas that cannot be absorbed spontaneously, it is often necessary to use puncture means for treatment. Currently, clinical hematoma punctures are generally completed by doctors through simple positioning devices or stereotactic equipment. The puncture instrument is inserted manually by the doctor. The doctor judges the properties of the hematoma based on the resistance and experience felt during the puncture process, and then estimates the dose of hemolytic drug to be injected. The hemolytic drug is injected according to the estimated dose of hemolytic drug; after the hemolytic drug is injected and the hematoma is fully liquefied, the hematoma is aspirated through a hematoma evacuation needle.

[0004] Since the dose of the hemolytic drug basically depends on the subjective judgment of the doctor during the puncture process, which requires high doctor experience, there are often problems with inaccurate doses of the hemolytic drug. Summary of the Invention

[0005] Embodiments of this application provide a hematoma puncture device, a hematoma morphology division method, a device, and a readable storage medium, which can reduce the dependence of the accuracy of the hemolytic drug dose on doctor experience, and thus ensure the accuracy of the hemolytic drug dosage.

[0006] In a first aspect, embodiments of this application provide a hematoma puncture device. The hematoma puncture device includes: a processor, and the processor is used to perform the following steps: obtaining a plurality of tomographic images of a target object, where each tomographic image in the plurality of tomographic images includes a hematoma region, and the hematoma region in each tomographic image includes: the region occupied by the hematoma to be punctured in the target object in each tomographic image; performing hematoma morphology division on the hematoma region in the first tomographic image to obtain a hematoma morphology distribution result of the first tomographic image, where the hematoma morphology distribution result of the first tomographic image includes: at least one of a solid hematoma region, a liquid hematoma region, and an edema region, and the first tomographic image is any one of the plurality of tomographic images; determining the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution results corresponding to each tomographic image in the plurality of tomographic images; determining the dosage of the hemolytic drug for the hematoma to be punctured according to the volume of the solid hematoma in the hematoma to be punctured.

[0007] The hematoma puncture device in the first aspect divides the hematoma morphology of multiple tomographic images of the target object to obtain the hematoma morphology distribution results of each tomographic image, that is, to determine the solid hematoma area, the liquid hematoma area and the edema area included in the hematoma area in each tomographic image, where: the solid hematoma area corresponds to the solid hematoma in the hematoma to be punctured, the liquid hematoma area corresponds to the liquid hematoma in the hematoma to be punctured, and the edema area corresponds to the surrounding edema of the hematoma to be punctured; then determine the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution results; the solid hematoma is the hematoma in a coagulated state. Since there is a strong correlation between the volume of the solid hematoma and the dosage of the hemolytic drug, the accuracy of the dosage of the hemolytic drug obtained through the solid hematoma is relatively high. In this method, the volume of the solid hematoma is determined according to the hematoma morphology distribution results, so as to avoid doctors estimating the dosage of the hemolytic drug entirely based on experience, improve the accuracy of the dosage of the hemolytic drug, and thus ensure the full dissolution of the solid hematoma during the puncture process and ensure that the hematoma puncture has a good effect.

[0008] In a possible implementation manner of the first aspect, to determine the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution results corresponding to each tomographic image in the multiple tomographic images, it includes: performing three-dimensional reconstruction on the solid hematoma in the hematoma to be punctured according to the solid hematoma area in each tomographic image in the multiple tomographic images to obtain a three-dimensional model of the solid hematoma in the hematoma to be punctured; determining the volume of the solid hematoma in the hematoma to be punctured according to the three-dimensional model of the solid hematoma in the hematoma to be punctured. In this implementation manner, the volume of the solid hematoma is obtained by the method of three-dimensional reconstruction of the solid hematoma in the hematoma to be punctured, and the method is simple and has high accuracy.

[0009] In a possible implementation manner of the first aspect, to determine the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution results corresponding to each tomographic image in the multiple tomographic images, it includes: determining the number of voxels in the solid hematoma area in each tomographic image according to the hematoma morphology distribution results corresponding to each tomographic image; summing the numbers of voxels corresponding to the multiple tomographic images respectively to obtain the total number of voxels, and the total number of voxels corresponds to the solid hematoma in the hematoma to be punctured; determining the volume of the solid hematoma in the hematoma to be punctured according to the total number of voxels and the volume of each voxel. In this implementation manner, the number of voxels in the solid hematoma area in each tomographic image is determined, and the obtained multiple numbers of voxels are summed to obtain the total number of voxels of the solid hematoma, and then the volume of the solid hematoma is determined according to the total number of voxels and the volume represented by each voxel. The calculation process of this method is simple and easy to implement.

[0010] In a possible implementation of the first aspect, the processor further performs the following steps: determining a target tomographic image from multiple tomographic images, where the hematoma morphological distribution result of the target tomographic image includes a solid hematoma region, and the area of the solid hematoma region in the target tomographic image is greater than a first preset threshold; determining an initial puncture path according to the hematoma morphological distribution result of the target tomographic image, where the initial puncture path passes through the solid hematoma region in the target tomographic image; determining the position information of the drug injection target according to the initial puncture path, where the drug injection target is located in the solid hematoma region in the target tomographic image; and controlling the puncture needle to puncture the hematoma to be punctured according to the position information of the drug injection target and the dosage of the hemolytic drug. In this implementation, a target tomographic image with a solid hematoma region area greater than a certain value is determined from multiple tomographic images, and then the initial puncture path is determined according to the hematoma morphological distribution result of the target tomographic image, and the position of the drug injection target is determined according to the initial puncture path. That is, when planning the puncture path, the hematoma morphological distribution result is fully considered, so that the finally obtained drug injection target is located in the solid hematoma region, so that the hemolytic drug can be injected into the solid hematoma on the hematoma to be punctured, thus ensuring the full exertion of the efficacy of the hemolytic drug.

[0011] Exemplarily, the target tomographic image can be the tomographic image with the largest solid hematoma region area among the multiple tomographic images; or the target tomographic image can be the tomographic image with the largest hematoma region and a solid hematoma region area greater than the first preset threshold among the multiple tomographic images.

[0012] In a possible implementation of the first aspect, the initial puncture path penetrates the hematoma region on the target tomographic image; determining the position information of the drug injection target according to the initial puncture path includes: controlling a pressure probe to penetrate into the hematoma to be punctured of the target object according to the initial puncture path to obtain an actual puncture path, and the pressure information and position information of multiple sites on the actual puncture path; and determining the position information of the drug injection target according to the pressure information and position information of the multiple sites, where the drug injection target is located on the actual puncture path. In this implementation, the initial puncture path penetrates the hematoma region on the target tomographic image, that is, the initial puncture path is located in the target tomographic image. During the actual puncture process, a pressure probe is used to detect the pressure and record the position of multiple sites on the actual puncture path, so as to obtain the pressure information and position information of the multiple sites, and the position information of the drug injection target is determined according to the actually detected pressure information and position information. Through the detection of the pressure probe, a more accurate drug injection target can be obtained, thus further ensuring the full exertion of the efficacy of the hemolytic drug.

[0013] Exemplarily, based on the pressure information and position information of multiple sites, the position information of the drug injection target is determined. Specifically, according to the pressure information and position information, the length of the solid hematoma on the actual puncture path can be determined, so as to determine the drug injection target in the solid hematoma area on the actual puncture path.

[0014] For example, when there is only a section of the actual puncture path with a relatively large pressure value, then the position where this section of the path is located can be determined as the solid hematoma, and then the drug injection target is set at the middle position of this section of the path.

[0015] For another example, when there are multiple sections of the actual puncture path with relatively large pressure values, then the positions where these multiple sections of the path are located can be determined as solid hematomas. Since the distribution of the solid hematomas corresponds to multiple sections of the path, it can be determined that the distribution of the solid hematomas in the hematoma to be punctured is relatively dispersed. Therefore, drug injection targets can be set respectively in multiple sections of the path, that is, the drug injection target can include multiple targets, so that the hemolytic drug can hemolyze at multiple positions of the solid hematoma, improving the effect of the hemolytic drug.

[0016] In a possible implementation manner of the first aspect, the absolute value of the difference between the length of the actual puncture path and the length of the initial puncture path is less than a second preset threshold. In this implementation manner, the length of the actual puncture path and the length of the initial puncture path differ little, so that the actual puncture path is relatively close to the initial puncture path, ensuring the accuracy of the actual puncture path.

[0017] Exemplarily, the length of the actual puncture path can be determined according to the position information of multiple sites on the actual puncture path.

[0018] In a possible implementation manner of the first aspect, multiple tomographic images of the target object are obtained, including: obtaining multiple initial tomographic images of the target object, and the multiple initial tomographic images are tomographic images of the body part of the target object that generates the hematoma to be punctured; identifying the hematoma area for each tomographic image among the multiple initial tomographic images to determine multiple tomographic images. In this implementation manner, the hematoma puncture device identifies the hematoma in multiple initial tomographic images to obtain multiple tomographic images marked with the hematoma area, improving the accuracy and efficiency of hematoma area identification.

[0019] In a possible implementation of the first aspect, the hematoma region in the first tomographic image is divided according to the hematoma morphology to obtain the hematoma morphology distribution result of the first tomographic image, including: inputting the first tomographic image into a preset hematoma morphology distribution model to obtain the hematoma morphology distribution result of the first tomographic image. In this implementation, the hematoma morphology of each tomographic image is divided by the preset hematoma morphology distribution model, and the method is simple and easy to implement. The preset hematoma morphology distribution model can be a deep learning model, a machine learning model, or the like.

[0020] In a possible implementation of the first aspect, the first tomographic image is a CT image. Dividing the hematoma region in the first tomographic image according to the hematoma morphology to obtain the hematoma morphology distribution result of the first tomographic image includes: obtaining the CT value of each pixel point in the hematoma region of the first tomographic image; determining the hematoma morphology region to which each pixel point belongs according to the CT value of each pixel point. The hematoma morphology regions include any one of a solid hematoma region, a liquid hematoma region, and an edema region. The hematoma morphology distribution result of the first tomographic image includes the hematoma morphology region to which each pixel point belongs. In this implementation, the hematoma morphology is divided by the CT value of each pixel point in the first tomographic image, which can reduce the calculation amount of the hematoma puncture device and improve the data processing speed.

[0021] In a possible implementation of the first aspect, the hematoma puncture device further includes: a robotic arm and a hematoma puncture end. The processor is communicatively connected to the robotic arm, and the hematoma puncture end is connected to one end of the robotic arm; the processor is further configured to control the movement of the robotic arm so that the robotic arm drives the hematoma puncture end to move to complete the puncture of the hematoma to be punctured.

[0022] In the second aspect, an embodiment of the present application provides a method for dividing the hematoma morphology. The method includes: obtaining a plurality of tomographic images of a target object. Each tomographic image in the plurality of tomographic images includes a hematoma region. The hematoma region in each tomographic image includes: the region occupied by the hematoma to be punctured of the target object in each tomographic image; dividing the hematoma region in the first tomographic image according to the hematoma morphology to obtain the hematoma morphology distribution result of the first tomographic image. The morphological distribution result of the first tomographic image includes at least one of a solid hematoma region, a liquid hematoma region, and an edema region. The first tomographic image is any one of the plurality of tomographic images.

[0023] In the method for dividing the hematoma morphology in the second aspect, the hematoma morphology of the hematoma region in each tomographic image among the plurality of tomographic images is divided, so that the hematoma morphology distribution result of each tomographic image can clearly obtain the overall morphology of the entire hematoma to be punctured. Therefore, the subsequent hematoma puncture process can be guided based on the hematoma morphology distribution result, improving the accuracy of the hematoma puncture.

[0024] In a possible implementation of the second aspect, obtaining a plurality of tomographic images of a target object includes: obtaining a plurality of initial tomographic images of the target object, where the plurality of initial tomographic images are tomographic images of the body part of the target object that generates the hematoma to be punctured; identifying the hematoma regions in each of the plurality of initial tomographic images to determine the plurality of tomographic images. In this implementation, by performing hematoma identification on the plurality of initial tomographic images, a plurality of tomographic images marked with hematoma regions are obtained, improving the accuracy and efficiency of hematoma region identification.

[0025] In a possible implementation of the second aspect, dividing the hematoma region in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image includes: inputting the first tomographic image into a preset hematoma morphology distribution model to obtain the hematoma morphology distribution result of the first tomographic image. By using the preset hematoma morphology distribution model to divide the hematoma morphology of each tomographic image, the method is simple and easy to implement.

[0026] In a possible implementation of the second aspect, when the first tomographic image is a CT image, dividing the hematoma region in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image includes: obtaining the CT value of each pixel point in the hematoma region of the first tomographic image; determining the hematoma morphology region to which each pixel point belongs according to the CT value of each pixel point, where the hematoma morphology regions include any one of a solid hematoma region, a liquid hematoma region, and an edema region, and the hematoma morphology distribution result of the first tomographic image includes the hematoma morphology region to which each pixel point belongs. In this implementation, by using the CT value of each pixel point in the first tomographic image to divide the hematoma morphology, the computational amount of the hematoma puncture device can be reduced and the data processing speed can be improved.

[0027] In a third aspect, an embodiment of the present application provides a hematoma morphology division device, and the device includes units for executing each step in the hematoma morphology division method described in any one of the above second aspects.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps executed by the processor in the hematoma puncture device described in any one of the above first aspects, or when the computer program is executed by the processor, it implements the steps in the hematoma morphology division method described in any one of the above second aspects.

[0029] Fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a server, it causes the server to execute the steps performed by the processor in the hematoma puncture device described in any one of the above first aspects, or causes the server to execute the steps in the hematoma shape division method described in any one of the above second aspects.

[0030] Sixth aspect, an embodiment of the present application provides a chip, including: a processor, configured to call and run a computer program from a memory, so that an electronic device installed with the chip executes the steps performed by the processor in the hematoma puncture device described in any one of the above first aspects, or causes the electronic device installed with the chip to execute the steps in the hematoma shape division method described in any one of the above second aspects.

[0031] It can be understood that the beneficial effects of the above second to sixth aspects can be referred to the relevant descriptions in the above first aspect, and will not be elaborated here. Description of the Drawings

[0032] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 is a schematic diagram of the application scenario of the hematoma puncture device provided by an embodiment of the present application;

[0034] Figure 2 is a schematic flowchart of the hematoma puncture method provided by an embodiment of the present application;

[0035] Figure 3 is a schematic diagram of the result after dividing the hematoma area and the hematoma shape on the CT image in an embodiment of the present application;

[0036] Figure 4 is a schematic flowchart of the hematoma shape division method provided by an embodiment of the present application;

[0037] Figure 5 is a schematic structural diagram of the hematoma shape division device provided by an embodiment of the present application;

[0038] Figure 6 is a schematic structural diagram of a hematoma puncture device provided by an embodiment of the present application. Detailed Embodiments

[0039] In the following description, specific details such as specific system architectures, technologies, etc. are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0040] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0041] It should also be understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0042] As used in the specification of the present application and the appended claims, the term "if" can be interpreted as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]" depending on the context.

[0043] In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0044] The reference to "one embodiment" or "some embodiments" or the like described in the specification of the present application means that a specific feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0045] At present, hematoma puncture in clinical practice is generally completed by doctors through a simple positioning device or a stereotactic device. The puncture instrument is inserted by the doctor manually. The doctor judges the properties of the hematoma based on the resistance and experience felt during the puncture process, and then estimates the dose of the hemolytic drug to be injected. The hemolytic drug is injected according to the estimated dose of the hemolytic drug. After the hemolytic drug is injected into the hematoma, the solid part in the hematoma is dissolved by the hemolytic drug, and finally the hematoma is aspirated through the hematoma evacuation needle. Since the dose of the hemolytic drug basically depends on the subjective judgment of the doctor during the puncture process and requires high doctor experience, the problem of inaccurate hemolytic drug dose often occurs.

[0046] It should be understood that the inaccuracy of the dosage of the hemolytic drug during the hematoma puncture process sometimes brings serious consequences. Taking intracranial hematoma as an example, if too much hemolytic drug is injected, there will be a risk of bleeding subsequently, and intracranial hemorrhage will occur. If too little hemolytic drug is injected, it will cause insufficient dissolution of the solid hematoma part in the hematoma, resulting in insufficient drainage. Therefore, there is still a mass effect of the solid hematoma after the operation, and the damage to the nerve function will be relatively serious, resulting in hemiplegia, aphasia, etc.

[0047] Therefore, how to accurately obtain the dosage of the hemolytic drug has become a technical problem to be solved urgently.

[0048] To solve the above technical problems, the present application provides a hematoma puncture device, a hematoma morphology division method, a device and a readable storage medium. The hematoma puncture device divides the hematoma morphology by multiple tomographic images of the target object to obtain the hematoma morphology distribution result of each tomographic image, that is, to determine the hematoma solid area, hematoma liquid area and edema area included in the hematoma area in each tomographic image, and then determines the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution result. The solid hematoma is a hematoma in a coagulated state. Since there is a strong correlation between the volume of the solid hematoma and the dosage of the hemolytic drug, the accuracy of the hemolytic drug dosage obtained through the solid hematoma is relatively high. In this method, the volume of the solid hematoma is determined through the hematoma morphology distribution result, thus avoiding the doctor's estimation of the hemolytic drug dosage solely based on experience, improving the accuracy of the hemolytic drug dosage, and ensuring the full dissolution of the solid hematoma during the puncture process, ensuring that the hematoma puncture has a good effect.

[0049] The following combines specific embodiments to describe the hematoma puncture device, hematoma morphology division method, device and readable storage medium provided by the present application.

[0050] See Figure 1 This is a schematic diagram of the application scenario of a hematoma puncture device provided in an embodiment of the present application. As Figure 1As shown, this scenario is a schematic diagram of intracranial hematoma puncture. The hematoma puncture device includes a robotic arm 110, a processor 120, and a hematoma puncture end 130, where: The processor 120 is communicatively connected to the robotic arm 110, and the processor 120 can control the movement of the robotic arm 110; The hematoma puncture end 130 is connected to one end of the robotic arm 110, and the hematoma puncture end 130 moves under the drive of the robotic arm 110.

[0051] Exemplarily, the hematoma puncture device can be a neurosurgical robot, and the specific structure of the neurosurgical robot in the embodiments of the present application will not be elaborated.

[0052] It can be understood that a puncture needle tool used during the hematoma puncture can be installed on the hematoma puncture end 130. The puncture needle tool can be a hematoma puncture needle, a hematoma evacuation needle, or a pressure probe. The hematoma puncture needle can be used to inject a hemolytic drug into the hematoma, the hematoma evacuation needle can be used to aspirate the liquid in the hematoma to evacuate the hematoma, and the pressure probe can be a puncture needle tool with a pressure sensor at the end.

[0053] It should be understood that the hematoma puncture end 130 is provided at the free end of the robotic arm 110 and is used to connect the puncture needle tool to the robotic arm 110. For example, the hematoma puncture end 130 can be connected to the puncture instrument through a terminal adapter 131. Additionally, the hematoma puncture end 130 can also be a part of the robotic arm 110, which will not be elaborated in the present application.

[0054] As Figure 1 shown, the scenario is the process of pressure detection using a pressure probe. The puncture needle tool is a pressure probe 140, and a pressure sensor 141 is provided at the first end of the pressure probe 140. The pressure probe 140 is connected to the hematoma puncture end 130 through a pressure signal transmission line 142, and the pressure probe 140 is connected to the hematoma puncture end 130 through a terminal adapter 131.

[0055] It should be understood that the processor 120 controls the robotic arm 110 to drive the pressure probe 140 to puncture the hematoma 20 to be punctured in the target object 10. During the puncture process, the pressure sensor 141 provided at the end of the pressure probe 140 will detect the pressure at multiple sites passed through, obtain the pressure information of each site, and the pressure sensor 141 will transmit the pressure information of each site to the processor 120 through the pressure signal transmission line 142 and the hematoma puncture end 130.

[0056] Additionally, during the process of the processor 120 controlling the movement of the robotic arm 110, the position information of each site can also be recorded; thus, the relevant information of each site includes: pressure information and position information.

[0057] It can be understood that when it is necessary to inject a hemolytic drug into the puncture hematoma 20, the pressure probe can be replaced with a hematoma puncture needle for injecting the drug. When it is necessary to aspirate the liquid in the puncture hematoma 20, the Figure 1 pressure probe 140 therein can be replaced with a hematoma evacuation needle for aspiration, which will not be elaborated in the embodiments of the present application.

[0058] It should be understood that the tomographic images in the embodiments of the present application are obtained by scanning the body part of the target object including the puncture hematoma with a medical imaging device. For example, the medical imaging device can be a CT scanning device, an MR (Magnetic Resonance) scanning device, a PET / MR (Positron Emission Tomography / Magnetic Resonance) scanning device, a PET-CT (Positron Emission Tomography-Computed Tomography) scanning device, or an ultrasonic scanning device. The specific type of the medical imaging device is not limited in the present application, as long as the medical imaging device can obtain multiple tomographic images that can guide the puncture process.

[0059] It can be understood that the communication connection in the embodiments of the present application can be a wireless communication connection. For example, the wireless communication connection can be implemented by wireless communication technologies such as Bluetooth (BT) technology, wireless-fidelity (WiFi) technology, or near field communication (NFC) technology. Of course, the communication connection in the embodiments of the present application can also be a wired communication connection, which will not be limited and elaborated in the present application.

[0060] After introducing the application scenarios of the hematoma puncture device, the following will describe Figure 1 the hematoma puncture device shown in the Figure 2 exemplarily illustrate the hematoma puncture method based on the embodiments of the present application.

[0061] As Figure 2 shown, the hematoma puncture method includes: S201 to S204, and each step will be described below.

[0062] S201. Obtain multiple tomographic images of the target object. Each tomographic image among the multiple tomographic images includes a hematoma region, and the hematoma region in each tomographic image includes: the region occupied by the hematoma to be punctured of the target object in each tomographic image.

[0063] It can be understood that before the start of the hematoma puncture operation, the body part of the target object where the hematoma to be punctured is located is scanned by a medical imaging device to obtain multiple initial tomographic images. For example, a CT scanning device can be used to scan the head of a target object with an intracranial hematoma, as shown in Figure 3 Figure a in, which is one of the multiple initial tomographic images obtained in the embodiments of the present application, and this initial tomographic image is a CT image.

[0064] In the embodiments of the present application, the multiple tomographic images refer to the tomographic images that scan the hematoma to be punctured, that is, each tomographic image among the multiple tomographic images scans a cross-section of the hematoma to be punctured. And the multiple tomographic images are all the initial tomographic images after the hematoma region recognition is performed. Figure 3 The tomographic image shown in Figure b in is the tomographic image after the hematoma region is recognized on the basis of Figure 3 Figure a in, and this tomographic image is a CT image.

[0065] In some embodiments, the process of recognizing the hematoma region in the tomographic image can be obtained by manual operation. For example, an experienced doctor can mark the hematoma region.

[0066] In addition, the recognition of the hematoma region in the tomographic image can also be obtained by the hematoma puncture device in the embodiments of the present application processing the initial tomographic image.

[0067] For example, the process of the hematoma puncture device processing the initial tomographic image can include: obtaining multiple initial tomographic images of the target object, where the multiple initial tomographic images are tomographic images of the body part of the target object that generates the hematoma to be punctured; and recognizing the hematoma region in each tomographic image among the multiple initial tomographic images to determine multiple tomographic images.

[0068] It can be understood that when the hematoma puncture device recognizes the hematoma region in each tomographic image among the multiple initial tomographic images, machine learning algorithms, convolutional neural network algorithms, or deep learning algorithms, etc. can be used, and the present application will not elaborate on this.

[0069] S202. Divide the hematoma region in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image. The hematoma morphology distribution result of the first tomographic image includes at least one of a solid hematoma region, a liquid hematoma region, and an edema region. The first tomographic image is any one of the multiple tomographic images.

[0070] It can be understood that the hematoma morphology refers to the specific characteristics of the hematoma. For example, a hematoma may consist of three parts: a solid hematoma, a liquid hematoma, and edema. The solid hematoma refers to the coagulated part of the hematoma, the liquid hematoma refers to the flowing part of the hematoma, and the edema refers to the edematous part formed in the tissue around the hematoma.

[0071] In the result of the hematoma morphology distribution, the solid area of the hematoma corresponds to the solid hematoma of the hematoma to be measured, the liquid area of the hematoma corresponds to the liquid hematoma of the hematoma to be measured, and the edema area corresponds to the edematous part of the hematoma to be measured.

[0072] It should be understood that the hematoma morphology is also reflected in the tomographic images, so the hematoma morphology can be divided according to the tomographic images.

[0073] In some embodiments, after obtaining a plurality of tomographic images, when dividing the hematoma morphology for the hematoma region in each tomographic image, a preset hematoma morphology distribution model can be used to obtain it. That is, by inputting the first tomographic image into the preset hematoma morphology distribution model, the hematoma morphology distribution result of the first tomographic image can be obtained.

[0074] It should be understood that the preset hematoma morphology distribution model is a pre-trained model. For example, it can be a machine learning model or a deep learning model, etc.

[0075] Exemplarily, the preset hematoma morphology distribution model can be a convolutional neural network (CNN) model, a generative adversarial network (GAN) model, a recurrent neural network (RNN), etc.

[0076] It can be understood that the machine learning model or the deep learning model can be trained using a conventional training process, and the dataset used for model training can be pre-annotated tomographic images, which will not be elaborated in this application.

[0077] It can be understood that on CT images, hematomas with different morphologies will have different CT values.

[0078] In some embodiments, the first tomographic image is a CT image. The process of dividing the hematoma morphology for the hematoma region in the first tomographic image includes: obtaining the CT value of each pixel point in the hematoma region of the first tomographic image; determining the hematoma morphology region to which each pixel point belongs according to the CT value of each pixel point. The hematoma morphology region includes any one of the solid area of the hematoma, the liquid area of the hematoma, and the edema area. The hematoma morphology distribution result of the first tomographic image includes the hematoma morphology region to which each pixel point belongs.

[0079] It should be understood that different hematoma morphology regions will have different CT value ranges. For each pixel point in the hematoma region, if the CT value of the pixel point falls within the CT value range of a certain hematoma morphology, then the pixel point belongs to the corresponding hematoma morphology region. The CT value ranges corresponding to different hematoma morphology regions can be obtained based on big data technology, which will not be elaborated in this application.

[0080] Figure 3 The CT image shown in Figure c of Figure 3 is the CT image after hematoma morphology division based on Figure b of Figure 3 Figure d of Figure 3 is a partial enlarged view of the position of the hematoma region in Figure c of

[0081] As Figure 3 shown in Figure d of

[0082] Exemplarily, in order to enable users to more clearly distinguish the three different hematoma morphology regions, different hematoma morphology regions can be marked with different colors.

[0083] S203. Determine the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution results corresponding to each tomographic image among multiple tomographic images.

[0084] It can be understood that the hematoma morphology distribution result of each tomographic image includes any one of the solid hematoma region, the liquid hematoma region, and the edema region, where: the solid hematoma region corresponds to the solid hematoma in the hematoma to be measured, and the injection of the hemolytic drug is to dissolve the solid hematoma in the hematoma to be measured into a liquid state, so as to facilitate subsequent drainage operations. The dosage of the hemolytic drug mainly depends on the size of the solid hematoma. Therefore, accurately determining the volume of the solid hematoma is an important prerequisite for obtaining the accurate dosage of the hemolytic drug.

[0085] In some embodiments, the process of determining the volume of the solid hematoma in the hematoma to be punctured may include: performing three-dimensional reconstruction on the solid hematoma in the hematoma to be punctured according to the solid hematoma region in each tomographic image among multiple tomographic images to obtain a three-dimensional model of the solid hematoma in the hematoma to be punctured; determining the volume of the solid hematoma in the hematoma to be punctured according to the three-dimensional model of the solid hematoma in the hematoma to be punctured. In this embodiment, by using the solid hematoma region in each tomographic image among multiple tomographic images to perform three-dimensional reconstruction on the solid hematoma, the volume of the solid hematoma can be obtained, and the method is simple and effective.

[0086] In some other embodiments, the process of determining the volume of the solid hematoma in the hematoma to be punctured may include: First, three-dimensional reconstruction of the hematoma to be punctured is performed by using the hematoma morphological distribution results in each of the plurality of tomographic images, and a three-dimensional model of the hematoma to be punctured is obtained; then, a three-dimensional model of the solid hematoma is separated from the three-dimensional model of the hematoma to be punctured; and further, based on the three-dimensional model of the solid hematoma in the hematoma to be punctured, the volume of the solid hematoma in the hematoma to be punctured is determined.

[0087] It should be understood that the process of three-dimensional reconstruction can be completed by using conventional software tools. For example, the software tools may include, but are not limited to: Mimics, 3-Matic, or Geomagic, etc. After determining the three-dimensional model of the solid hematoma, the volume of the solid hematoma can be measured by using software tools: for example, the three-dimensional model of the solid hematoma can be imported into the software for measuring volume, or the volume can be measured directly in the software tool for three-dimensional modeling using the attributes of the three-dimensional model. Those skilled in the art can make selections according to needs, and the present application will not elaborate on this.

[0088] In some embodiments, the process of determining the volume of the solid hematoma in the hematoma to be punctured may include: determining the number of voxels in the solid region of the hematoma in each tomographic image according to the hematoma morphological distribution result corresponding to each tomographic image; summing up the numbers of voxels corresponding to the plurality of tomographic images to obtain the total number of voxels, and the total number of voxels corresponds to the solid hematoma in the hematoma to be punctured; and determining the volume of the solid hematoma in the hematoma to be punctured according to the total number of voxels and the volume of each voxel. In this embodiment, the volume of the solid hematoma can also be determined by the voxels in the tomographic image, with a relatively small amount of calculation and the result can be obtained relatively quickly.

[0089] It should be understood that a voxel in a tomographic image refers to a small volume element artificially divided on the tomogram and is the basic unit in a medical image. For example, the size of the voxel can be divided into about 0.5 - 2 mm in length and width according to the imaging resolution requirements of the tomographic image, and the height is the thickness of the tomogram. The traditional thickness is about 3 - 10 mm or about 0.5 - 3 mm for the new technology. In the tomographic image, the position coding of the voxel is the same as that of the pixel, that is, a pixel in the tomographic image can correspond to a voxel. For example, in a CT image, each voxel represents a certain amount of tissue volume. Therefore, after obtaining the total number of voxels of the solid hematoma, multiplying the total number of voxels by the volume corresponding to one voxel can obtain the volume of the solid hematoma.

[0090] Exemplarily, in the process of determining the volume of the solid hematoma according to the total number of voxels in the solid blood, other clinical data can also be combined to correct the obtained volume of the solid hematoma to improve the accuracy, and the present application will not elaborate on this.

[0091] S204. Determine the dosage of the hemolytic drug for the hematoma to be punctured according to the volume of the solid hematoma in the hematoma to be punctured.

[0092] It should be understood that the solid hematoma part in the hematoma to be punctured is positively correlated with the dosage of the hemolytic drug. For example, the linear relationship between the volume of the solid hematoma and the dosage of the hemolytic drug can be obtained in advance. After obtaining the volume of the solid hematoma, substituting the volume of the solid hematoma into this linear relationship can obtain the dosage of the hemolytic drug.

[0093] In the above hematoma puncture method, the volume of the solid hematoma is determined through the hematoma morphology distribution result, and then the dosage of the hemolytic drug is determined according to the volume of the solid hematoma, thereby avoiding the doctor's estimation of the dosage of the hemolytic drug solely based on experience, improving the accuracy of the dosage of the hemolytic drug, and thus ensuring the full dissolution of the solid hematoma during the puncture process and ensuring a good effect of the hematoma puncture.

[0094] It can be understood that after determining the dosage of the hemolytic drug corresponding to the hematoma to be punctured, it is necessary to puncture the hematoma to be punctured and inject the hemolytic drug according to the dosage of the hemolytic drug; after the solid hematoma is dissolved, aspirate the hematoma to complete the final hematoma puncture process.

[0095] In some embodiments, after determining the dosage of the hemolytic drug for the hematoma to be punctured, the subsequent injection of the hemolytic drug and the hematoma aspiration process can be operated by a doctor, that is, the injection of the hemolytic drug and the hematoma aspiration process can be completed manually, and this application will not elaborate on this.

[0096] In some other embodiments, after determining the dosage of the hemolytic drug for the hematoma to be punctured, the subsequent injection of the hemolytic drug and the hematoma aspiration process can also be realized by the hematoma puncture device. That is, in some embodiments, the hematoma puncture method further includes: S205 to S208. The following will elaborate on S205 to S208.

[0097] S205. Determine the target tomographic image from multiple tomographic images. The hematoma morphology distribution result of the target tomographic image includes a solid hematoma area, and the area of the solid hematoma area in the target tomographic image is greater than the first preset threshold.

[0098] It can be understood that in addition to satisfying the condition of a relatively large solid hematoma area, the target tomographic image should also meet the clinical puncture conditions. The judgment of the clinical puncture conditions can be placed before the judgment conditions of the solid hematoma area, that is, first determine the tomographic images that meet the clinical puncture conditions from multiple tomographic images, and then determine the target tomographic image from the tomographic images that meet the clinical puncture conditions. Among them, meeting the clinical puncture conditions may include: avoiding important tissues such as nerves and blood vessels.

[0099] Exemplarily, the target tomographic image can also be the tomographic image with the largest area of the solid hematoma region among multiple tomographic images; alternatively, the target tomographic image can be the tomographic image with the largest hematoma region and the area of the solid hematoma region greater than the first preset threshold among multiple tomographic images. The present application does not enumerate this.

[0100] It can be understood that the first preset threshold can be set as needed, and the present application does not limit this.

[0101] S206. Determine the initial puncture path according to the hematoma morphological distribution result of the target tomographic image, and the initial puncture path passes through the solid hematoma region in the target tomographic image.

[0102] It can be understood that after determining the target tomographic image, the initial puncture path is determined according to the hematoma morphological distribution result of the target tomographic image. The initial puncture path can also be referred to as the planned puncture path. In the embodiments of the present application, when planning the initial path, the hematoma morphological distribution result of the target tomographic image is considered, which improves the accuracy of the initial puncture path.

[0103] Exemplarily, when the solid hematoma region in the target tomographic image is a complete region, or in other words, the solid hematoma region is a region not divided by other morphologies, the initial puncture path can be the puncture path passing through the maximum outer diameter of the solid hematoma region in the target tomographic image.

[0104] For example, when the solid hematoma region in the target tomographic image includes multiple regions, or in other words, the solid hematoma region is multiple sub-regions scattered in the liquid hematoma region, the initial puncture path can be the puncture path passing through the largest number of sub-regions of the solid hematoma region.

[0105] For another example, if the overall volume of the hematoma to be punctured is relatively large, then the initial puncture path can also include multiple planned paths, and multiple paths are punctured at different parts of the hematoma to be punctured; in this case, different planned paths can correspond to the same or different target tomographic images, and the present application does not elaborate on this.

[0106] It should be understood that the process of planning the initial puncture path can refer to actual clinical experience, and the present application does not elaborate on this.

[0107] S207. Determine the position information of the drug injection target according to the initial puncture path, and the drug injection target is located in the solid hematoma region in the target tomographic image.

[0108] In the embodiments of the present application, the drug injection target is the site for injecting the hemolytic drug, that is, the hemolytic drug needs to be injected at the position of the drug injection target. The drug injection target is located in the solid hematoma region in the target tomographic image, so that it can be ensured that the injected hemolytic drug can fully contact the solid hematoma in the hematoma to be punctured, and thus play a greater role.

[0109] It can be understood that the position information of the drug injection target can be the coordinate information of the drug injection target, and the coordinate system where the coordinate information is located can be the coordinate system of the hematoma puncture device or the coordinate system of the robotic arm. The present application does not limit this.

[0110] In some embodiments, the drug injection target can be located on the initial puncture path, and the drug injection target is located at the center of the solid hematoma area in the target tomographic image.

[0111] In some other embodiments, the drug injection target can also be multiple sites on the initial puncture path. For example, for a relatively long and narrow solid hematoma area, the drug injection target can be multiple sites, and the multiple sites are evenly distributed in the length direction of the solid hematoma area on the initial puncture path.

[0112] In some other embodiments, determining the position information of the drug injection target according to the initial puncture path includes: controlling a pressure probe to penetrate the hematoma to be punctured of the target object according to the initial puncture path to obtain the actual puncture path, and the pressure information and position information of multiple sites on the actual puncture path; determining the position information of the drug injection target according to the pressure information and position information of the multiple sites, and the drug injection target is located on the actual puncture path. In this embodiment, before determining the drug injection target, actual puncture is performed through the pressure probe, and then the actual puncture path and the pressure information and position information of multiple sites on the actual puncture path are obtained. The pressure information and position information obtained by the actual puncture of the pressure probe can reflect the actual morphological distribution inside the hematoma. Therefore, it can play a certain role in calibrating the result of the hematoma morphological distribution obtained based on tomographic image processing. Therefore, determining the position information of the drug injection target based on the pressure information and position information of multiple sites is closer to the actual morphological distribution inside the hematoma, improving the accuracy of the position information of the drug injection target.

[0113] It can be understood that the pressure information and position information of multiple sites on the actual puncture path can be obtained during the process of the pressure probe penetrating the hematoma to be punctured, and the multiple sites are evenly distributed sites.

[0114] For example, the distance between adjacent sites can be 1 mm, 0.5 mm or 1 pixel, that is, during the process of the pressure probe penetrating the hematoma to be punctured, the pressure value is measured every 1 mm, 0.5 mm or 1 pixel of distance, and a position information is recorded.

[0115] Exemplarily, based on the pressure information and position information of multiple sites on the actual puncture path, a pressure-position curve can be fitted. In the pressure-position curve, it is possible to determine which parts of the actual path pass through the solid hematoma (i.e., the parts where the pressure value continuously exceeds the preset threshold), and the drug injection target can be determined in the parts of the actual path that pass through the solid hematoma. Of course, the determination of the drug injection target is similar to the above rules and will not be elaborated here.

[0116] It should be understood that during the puncture process, although the initial path is planned in advance, due to the existence of various errors in the actual puncture process, there must be a certain difference between the actual puncture path and the initial puncture path. Therefore, after the puncture is performed using the pressure probe, the puncture path can be compared with the initial path. When the puncture path is close enough to the initial puncture path, the puncture path is used as the actual puncture path. When the difference between the puncture path and the initial puncture path is large, the puncture can be performed again.

[0117] For example, the length of the puncture path can be compared with the length of the initial puncture path. When the absolute value of the difference between the length of the puncture path and the length of the initial puncture path is less than the second preset threshold, the puncture path is determined as the actual puncture path; that is, the absolute value of the difference between the length of the actual puncture path and the length of the initial puncture path is less than the second preset threshold. The second preset threshold can be set as needed and is not limited here.

[0118] It can be understood that after the actual puncture path is obtained by puncturing with the pressure probe, the probe cannula can be left in place. When the puncture needle is used for puncture later, the puncture needle can enter along the cannula to ensure that the hemolytic drug can be injected into the drug injection target.

[0119] S208. According to the position information of the drug injection target and the dosage of the hemolytic drug, control the puncture needle to puncture the hematoma to be punctured.

[0120] It can be understood that the process of clinically controlling the puncture needle to puncture the hematoma to be punctured can include two processes: injecting the hemolytic drug and aspirating the hematoma; when injecting the hemolytic drug and aspirating the hematoma, the puncture needle for injecting the hemolytic drug and the puncture needle for aspirating the hematoma can enter through the same cannula.

[0121] Exemplarily, for the scheme with the pressure probe puncture process, both the puncture needle for injecting the hemolytic drug and the puncture needle for aspirating the hematoma enter along the cannula left by the pressure probe; for the scheme without the pressure probe puncture process, the puncture needle for injecting the hemolytic drug leaves a cannula, and the puncture needle for aspirating the hematoma enters through the cannula left by the puncture needle for injecting the hemolytic drug.

[0122] It should be understood that the dosage of the hemolytic drug is the dose of the hemolytic drug injected into the hematoma to be punctured by the puncture needle through which the hematoma puncture device injects the hemolytic drug. Therefore, the drug injection target point is the site where the hematoma puncture device injects the hemolytic drug into the hematoma to be punctured through the puncture needle for injecting the hemolytic drug.

[0123] In this implementation manner, a target tomographic image with the area of the solid region of the hematoma greater than a certain value is determined from multiple tomographic images, and then the initial puncture path is determined according to the hematoma morphology distribution result of the target tomographic image, and the drug injection target point is determined according to the initial puncture path. That is, when planning the puncture path, the hematoma morphology distribution result is fully considered, so that the finally obtained drug injection target point is located in the solid region of the hematoma, so that the hemolytic drug can be injected into the solid hematoma on the hematoma to be punctured, thus ensuring the full exertion of the function and efficacy of the hemolytic drug.

[0124] Figure 4 This is a schematic flowchart of the hematoma morphology division method provided by an embodiment of the present application. As Figure 4 described, the hematoma morphology division method includes: S401 to S402.

[0125] S401. Obtain multiple tomographic images of the target object. Each tomographic image in the multiple tomographic images includes a hematoma region, and the hematoma region in each tomographic image includes the region occupied by the hematoma to be punctured of the target object in each tomographic image.

[0126] In some embodiments, S401 may include: obtaining multiple initial tomographic images of the target object, where the multiple initial tomographic images are tomographic images of the body part of the target object where the hematoma to be punctured is generated; and identifying the hematoma region in each of the multiple initial tomographic images to determine multiple tomographic images.

[0127] S402. Divide the hematoma region in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image. The morphology distribution result of the first tomographic image includes at least one of a solid hematoma region, a liquid hematoma region, and an edema region. The first tomographic image is any one of the multiple tomographic images.

[0128] In some embodiments, S402 may include: inputting the first tomographic image into a preset hematoma morphology distribution model to obtain the hematoma morphology distribution result of the first tomographic image.

[0129] In some other embodiments, the first tomographic image is a CT image, and S402 may include: obtaining the CT value of each pixel in the hematoma area in the first tomographic image; determining, according to the CT value of each pixel, the hematoma morphology area to which each pixel belongs, where the hematoma morphology area includes any one of a solid hematoma area, a liquid hematoma area, and an edema area, and the hematoma morphology distribution result of the first tomographic image includes the hematoma morphology area to which each pixel belongs.

[0130] Figure 4 Step S401 in the embodiment shown is the same as Figure 2 Step S201 in the embodiment shown, Figure 4 Step S402 in the embodiment shown is the same as Figure 2 Step S201 in the embodiment shown. Therefore, steps S401 and S402 can be understood by referring to the descriptions of steps S201 and S202 and will not be elaborated here.

[0131] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0132] Corresponding to the hematoma morphology division method in the above embodiments, the embodiments of the present application further provide a hematoma morphology division device, which includes units for executing each step in the hematoma morphology division method in any of the above embodiments.

[0133] The following exemplarily describes the hematoma morphology division device in the embodiments of the present application with reference to the accompanying drawings. For the sake of convenience of description, only parts related to the embodiments of the present application are shown.

[0134] Referring to Figure 5 , the hematoma morphology division device 500 includes: an acquisition unit 510 and a determination unit 520, where:

[0135] The acquisition unit 510 is configured to acquire a plurality of tomographic images of a target object, where each tomographic image in the plurality of tomographic images includes a hematoma area, and the hematoma area in each tomographic image includes: the area occupied by the hematoma to be punctured of the target object in each tomographic image.

[0136] The determination unit 520 is configured to perform hematoma morphology division on the hematoma area in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image, where the morphology distribution result of the first tomographic image includes at least one of a solid hematoma area, a liquid hematoma area, and an edema area, and the first tomographic image is any one of the plurality of tomographic images.

[0137] It should be understood that for the specific processes of each unit in the hematoma morphology division device 500 to execute the corresponding steps in the above-mentioned hematoma morphology division method, please refer to the description related to the hematoma morphology division method in the previous text. For the sake of brevity, it will not be elaborated here.

[0138] See Figure 6 This is a schematic structural diagram of a hematoma puncture device 6 provided in an embodiment of the present application. As Figure 6 shown, the hematoma puncture device in the embodiment of the present application includes a processor 600, and the processor 600 is used to execute the steps performed by the hematoma puncture device in any of the above-mentioned hematoma puncture method embodiments.

[0139] In some other embodiments, the processor 600 is used to execute the following steps: obtaining a plurality of tomographic images of a target object, each tomographic image in the plurality of tomographic images includes a hematoma region, and the hematoma region in each tomographic image includes: the region occupied by the hematoma to be punctured of the target object in each tomographic image; performing hematoma morphology division on the hematoma region in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image, the hematoma morphology distribution result of the first tomographic image includes at least one of a solid hematoma region, a liquid hematoma region, and an edema region, and the first tomographic image is any one of the plurality of tomographic images; determining the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution results corresponding to each tomographic image in the plurality of tomographic images; determining the dosage of the hemolytic drug for the hematoma to be punctured according to the volume of the solid hematoma in the hematoma to be punctured.

[0140] It should be understood that the processor 600 can directly obtain a plurality of tomographic images from a medical imaging device, or indirectly obtain a plurality of tomographic images from a medical imaging device; the present application does not limit this. For example, the medical imaging device can directly report a plurality of tomographic images to the processor 600, or the processor 600 can actively obtain a plurality of tomographic images from the medical imaging device; or after the medical imaging device scans a plurality of tomographic images, it can be sent to a transfer device, and the processor 600 obtains the plurality of tomographic images from the transfer device.

[0141] Exemplarily, as Figure 6 shown, the hematoma puncture device in some other embodiments further includes a memory 601 and a computer program 602 stored in the memory 601 and executable on the processor 600. When the processor 600 executes the computer program 602, it implements the steps performed by the processor of the hematoma puncture device in any of the above-mentioned hematoma puncture method embodiments.

[0142] In some other embodiments, when the processor 600 executes the computer program 602, the following steps are performed: obtaining a plurality of tomographic images of a target object, each tomographic image of the plurality of tomographic images including a hematoma region, and the hematoma region in each tomographic image including: the region occupied by the hematoma to be punctured of the target object in each tomographic image; dividing the hematoma region in the first tomographic image to obtain a hematoma morphology distribution result of the first tomographic image, the hematoma morphology distribution result of the first tomographic image including at least one of a solid hematoma region, a liquid hematoma region, and an edema region, and the first tomographic image being any one of the plurality of tomographic images; determining the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution result corresponding to each tomographic image among the plurality of tomographic images; and determining the dosage of the hemolytic drug for the hematoma to be punctured according to the volume of the solid hematoma in the hematoma to be punctured.

[0143] Figure 6 The hematoma puncture device 6 is merely an example and does not constitute a limitation on the hematoma puncture device 6. The hematoma puncture device 6 may include more or fewer components than those shown in the figure, or combine certain components, or have different components.

[0144] The so-called processor 600 may be a central processing unit (CPU), and the processor 600 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0145] The memory 601 may be an internal storage unit of the hematoma puncture device 6 in some embodiments, such as a hard disk or memory of the hematoma puncture device 6. The memory 601 may also be an external storage device of the hematoma puncture device 6 in other embodiments, such as a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the hematoma puncture device 6. Further, the memory 601 may also include both the internal storage unit and the external storage device of the hematoma puncture device 6. The memory 601 is used to store an operating system, application programs, a boot loader, data, and other programs, such as program codes of the computer program. The memory 601 may also be used to temporarily store data that has been output or will be output.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0147] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it can implement the steps executed by the hematoma puncture device in each of the above-mentioned hematoma puncture method embodiments, the steps executed by the hematoma puncture device in the hematoma morphology division method embodiments, or the steps executed by the processor in the above-mentioned hematoma puncture device embodiments.

[0148] The embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, it enables the mobile terminal to execute the steps executed by the hematoma puncture device in each of the above-mentioned hematoma puncture method embodiments, the steps executed by the hematoma puncture device in the hematoma morphology division method embodiments, or the steps executed by the processor in the above-mentioned hematoma puncture device embodiments.

[0149] An embodiment of the present application also provides a chip in an electronic device. The chip includes a processing unit and a communication unit. The processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, a pin, or a circuit. The processing unit can execute computer instructions to cause the electronic device to perform the steps executed by the hematoma puncture device in any of the hematoma puncture methods provided in the embodiments of the present application, the steps executed by the hematoma puncture device in the embodiment of the hematoma morphology division method, or the steps executed by the processor in the above-mentioned embodiment of the hematoma puncture device.

[0150] Optionally, the computer instructions are stored in a storage unit.

[0151] Optionally, the storage unit is a storage unit within the chip, such as a register, a cache, etc. The storage unit may also be a storage unit outside the chip within the terminal, such as a ROM or other types of static storage devices that can store static information and instructions, a random RAM, etc. Among them, the processor mentioned anywhere above may be a CPU, a microprocessor, an ASIC, or an integrated circuit for controlling the execution of the program of the above-mentioned feedback information transmission method. The processing unit and the storage unit can be decoupled and are respectively arranged on different physical devices, and are connected by wired or wireless means to realize the respective functions of the processing unit and the storage unit, so as to support the system chip to realize various functions in the above embodiments. Or, the processing unit and the memory may also be coupled on the same device.

[0152] Among them, the hematoma puncture device, the computer-readable storage medium, the computer program product, or the chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be elaborated here.

[0153] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned embodiment methods of this application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the projection device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0154] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0155] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0156] In the embodiments provided in this application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical, or other form.

[0157] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0158] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A hematoma puncture device, characterized in that, the hematoma puncture device includes: a processor, and the processor is configured to perform the following steps: Obtain a plurality of tomographic images of a target object, each of the plurality of tomographic images including a hematoma region, and the hematoma region in each tomographic image includes: the region occupied by the hematoma to be punctured of the target object in each tomographic image; Perform hematoma morphology division on the hematoma region in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image, and the hematoma morphology distribution result of the first tomographic image includes: at least one of a solid hematoma region, a liquid hematoma region, and an edema region, and the first tomographic image is any one of the plurality of tomographic images; Determine the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution result corresponding to each tomographic image among the plurality of tomographic images; Determine the dosage of the hemolytic drug for the hematoma to be punctured according to the volume of the solid hematoma in the hematoma to be punctured.

2. The hematoma puncture device according to claim 1, characterized in that, the determining the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution result corresponding to each tomographic image among the plurality of tomographic images includes: Perform three-dimensional reconstruction on the solid hematoma in the hematoma to be punctured according to the solid hematoma region in each tomographic image among the plurality of tomographic images to obtain a three-dimensional model of the solid hematoma in the hematoma to be punctured; Determine the volume of the solid hematoma in the hematoma to be punctured according to the three-dimensional model of the solid hematoma in the hematoma to be punctured.

3. The hematoma puncture device according to claim 1, characterized in that, the determining the volume of the solid hematoma in the hematoma to be punctured according to the hematoma morphology distribution result corresponding to each tomographic image among the plurality of tomographic images includes: Determine the number of voxels in the solid hematoma region in each tomographic image according to the hematoma morphology distribution result corresponding to each tomographic image; Sum the numbers of voxels corresponding to the plurality of tomographic images respectively to obtain the total number of voxels, and the total number of voxels corresponds to the solid hematoma in the hematoma to be punctured; Determine the volume of the solid hematoma in the hematoma to be punctured according to the total number of voxels and the volume of each voxel.

4. The hematoma puncture device according to claim 1, characterized in that, the processor further performs the following steps: Determine a target tomographic image from the plurality of tomographic images, the hematoma morphology distribution result of the target tomographic image includes a solid hematoma region, and the area of the solid hematoma region in the target tomographic image is greater than a first preset threshold; Determine an initial puncture path according to the hematoma morphology distribution result of the target tomographic image, and the initial puncture path passes through the solid hematoma region in the target tomographic image; Determine the position information of the drug injection target according to the initial puncture path, and the drug injection target is located in the solid hematoma region in the target tomographic image; Control the puncture needle to puncture the hematoma to be punctured according to the position information of the drug injection target and the dosage of the hemolytic drug.

5. The hematoma puncture device according to claim 4, wherein, the initial puncture path penetrates the hematoma area on the target tomographic image; determining the position information of the drug injection target according to the initial puncture path includes: controlling a pressure probe to penetrate the hematoma to be punctured of the target object according to the initial puncture path to obtain an actual puncture path, and pressure information and position information of a plurality of sites on the actual puncture path; determining the position information of the drug injection target according to the pressure information and position information of the plurality of sites, and the drug injection target is located on the actual puncture path.

6. The hematoma puncture device according to claim 5, wherein, the absolute value of the difference between the length of the actual puncture path and the length of the initial puncture path is less than a second preset threshold.

7. The hematoma puncture device according to any one of claims 1 to 6, wherein, acquiring a plurality of tomographic images of the target object includes: acquiring a plurality of initial tomographic images of the target object, and the plurality of initial tomographic images are tomographic images of the body part of the target object where the hematoma to be punctured is generated; identifying the hematoma area in each of the plurality of initial tomographic images to determine the plurality of tomographic images.

8. The hematoma puncture device according to any one of claims 1 to 6, wherein, dividing the hematoma area in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image includes: inputting the first tomographic image into a preset hematoma morphology distribution model to obtain the hematoma morphology distribution result of the first tomographic image.

9. The hematoma puncture device according to any one of claims 1 to 6, wherein, the first tomographic image is a CT image, and dividing the hematoma area in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image includes: acquiring the CT value of each pixel point in the hematoma area of the first tomographic image; determining the hematoma morphology area to which each pixel point belongs according to the CT value of each pixel point, and the hematoma morphology area includes any one of the hematoma solid area, the hematoma liquid area, and the edema area, and the hematoma morphology distribution result of the first tomographic image includes the hematoma morphology area to which each pixel point belongs.

10. The hematoma puncture device according to any one of claims 1 to 6, wherein, the hematoma puncture device further includes: a robotic arm and a hematoma puncture end, the processor is communicatively connected to the robotic arm, and the hematoma puncture end is connected to one end of the robotic arm; the processor is further configured to control the movement of the robotic arm so that the robotic arm drives the hematoma puncture end to move to complete the puncture of the hematoma to be punctured.

11. A method for dividing hematoma morphology, wherein, the method includes: Obtain multiple tomographic images of a target object, each of the multiple tomographic images including a hematoma area, and the hematoma area in each tomographic image includes: the area occupied by the hematoma to be punctured of the target object in each tomographic image; Perform hematoma morphology division on the hematoma area in the first tomographic image to obtain the hematoma morphology distribution result of the first tomographic image, and the morphology distribution result of the first tomographic image includes: at least one of a solid hematoma area, a liquid hematoma area, and an edema area, and the first tomographic image is any one of the multiple tomographic images.

12. A hematoma morphology division device, characterized in that, the device includes units for performing each step in the hematoma morphology division method as described in claim 11.

13. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it executes the steps executed by the processor in the hematoma puncture device as described in any one of claims 1 to 10, or when the computer program is executed by a processor, it executes the steps in the hematoma morphology division method as described in claim 11.

Images