Needle insertion method and device for puncture surgery

Abstract

The present application relates to a needle insertion method and device for puncture surgery. The needle insertion method includes: establishing a target site model according to medical image data of the target site; determining a target needle insertion point and a target needle insertion trajectory in the target site model; determining the maximum safe needle insertion depth in the target site model according to the intersection of the target needle insertion point and the target needle insertion trajectory with the distal boundary of the target site; obtaining a preset needle insertion depth, comparing the preset needle insertion depth with the maximum safe needle insertion depth, and determining the target needle insertion depth according to the comparison result. The needle insertion method can adaptively adjust the preset needle insertion depth to obtain a target needle insertion depth that will not puncture the distal boundary of the target site; in the puncture surgery, the needle insertion steps in the puncture surgery are performed according to the target needle insertion depth determined by the aforementioned needle insertion method, which can ensure the safe needle insertion of the puncture surgery, improve the safety of the surgery, reduce the incidence of postoperative complications of the patient, and reduce the pain and distress caused to the patient.

Description

Technical Field

[0001] The present application relates to the technical field of medical robots, and in particular to a needle insertion method and device for puncture surgery. Background Art

[0002] Prostate biopsy is a procedure in which tissue from the prostate is removed for pathological examination. It is of great significance for the clinical diagnosis of prostate cancer.

[0003] The existing automatic needle placement algorithm of the prostate puncture robot positions the center of the biopsy needle sampling slot at the target point by default, and the maximum depth of the biopsy needle occurs at the tip of the biopsy needle, which is 10mm to 15mm deeper than the target point.

[0004] However, when the delineated lesion target or puncture point is too close to the prostate base or lower part, the existing automatic needle placement algorithm will cause the biopsy needle tip to have the risk of penetrating the prostate capsule during puncture. If the biopsy needle tip penetrates the prostate capsule during puncture, it may puncture the bladder and / or rectum, thereby increasing the risk of surgery and prolonging postoperative recovery time. Summary of the invention

[0005] Based on this, it is necessary to provide a needle insertion method and device for puncture surgery to address the above technical problems, which can adaptively adjust the needle insertion depth so that it works within a safe range.

[0006] According to some embodiments, the present application provides a needle insertion method for puncture surgery, comprising:

[0007] Establishing a target part model according to the medical image data of the target part;

[0008] Determining a target needle insertion point and a target needle insertion trajectory in the target site model;

[0009] Determining a maximum safe needle insertion depth in the target site model according to the target needle insertion point and the intersection of the target needle insertion trajectory and the distal boundary of the target site;

[0010] The preset needle insertion depth is obtained, the preset needle insertion depth is compared with the maximum safe needle insertion depth, and the target needle insertion depth is determined according to the comparison result.

[0011] In one embodiment, establishing a target part model according to the medical image data of the target part includes:

[0012] Acquire a statistical average model of a target part, and acquire an ultrasonic scanning image of the target part;

[0013] The ultrasonic scanning image is fused with the statistical average model of the target part to obtain the target part model.

[0014] In one embodiment, fusing the ultrasonic scan image with the target part statistical average model to obtain the target part model includes:

[0015] Performing function fitting on the target part statistical average model to obtain an initial target part model;

[0016] The initial target part model is compared with the ultrasonic scanning image; based on the comparison result, the initial target part model is first optimized in combination with the posture parameters to obtain the target part model.

[0017] In one embodiment, after establishing the target site model, the needle insertion method further comprises:

[0018] Comparing the target part with surrounding tissues in the ultrasonic scanning image, and performing a second optimization on the target part model using a genetic algorithm to obtain an optimized target part model;

[0019] The target needle insertion point and the target needle insertion trajectory are both determined based on the optimized target site model.

[0020] In one embodiment, determining a target needle insertion point and a target needle insertion trajectory in the target site model includes:

[0021] The target needle insertion trajectory is determined according to the target needle insertion point and the target needle insertion angle.

[0022] In one embodiment, obtaining a preset needle insertion depth, comparing the preset needle insertion depth with the maximum safe needle insertion depth, and determining a target needle insertion depth according to the comparison result includes:

[0023] Get the safety distance value;

[0024] The preset needle insertion depth is compared with the maximum safe needle insertion depth, and the preset needle insertion depth is determined as the target needle insertion depth according to the comparison result, or the preset needle insertion depth is adjusted according to the safety distance value to obtain the target needle insertion depth.

[0025] In one embodiment, determining the preset needle insertion depth as the target needle insertion depth according to the comparison result includes:

[0026] If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, then the preset needle insertion depth is determined to be the target needle insertion depth;

[0027] The step of adjusting the preset needle insertion depth according to the safety distance value to obtain the target needle insertion depth includes:

[0028] If the preset needle insertion depth is greater than or equal to the maximum safe needle insertion depth, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth;

[0029] If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is less than the safety distance value, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth.

[0030] According to some embodiments, the present application also provides a needle insertion device for puncture surgery, wherein the needle insertion device is used to determine a preset needle insertion depth of a puncture robot, comprising:

[0031] A modeling module, used for establishing a target part model according to the medical image data of the target part;

[0032] A trajectory determination module, connected to the modeling module, is used to obtain the target part model and determine the target needle insertion point and the target needle insertion trajectory in the target part model;

[0033] A maximum safe needle insertion depth determination module, connected to the trajectory determination module, for determining the maximum safe needle insertion depth according to the target needle insertion point and the intersection of the target needle insertion trajectory and the distal boundary of the target part;

[0034] The processing module is connected to the maximum safe needle insertion depth determination module, and is used to obtain a preset needle insertion depth, compare the preset needle insertion depth with the maximum safe needle insertion depth, and determine a target needle insertion depth according to the comparison result.

[0035] In one of the embodiments, the modeling module is used to obtain a statistical average model of the target part and an ultrasonic scanning image of the target part;

[0036] The modeling module is configured to fuse the ultrasound scan image with the statistical average model of the target part to obtain the target part model.

[0037] In one embodiment, the modeling module is configured to: perform function fitting on the statistical average model of the target part to obtain an initial target part model; compare the initial target part model with the ultrasound scan image; and based on the comparison result, perform a first optimization on the initial target part model in combination with posture parameters to obtain the target part model.

[0038] In one of the embodiments, the modeling module is further configured to: compare the target part with surrounding tissues in the ultrasound scan image, and perform a second optimization on the target part model using a genetic algorithm to obtain an optimized target part model;

[0039] The trajectory determination module is also used to obtain the optimized target part model, and determine the target needle insertion point and the target needle insertion trajectory in the optimized target part model;

[0040] The maximum safe needle insertion depth determination module is also used to determine the maximum safe needle insertion depth according to the target needle insertion point and the intersection of the target needle insertion trajectory and the distal boundary of the target part.

[0041] In one embodiment, the trajectory determination module is configured to determine the target needle insertion trajectory according to the target needle insertion point and the target needle insertion angle.

[0042] In one of the embodiments, the processing module is further used to obtain a safety distance value;

[0043] The processing module is configured to: compare the preset needle insertion depth with the maximum safe needle insertion depth, determine the preset needle insertion depth as the target needle insertion depth according to the comparison result, or adjust the preset needle insertion depth according to the safety distance value to obtain the target needle insertion depth.

[0044] In one embodiment, the processing module is configured to:

[0045] If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, then the preset needle insertion depth is determined to be the target needle insertion depth;

[0046] If the preset needle insertion depth is greater than or equal to the maximum safe needle insertion depth, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth;

[0047] If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is less than the safety distance value, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth.

[0048] The needle insertion method and device for puncture surgery provided by the present application have at least the following beneficial effects:

[0049] The needle insertion method and device for puncture surgery provided in the present application can determine the maximum safe needle insertion depth in the target part model according to the target needle insertion point and the target needle insertion trajectory, and then compare the preset needle insertion depth with the maximum safe needle insertion depth. In this way, the preset needle insertion depth can be adaptively adjusted according to the comparison result to obtain the target needle insertion depth that can ensure that the distal boundary of the target part will not be punctured; in the puncture surgery, the aforementioned needle insertion method is used to determine the target needle insertion depth, and the needle insertion steps in the puncture surgery are performed according to the target needle insertion depth, which can ensure the safe needle insertion of the puncture surgery, improve the safety of the surgery, reduce the incidence of postoperative complications of patients, and reduce the pain and distress caused to patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A schematic diagram of a needle insertion method according to an embodiment of the present application;

[0052] Figure 2 is a schematic diagram of the Cartesian coordinate system;

[0053] Figure 3 is a schematic diagram of the spherical coordinate system;

[0054] Figure 4 A schematic flow chart of step S100 in the needle insertion method provided in one embodiment of the present application;

[0055] Figure 5 A schematic diagram of a statistical average model of a target site in a needle insertion method provided in an embodiment of the present application;

[0056] Figure 6 A schematic diagram of the process of step S120 in the needle insertion method provided in one embodiment of the present application;

[0057] Figures 7 to 9 A schematic diagram of a target site model in a needle insertion method provided in some embodiments of the present application;

[0058] Fig.10 A schematic flow chart of a needle insertion method provided in another embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0061] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various steps, but these steps are not limited by these terms. These terms are only used to distinguish one step from another. For example, without departing from the scope of this application, the first optimization may be referred to as the second optimization, and similarly, the second optimization may be referred to as the first optimization. Both the first optimization and the second optimization are processes for optimization, but they are not the same optimization process.

[0062] It can be understood that the “connected” in the following embodiments should be understood as “electrically connected”, “communicationally connected”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0063] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0064] According to some embodiments, the present application provides a needle insertion method for puncture surgery.

[0065] As an example, the puncture procedure may include but is not limited to prostate puncture biopsy. The needle refers to the puncture needle used in the puncture procedure; for example, the biopsy needle used in prostate puncture biopsy.

[0066] See also Figure 1 In one embodiment, the needle insertion method may specifically include the following steps:

[0067] S100: Establishing a target part model according to the medical image data of the target part.

[0068] S200: Determine a target needle insertion point and a target needle insertion trajectory in the target site model.

[0069] S300: Determine the maximum safe needle insertion depth in the target site model according to the target needle insertion point and the intersection of the target needle insertion trajectory and the distal boundary of the target site.

[0070] S400: Obtain a preset needle insertion depth, compare the preset needle insertion depth with a maximum safe needle insertion depth, and determine a target needle insertion depth based on the comparison result.

[0071] The needle insertion method provided in the above embodiment can determine the maximum safe needle insertion depth according to the target needle insertion point and the target needle insertion trajectory in the target part model, and then compare the preset needle insertion depth with the maximum safe needle insertion depth. In this way, the preset needle insertion depth can be adaptively adjusted according to the comparison result to obtain the target needle insertion depth that can ensure that the distal boundary of the target part will not be punctured; in the puncture operation, the above-mentioned needle insertion method is used to determine the target needle insertion depth, and the needle insertion steps in the puncture operation are performed according to the target needle insertion depth, which can ensure the safe needle insertion of the puncture operation, improve the safety of the operation, reduce the incidence of postoperative complications of patients, and reduce the pain and distress caused to patients.

[0072] It should be noted that the preset needle insertion depth involved in the present application refers to the preliminarily calculated depth from the target needle insertion point into the target area.

[0073] The target part involved in the present application may include but is not limited to the prostate. As an example, when the target part is the prostate, the distal boundary of the target part may be the posterior capsule of the prostate.

[0074] It should be noted that the maximum safe needle insertion depth in the present application can be understood as the maximum needle insertion depth that does not penetrate the posterior capsule of the prostate.

[0075] like Figures 2 to 3As shown, for a given target part, in a Cartesian coordinate system (also referred to as a rectangular coordinate system in this application for ease of description), r is defined as the distance from the origin of the Cartesian coordinate system to the surface of the target part at a certain angle; when r is a unique value, the coordinates (x, y, z) of each point on the target part in the rectangular coordinate system can be compared with the coordinates in the spherical coordinate system. There is a one-to-one correspondence.

[0076] Coordinates (x, y, z) in the rectangular coordinate system and coordinates in the spherical coordinate system The conversion can be performed based on the following correspondence:

[0077] In rectangular coordinates:

[0078]

[0079] z=rcosθ.

[0080] In spherical coordinates:

[0081]

[0082]

[0083] Accordingly, in step S100, corresponding medical image data may be obtained according to the medical image, and a target part model may be established according to the medical image data.

[0084] See also Figure 4 In one embodiment, step S100 may specifically include the following steps:

[0085] S110: Acquire a statistical average model of the target part, and acquire an ultrasonic scanning image of the target part.

[0086] S120: Fusing the ultrasonic scanning image with the statistical average model of the target part to obtain a target part model.

[0087] The needle insertion method provided in the above embodiment obtains a target part model by fusing an ultrasonic scanning image with a statistical average model of the target part, so that the obtained target part model can cooperate with ultrasound guidance, thereby having better real-time performance.

[0088] In step S110 , the target part statistical average model can be obtained by training with target parts of several patients.

[0089] like Figure 5As shown, as an example, the target part statistical average model can be generated based on the spherical harmonics basis. In the spherical coordinate system, for a given target part, the spherical harmonics can be used to map each point on the surface of the target part to a complex function value, and the target part statistical average model is generated based on this.

[0090] See also Figure 6 In one embodiment, step S120 may specifically include the following steps:

[0091] S121: Perform function fitting on the statistical average model of the target part to obtain an initial target part model.

[0092] S122: Compare the initial target part model with the ultrasonic scanning image; perform a first optimization on the initial target part model in combination with the posture parameters according to the comparison result to obtain the target part model.

[0093] The needle insertion method provided in the above embodiment makes the modeling process more data-based by fitting a function to the statistical average model of the target part, so as to facilitate subsequent analysis and calculation; and can use data analysis to compare the contour of the target part in the initial target part model with the contour in the statistical average model of the target part, and optimize and reconstruct the initial target part model in combination with posture parameters, so as to obtain a target part model that matches the boundary of the target part in the ultrasound scanning image.

[0094] In one embodiment, after obtaining the target part model, the target part can be compared with surrounding tissues in the ultrasound scan image, and a genetic algorithm can be used to perform a second optimization on the target part model to obtain an optimized target part model.

[0095] In the needle insertion method provided in the above embodiment, the target needle insertion point, target needle insertion trajectory and maximum safe needle insertion depth should all be determined based on the optimized target site model.

[0096] The needle insertion method provided in the above embodiment uses a genetic algorithm to further optimize the target part model to obtain an optimized target part model. The optimized target part model obtained in this way can be applicable to target parts of any shape and is more consistent with the actual situation of the target part, thereby being able to determine a more accurate and safer target needle insertion depth, further improving surgical safety.

[0097] For step S200, see Figure 7 In one embodiment, the target needle insertion point and the target needle insertion trajectory S can be determined in the following manner: 1 For example, according to the target needle insertion point and the target needle insertion angle α, the target needle insertion trajectory S is determined.1 .

[0098] It should be noted that the target needle insertion point and the target needle insertion angle α mentioned in the above embodiment can be obtained in the following manner, for example:

[0099] The actual needle insertion point and actual needle insertion angle are set according to the actual treatment needs; the actual needle insertion point and the actual needle insertion angle are input into the target part model, the actual needle insertion point corresponds to the target needle insertion point in the target part model, and the actual needle insertion angle corresponds to the target needle insertion angle α in the target part model; then, fitting is performed according to the target needle insertion point and the target needle insertion angle α to obtain the target needle insertion trajectory S 1 .

[0100] It is understandable that the actual needle insertion point and the actual needle insertion angle required can be adaptively set according to the actual location of the lesion area.

[0101] In step S200, the coordinates on the target part model and the coordinates of the robotic arm tool used for needle insertion may be unified through coordinate transformation.

[0102] For step S300, see Figure 8 , Figure 8 The target site model shows the puncture needle 10, the target needle insertion point P, and the target needle insertion trajectory S. 2 , and the target needle trajectory S 2 The intersection point P with the distal boundary of the target site 1 ; It can be seen that according to the target needle point P and the intersection point P 1 The maximum safe needle insertion depth can be determined as L 1 .

[0103] Please combine Figure 8 See also Fig. 9 In some embodiments, step S400 may be specifically expressed in the following form:

[0104] Define the preset needle insertion depth as L 0 , the comparison result is defined as the difference between the preset needle insertion depth and the maximum safe needle insertion depth is L, then L = L 0 -L 1 .

[0105] If the comparison result is L≥0, it means that the current preset needle insertion depth is greater than the maximum safe needle insertion depth. If the operation is performed according to the current preset needle insertion depth, the puncture needle 10 will penetrate the target site. 2 Reduce the preset needle insertion depth until it is less than the maximum safe needle insertion depth, and then determine the preset needle insertion depth as the target needle insertion depth. Fig. 9 As shown, Fig. 9The arrow in the figure shows the direction of decreasing the preset needle insertion depth.

[0106] Please continue reading Figure 8 In one embodiment, step S400 may specifically include the following steps:

[0107] S410: Obtain a safety distance value.

[0108] S420: Compare the preset needle insertion depth with the maximum safe needle insertion depth, and determine the preset needle insertion depth as the target needle insertion depth according to the comparison result, or adjust the preset needle insertion depth according to the safety distance value to obtain the target needle insertion depth.

[0109] The needle insertion method provided in the above embodiment can adjust the preset needle insertion depth according to the safety distance value to obtain a target needle insertion depth with higher safety. During the puncture operation, the needle insertion steps in the puncture operation are performed according to the aforementioned target needle insertion depth. This can not only ensure that the distal boundary of the target part will not be pierced during the needle insertion process, but also ensure that the needle tip is always within a safe range during the needle insertion process, thereby further improving the safety of the operation.

[0110] As an example, in step S420, the preset needle insertion depth is determined as the target needle insertion depth according to the comparison result, which can be specifically expressed as the following steps:

[0111] If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, the preset needle insertion depth is determined as the target needle insertion depth.

[0112] As an example, in step S420, the preset needle insertion depth is adjusted according to the safety distance value to obtain the target needle insertion depth, which can be specifically performed as follows:

[0113] If the preset needle insertion depth is greater than or equal to the maximum safe needle insertion depth, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth. If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is less than the safety distance value, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth.

[0114] like Figure 8 As shown, the safety distance value is defined as ΔL, and the comparison result is defined as the difference between the preset needle insertion depth and the maximum safe needle insertion depth, L, L = L 0 -L 1 .

[0115] If the comparison result is L<0, it means that the current preset needle insertion depth is less than the maximum safe needle insertion depth. If the operation is performed according to the current preset needle insertion depth, the puncture needle 10 will not penetrate the target part. However, if L<0 but |L|<ΔL, it means that although the current preset needle insertion depth is less than the maximum safe needle insertion depth, it is very close. If the operation is performed according to the current preset needle insertion depth, the puncture needle 10 will be very close to the distal boundary of the target part. There is a possibility of puncture. At this time, the target needle insertion trajectory S can be followed. 2 Reduce the preset needle insertion depth until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than the safety distance value. If the surgery is performed according to the preset needle insertion depth at this time, the needle tip of the puncture needle 10 will stop at a very safe position, and this preset needle insertion depth is determined as the target needle insertion depth.

[0116] If the comparison result is L<0, and |L|≥ΔL, it means that if the operation is performed according to the current preset needle insertion depth, the needle tip of the puncture needle 10 will stop at a very safe position, and no adjustment is required. The current preset needle insertion depth is determined to be the target needle insertion depth.

[0117] In one embodiment, while following the target needle insertion trajectory S 2 In the process of reducing the preset needle insertion depth, the preset needle insertion depth may be gradually reduced according to a fixed step length.

[0118] The present application does not specifically limit the size of the fixed step length. As an example, the safety distance value can be used as the fixed step length to gradually reduce the preset needle insertion depth.

[0119] Combine the following Fig.10 , the target site is the prostate, and the distal boundary of the target site is the posterior capsule of the prostate as an example to more clearly illustrate the needle insertion method in some embodiments of the present application.

[0120] In some embodiments, the ultrasonic scanning image is fused with the statistical average model of the target part to obtain a target part model (also called model fusion). The position of the lesion area is targeted. The actual needle insertion point and the actual needle insertion angle are obtained according to the actual position of the lesion area, and the actual needle insertion point and the actual needle insertion angle are input into the target part model to obtain the target needle insertion point and the target needle insertion angle, and the preset needle insertion depth (also called lesion targeted automatic needle placement) is obtained. According to the maximum safe needle insertion depth, it is judged: if the operation is performed according to the current preset needle insertion depth, whether the needle tip will penetrate the posterior capsule of the prostate. If so, the preset needle insertion depth is reduced, the puncture path is planned according to the new preset needle insertion depth, the newly planned puncture path is obtained, and the above-mentioned judgment process is performed again; this cycle is repeated until the judgment result shows that if the operation is performed according to the current preset needle insertion depth, the needle tip will not penetrate the posterior capsule of the prostate, then the current preset needle insertion depth is determined to be safe, and the current preset needle insertion depth is used as the target needle insertion depth.

[0121] It should be noted that the puncture path involved in the present application includes the target needle insertion trajectory and the preset needle insertion depth (if the target needle insertion depth is determined, it is the target needle insertion depth). Therefore, when the preset needle insertion depth is reduced, it can be said that a newly planned puncture path is obtained.

[0122] Based on the same inventive concept, the present application also provides a needle insertion device for puncture surgery according to some embodiments, wherein the needle insertion device can be used to determine the preset needle insertion depth of the puncture robot, and the needle insertion device can be used to execute the needle insertion method provided in any of the aforementioned embodiments.

[0123] In one embodiment, the needle insertion device may include a modeling module, a trajectory determination module, a maximum safe needle insertion depth determination module, and a processing module.

[0124] Among them, the modeling module can be used to establish a target part model according to the medical image data of the target part; the trajectory determination module is connected to the modeling module, and can be used to obtain the target part model, and determine the target needle insertion point and the target needle insertion trajectory in the target part model; the maximum safe needle insertion depth determination module is connected to the trajectory determination module, and can be used to determine the maximum safe needle insertion depth according to the intersection of the target needle insertion point and the target needle insertion trajectory with the distal boundary of the target part; the processing module is connected to the maximum safe needle insertion depth determination module, and can be used to obtain the preset needle insertion depth, compare the preset needle insertion depth with the maximum safe needle insertion depth, and determine the target needle insertion depth according to the comparison result.

[0125] The needle insertion device provided in the above embodiment can determine the maximum safe needle insertion depth according to the target needle insertion point and the target needle insertion trajectory in the target part model, and then compare the preset needle insertion depth with the maximum safe needle insertion depth. In this way, the preset needle insertion depth can be adaptively adjusted according to the comparison result to obtain the target needle insertion depth that can ensure that the distal boundary of the target part will not be punctured; in the puncture operation, the above-mentioned needle insertion method is used to determine the target needle insertion depth, and the needle insertion steps in the puncture operation are performed according to the target needle insertion depth, which can ensure the safe needle insertion of the puncture operation, improve the safety of the operation, reduce the incidence of postoperative complications of patients, and reduce the pain and distress caused to patients.

[0126] In one embodiment, the modeling module can be used to obtain the target part statistical average model and the ultrasonic scanning image of the target part. On this basis, the modeling module can fuse the ultrasonic scanning image with the target part statistical average model to obtain the target part model.

[0127] In the needle insertion device provided in the above embodiment, the modeling module can fuse the ultrasonic scanning image with the statistical average model of the target part to obtain the target part model, so that the obtained target part model can cooperate with ultrasound guidance and thus have better real-time performance.

[0128] In one of the embodiments, the modeling module can perform function fitting on the statistical average model of the target part to obtain an initial target part model; compare the initial target part model with the ultrasound scanning image; and based on the comparison result, perform a first optimization on the initial target part model in combination with the posture parameters to obtain the target part model.

[0129] In the needle insertion device provided in the above embodiment, the modeling module can make the modeling process more data-based by performing function fitting on the statistical average model of the target part, so as to facilitate subsequent analysis and calculation; and can use data analysis to compare the contour of the target part in the initial target part model with the contour in the statistical average model of the target part, and optimize and reconstruct the initial target part model in combination with posture parameters, so as to obtain a target part model that matches the boundary of the target part in the ultrasound scanning image.

[0130] In one embodiment, the modeling module can also compare the target part with the surrounding tissue in the ultrasound scan image, and use a genetic algorithm to perform a second optimization on the target part model to obtain an optimized target part model. The trajectory determination module can also be used to obtain the optimized target part model, and determine the target needle insertion point and the target needle insertion trajectory in the optimized target part model. The maximum safe needle insertion depth determination module can also be used to determine the maximum safe needle insertion depth in the optimized target part model according to the intersection of the target needle insertion point and the target needle insertion trajectory with the distal boundary of the target part.

[0131] In the needle insertion device provided in the above embodiment, the modeling module can use a genetic algorithm to further optimize the target part model to obtain an optimized target part model. The optimized target part model obtained in this way can be applicable to a target part of any shape and is more consistent with the actual situation of the target part, thereby being able to determine a more accurate and safer target needle insertion depth, further improving surgical safety.

[0132] In one embodiment, the trajectory determination module can determine the target needle insertion trajectory according to the target needle insertion point and the target needle insertion angle.

[0133] In one embodiment, the processing module is further used to obtain a safety distance value. At this time, the processing module can compare the preset needle insertion depth with the maximum safe needle insertion depth, determine the preset needle insertion depth as the target needle insertion depth according to the comparison result, or adjust the preset needle insertion depth according to the safety distance value to obtain the target needle insertion depth.

[0134] In the needle insertion device provided in the above embodiment, the processing module can adjust the preset needle insertion depth according to the safety distance value to obtain a target needle insertion depth with higher safety. During the puncture operation, the needle insertion steps in the puncture operation are performed according to the aforementioned target needle insertion depth. This can not only ensure that the distal boundary of the target part will not be pierced during the needle insertion process, but also ensure that the needle tip is always within a safe range during the needle insertion process, thereby further improving the safety of the operation.

[0135] In one embodiment, if the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, the processing module determines the preset needle insertion depth as the target needle insertion depth.

[0136] In one embodiment, if the preset needle insertion depth is greater than or equal to the maximum safe needle insertion depth, the processing module adjusts the preset needle insertion depth until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and then determines that the adjusted preset needle insertion depth is the target needle insertion depth.

[0137] In one embodiment, if the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is less than the safety distance value, the processing module adjusts the preset needle insertion depth until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth.

[0138] It can be understood that the needle insertion devices in the embodiments of the present application can be used to implement the corresponding needle insertion methods. Therefore, the technical features between the method embodiments and the device embodiments can be replaced and supplemented with each other without causing conflicts, so that those skilled in the art can understand the technical content of the present invention.

[0139] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0140] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0141] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A needle insertion method for puncture surgery, characterized in that: include: Establishing a target part model according to the medical image data of the target part; Determining a target needle insertion point and a target needle insertion trajectory in the target site model; Determining a maximum safe needle insertion depth in the target site model according to the target needle insertion point and the intersection of the target needle insertion trajectory and the distal boundary of the target site; Obtaining a preset needle insertion depth, comparing the preset needle insertion depth with the maximum safe needle insertion depth, and determining a target needle insertion depth according to the comparison result, including: obtaining a safety distance value; The preset needle insertion depth is compared with the maximum safe needle insertion depth, and the preset needle insertion depth is determined as the target needle insertion depth according to the comparison result, or the preset needle insertion depth is adjusted according to the safety distance value to obtain the target needle insertion depth.

2. The needle insertion method according to claim 1, characterized in that: The step of establishing a target part model according to the medical image data of the target part comprises: Acquire a statistical average model of a target part, and acquire an ultrasonic scanning image of the target part; The ultrasonic scanning image is fused with the statistical average model of the target part to obtain the target part model.

3. The needle insertion method according to claim 2, characterized in that: The step of fusing the ultrasonic scan image with the target part statistical average model to obtain the target part model comprises: Performing function fitting on the target part statistical average model to obtain an initial target part model; The initial target part model is compared with the ultrasonic scanning image; based on the comparison result, the initial target part model is first optimized in combination with the posture parameters to obtain the target part model.

4. The needle insertion method according to claim 2 or 3, characterized in that: After establishing the target site model, the needle insertion method further includes: Comparing the target part with surrounding tissues in the ultrasonic scanning image, and performing a second optimization on the target part model using a genetic algorithm to obtain an optimized target part model; The target needle insertion point, the target needle insertion trajectory and the maximum safe needle insertion depth are all determined based on the optimized target site model.

5. The needle insertion method according to claim 1, characterized in that: Determining the target needle insertion point and the target needle insertion trajectory in the target part model includes: The target needle insertion trajectory is determined according to the target needle insertion point and the target needle insertion angle.

6. The needle insertion method according to claim 1, characterized in that: Determining the preset needle insertion depth as the target needle insertion depth according to the comparison result includes: If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, then the preset needle insertion depth is determined to be the target needle insertion depth; The step of adjusting the preset needle insertion depth according to the safety distance value to obtain the target needle insertion depth includes: If the preset needle insertion depth is greater than or equal to the maximum safe needle insertion depth, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth; If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is less than the safety distance value, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth.

7. A needle insertion device for puncture surgery, characterized in that: The needle insertion device is used to determine the preset needle insertion depth of the puncture robot, and includes: A modeling module, used for establishing a target part model according to the medical image data of the target part; A trajectory determination module, connected to the modeling module, is used to obtain the target part model and determine the target needle insertion point and the target needle insertion trajectory in the target part model; a maximum safe needle insertion depth determination module, connected to the modeling module and the trajectory determination module, for determining the maximum safe needle insertion depth in the target part model according to the target needle insertion point and the intersection of the target needle insertion trajectory and the distal boundary of the target part; a processing module, connected to the maximum safe needle insertion depth determination module, for obtaining a preset needle insertion depth, comparing the preset needle insertion depth with the maximum safe needle insertion depth, and determining a target needle insertion depth according to the comparison result; The processing module is also used to obtain a safety distance value; The processing module is configured to: compare the preset needle insertion depth with the maximum safe needle insertion depth, determine the preset needle insertion depth as the target needle insertion depth according to the comparison result, or adjust the preset needle insertion depth according to the safety distance value to obtain the target needle insertion depth.

8. The needle insertion device according to claim 7, characterized in that: The modeling module is used to obtain a statistical average model of the target part and an ultrasonic scanning image of the target part; The modeling module is configured to fuse the ultrasound scan image with the statistical average model of the target part to obtain the target part model.

9. The needle insertion device according to claim 8, characterized in that: The modeling module is configured to: perform function fitting on the statistical average model of the target part to obtain an initial target part model; compare the initial target part model with the ultrasound scan image; and perform a first optimization on the initial target part model in combination with posture parameters based on the comparison result to obtain the target part model.

10. The needle insertion device according to claim 8 or 9, characterized in that: The modeling module is further configured to: compare the target part with surrounding tissues in the ultrasonic scanning image, and perform a second optimization on the target part model using a genetic algorithm to obtain an optimized target part model; The trajectory determination module is also used to obtain the optimized target part model, and determine the target needle insertion point and the target needle insertion trajectory in the optimized target part model; The maximum safe needle insertion depth determination module is also used to determine the maximum safe needle insertion depth in the optimized target site model according to the target needle insertion point and the intersection of the target needle insertion trajectory and the distal boundary of the target site.

11. The needle insertion device according to claim 7, characterized in that: The trajectory determination module is configured to determine the target needle insertion trajectory according to the target needle insertion point and the target needle insertion angle.

12. The needle insertion device according to claim 7, characterized in that: The processing module is configured to: If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, then the preset needle insertion depth is determined to be the target needle insertion depth; If the preset needle insertion depth is greater than or equal to the maximum safe needle insertion depth, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth; If the preset needle insertion depth is less than the maximum safe needle insertion depth, and the difference between the maximum safe needle insertion depth and the preset needle insertion depth is less than the safety distance value, the preset needle insertion depth is adjusted until the difference between the maximum safe needle insertion depth and the preset needle insertion depth is greater than or equal to the safety distance value, and the adjusted preset needle insertion depth is determined to be the target needle insertion depth.

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