Lung puncture angle positioning method under auxiliary CT (Computed Tomography) guidance and related product

Abstract

The invention discloses a lung puncture angle positioning method under auxiliary CT (Computed Tomography) guidance and a related product, and relates to a lung puncture angle positioning device under CT guidance, the lung puncture angle positioning method under auxiliary CT guidance and a puncture program based on a radiography image, so that quick and accurate positioning of a puncture point is realized; therefore, the number of CT scanning times and the radiation dose accepted by the patient are reduced, the workload of medical staff is relieved, the operation efficiency and safety are improved, and the treatment effect and satisfaction degree of the patient are improved by improving the positioning accuracy, shortening the operation time, reducing the operation risk and the occurrence rate of complications.

Description

manual Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a method and related products for assisted CT-guided lung puncture angle positioning, used for preoperative positioning. Background Technology

[0002] In traditional CT-guided lung biopsy, determining the location and angle of the puncture point often requires multiple CT scans and adjustments, necessitating frequent entry and exit from the CT room for operation and observation. This not only increases the workload for medical staff but can also affect the efficiency and accuracy of the puncture. Due to a lack of effective auxiliary devices and methods, adjusting the puncture point's location and angle often takes a considerable amount of time, increasing patient discomfort and pain. Furthermore, during the puncture, the lung mass moves continuously with respiration, and important structures such as arteries and veins may be embedded within the mass, making precise puncture point location particularly difficult. Traditional positioning methods often fail to achieve ideal accuracy, increasing surgical risks and the incidence of complications.

[0003] To address the above issues, it is necessary to design a method and related products for CT-guided lung puncture angle localization to achieve rapid and accurate positioning of the puncture point. This would reduce the number of CT scans and the radiation dose received by the patient, thereby reducing the workload of medical staff, improving surgical efficiency and safety, and lowering surgical risks and complication rates by improving positioning accuracy and reducing surgical operation time, ultimately improving patient treatment outcomes and satisfaction. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned above, and to this end, a method for locating the angle of lung puncture under CT guidance and related products are provided.

[0005] In a first aspect, a lung puncture angle positioning device under CT guidance is provided, comprising: a mounting body, a positioning device body, a fixed base, an iodine positioning plate, a locking bolt, a locking nut, a telescopic rod, a dial, a scale indicator, a telescopic rod locker, a holding part adjuster, a holding part, an angle adjustment slide, a transverse wire of the iodine positioning plate, a longitudinal wire of the iodine positioning plate, a base plate of the iodine positioning plate, and an iodine positioning ball.

[0006] The mounting body and the positioning device body are connected by a hinge, and the fixed base is connected to the mounting body by a bayonet.

[0007] The assembly is equipped with a dial and an angle adjustment slide.

[0008] The positioning device body is equipped with a scale indicator, a telescopic rod lock, a holding part adjuster, a holding part, and a telescopic rod.

[0009] Preferably, the scale indicator is an LED light strip.

[0010] The fixed base is equipped with locking bolts and locking nuts.

[0011] The iodine positioning plate consists of horizontal and vertical wires intersecting the substrate, with iodine positioning balls positioned at the intersections.

[0012] Preferably, the transverse and longitudinal wires are made of metal.

[0013] The iodine-positioning ball is a metal ball, which is wrapped with a polymer material to disrupt the solution.

[0014] Preferably, the metal ball is made of stainless steel.

[0015] Secondly, a method for CT-guided lung puncture angle localization is provided, including: Acquire contrast images of the object to be punctured, the contrast images including information of the iodine positioning plate, the iodine positioning plate being used to visualize the target tissue of the object to be punctured, the target tissue being the tissue to be punctured, the contrast images being acquired from the CT images under the condition that the relative pose of the object to be punctured is the target pose. By segmenting the contrast image, the first location of the target tissue in the contrast image is determined; A first CT image of the object to be punctured is acquired. The first CT image is acquired from the CT image when the relative pose of the CT image and the object to be punctured is the target pose. The acquisition time of the first CT image is outside the development time of the iodine positioning plate. Based on the first location, a non-puncture area is determined from the first CT image, the non-puncture area including the target tissue.

[0016] In any embodiment of this application, the acquisition of the target conversion relationship includes: acquiring a second CT image, wherein the second CT image is acquired from the CT image, the acquisition time of the first CT image is earlier than the acquisition time of the first CT image, and the second CT image includes a first reference point and a second reference point. Determine the first distance between the first reference point and the second reference point in the pixel coordinate system; Obtain the second distance between the first object point and the second object point in the world coordinate system; The target transformation relationship is obtained based on the first distance and the second distance.

[0017] In any embodiment of this application, the second puncture path is used to control the puncture execution device to puncture the object to be punctured according to the second puncture path; After converting the first puncture path into a second puncture path in the world coordinate system based on the target transformation relationship, the method further includes: Determine the angle between the second puncture path and the third puncture path, wherein the third puncture path is a puncture path determined based on the puncture execution device; Based on the included angle, a first guidance message is sent to the puncture execution device. The first guidance message is used to guide the puncture execution device to adjust the included angle to be less than or equal to the included angle threshold.

[0018] In any embodiment of this application, when the relative pose of the object to be punctured and the CT probe is the target pose, the target information included in the CT image of the object to be punctured acquired by the CT probe satisfies a preset condition, and the target information is information used to determine the lesion of the object to be punctured.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0020] In this embodiment, the lung puncture procedure based on contrast-enhanced images, after acquiring the CT image, determines a target region image of the same size from the CT image. If the correlation of the target region image is greater than a correlation threshold, a lung puncture angle positioning device is obtained based on the coordinate difference between the target region image and the CT image in the CT coordinate system. By determining a target region image of the same size as the CT image, compared to calculating the correlation of all pixels in any given pixel in the CT image, the number of correlation calculations in the contrast-enhanced image-based puncture procedure is reduced, thereby improving the speed of image registration. After determining the lung puncture angle positioning device, the contrast-enhanced image-based puncture procedure adjusts the CT image using the lung puncture angle positioning device to obtain the target image. Since the CT image includes the target region image, image transformation is performed on the target region image simultaneously with the CT image. The target image includes the image transformed using the target region image from the lung puncture angle positioning device. Image alignment is then performed using the image transformed using the target region image from the lung puncture angle positioning device.

[0021] Thirdly, a puncture procedure based on contrast images is provided, comprising: a processor, a memory, a transmitting device, an input device, and an output device, wherein the memory is used to store computer program code, the computer program code including computer instructions, and when the processor executes the computer instructions, the puncture procedure based on contrast images performs the method as described in the second aspect above and any possible implementation thereof. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a CT-guided lung puncture angle positioning device.

[0023] Figure 2 This is a schematic diagram of the positioning device;

[0024] Figure 3 This is a structural diagram of the dial part of the mounting body.

[0025] Figure 4 This is a schematic diagram of the iodine positioning plate.

[0026] In the diagram: 1-Assembly body, 2-Fixed base, 3-Locking bolt, 4-Locking nut, 5-Telescopic rod, 6-Scale dial, 7-Scale indicator, 8-Telescopic rod lock, 9-Holding part adjuster, 10-Holding part, 11-Positioning device body, 12-Angle adjustment slide, 13-Hinge device, 14-Iodine positioning plate horizontal wire, 15-Iodine positioning plate vertical wire, 16-Positioning hole, 17-Positioning ball, 18-Base plate.

[0027] Figure 5 This is a schematic diagram of a method for determining the angle of lung puncture under CT guidance.

[0028] Figure 6 This is a schematic diagram of a CT angiography image provided for an embodiment of this application.

[0029] Figure 7 This is a schematic diagram of a puncture procedure based on contrast images provided in an embodiment of this application. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. It should be understood that in this application, "at least one" means one or more, "more" means two or more, and "at least two" means two or three or more.

[0032] It should be understood that the method embodiments of this application can also be implemented by a processor executing computer program code. The embodiments of this application are described below with reference to the accompanying drawings. Please refer to... Figure 5 , Figure 5 This is a schematic flowchart of a puncture method based on contrast images provided in an embodiment of this application.

[0033] 101. Obtain the angiographic image of the object to be punctured.

[0034] During a CT scan of a target object, the scan typically targets specific body parts, generating CT images that contain multiple organs within those parts. For example, a CT scan of the target object's chest cavity yields a CT image of the chest cavity, which includes organs such as the lungs and heart. Conversely, during a CT wave scan of the target object, the scan typically targets specific organs. For instance, a CT wave scan of the target object's lungs yields a CT image of the lungs. Because a CT image contains more features of the target object than a CT image, the size of a CT image is smaller than that of a CT image.

[0035] In one implementation of acquiring CT images, the puncture device receives the CT images and CT images input by an input component. The input component includes at least one of the following: an input device, a mouse, or a touchscreen.

[0036] In another implementation of acquiring CT images, the puncture device receives CT images transmitted by a terminal. The terminal includes at least one of the following: a computer or a server.

[0037] 102. By segmenting the above-mentioned contrast images, the first position of the target tissue on the positioning plate in the above-mentioned contrast images is determined.

[0038] In this embodiment, the contrast image includes information about the contrast agent, meaning the contrast image includes the contrast agent's imaging content. A contrast agent (also known as a contrasting agent) is a chemical product injected into the tissue of a subject to enhance image observation. These products have a density higher or lower than tissue without contrast agent injection, forming a contrast-display image that highlights the injected contrast agent in the image, thus facilitating observation of the injected contrast agent in the image. For example, after injecting a contrast agent into the artery of the subject to be punctured, a CT image of the artery including the subject's artery is acquired using a CT probe; in this case, the artery with injected contrast agent will be highlighted in the CT image.

[0039] Please see Figure 6 This application provides a developing image after the injection of contrast agent for an embodiment of the present application.

[0040] The puncture device can segment the contrast image to determine the pixels in the contrast image that are semantically related to the target tissue, and thus determine the target tissue in the contrast image and the first position of the target tissue in the contrast image.

[0041] 103. By segmenting the above-mentioned contrast images, the second position of the target tissue on the positioning plate in the above-mentioned contrast images is determined.

[0042] The puncture device can segment the contrast image to determine pixels in the contrast image that are semantically related to the target tissue, thereby determining the target tissue in the contrast image and the second position of the target tissue in the contrast image.

[0043] The above method enables secondary localization, making the image's position on the positioning plate more precise. The CT scan obtains the lesion coordinates, and the puncture tilt angle θ = arc tan(Δy / Δx) is calculated.

[0044] Install the fixed base 2 on the edge of the CT bed and fix the main body 1 of the mounting body with the locking bolt 3.

[0045] Adjust the iodine positioning plate ( Figure 4 ) to the patient's body surface, aligning the transverse and longitudinal wires 14 and 15 with the body surface grid markings;

[0046] Rotate the dial 6 to θ, lock the telescopic rod locking device 8, and puncture along the direction of the telescopic rod 5.

[0047] Postoperative angiography ( Figure 6 Verify the needle tip position. If the deviation is >2mm, fine-tune the angle and perform a second puncture.

[0048] The formula for calculating the tilt angle θ is: θ=arctan[(Y2-Y1) / (X2-X1)], where (X1,Y1) are the coordinates of the needle insertion point on the body surface, and (X2,Y2) are the coordinates of the lesion center. [(y2-y1) / (x2-x1)], where (x1,y1) are the coordinates of the needle insertion point on the body surface, and (x2,y2) are the coordinates of the lesion center.

[0049] 104. Adjust the above CT image using the above registration matrix to obtain the above target image.

[0050] In this embodiment, the puncture device uses a first registration matrix to perform image transformation on the CT image to obtain the target image. Since the CT image includes the target region image, the target region image is also transformed simultaneously with the CT image. The target image includes the image transformed using the first registration matrix. The image transformed using the first registration matrix is ​​aligned with the CT image.

[0051] The positioning ball 17 is made of a biodegradable material containing iodized oil, with a CT value >1000HU and clear imaging.

[0052] Preferably, the clamping part 10 can be replaced with a clamp for puncture needles of different specifications, suitable for 18G-22G needles.

[0053] As an optional implementation, the puncture device performs the following steps during step 101:

[0054] like Figure 4 As shown, the present invention also provides a CT-guided percutaneous lung biopsy positioning device, comprising a base plate 18. The upper surface of the base plate 18 is provided with at least two parallel iodine-coated positioning plate transverse wires 14 and iodine-coated positioning plate longitudinal wires 15, and two iodine-coated positioning plate longitudinal wires 15 perpendicular to the transverse wires 14. A positioning hole 16 penetrating the base plate 18 is provided at the intersection of the longitudinal wires 15 and the transverse wires 14, and a metal marker 17 is placed inside the positioning hole 16. This positioning device can reduce the number of CT scans, accurately locate the puncture point, reduce radiation exposure to patients and medical personnel caused by multiple CT scans, is easy to operate, and effectively shortens the time required for puncture positioning. In a preferred embodiment, the base plate 18 is made of medical-grade silicone. Medical-grade silicone is soft and absorbent, adhering closely to the patient's skin to improve positioning accuracy, maintains the hygiene of the positioning device, and can be cleaned, disinfected, and reused.

[0055] The metal marker 17 is an iron post, facilitating its gripping. The height of the metal marker 17 is greater than the thickness of the substrate 1, allowing for easy installation and removal on the substrate. The horizontal wires 14 of the iodine positioning plate are evenly spaced at 10mm intervals, and the vertical wires 15 of the iodine positioning plate are also evenly spaced at 10mm intervals, facilitating the reading of the puncture point coordinates. The positioning hole 16 has a diameter of 2mm, and the iron post has a diameter of 2mm. The positioning device is used as follows: Before scanning, the positioning device is placed on the skin at the puncture site. After one scan, the precise location of the puncture point is obtained. If the puncture point is exactly on the positioning iron post, the iron post at that point is removed, and the puncture point is marked. If the puncture point is between two positioning iron posts, two puncture points are marked (either vertically or horizontally). The distance between the two puncture points and the area requiring puncture positioning is measured by CT, accurately locating the puncture point.

[0056] The methods of the embodiments of this application have been described in detail above. The puncture procedure based on contrast images of the embodiments of this application is provided below.

[0057] Please see Figure 7 , Figure 7 This is a schematic diagram of a puncture procedure based on contrast imaging, provided in an embodiment of this application. The puncture procedure includes: an acquisition unit 201, a determination unit 202, a matrix computer unit 203, and a first adjustment unit 204. Optionally, the puncture procedure further includes a correlation calculation unit 205, a second adjustment unit 206, and a puncture unit 207. Specifically:

[0058] Acquisition unit 201 is used to acquire an angiographic image of the object to be punctured. The angiographic image includes information about the contrast agent, which is used to visualize the target tissue of the object to be punctured. The target tissue is tissue that is not intended to be punctured. The angiographic image is acquired by the CT probe when the relative pose of the CT probe and the object to be punctured is the target pose. Determination unit 202 is used to segment the angiographic image. Matrix computer unit 203 is used to acquire a first CT image of the object to be punctured. First adjustment unit 204 is used to adjust the first CT image when the relative pose of the CT probe and the object to be punctured is the target pose. The first CT image, acquired by the CT probe, is acquired outside the contrast agent's development time. A correlation calculation unit 205 is used to determine a non-puncture region from the first CT image based on the first location; the non-puncture region includes the target tissue. A second adjustment unit 206 is further used to determine a puncture path for the lesion of the object to be punctured in the second CT image. A puncture unit 207 is used to obtain a target transformation relationship, which is the transformation relationship between the pixel coordinate system and the world coordinate system of the first CT image; based on the target transformation relationship, the first puncture path is converted into a second puncture path in the world coordinate system.

[0059] In this embodiment, the contrast image of the object to be punctured includes information about the contrast agent, which is used to visualize the target tissue of the object to be punctured. The target tissue is the tissue that is not intended to be punctured. The contrast image is acquired by the CT probe in the target pose, where the relative pose between the CT probe and the object to be punctured is the target pose. Since the target tissue in the contrast image can be highlighted by the contrast agent, the puncture device can improve the accuracy of the first position by segmenting the contrast image after acquisition. However, when the first CT image of the object to be punctured is acquired, since the acquisition time of the first CT image is later than the acquisition time of the contrast image (the contrast agent's visualization time), the target tissue cannot be visualized by the contrast agent in the first CT image. Therefore, segmenting the first CT image to determine the position of the target tissue in the first CT image introduces a significant error. Furthermore, since the first CT image is acquired by the CT probe in the target pose when the relative pose of the CT probe and the object to be punctured is the target pose, the position of the target tissue in the first CT image has a high degree of matching with the position of the target tissue in the contrast image. Therefore, the puncture device determines the non-puncture area from the first CT image based on the first position. The non-puncture area includes the target tissue, which can improve the accuracy of the non-puncture area.

[0060] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0061] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium.

[0062] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory, random access memory, magnetic disks, or optical discs.

Claims

1. A method for CT-guided lung puncture angle positioning, characterized in that, Includes the following steps: 1) Obtain contrast images of the patient to be punctured using a positioning plate containing iodine; 2) Segment the contrast images to determine the first position of the target tissue on the povidone-iodine positioning plate; 3) Obtain the first CT image in the target pose, and delineate the non-puncture area from the CT image based on the first position; 4) Calculate the puncture tilt angle θ = arctan[(Y2-Y1) / (X2-X1)] based on the coordinates of the needle insertion point (X1,Y1) and the lesion center (X2,Y2) on the body surface; 5) Adjust the dial (6) to angle θ, lock the telescopic rod (5) and puncture in the direction.

2. The method according to claim 1, characterized in that, Also includes: The needle tip position is verified by a second CT scan. If the deviation is greater than 2mm, the angle is finely adjusted and the needle is punctured again.

3. The method according to claim 1, characterized in that, The determination of the non-puncture area includes: comparing the registration matrix of the contrast image and the first CT image, aligning the target tissue coordinates, and generating an avoidance path.

4. A device for assisted CT-guided lung puncture angle positioning, characterized in that, include: The main body (1) of the fitting body and the main body (11) of the positioning device are connected by a hinge device (13); the fixed base (2) is connected to the main body (1) of the fitting body through a bayonet and is provided with a locking bolt (3) and a locking nut (4); the iodine positioning plate is composed of a base plate (18), a horizontal wire (14) and a vertical wire (15) inserted on the base plate, and a positioning ball (17) containing iodized oil is provided at the intersection of the horizontal and vertical wires; the main body (1) of the fitting body is provided with a scale (6) and an angle adjustment slide (12); the main body (11) of the positioning device is provided with a telescopic rod (5), a scale indicator (7), a telescopic rod lock (8), a holding part adjuster (9) and a puncture needle holding part (10).

5. The apparatus according to claim 4, characterized in that, The scale indicator (7) is an LED light strip used to display the puncture angle in real time.

6. The apparatus according to claim 4, characterized in that, The horizontal wire (14) and vertical wire (15) are made of metal material with a spacing of 10 mm. The positioning ball (17) is a stainless steel metal ball wrapped with a polymer material containing iodized oil.

7. The apparatus according to claim 4, characterized in that, The substrate (18) is made of medical silicone, and the positioning hole (16) has a diameter of 2mm, which is suitable for detachable metal markers.

8. A puncture procedure based on contrast imaging, characterized in that, Includes a processor, memory, and execution module. When the program is executed by the processor, it implements: 1) Receive CT images and extract images of the target region; 2) Calculate the registration matrix between the target region image and the reference image; 3) Adjust the puncture path based on the registration matrix and output angle control commands in the world coordinate system; 4) When the angle between the actual puncture path and the planned path exceeds the threshold, real-time adjustment guidance information is generated.

9. The procedure according to claim 8, characterized in that, The registration matrix is ​​obtained through the following steps: selecting reference points in the second CT image, calculating the scaling ratio between the pixel coordinate system and the real coordinate system; and generating coordinate transformation relationships based on the distance difference between the reference points.

10. The apparatus according to claim 4, characterized in that, The clamping part (10) can be replaced with a clamp that is compatible with 18G-22G puncture needles, and the travel range of the telescopic rod (5) covers a puncture depth of 50-150mm.

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