Needle insertion positioning device, control method thereof, and storage medium

Abstract

The application relates to the technical field of medical image processing, and discloses a needle insertion positioning device, a control method thereof and a storage medium. The needle insertion positioning device comprises an ablation needle, a magnetic calibration module and an auxiliary needle insertion module. The magnetic calibration module is used for acquiring a three-dimensional image model corresponding to a target object, searching for magnetic calibration position information and image calibration position information according to the three-dimensional image model, and constructing a conversion relationship from a magnetic positioning coordinate system to an image coordinate system of the three-dimensional image model according to the magnetic calibration position information and the image calibration position information. When the magnetic calibration module and the ablation needle are respectively detachably arranged in the auxiliary needle insertion module, the auxiliary needle insertion module acquires magnetic positioning information corresponding to the magnetic calibration module, converts the magnetic positioning information into needle insertion pose information of the ablation needle on the three-dimensional image model by using the conversion relationship, and displays the needle insertion pose information. The application realizes accurate positioning of needle insertion of the ablation needle and an action area of the ablation needle, so that the needle insertion direction and position of the ablation needle can be adjusted.

Description

Technical Field

[0001] This invention relates to the field of medical image processing technology, and in particular to a needle insertion positioning device, its control method, and a storage medium. Background Technology

[0002] Local ablation therapy is a treatment method that uses medical imaging technology to target and locate tumors, directly eliminating them locally using physical or chemical methods. Percutaneous ablation with ablation needles is economical, convenient, and minimally invasive. Ultrasound guidance is most commonly used for local ablation, offering convenience, real-time monitoring, and high efficiency. CT (Computed Tomography), MRI (Nuclear Magnetic Resonance Imaging), and multimodal image fusion systems can be used to observe and guide the ablation of lesions and metastases that are inaccessible by conventional ultrasound.

[0003] However, using the aforementioned auxiliary guidance methods for local ablation therapy, the position of the needle within the body may not be directly visible during needle insertion. Real-time observation of the needle's location and direction is impossible, hindering overall control of the ablation therapy and making it difficult to accurately evaluate the ablation needle's effective area. This can lead to incomplete or excessive ablation, requiring multiple adjustments to the needle's insertion direction and position, thus reducing the ablation efficiency of local ablation therapy. In short, existing local ablation therapies struggle to accurately observe the needle tip's position during insertion. Summary of the Invention

[0004] The main objective of this invention is to solve the technical problem that it is difficult to observe the precise position of the needle tip during the needle insertion process in existing local ablation therapies.

[0005] The first aspect of the present invention provides a needle insertion positioning device, comprising: an ablation needle, a magnetic calibration module, and an auxiliary needle insertion module; the magnetic calibration module is used to acquire a three-dimensional image model corresponding to a target object, and based on the three-dimensional image model, to find magnetic calibration position information and image calibration position information, and based on the magnetic calibration position information and the image calibration position information, to construct a transformation relationship between the three-dimensional image model and the magnetic positioning coordinate system to the image coordinate system; when the magnetic calibration module and the ablation needle are detachably disposed in the auxiliary needle insertion module, the auxiliary needle insertion module acquires the magnetic positioning information corresponding to the magnetic calibration module, and uses the transformation relationship to convert the magnetic positioning information into the needle insertion pose information of the ablation needle on the three-dimensional image model and displays it.

[0006] Optionally, in a first implementation of the first aspect of the present invention, the needle positioning device further includes a three-dimensional imaging scanning device and a scanning carrier, and the magnetic calibration module includes a magnetic positioning receiver; when the magnetic positioning receiver is detachably disposed on the scanning carrier and the target object is placed on the scanning carrier, the three-dimensional imaging scanning device scans the target object and the magnetic positioning receiver on the scanning carrier, and generates a three-dimensional image model based on the scanning result; the magnetic calibration module searches for the image calibration position information of the magnetic positioning receiver from the three-dimensional image model, and searches for the magnetic calibration position information of the magnetic positioning receiver according to the image calibration position information.

[0007] Optionally, in a second implementation of the first aspect of the present invention, the three-dimensional imaging scanning device includes a three-dimensional image reconstruction module; the three-dimensional image reconstruction module extracts the three-dimensional medical image of the target object from the scanning result, and extracts the isosurface of each voxel from the three-dimensional medical image according to a preset value, and merges the isosurfaces to obtain the reconstructed three-dimensional image model.

[0008] Optionally, in a third implementation of the first aspect of the present invention, the magnetic positioning receiver is provided with a plurality of magnetic marker points; the magnetic calibration module finds the first coordinates of each magnetic marker point in the magnetic calibration position information in the magnetic positioning coordinate system, and finds the second coordinates of each magnetic marker point in the image calibration position information in the image coordinate system, and fits the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system based on the first coordinates and the second coordinates.

[0009] Optionally, in a fourth implementation of the first aspect of the present invention, the auxiliary needle insertion module includes a first slot and a second slot; when the magnetic positioning receiver is detachably disposed in the first slot and the ablation needle is detachably disposed in the second slot, the auxiliary needle insertion module calculates the needle insertion pose information of the ablation needle on the three-dimensional image model based on the magnetic positioning information, referring to the first relative position information between the first slot and the second slot and the conversion relationship.

[0010] Optionally, in a fifth implementation of the first aspect of the present invention, the second slot includes multiple buckles corresponding to different models. The buckles are used to engage with the end of the corresponding model of the ablation needle to detachably mount the ablation needle in the second slot. The auxiliary needle insertion module determines the buckle model currently engaged with the ablation needle and obtains the specification information of the ablation needle. Based on the determined buckle model and the specification information, and referring to the first relative position information, it determines the second relative position information between the magnetic positioning receiver and the tip of the ablation needle. Based on the second relative position information, and referring to the magnetic positioning information and the conversion relationship, it calculates the tip position and insertion posture of the ablation needle to obtain the insertion posture information of the ablation needle on the three-dimensional image model.

[0011] A second aspect of the present invention provides a control method for a needle insertion positioning device, the needle insertion positioning device comprising: an ablation needle, a magnetic calibration module, and an auxiliary needle insertion module. The control method comprises: acquiring a three-dimensional image model corresponding to a target object through the magnetic calibration module, and finding magnetic calibration position information and image calibration position information based on the three-dimensional image model; constructing a transformation relationship from the magnetic positioning coordinate system to the image coordinate system of the three-dimensional image model using the magnetic calibration module based on the magnetic calibration position information and the image calibration position information; when the auxiliary needle insertion module is detected to be in a startup mode, acquiring the magnetic positioning information corresponding to the magnetic calibration module through the auxiliary needle insertion module, and converting the magnetic positioning information into needle insertion pose information of the ablation needle on the three-dimensional image model and displaying it with reference to the transformation relationship.

[0012] Optionally, in a first implementation of the second aspect of the present invention, the magnetic calibration module includes a magnetic positioning receiver with multiple magnetic markers. The step of constructing the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system using the magnetic calibration module based on the magnetic calibration position information and the image calibration position information includes: using the magnetic calibration module to find the first coordinates of each magnetic marker in the magnetic calibration position information in the magnetic positioning coordinate system, and finding the second coordinates of each magnetic marker in the image calibration position information in the image coordinate system; and using the magnetic calibration module to fit the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system based on the first coordinates and the second coordinates.

[0013] Optionally, in a second implementation of the second aspect of the present invention, the auxiliary needle insertion module includes a first slot and a second slot, the second slot including multiple types of buckles for engaging with the ablation needle, and the step of converting the magnetic positioning information into the needle insertion pose information of the ablation needle on the three-dimensional image model and displaying it with reference to the conversion relationship includes: determining a first relative position information between the first slot and the second slot, and determining the buckle type currently engaging with the ablation needle; obtaining the specification information of the ablation needle, and calculating a second relative position information between the magnetic positioning receiver and the tip of the ablation needle based on the determined buckle type and the specification information, with reference to the first relative position information; and calculating the tip position and insertion posture of the ablation needle based on the second relative position information, with reference to the magnetic positioning information and the conversion relationship, to obtain the needle insertion pose information of the ablation needle on the three-dimensional image model.

[0014] A third aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the control method of the needle positioning device described above.

[0015] In the technical solution provided by this invention, a magnetic calibration module is used to reconstruct a three-dimensional image model from the original scanned three-dimensional medical image of the target object. Then, the positioning relationship between the magnetic positioning coordinate system and the image coordinate system is used to associate the positioning relationship between the magnetic positioning module and the three-dimensional image model. Therefore, with the positioning assistance of the magnetic calibration module, the needle insertion posture information of the ablation needle during the insertion process is displayed in real time in the reconstructed three-dimensional human body model. This is beneficial for observing the real-time position and direction of the ablation needle, thereby achieving the purpose of precise needle insertion. This enables precise positioning of the ablation needle insertion and the ablation needle's effective area, which is used to adjust the insertion direction and position of the ablation needle. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the first embodiment of the needle positioning device in this invention;

[0017] Figure 2 This is a schematic diagram of a second embodiment of the needle positioning device in this invention;

[0018] Figure 3 This is a schematic diagram of a third embodiment of the needle positioning device in this invention;

[0019] Figure 4 This is a schematic diagram of an embodiment of the control method for the needle positioning device in this invention;

[0020] Figure 5 This is a schematic diagram of another embodiment of the control method of the needle positioning device in this invention. Detailed Implementation

[0021] This invention provides a needle insertion positioning device, its control method, and a storage medium. The needle insertion positioning device includes an ablation needle, a magnetic calibration module, and an auxiliary needle insertion module. The magnetic calibration module acquires a three-dimensional image model corresponding to the target object, and based on the three-dimensional image model, finds magnetic calibration position information and image calibration position information. It also constructs a transformation relationship from the magnetic positioning coordinate system to the image coordinate system based on the magnetic calibration position information and the image calibration position information. When the magnetic calibration module and the ablation needle are detachably disposed in the auxiliary needle insertion module, the auxiliary needle insertion module acquires the magnetic positioning information corresponding to the magnetic calibration module, and uses the transformation relationship to convert the magnetic positioning information into the needle insertion pose information of the ablation needle on the three-dimensional image model and displays it. This invention achieves precise positioning of the ablation needle insertion and its effective area, thereby adjusting the insertion direction and position of the ablation needle.

[0022] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] For ease of understanding, the specific structure of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 The first embodiment of the needle positioning device in this invention includes:

[0024] The needle insertion positioning device consists of at least an ablation needle 10, a magnetic calibration module 20, and an auxiliary needle insertion module 30. The magnetic calibration module 20 is used to acquire a three-dimensional image model corresponding to the target object, and based on the three-dimensional image model, to find magnetic calibration position information and image calibration position information. It also constructs a transformation relationship between the three-dimensional image model and the magnetic calibration position information, from the magnetic positioning coordinate system to the image coordinate system. When the magnetic calibration module 20 and the ablation needle 10 are detachably installed in the auxiliary needle insertion module 30, the auxiliary needle insertion module 30 acquires the magnetic positioning information corresponding to the magnetic calibration module 20, and uses the transformation relationship to convert the magnetic positioning information into the needle insertion pose information of the ablation needle 10 on the three-dimensional image model and displays it.

[0025] In this embodiment, when not in use, such as when calibrating a 3D image model to establish the transformation relationship between the 3D image model and the magnetic positioning coordinate system to the image coordinate system, the ablation needle 10, the magnetic calibration module 20, and the auxiliary needle insertion module 30 exist and operate independently. At this time, the magnetic calibration model can independently calibrate the 3D image model. When inserting the ablation needle 10, the ablation needle 10 and the magnetic calibration module 20 need to be set on the auxiliary needle insertion module 30. The magnetic calibration module 20 provides positioning function, and the auxiliary needle insertion module 30 acts as a bridge to convert the magnetic positioning position of the magnetic calibration module 20 into the needle insertion pose information of the ablation needle 10 on the 3D image model.

[0026] In practical applications, based on the magnetic calibration module 20, the target object and the magnetic calibration medium are simultaneously scanned to construct a three-dimensional image model. Therefore, the image calibration position information and the magnetic calibration position information carried by the magnetic calibration medium itself during the magnetic positioning process can be found from the three-dimensional image model. Then, the transformation relationship between the magnetic calibration position information and the image calibration position information is fitted, and a magnetic calibration coordinate system containing the three-dimensional image model and a three-dimensional image coordinate system are constructed with the calibration medium as the origin. The previously fitted transformation relationship is extended to the entire three-dimensional space. Subsequently, it is only necessary to detect the position of the magnetic calibration medium in the magnetic positioning coordinate system, that is, using the auxiliary needle insertion module 30 as an intermediary, the ablation needle 10 is transformed to the three-dimensional image position in the three-dimensional image model.

[0027] In practical applications, the magnetic calibration module 20 assists in positioning the ablation needle 10 in real time, determining its insertion position and orientation. Therefore, the auxiliary insertion module 30 can fix the relative spatial relationship between the magnetic calibration medium and the ablation needle 10 within the magnetic calibration module 20. Specifically, this can be the relative spatial relationship between the magnetic calibration medium and the needle head and tail, respectively. After determining the position of the magnetic calibration medium in the magnetic positioning coordinate system, the positions of the needle head and tail in the magnetic positioning coordinate system can be determined first and then converted to their positions in the three-dimensional image model; alternatively, they can be converted to their positions in the three-dimensional image model of the magnetic calibration medium first, and then the positions of the needle head and tail in the three-dimensional image model can be determined.

[0028] Please see Figure 2 and Figure 3 The second embodiment of the needle positioning device in this invention includes:

[0029] In one implementation, such as Figure 2As shown, the needle positioning device also includes a three-dimensional imaging scanning device 40 and a scanning carrier 50. The magnetic calibration module 20 includes a magnetic positioning receiver 21. When the magnetic positioning receiver 21 is detachably mounted on the scanning carrier 50 and the target object is placed on the scanning carrier 50, the three-dimensional imaging scanning device 40 scans the target object and the magnetic positioning receiver 21 on the scanning carrier 50, and generates a three-dimensional image model based on the scanning results. The magnetic calibration module 20 searches for the image calibration position information of the magnetic positioning receiver 21 in the three-dimensional image model, and searches for the magnetic calibration position information of the magnetic positioning receiver 21 according to the image calibration position information.

[0030] In this embodiment, the three-dimensional image model is obtained by scanning with a three-dimensional imaging scanning device 40, which may include CT, MRI and ultrasound, etc. The magnetic calibration medium here is specifically a magnetic positioning receiver 21, which can be any shape such as circular, rectangular, polygonal, etc. The magnetic positioning receiver 21 is set on the scanning carrier 50 together with the target object and the two are scanned at the same time to obtain the scanning results, such as CT image, MRI image, ultrasound image and other original three-dimensional medical images. Then, a preset algorithm is used to reconstruct it to obtain a three-dimensional image model.

[0031] In practical applications, such as when a 3D imaging scanning device 40 uses CT, the target object is placed on the CT bed (scanning carrier 50) during CT scanning. Then, a patch-type magnetic positioning receiver 21 is set at a designated position next to the CT bed. After the scan is completed, the image calibration position information of the magnetic positioning receiver 21 in the scanned image is found from the scan results. Then, the magnetic positioning system has its own magnetic positioning position, so the magnetic calibration position information can be obtained.

[0032] In one implementation, such as Figure 2 As shown, the three-dimensional imaging scanning device 40 includes a three-dimensional image reconstruction module 41; the three-dimensional image reconstruction module 41 extracts the three-dimensional medical image of the target object from the scanning result, and extracts the isosurface of each voxel from the three-dimensional medical image according to preset values, and merges the isosurfaces to obtain the reconstructed three-dimensional image model.

[0033] In this embodiment, the reconstruction of the three-dimensional medical image by the three-dimensional image reconstruction module 41 is mainly based on surface rendering technology. It only cares about the surface information of the target object and ignores the internal information of the target object. That is, it only focuses on the surface contour of the target object to reconstruct the three-dimensional image model, so as to reduce the calculation time.

[0034] In practical applications, the Marching Cubes algorithm can be used to reconstruct 3D medical images based on surface rendering technology. The Marching Cubes algorithm can be implemented by manually drawing the target contour in the 3D medical image and interpolating it through a pre-set threshold. The 3D medical image is composed of the smallest unit voxels. Here, based on the 3D medical image, the isosurface of each voxel is extracted and then expressed in the triangular mesh space in which it is located.

[0035] Specifically, based on the set threshold, two slices from the 3D medical image are read each time to form a layer; then, the four corresponding points on the top and bottom of the two slices form a cube, which yields a voxel; then, the voxels in each layer are processed in order from left to right and from front to back to extract the isosurface of each voxel, which is represented by a triangle, and so on, until all voxels are processed; finally, all isosurface triangles are merged and displayed to obtain the 3D image model.

[0036] Furthermore, this can be accomplished using the MITK (Medical Imaging Interaction Toolkit) framework. First, the region is outlined using mitkPaintbrushTool, then the SurfaceInterpolationController is used to interpolate the outlined content, and finally the interpolated result is displayed.

[0037] In one implementation, such as Figure 2 As shown, the magnetic positioning receiver 21 is equipped with multiple magnetic marker points 211; the magnetic calibration module 20 finds the first coordinates of each magnetic marker point 211 in the magnetic calibration position information in the magnetic positioning coordinate system, and finds the second coordinates of each magnetic marker point 211 in the image calibration position information in the image coordinate system. Based on the first coordinates and the second coordinates, the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system is fitted.

[0038] In this embodiment, multiple magnetic markers 211 are set in the magnetic positioning receiver 21. The magnetic coordinates of the multiple magnetic markers 211 are used to perform joint spatial positioning of the magnetic positioning receiver 21, thereby achieving the position positioning of the magnetic positioning receiver 21, including the direction of movement of the magnetic positioning receiver 21. At the same time, the image coordinates of the multiple magnetic markers 211 in the three-dimensional image model are found to fit the transformation relationship of each magnetic marker 211 in the magnetic positioning coordinate system and the image coordinate system, and this is extended to the transformation relationship of the entire three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system.

[0039] In practical applications, if three magnetic marker points 211 are set in the magnetic positioning receiver 21, after scanning is completed, the three magnetic marker points 211 in the patch-type magnetic positioning receiver 21 are located in the reconstructed 3D image model, and their coordinates in the 3D image model are recorded. Then, based on the second coordinates of the three magnetic marker points 211 in the 3D image model obtained in the previous step, the first coordinates of the corresponding three magnetic marker points 211 are found in the magnetic positioning coordinate system, thus establishing the transformation relationship from the magnetic positioning coordinate system to the image coordinate system. This completes the calibration of the 3D image model. It is important to note that the relative position of the target object to the 50CT scanning bed must not change from the start of the scan to the end of needle insertion; otherwise, the image needs to be rescanned.

[0040] In one implementation, such as Figure 3 As shown, the auxiliary needle insertion module 30 includes a first slot 31 and a second slot 32. When the magnetic positioning receiver 21 is detachably disposed in the first slot 31 and the ablation needle 10 is detachably disposed in the second slot 32, the auxiliary needle insertion module 30 calculates the needle insertion pose information of the ablation needle 10 on the three-dimensional image model based on the magnetic positioning information and referring to the first relative position information and conversion relationship between the first slot 31 and the second slot 32.

[0041] In this embodiment, the positional relationship between the magnetic positioning receiver 21 and the ablation needle 10 is associated through the auxiliary needle insertion module 30. Specifically, a first slot 31 is provided to fix the position of the magnetic positioning receiver 21, and a second slot 32 is provided to fix the position of the ablation needle 10. The obtained magnetic positioning information of the magnetic positioning receiver 21 may include its X, Y, and Z values, as well as its direction of movement. Then, the front orientation of the magnetic positioning receiver 21 is determined by the direction of movement. Combined with its X, Y, and Z values, the position information of the ablation needle 10 in the magnetic positioning coordinates is calculated. Then, according to the conversion relationship, it is mapped to the X, Y, Z values ​​and direction of movement of the three-dimensional image model to obtain the needle insertion pose information.

[0042] In one implementation, such as Figure 3As shown, the second slot 32 includes multiple buckles 321 corresponding to different models. The buckles 321 are used to engage with the end of the ablation needle 10 of the corresponding model to detachably mount the ablation needle 10 in the second slot 32. The auxiliary needle insertion module 30 determines the model of the buckle 321 currently engaged with the ablation needle 10 and obtains the specification information of the ablation needle 10. Based on the determined buckle 321 model and specification information, and referring to the first relative position information, it determines the second relative position information between the magnetic positioning receiver 21 and the tip of the ablation needle 10. Based on the second relative position information, and referring to the magnetic positioning information and conversion relationship, it calculates the tip position and insertion posture of the ablation needle 10 to obtain the insertion posture information of the ablation needle 10 on the three-dimensional image model.

[0043] In this embodiment, the specifications of the ablation needle 10, such as length and thickness, are selected in the accompanying software, so the specifications of the ablation needle 10 can be directly obtained here. Based on the selected ablation needle 10 model, the corresponding buckle 321 model is selected in the second slot 32 of the auxiliary needle insertion module 30, and the end of the ablation needle 10 is fixed in the buckle 321 of the second slot 32. The magnetic positioning receiver 21 is then attached to the second slot 32, allowing the ablation needle 10 on the auxiliary needle insertion module 30 to be moved to perform the insertion operation.

[0044] During the needle insertion process, the magnetic positioning receiver 21 is set on the first slot 31. At the same time, based on the previously determined conversion relationship, the position of the needle tip and the posture of the needle can be calculated in real time and converted into a three-dimensional image model for real-time display. At this time, the position and direction of the current ablation needle 10 in the target object can be observed while the needle is inserted, thereby helping to improve the accuracy of the needle insertion positioning ablation area.

[0045] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 4 The first embodiment of the control method for the needle positioning device in this invention includes:

[0046] 401. Obtain the three-dimensional image model corresponding to the target object through the magnetic calibration module, and find the magnetic calibration position information and image calibration position information based on the three-dimensional image model;

[0047] It is understood that the executing entity of this invention can be a needle positioning device, a terminal, or a server; no specific limitation is made here. This embodiment of the invention will be described using a server as an example.

[0048] In this embodiment, when calibrating the 3D image model, the magnetic calibration model can independently calibrate the 3D image model. The magnetic calibration module provides a positioning function module and a magnetic calibration medium. When constructing the 3D image model, the magnetic calibration medium is scanned together with the target object. Then, the positioning function module of the magnetic calibration module can be used to find the image calibration position information of the magnetic calibration medium in the 3D image model. Then, based on the found image calibration position information, the magnetic calibration position information of the magnetic calibration medium in the magnetic positioning coordinate system can be found.

[0049] Specifically, based on the magnetic calibration module, the target object and the magnetic calibration medium within the image scanning range are used, and a three-dimensional image model is constructed using the three-dimensional image obtained from the scan. During calibration calculation, the image calibration position information and the magnetic calibration position information carried by the magnetic calibration medium itself during the magnetic positioning process are found from the three-dimensional image model.

[0050] Specifically, a vector dipole model can be used to represent the magnetic calibration medium, and a magnetic induction system can be arranged in the space of the entire three-dimensional image model. A coordinate system is established, and the original setting position of the magnetic calibration medium is searched in the coordinate system. The changes in the magnetic parameters of the magnetic calibration medium during scanning are tracked in real time with (x, y, z, m, a, b), where x, y, z are the parameters of the spatial coordinate axes, m is the magnetic moment, and a, b are the magnetic moment direction angles. Then, the magnetic field value of the magnetic induction system is used to establish a magnetic positioning function. The LM algorithm and the magnetic field value of the magnetic calibration medium are then used to optimize the magnetic positioning function. The magnetic calibration position information can be determined based on the magnetic positioning function.

[0051] 402. Based on the magnetic calibration position information and the image calibration position information, the magnetic calibration module is used to construct the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system;

[0052] In this embodiment, after finding the magnetic calibration position and the image calibration position, the transformation relationship between the magnetic calibration position information and the image calibration position information can be fitted to obtain a linear equation to represent the transformation relationship between the two.

[0053] Specifically, a magnetic calibration coordinate system containing a 3D image model and a 3D image coordinate system are constructed in the space where the target object is located. Then, a rotation matrix of the magnetic calibration medium from the magnetic positioning coordinate system to the image coordinate system is established, which can be represented in vector form. Then, a linear equation is constructed using a predefined coefficient matrix and constant terms to represent the transformation relationship between the two. Finally, the fitted transformation relationship is extended to the entire 3D space.

[0054] 403. When the auxiliary needle insertion module is detected to be in the start mode, the magnetic positioning information corresponding to the magnetic calibration module is obtained through the auxiliary needle insertion module, and the magnetic positioning information is converted into the needle insertion pose information of the electrode needle on the three-dimensional image model and displayed with reference to the conversion relationship.

[0055] In this embodiment, the magnetic calibration module assists in positioning the ablation needle's real-time insertion position and attitude. Therefore, in the auxiliary insertion module, the relative spatial relationship between the magnetic calibration medium and the ablation needle can be fixed. Specifically, this can be the relative spatial relationship between the magnetic calibration medium and the needle head and tail, respectively. After determining the position of the magnetic calibration medium in the magnetic positioning coordinate system, the positions of the needle head and tail in the magnetic positioning coordinate system can be determined first and then converted into their positions in the three-dimensional image model; or the positions can be converted into the three-dimensional image model of the magnetic calibration medium first, and then the positions of the needle head and tail in the three-dimensional image model can be determined.

[0056] In this embodiment of the invention, a magnetic calibration module is used to reconstruct a three-dimensional image model from the original scanned three-dimensional medical image of the target object. Then, the positioning relationship between the magnetic positioning coordinate system and the image coordinate system is used to associate the positioning relationship between the magnetic positioning module and the three-dimensional image model. Therefore, with the positioning assistance of the magnetic calibration module, the needle insertion posture information of the ablation needle during the insertion process is displayed in real time in the reconstructed three-dimensional human body model. This is beneficial for observing the real-time position and direction of the ablation needle, thereby achieving the purpose of precise needle insertion. This enables precise positioning of the ablation needle insertion and the ablation needle's effective area, which is used to adjust the insertion direction and position of the ablation needle.

[0057] Please see Figure 5 A second embodiment of the control method for the needle positioning device in this invention includes:

[0058] 501. Obtain the three-dimensional image model corresponding to the target object through the magnetic calibration module, and find the magnetic calibration position information and image calibration position information based on the three-dimensional image model;

[0059] 502. Use the magnetic calibration module to find the first coordinates of each magnetic marker point in the magnetic calibration position information in the magnetic positioning coordinate system, and find the second coordinates of each magnetic marker point in the image calibration position information in the image coordinate system;

[0060] 503. Based on the first coordinate and the second coordinate, use the magnetic calibration module to fit the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system;

[0061] In this embodiment, the magnetic positioning receiver is equipped with multiple magnetic markers. The receiver is spatially located using the magnetic coordinates of these markers, enabling precise positioning of the receiver's location, including its magnetic moment and direction. Simultaneously, the image coordinates of these magnetic markers in a 3D image model are located to fit the transformation relationship between each marker in the magnetic positioning coordinate system and the image coordinate system, extending this to the transformation relationship of the entire 3D image model from the magnetic positioning coordinate system to the image coordinate system.

[0062] Specifically, three magnetic markers are set in the magnetic positioning receiver. After scanning the magnetic positioning receiver, these three magnetic markers are located in the reconstructed 3D image model, and their second coordinates are recorded. Then, based on the second coordinates found in the previous step, the first coordinates of the corresponding three magnetic markers are found in the magnetic positioning coordinate system. This determines the transformation relationship of the 3D image model from the magnetic positioning coordinate system to the image coordinate system, thus completing the calibration of the 3D image model. It is important to note that the relative position of the target object with respect to the CT bed must not change from the start of the scan to the end of needle insertion; otherwise, the image needs to be rescanned.

[0063] 504. When the auxiliary needle insertion module is detected to be in the start mode, the magnetic positioning information corresponding to the magnetic calibration module is obtained through the auxiliary needle insertion module, the first relative position information between the first slot and the second slot is determined, and the needle buckle model currently engaged with the electrode needle is determined.

[0064] 505. Obtain the specification information of the electrode needle, and calculate the second relative position information between the magnetic positioning receiver and the electrode needle based on the determined needle buckle model and the specification information, and with reference to the first relative position information.

[0065] 506. Based on the second relative position information, and referring to the magnetic positioning information and the conversion relationship, calculate the insertion position and insertion posture of the electrode needle to obtain the insertion posture information of the electrode needle on the three-dimensional image model.

[0066] In this embodiment, the auxiliary needle insertion module is equipped with a first slot and a second slot to fix the positions of the magnetic positioning receiver and the ablation needle respectively, so as to associate the relative positional relationship between the magnetic positioning receiver and the ablation needle. The magnetic positioning information (x, y, z, m, a, b) of the obtained magnetic positioning receiver is acquired, and the position information of the magnetic positioning receiver in the image coordinate system is calculated according to the transformation relationship. Based on the first relative position information between the two, the X, Y, and Z values ​​and the direction of movement of the ablation needle in the three-dimensional image model can be obtained, thereby obtaining the needle insertion pose information.

[0067] In this embodiment, the specifications of the ablation needle, such as length and thickness, are selected in the accompanying software, so the specifications of the ablation needle can be directly obtained here. Based on the selected ablation needle model, the corresponding clip model is selected in the second slot of the auxiliary needle insertion module, and the end of the ablation needle is fixed in the clip of the second slot. The magnetic positioning receiver is then attached to the second slot, allowing the ablation needle on the auxiliary needle insertion module to be moved to perform the insertion operation.

[0068] During needle insertion, a magnetic positioning receiver is installed on the first slot. Based on the previously determined conversion relationship, the position of the needle tip and the needle's posture can be calculated in real time and converted into a three-dimensional image model for real-time display. At the same time as needle insertion, the position and direction of the current ablation needle within the target object can be observed, thereby helping to improve the accuracy of needle insertion and positioning of the ablation area.

[0069] In this embodiment of the invention, a magnetic calibration module is used to reconstruct a three-dimensional image model from the original scanned three-dimensional medical image of the target object. Then, the positioning relationship between the magnetic positioning coordinate system and the image coordinate system is used to associate the positioning relationship between the magnetic positioning module and the three-dimensional image model. Therefore, with the positioning assistance of the magnetic calibration module, the needle insertion posture information of the ablation needle during the insertion process is displayed in real time in the reconstructed three-dimensional human body model. This is beneficial for observing the real-time position and direction of the ablation needle, thereby achieving the purpose of precise needle insertion. This enables precise positioning of the ablation needle insertion and the ablation needle's effective area, which is used to adjust the insertion direction and position of the ablation needle.

[0070] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the control method of the needle positioning device.

[0071] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0072] If the integrated unit is implemented as 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, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0073] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A needle insertion positioning device, characterized in that, The needle insertion positioning device includes: an ablation needle, a magnetic calibration module, and an auxiliary needle insertion module; The magnetic calibration module is used to obtain a three-dimensional image model corresponding to the target object, and to find magnetic calibration position information and image calibration position information based on the three-dimensional image model, and to construct the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system based on the magnetic calibration position information and the image calibration position information. When the magnetic calibration module and the ablation needle are detachably disposed in the auxiliary needle insertion module, the auxiliary needle insertion module obtains the magnetic positioning information corresponding to the magnetic calibration module, and uses the conversion relationship to convert the magnetic positioning information into the needle insertion pose information of the ablation needle on the three-dimensional image model and displays it. The needle positioning device further includes a three-dimensional imaging scanning device and a scanning carrier. The magnetic calibration module includes a magnetic positioning receiver. When the magnetic positioning receiver is detachably mounted on the scanning carrier and the target object is placed on the scanning carrier, the three-dimensional imaging scanning device scans the target object and the magnetic positioning receiver on the scanning carrier and generates a three-dimensional image model based on the scanning results. The magnetic calibration module searches for the image calibration position information of the magnetic positioning receiver in the three-dimensional image model and searches for the magnetic calibration position information of the magnetic positioning receiver based on the image calibration position information.

2. The needle positioning device according to claim 1, characterized in that, The three-dimensional imaging scanning device includes a three-dimensional image reconstruction module; The three-dimensional image reconstruction module extracts the three-dimensional medical image of the target object from the scanning results, and extracts the isosurface of each voxel from the three-dimensional medical image according to preset values. The isosurfaces are then merged to obtain the reconstructed three-dimensional image model.

3. The needle positioning device according to claim 1, characterized in that, The magnetic positioning receiver is equipped with multiple magnetic marker points; The magnetic calibration module finds the first coordinates of each magnetic marker point in the magnetic calibration position information in the magnetic positioning coordinate system, and finds the second coordinates of each magnetic marker point in the image calibration position information in the image coordinate system. Based on the first coordinates and the second coordinates, it fits the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system.

4. The needle positioning device according to claim 1, characterized in that, The auxiliary needle insertion module includes a first slot and a second slot; When the magnetic positioning receiver is detachably disposed in the first slot and the ablation needle is detachably disposed in the second slot, the auxiliary needle insertion module calculates the needle insertion pose information of the ablation needle on the three-dimensional image model based on the magnetic positioning information, referring to the first relative position information between the first slot and the second slot and the conversion relationship.

5. The needle positioning device according to claim 4, characterized in that, The second slot includes multiple buckles corresponding to different models. The buckles are used to engage with the end of the ablation needle of the corresponding model so that the ablation needle can be detachably disposed in the second slot. The auxiliary needle insertion module determines the buckle model currently engaged with the ablation needle and obtains the specification information of the ablation needle. Based on the determined buckle model and the specification information, and referring to the first relative position information, it determines the second relative position information between the magnetic positioning receiver and the tip of the ablation needle. Based on the second relative position information, and referring to the magnetic positioning information and the conversion relationship, it calculates the tip position and insertion posture of the ablation needle to obtain the insertion posture information of the ablation needle on the three-dimensional image model.

6. A control method for a needle insertion positioning device, characterized in that, The needle insertion positioning device includes: an ablation needle, a magnetic calibration module, an auxiliary needle insertion module, a three-dimensional imaging scanning device, and a scanning carrier. The magnetic calibration module includes a magnetic positioning receiver. The control method of the needle insertion positioning device includes: The magnetic calibration module obtains a three-dimensional image model corresponding to the target object, and based on the three-dimensional image model, finds the magnetic calibration position information and the image calibration position information. Based on the magnetic calibration position information and the image calibration position information, the magnetic calibration module is used to construct the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system; When the auxiliary needle insertion module is detected to be in the start mode, the magnetic positioning information corresponding to the magnetic calibration module is obtained through the auxiliary needle insertion module, and the magnetic positioning information is converted into the needle insertion pose information of the ablation needle on the three-dimensional image model and displayed by referring to the conversion relationship. When the magnetic positioning receiver is detachably mounted on the scanning carrier and the target object is placed on the scanning carrier, the three-dimensional imaging scanning device scans the target object and the magnetic positioning receiver on the scanning carrier, and generates a three-dimensional image model based on the scanning results; the magnetic calibration module searches for the image calibration position information of the magnetic positioning receiver from the three-dimensional image model, and searches for the magnetic calibration position information of the magnetic positioning receiver based on the image calibration position information.

7. The control method for the needle positioning device according to claim 6, characterized in that, The magnetic calibration module includes a magnetic positioning receiver with multiple magnetic markers. The step of constructing the transformation relationship from the magnetic positioning coordinate system to the image coordinate system for the three-dimensional image model using the magnetic calibration module, based on the magnetic calibration position information and the image calibration position information, includes: The magnetic calibration module is used to find the first coordinates of each magnetic marker point in the magnetic calibration position information in the magnetic positioning coordinate system, and to find the second coordinates of each magnetic marker point in the image calibration position information in the image coordinate system. Based on the first coordinate and the second coordinate, the magnetic calibration module is used to fit the transformation relationship of the three-dimensional image model from the magnetic positioning coordinate system to the image coordinate system.

8. The control method for the needle positioning device according to claim 7, characterized in that, The auxiliary needle insertion module includes a first slot and a second slot. The second slot includes multiple types of clips for engaging with the ablation needle. Referring to the conversion relationship, the magnetic positioning information is converted into the needle insertion pose information of the ablation needle on the three-dimensional image model and displayed, including: Determine the first relative position information between the first slot and the second slot, and determine the model of the buckle currently engaged with the ablation needle; Obtain the specification information of the ablation needle, and based on the determined buckle model and the specification information, calculate the second relative position information between the magnetic positioning receiver and the tip of the ablation needle with reference to the first relative position information; Based on the second relative position information, and referring to the magnetic positioning information and the conversion relationship, the needle tip position and insertion posture of the ablation needle are calculated to obtain the insertion posture information of the ablation needle on the three-dimensional image model.

9. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the various steps of the control method for the needle positioning device as described in any one of claims 6-8.

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