Radioactive particle implantation control method, device, electronic device and storage medium

Abstract

The present application discloses a radioactive particle implantation control method, device, electronic device and storage medium. The method and device specifically perform image recognition based on the registration plate image on the puncture plane to obtain perspective transformation parameters; perform perspective transformation on the three-dimensional real scene image based on the perspective transformation parameters to obtain a simulated image; mark the initial position of the puncture needle clamped by the robot in the simulated image based on the simulated image; obtain a medical image of the patient on the examination bed; perform image registration processing on the medical image and the simulated image to obtain the coordinate transformation relationship between the robot coordinate system and the medical image; based on the coordinate transformation relationship, transform the target point, needle insertion point and puncture path on the medical image into multiple parameters such as target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system; and perform implantation control based on the aforementioned multiple parameters. This solution does not rely on the operator's experience and state, thereby improving implantation accuracy.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and more specifically, to a radioactive particle implantation control method, device, electronic device and storage medium. Background Art

[0002] Radioactive seed implantation is an effective method for treating malignant tumors. Its basic principle is to implant a radioactive sealed seed source into or around the tumor lesion through a puncture needle, and kill tumor cells through the gamma rays emitted by the particles. Its efficacy and side effects mainly depend on the location, number and radiation dose of the implanted radioactive seeds. Therefore, the radioactive seeds must be accurately implanted into or around the tumor lesion.

[0003] Generally speaking, the surgeon needs to perform puncture and place radioactive seeds according to the CT scan images and based on the radioactive seed implantation planning system (TPS) to complete the seed implantation. The whole process requires the surgeon to have rich experience and good condition to plan well. Since manual operation is heavily dependent on the surgeon's experience and individual condition, it is difficult to guarantee accurate implantation every time. Summary of the invention

[0004] In view of this, the present application provides a radioactive particle implantation control method, device, electronic device and storage medium for controlling a medical robot to provide navigation control when performing percutaneous puncture and implanting radioactive particles, so as to improve the implantation accuracy of radioactive particles.

[0005] In order to achieve the above objectives, the proposed solution is as follows:

[0006] A radioactive particle implantation control method is applied to an electronic device for navigating and controlling a medical robot in an interventional operating room. The interventional operating room is equipped with a medical imaging device and an image acquisition device. The puncture needle of the medical robot is on a puncture plane perpendicular to an examination bed of the medical imaging device. The robot implantation control method comprises the following steps:

[0007] performing image recognition based on the registration plate image of the registration plate located on the puncture plane acquired by the image acquisition device to obtain perspective transformation parameters;

[0008] Performing perspective transformation on the three-dimensional real scene image acquired by the image acquisition device based on the perspective transformation parameters to obtain a simulated image of the three-dimensional real scene image;

[0009] Annotating the initial position of the puncture needle held by the medical robot in the simulation image to obtain the current position of the puncture needle;

[0010] Obtaining medical images of the patient on the examination bed and treatment plan information of the radioactive seed implantation planning system, wherein the medical images are marked with at least a target point, a needle insertion point, a puncture path, a number of paths, a needle insertion depth, a position, activity and number of implanted seeds;

[0011] Performing registration processing on the medical image and the simulation image to obtain a coordinate transformation relationship between a robot coordinate system of the medical robot and the medical image;

[0012] Based on the coordinate transformation relationship, coordinate transformation is performed on the current position, the target point, the needle insertion point and the puncture path to obtain the current position coordinates, target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system;

[0013] During the process of the medical robot implanting the device in the patient, the medical robot is navigated and controlled based on the current position coordinates, the target point coordinates, the needle insertion point coordinates and the puncture path coordinates.

[0014] Optionally, the medical images include partial, complete or fused images of CT images, MRI images and PET-CT images.

[0015] Optionally, the navigation control of the medical robot based on the target point coordinates, the needle insertion point coordinates and the puncture path coordinates comprises the steps of:

[0016] The target point coordinates, the needle insertion point coordinates and the puncture path coordinates are solved to obtain the needle insertion path, the needle holding angle posture and the maximum puncture depth of the puncture needle when it reaches the needle insertion point;

[0017] The medical robot is controlled based on the current position of the puncture needle, the needle insertion path, the needle holding angle posture and the maximum puncture depth.

[0018] Optionally, the following steps are also included:

[0019] The implantation effect is verified, and if it meets the requirements, the implantation is terminated; if it does not meet the requirements, the implantation operation is re-implemented starting from obtaining the medical image and the treatment plan information.

[0020] A radioactive particle implantation control device is applied to an electronic device and is used to perform navigation control on a medical robot in an interventional operating room. The interventional operating room is equipped with a medical imaging device and an image acquisition device. The puncture needle of the medical robot is on a puncture plane perpendicular to an examination bed of the medical imaging device. The implantation control device comprises:

[0021] an image recognition module, configured to perform image recognition based on the registration plate image of the registration plate located on the puncture plane acquired by the image acquisition device, to obtain perspective transformation parameters;

[0022] An image transformation module is configured to perform perspective transformation on the three-dimensional real scene image acquired by the image acquisition device based on the perspective transformation parameters to obtain a simulated image of the three-dimensional real scene image;

[0023] a position marking module, configured to mark the initial position of the puncture needle held by the medical robot in the simulation image to obtain the current position of the puncture needle;

[0024] An image acquisition module is configured to acquire a medical image of a patient on the examination bed and treatment plan information of a radioactive particle implantation planning system, wherein the medical image is marked with at least a target point, a needle insertion point, a puncture path, a number of paths, a needle insertion depth, a position, activity, and a number of implanted particles;

[0025] an image registration module, configured to perform registration processing on the medical image and the simulation image to obtain a coordinate transformation relationship between a robot coordinate system of the medical robot and the medical image;

[0026] A coordinate transformation module is configured to perform coordinate transformation on the current position, the target point, the needle insertion point and the puncture path based on the coordinate transformation relationship to obtain the current position coordinates, target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system;

[0027] The implantation execution module is configured to perform navigation control on the medical robot based on the current position coordinates, the target point coordinates, the needle insertion point coordinates and the puncture path coordinates during the process of the medical robot implanting the device on the patient.

[0028] Optionally, the medical images include partial, complete or fused images of CT images, MRI images and PET-CT images.

[0029] Optionally, the navigation execution module includes:

[0030] A data solving unit is used to solve the target point coordinates, the needle insertion point coordinates and the puncture path coordinates to obtain the needle insertion path, needle holding angle posture and maximum puncture depth of the puncture needle when it reaches the needle insertion point;

[0031] The puncture control unit is used to control the medical robot based on the current position of the puncture needle, the needle insertion path, the needle holding angle posture and the maximum puncture depth.

[0032] Optionally, also include:

[0033] The verification and treatment module is configured to verify the implantation effect. If the requirements are met, the implantation is terminated. If the requirements are not met, the implantation operation is re-implemented starting from obtaining the medical image and the treatment plan information.

[0034] An electronic device comprises at least one processor and a memory connected to the processor, wherein:

[0035] The memory is used to store computer programs or instructions;

[0036] The processor is used to execute the computer program or instructions so that the electronic device can implement the radioactive particle implantation control method as described above.

[0037] A storage medium is applied to an electronic device, wherein the storage medium is used to carry one or more computer programs so that when the one or more computer programs are executed by the electronic device, the electronic device can implement the implant control method described above.

[0038] It can be seen from the above technical scheme that the present application discloses a radioactive particle implantation control method, device, electronic device and storage medium. The method and device specifically perform image recognition based on the registration plate image on the puncture plane to obtain perspective transformation parameters; perform perspective transformation on the three-dimensional real scene image based on the perspective transformation parameters to obtain a simulated image; mark the initial position of the puncture needle clamped by the robot in the simulated image based on the simulated image; obtain a medical image of the patient on the examination bed; perform image registration processing on the medical image and the simulated image to obtain the coordinate transformation relationship between the robot coordinate system and the medical image; based on the coordinate transformation relationship, transform the target point, needle insertion point and puncture path, needle insertion depth, implanted particle position, activity, quantity and other information on the medical image into multiple parameters such as target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system; and perform navigation control on the medical robot based on the aforementioned multiple parameters during the implantation process. This scheme does not rely on the operator's experience and state, thereby improving the implantation accuracy of radioactive particles.

[0039] In addition, this solution does not require the customization of special surgical instruments, the surgical operation is convenient and smooth, the equipment is easy to install and deploy, and the purchase and operation costs are low. It is more suitable for the deployment of cost-effective intelligent medical assistance settings in grassroots hospitals. No identification devices are set in the surgical area to reduce the risk of intraoperative infection; the navigation effect can be tested in real time, and the intraoperative operation feedback is real-time. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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 paying creative work.

[0041] Figure 1 A schematic diagram of the layout of an interventional operating room according to an embodiment of the present application;

[0042] Figure 2 A flowchart of a radioactive particle implantation control method according to an embodiment of the present application;

[0043] Figure 3 A real-life conceptual diagram of the registration plate image of an embodiment of the present application;

[0044] Figure 4 A simulated image of an embodiment of the present application;

[0045] Figure 5 A flowchart of another radioactive particle implantation control method according to an embodiment of the present application;

[0046] Figure 6 A block diagram of a radioactive particle implantation control device according to an embodiment of the present application;

[0047] Figure 7 A block diagram of another radioactive particle implantation control device according to an embodiment of the present application;

[0048] Figure 8 A block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] The solution disclosed in this application is applied to an interventional operating room, and is used to implement navigation control of a medical robot in the operating room during the process of implanting radioactive particles in a patient. The interventional operating room involved in this application is equipped with a medical robot E, a medical imaging device A, an image acquisition device G, and a planar laser transmitter B, such as Figure 1As shown. The planar laser emitter here is used to help the operator visually establish a puncture plane F in the interventional operating room. The interventional operating room is equipped with a computer, a workstation or a server, and is physically connected to the above-mentioned medical robot, medical imaging equipment, image acquisition equipment and the planar laser emitter respectively, so as to realize the interaction of signals, data and information.

[0051] The medical imaging device A here is preferably a CT scanning device, the examination bed C of the CT scanning device is perpendicular to the puncture plane, and the puncture plane is located on the patient D on the examination bed. The image acquisition device can use an ordinary industrial-grade camera, which is equipped with a fixed-focus optical lens. Based on the above configuration, the present application discloses the following embodiments, so that the medical robot in the above-mentioned interventional operating room can realize navigation control of its puncture path when performing radioactive particle implantation on a patient.

[0052] Embodiment 1

[0053] Figure 2 This is a flow chart of a radioactive particle implantation control method according to an embodiment of the present application.

[0054] like Figure 2 As shown, the radioactive particle implantation control method of this embodiment is applied to an electronic device, which is a computer, workstation or server configured in the interventional operating room and connected to the above-mentioned devices. The implantation control method specifically includes the following steps:

[0055] S1. Perform image recognition processing based on the registration plate image.

[0056] That is, the registration plate image obtained by shooting the registration plate located on the puncture plane by the image acquisition device is image recognized, so as to obtain a simulated image of the three-dimensional real scene image corresponding to the registration plate image. The purpose of the calibration process here is to obtain the perspective transformation parameters of the perspective transformation matrix as the basis for establishing the transformation relationship between the robot coordinate system and the CT scan image coordinate system.

[0057] S2. Perform perspective transformation on the three-dimensional real scene image based on the perspective transformation parameters.

[0058] That is, based on the above perspective transformation parameters, the three-dimensional real scene image acquired by the image acquisition device is perspective transformed to obtain a simulated image of the three-dimensional real scene image.

[0059] like Figure 3As shown, a puncture plane is set on the examination bed of the CT scanning device, and the light surface emitted by the planar laser emitter is coplanar with the CT tomographic plane; the image acquisition device is placed at an appropriate position in the CT operating room (for example: about 2.4m away from the intended puncture plane, about 80cm away from the center line of the examination bed, and about 2.2m high), and is connected to the workstation through a network cable interface;

[0060] Place the registration plate H at the planned puncture position on the examination bed. Use software to identify the squares in the registration plate and obtain the parameters of the perspective transformation matrix through software calculation. Figure 3 The real-life conceptual image of the puncture plane taken from a bird's-eye view by the image acquisition device G in the image is the registration plate image. The puncture needle registration plate is placed on the examination bed, coplanar with the puncture plane, with a white square at its center; when the image acquisition device takes a picture from a bird's-eye view, the square in the displayed image is not a standard square, but a rhombus;

[0061] Figure 4 Is Figure 3 The simulated image of the three-dimensional real scene image obtained after perspective transformation is processed by perspective transformation. Figure 4 The square of the registration plate is transformed from a rhombus to a square, and a simulated image of the three-dimensional real scene image corresponding to the image of the registration plate is obtained.

[0062] S3. Annotate the initial position of the puncture needle in the simulation image.

[0063] That is, the initial position of the puncture needle is marked in the above simulation image, so as to obtain the current position of the puncture needle.

[0064] S4. Obtain medical images of the patient.

[0065] Before each puncture operation, obtain medical images obtained by various medical image acquisition means, which carry information such as the target, needle insertion point, puncture path, needle insertion depth, activity and quantity of implanted particle positions planned by doctors or other professionals through the TPS planning system. The medical images here include but are not limited to one or more of CT images, MRI images and PET-CT images.

[0066] The medical imaging is performed on the spot on the patient on the examination bed, and during the detection process, the laser positioning line of the CT imaging device is used to paste the corresponding positioning mark on the puncture plane, so that the obtained CT image can produce the corresponding feature points. The positioning mark does not need to be pasted on the patient's body.

[0067] S5. Perform image registration processing on the medical image of the patient containing the treatment plan information and the simulated image of the three-dimensional real scene.

[0068] The transformation relationship between the robot coordinate system of the medical robot and the coordinate system of the medical image is as follows:

[0069] First, two first feature points (A0, B0) are selected in the patient's medical image, and then two second feature points (A1, B1) corresponding to the actual positions of A0 and B0 are selected in the simulated image of the three-dimensional real scene, and image scaling, rotation, and translation operations are performed to register the patient's medical image containing the treatment plan information of the radioactive particle implantation planning system with the simulated image of the three-dimensional real scene, that is, to achieve a preliminary correspondence between the medical image and the simulated image of the three-dimensional real scene;

[0070] Then, according to the position of the medical robot holding the puncture needle marked in the simulated image of the three-dimensional real scene, the transformation relationship between the robot coordinate system and the medical image coordinate system is obtained. Here, the medical image coordinate system refers to the coordinate system of the medical image obtained based on the puncture plane.

[0071] S6. Change the position of the target point, needle insertion point and puncture path.

[0072] Since the transformation relationship between the coordinate system of the medical image and the robot coordinate system is based on the above-mentioned transformation relationship, after obtaining the medical image, the position of the target point, the position of the needle insertion point and the position of the puncture path on the medical image can be transformed based on the transformation relationship, thereby obtaining the target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system.

[0073] S7. Navigate and control the medical robot during the implantation process.

[0074] When performing puncture, first move the examination bed, and move the selected puncture level, i.e., puncture position, to the puncture plane (i.e., laser plane F), so that the laser line of the puncture plane coincides with the selected puncture level marking point; at this time, the position of the puncture needle clamped by the medical robot in the real-life image of the working surface is its initial position.

[0075] During the implantation of radioactive particles, first, the current position of the robot holding the puncture needle can be marked in the CT scan image of the selected puncture level; and based on the target coordinates, the needle entry point coordinates and the puncture path coordinates, the motion path of the puncture needle to reach the needle entry point, the needle holding angle posture, the maximum puncture depth, the step-by-step needle withdrawal position (particle position) and other parameters are obtained.

[0076] Then, the surgeon can select the needle insertion plan to be executed according to the surgical requirements, and then issue operating instructions to the robot to deliver the puncture needle and the radioactive particles to the corresponding needle insertion position. The puncture needle will automatically align to the planned angle and continue to perform the puncture operation on the patient according to the motion path and maximum penetration depth.

[0077] When the puncture needle penetrates to 1 / 2 or 1 / 3 of the predetermined depth, repeat the CT scan for verification. If the angle and needle insertion point meet the requirements of puncture accuracy, continue to puncture to the predetermined depth and implant radioactive particles; otherwise, make appropriate adjustments.

[0078] It can be seen from the above technical scheme that the present embodiment provides a radioactive particle implantation control method, which is applied to electronic devices. Specifically, the method comprises the following steps: performing image recognition based on the registration plate image on the puncture plane to obtain perspective transformation parameters; performing perspective transformation on the three-dimensional real scene image based on the perspective transformation parameters to obtain a simulated image; marking the initial position of the puncture needle held by the robot in the simulated image based on the simulated image; obtaining the medical image of the patient on the examination bed and the radioactive particle implantation planning system (TPS) treatment plan related information, wherein the medical image is marked with at least target points, needle insertion points and puncture paths, number of paths, needle insertion depth, implanted particle position, activity, number and other information; performing image registration processing on the image and the simulated image to obtain the coordinate transformation relationship between the robot coordinate system and the medical image; transforming the target points, needle insertion points and puncture paths, needle insertion depth, implanted particle position, activity and number and other information on the medical image into multiple parameters such as target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system based on the coordinate transformation relationship; and performing navigation control on the medical robot based on the aforementioned multiple parameters during the implantation process. This approach does not rely on the surgeon's experience and condition, thus improving the accuracy of radioactive seed implantation.

[0079] Through actual experiments, it was found that this solution can improve positioning accuracy by directly aligning medical images with three-dimensional real scenes; no identification devices are set in the surgical area, reducing the risk of infection; the navigation effect can be tested in real time, and the real-time feedback of intraoperative operations is good.

[0080] In addition, this solution does not require the customization of special surgical instruments, the surgical operation is convenient and smooth, the equipment installation and deployment is convenient, the purchase cost and operating cost are low, and it is more suitable for the deployment of cost-effective intelligent medical auxiliary settings in grassroots hospitals. The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0081] In addition, in a specific implementation of this embodiment, the following steps are also included: Figure 5 As shown, S8, implant quality verification is performed after surgery.

[0082] That is, the implantation quality of the implanted radioactive particles is detected through CT images, that is, the implantation position, implantation quantity, etc. If the verification result meets the preoperative plan requirements, the operation is ended. If it does not meet the requirements, a supplementary plan is specified again, and steps S4-S7 are repeated until the requirements are met.

[0083] Although operations are depicted in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or in a sequential order.Multitasking and parallel processing may be advantageous under certain circumstances.

[0084] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0085] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as C or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer.

[0086] Embodiment 2

[0087] Figure 6 This is a block diagram of a radioactive particle implantation control device according to an embodiment of the present application.

[0088] like Figure 6 As shown, the implant control device of this embodiment is applied to an electronic device, which is a computer, workstation or server configured in the interventional operating room and connected to the above-mentioned devices. The navigation control device can be understood as the above-mentioned electronic device itself or its functional modules, specifically including an image recognition module 10, an image transformation module 20, a position marking module 30, an image acquisition module 40, an image registration module 50, a coordinate transformation module 60 and an implant execution module 70.

[0089] The image recognition module is used to perform image recognition processing based on the registration plate image.

[0090] That is, the registration plate image obtained by shooting the registration plate located on the puncture plane by the image acquisition device is image recognized, so as to obtain a simulated image of the three-dimensional real scene image corresponding to the registration plate image. The purpose of the calibration process here is to obtain the perspective transformation parameters of the perspective transformation matrix as the basis for establishing the transformation relationship between the robot coordinate system and the CT scan image coordinate system.

[0091] The image transformation module is used to perform perspective transformation on the three-dimensional real scene image based on perspective transformation parameters.

[0092] That is, based on the above perspective transformation parameters, the three-dimensional real scene image acquired by the image acquisition device is perspective transformed to obtain a simulated image of the three-dimensional real scene image.

[0093] like Figure 3As shown, a puncture plane is set on the examination bed of the CT scanning device, and the light surface emitted by the planar laser emitter is coplanar with the CT tomographic plane; the image acquisition device is placed at an appropriate position in the CT operating room (for example: about 2.4m away from the intended puncture plane, about 80cm away from the center line of the examination bed, and about 2.2m high), and is connected to the workstation through a network cable interface;

[0094] Place the registration plate H at the planned puncture position on the examination bed. Use software to identify the squares in the registration plate and obtain the parameters of the perspective transformation matrix through software calculation. Figure 3 The real-life conceptual image of the puncture plane taken from a bird's-eye view by the image acquisition device G in the image is the registration plate image. The puncture needle registration plate is placed on the examination bed, coplanar with the puncture plane, with a white square at its center; when the image acquisition device takes a picture from a bird's-eye view, the square in the displayed image is not a standard square, but a rhombus;

[0095] Figure 4 Is Figure 3 The simulated image of the three-dimensional real scene image obtained after perspective transformation is processed by perspective transformation. Figure 4 The square of the registration plate is transformed from a rhombus to a square, and a simulated image of the three-dimensional real scene image corresponding to the image of the registration plate is obtained.

[0096] The position marking module is used to mark the initial position of the puncture needle in the simulation image.

[0097] That is, the initial position of the puncture needle is marked in the above simulation image, so as to obtain the current position of the puncture needle.

[0098] The image acquisition module is used to obtain the patient's medical images and radioactive particle implantation planning system (TPS) treatment plan related information. The medical images are marked with at least target points, needle insertion points and puncture paths, number of paths, needle insertion depth, implanted particle position, activity, quantity and other information.

[0099] Before each puncture operation, medical images obtained by various medical image acquisition methods are obtained. The medical images carry information such as the target, needle insertion point and puncture path, needle insertion depth, implanted particle position, activity and quantity planned by doctors or other professionals through the TPS planning system. The medical images here include but are not limited to one or more of CT images, MRI images and PET-CT images.

[0100] The medical imaging is performed on the spot on the patient on the examination bed, and during the detection process, the laser positioning line of the CT imaging device is used to paste the corresponding positioning mark on the puncture plane, so that the obtained CT image can produce the corresponding feature points. The positioning mark does not need to be pasted on the patient's body.

[0101] The medical registration module is used to perform image registration processing on the patient's medical images containing treatment plan information and the simulated images of the three-dimensional real scene.

[0102] The transformation relationship between the robot coordinate system of the medical robot and the coordinate system of the medical image is as follows:

[0103] First, two first feature points (A0, B0) are selected in the patient's medical image, and then two second feature points (A1, B1) corresponding to the actual positions of A0 and B0 are selected in the simulated image of the three-dimensional real scene, and image scaling, rotation, and translation operations are performed to register the patient's medical image containing the treatment plan information of the radioactive particle implantation planning system with the simulated image of the three-dimensional real scene, that is, to achieve a preliminary correspondence between the medical image and the simulated image of the three-dimensional real scene;

[0104] Then, according to the position of the medical robot holding the puncture needle marked in the simulated image of the three-dimensional real scene, the transformation relationship between the robot coordinate system and the medical image coordinate system is obtained. Here, the medical image coordinate system refers to the coordinate system of the medical image obtained based on the puncture plane.

[0105] The coordinate transformation module is used to transform the position of the target point, needle insertion point and puncture path.

[0106] Since the transformation relationship between the coordinate system of the medical image and the robot coordinate system is based on the above-mentioned transformation relationship, after obtaining the medical image, the position of the target point, the position of the needle insertion point and the position of the puncture path on the medical image can be transformed based on the transformation relationship, thereby obtaining the target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system.

[0107] The implanted execution module is used to navigate and control the medical robot during the puncture process.

[0108] When puncturing and implanting radioactive particles, first move the examination bed, move the selected puncture level, i.e., the puncture position, to the puncture plane (i.e., laser plane F), so that the laser line of the puncture plane coincides with the selected puncture level mark point; at this time, the position of the puncture needle held by the medical robot in the real-life image of the working surface is its initial position. This module includes a data solving unit and a puncture control unit.

[0109] During the process of implanting radioactive particles, the data solving unit is used to mark the current position of the robot-clamped puncture needle in the CT scan image of the selected puncture level; and based on the target coordinates, the insertion point coordinates and the puncture path coordinates, the calculation is performed to obtain the motion path of the puncture needle to the insertion point, the needle holding angle posture, the maximum puncture depth and other parameters.

[0110] Then, the surgeon can select the needle insertion plan to be executed according to the surgical requirements, and then issue operating instructions to the robot to deliver the puncture needle to the corresponding needle insertion position. The puncture control unit of the puncture needle is used to automatically align to the planned angle and continue to perform the puncture operation on the patient according to the motion path and maximum penetration depth.

[0111] When the puncture needle penetrates to 1 / 2 or 1 / 3 of the predetermined depth, repeat the CT scan for verification. If the angle and the needle entry point meet the requirements of puncture accuracy, continue to puncture to the predetermined depth and complete the implantation; otherwise, make appropriate adjustments.

[0112] It can be seen from the above technical scheme that this embodiment provides a radioactive particle implantation control method, which is applied to electronic devices. The device is specifically used to perform image recognition based on the registration plate image on the puncture plane to obtain perspective transformation parameters; perform perspective transformation on the three-dimensional real scene image based on the perspective transformation parameters to obtain a simulated image; based on the simulated image, the initial position of the puncture needle clamped by the robot is marked in the simulated image; obtain the medical image of the patient on the examination bed and the radioactive particle implantation planning system (TPS) treatment plan related information, and the medical image is marked with at least target points, needle insertion points and puncture paths, number of paths, needle insertion depth, implanted particle position, activity, number and other information; perform image registration processing on this image and the simulated image to obtain the coordinate transformation relationship between the robot coordinate system and the medical image; based on the coordinate transformation relationship, transform the target points, needle insertion points and puncture paths on the medical image into multiple parameters such as target coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system; and navigate and control the medical robot based on the aforementioned multiple parameters during the implantation process. This scheme does not rely on the operator's experience and state, thereby improving the implantation accuracy of radioactive particles.

[0113] In addition, in a specific implementation of this embodiment, a verification processing module 80 is also included, such as Figure 7 As shown,

[0114] The verification and treatment module is used to implement implant quality verification after surgery.

[0115] That is, the implantation quality of the implanted radioactive particles is detected through CT images, that is, the implantation position, implantation quantity, etc. If the verification result meets the preoperative plan requirements, the operation is ended. If it does not meet the requirements, a supplementary plan is specified again, and steps S4-S7 are repeated until the requirements are met.

[0116] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware. The name of a unit does not limit the unit itself in some cases. For example, the first acquisition unit may also be described as a "unit for acquiring at least two Internet Protocol addresses".

[0117] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0118] Embodiment 3

[0119] Figure 8 A block diagram of an electronic device according to an embodiment of the present application.

[0120] Reference below Figure 8 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure. The terminal device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0121] like Figure 6 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. In RAM 603, various programs and data required for the operation of the electronic device are also stored. The processing device 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0122] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 6 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0123] When the program in this embodiment is executed, the electronic device can implement the radioactive particle implantation control method provided in the first embodiment, which specifically includes performing image calibration based on the registration plate image located on the puncture plane to obtain a simulated image; performing image registration processing based on the registration plate image and the simulated image to obtain the transformation relationship between the robot coordinate system of the medical robot and the medical image coordinate system; obtaining the medical image of the patient located on the examination bed and the radioactive particle implantation planning system (TPS) treatment plan related information, wherein the medical image is marked with at least target points, needle insertion points and puncture paths, number of paths, needle insertion depth, implanted particle position, activity, number and other information; transforming the positions of the target points, needle insertion points and puncture paths on the medical image based on the transformation relationship to obtain multiple parameters such as target coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system; and navigating and controlling the medical robot based on the aforementioned multiple parameters during the implantation process. This solution does not rely on the operator's experience and state, thereby improving the implantation accuracy of radioactive particles.

[0124] Embodiment 4

[0125] This embodiment provides a computer-readable storage medium, which carries one or more programs. When the above one or more programs are executed by the electronic device, the electronic device can implement the radioactive particle implantation control method disclosed in this application. The method specifically includes performing image recognition based on the registration plate image on the puncture plane to obtain perspective transformation parameters; performing perspective transformation on the three-dimensional real scene image based on the perspective transformation parameters to obtain a simulation image; marking the initial position of the puncture needle clamped by the robot in the simulation image based on the simulation image; obtaining a medical image of a patient on the examination bed; performing image registration processing on the medical image and the simulation image to obtain a coordinate transformation relationship between the robot coordinate system and the medical image; transforming the target point, needle insertion point and puncture path on the medical image into multiple parameters such as target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system based on the coordinate transformation relationship; and navigating and controlling the medical robot based on the aforementioned multiple parameters during the implantation process. This solution does not rely on the operator's experience and state, thereby improving the implantation accuracy of radioactive particles.

[0126] It should be noted that the computer-readable storage medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0127] In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0128] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0129] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0130] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0131] The technical solution provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A radioactive particle implantation control device, applied to electronic equipment, for navigation control of a medical robot in an interventional operating room, wherein the interventional operating room is equipped with a medical imaging device and an image acquisition device, and the puncture needle of the medical robot is on a puncture plane perpendicular to the examination bed of the medical imaging device, characterized in that: The implant control device comprises: an image recognition module, configured to perform image recognition based on the registration plate image of the registration plate located on the puncture plane acquired by the image acquisition device, to obtain perspective transformation parameters; An image transformation module is configured to perform perspective transformation on the three-dimensional real scene image acquired by the image acquisition device based on the perspective transformation parameters to obtain a simulated image of the three-dimensional real scene image; a position marking module, configured to mark the initial position of the puncture needle held by the medical robot in the simulation image to obtain the current position of the puncture needle; An image acquisition module is configured to acquire a medical image of a patient on the examination bed and treatment plan information of a radioactive particle implantation planning system, wherein the medical image is marked with at least a target point, a needle insertion point, a puncture path, a number of paths, a needle insertion depth, a position, activity, and a number of implanted particles; an image registration module, configured to perform registration processing on the medical image and the simulation image to obtain a coordinate transformation relationship between a robot coordinate system of the medical robot and the medical image; A coordinate transformation module is configured to perform coordinate transformation on the current position, the target point, the needle insertion point and the puncture path based on the coordinate transformation relationship to obtain the current position coordinates, target point coordinates, needle insertion point coordinates and puncture path coordinates based on the robot coordinate system; The implantation execution module is configured to solve the target coordinates, the needle insertion point coordinates and the puncture path coordinates during the implantation process of the medical robot on the patient, so as to obtain the needle insertion path, the needle holding angle posture and the maximum puncture depth of the puncture needle to reach the needle insertion point; control the medical robot based on the current position of the puncture needle, the needle insertion path, the needle holding angle posture and the maximum puncture depth; wherein, when the current depth of the puncture needle reaches 1 / 2 or 1 / 3 of the maximum puncture depth, repeatedly obtain the simulated image of the three-dimensional real-scene image; if the repeatedly obtained simulated image of the three-dimensional real-scene image indicates that the current angle of the puncture needle meets the requirement of the needle holding angle posture, then continue to execute the step of controlling the medical robot based on the current position of the puncture needle, the needle insertion path, the needle holding angle posture and the maximum puncture depth.

2. The implant control device according to claim 1, characterized in that: The medical images include partial, complete or fused images of CT images, MRI images and PET-CT images.

3. The implant control device according to any one of claims 1 to 2, characterized in that: Also includes: The verification and treatment module is configured to verify the implantation effect. If the requirements are met, the implantation is terminated. If the requirements are not met, the implantation operation is re-implemented starting from obtaining the medical image and the treatment plan information.

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