Surgical path processing method, system, readable storage medium, and surgical system
By acquiring tissue segmentation images and selecting incision points and target points on the images, and combining the tissues to be avoided and distance thresholds to obtain the surgical path, the problem of time-consuming and laborious surgical path planning in existing technologies is solved, and efficient and safe path planning is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
- Filing Date
- 2021-06-25
- Publication Date
- 2026-05-19
AI Technical Summary
In existing technologies, planning surgical pathways is time-consuming and labor-intensive, relies entirely on the doctor's experience, is inefficient, and makes it difficult to effectively avoid important tissues.
By acquiring tissue segmentation images, the tissues to be avoided and the distance threshold are determined. The incision point and target point are selected on the image. The surgical path is obtained by combining the tissues to be avoided, the distance threshold, the incision point and the target point, and then the surgical robot is used to move it.
It improves the efficiency of obtaining surgical pathways, reduces damage to important tissues, reduces reliance on physician experience, and improves the accuracy and safety of the pathways.
Smart Images
Figure CN115517762B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical imaging technology, and in particular to a surgical path processing method, system, readable storage medium, and surgical system. Background Technology
[0002] Stereotactic surgical robots are generally used in surgical procedures. Before performing surgery, the surgical path needs to be planned in advance, and the surgical robot moves according to the surgical path.
[0003] Currently, preoperative planning and surgical path determination rely entirely on the surgeon's experience. When developing a surgical plan, the surgeon locates the target point based on medical imaging and experience, then finds a suitable entry point on the surface of the body tissue to determine the surgical path. Determining the surgical path typically requires the surgeon to review 2D images layer by layer to ensure the path passes through important tissues and avoids them. Developing a good surgical path requires multiple adjustments and confirmations, which not only depends entirely on the surgeon's experience but is also time-consuming and labor-intensive. Summary of the Invention
[0004] Therefore, it is necessary to address the problem of time-consuming and laborious surgical path development in related technologies by providing a surgical path processing method, system, readable storage medium, and surgical system.
[0005] In a first aspect, this application provides a surgical path processing method, comprising the following steps:
[0006] Obtain tissue segmentation images, wherein the tissue segmentation images include various segmented tissues;
[0007] The surgical procedure and tissue segmentation images are used to determine the tissues to be avoided and the distance thresholds, where the distance thresholds correspond to the tissues.
[0008] Select incision points and target points on the tissue segmentation image, where the incision point and target point are the start and end points of the surgical path, respectively;
[0009] The surgical path is determined based on the tissue to be avoided, distance threshold, entry point, and target point.
[0010] In one embodiment, the surgical path processing method further includes the following steps:
[0011] Obtain the minimum distance between the surgical path and the tissue to be avoided. If the minimum distance is less than the corresponding distance threshold, issue an alarm.
[0012] In one embodiment, after issuing the alarm message, the surgical path processing method further includes the following steps:
[0013] Receive the first adjustment instruction and adjust the distance threshold according to the first adjustment instruction;
[0014] Alternatively, receive a second adjustment instruction and adjust the entry point or target point according to the second adjustment instruction;
[0015] Return to the step of obtaining the surgical path based on the tissue to be avoided, distance threshold, entry point, and target.
[0016] In one embodiment, the surgical path processing method further includes the following steps:
[0017] Marker points are extracted from the tissue segmentation image, and the spatial transformation relationship between the image coordinate system and the surgical robot coordinate system is obtained based on the marker points;
[0018] The surgical path is converted into the movement path of the surgical robot based on the spatial transformation relationship.
[0019] In one embodiment, obtaining a tissue segmentation image includes the following steps:
[0020] Acquire the patient's scanned image data, segment the tissue based on the characteristics of the scanned image data, and obtain multiple different tissue data;
[0021] Multiple different tissue data are fused to obtain tissue segmentation images.
[0022] In one embodiment, tissue segmentation based on the characteristics of scanned image data includes the following steps:
[0023] If the scanned image data includes multi-sequence image data, the multi-sequence image data is registered, and the registered multi-sequence image data is segmented separately.
[0024] In one embodiment, the scanned image data includes at least one of computed tomography (CT) image data, X-ray image data, magnetic resonance imaging (MRI) image data, positron emission tomography (PET) image data, and multimodal fusion image data.
[0025] Secondly, this application provides a surgical pathway processing system, comprising:
[0026] An image acquisition unit is used to acquire tissue segmentation images, wherein the tissue segmentation images include multiple segmented tissues;
[0027] The avoidance processing unit is used to determine the tissue to be avoided and the distance threshold based on the surgical procedure and tissue segmentation image, wherein the distance threshold corresponds to the tissue;
[0028] The site selection unit is used to select the incision point and the target point on the tissue segmentation image, where the incision point and the target point are the start point and the end point of the surgical path, respectively.
[0029] The path acquisition unit is used to acquire the surgical path based on the tissue to be avoided, distance threshold, entry point, and target point.
[0030] Thirdly, this application provides a readable storage medium storing an executable program thereon, which, when executed by a processor, implements the steps of any of the surgical path processing methods described above.
[0031] Fourthly, this application provides a surgical system, including a surgical path processing system, a surgical robot, and an imaging device;
[0032] Imaging equipment is used to provide medical images to surgical pathway processing systems;
[0033] The surgical robot moves according to the surgical path provided by the surgical path processing system.
[0034] Compared to related technologies, the surgical path processing method, system, readable storage medium, and surgical system provided in this application acquire tissue segmentation images including multiple segmented tissues, determine the tissues to be avoided and their corresponding distance thresholds based on the surgical procedure and the tissue segmentation images, select an incision point and a target point on the tissue segmentation images, and obtain the surgical path based on the tissues to be avoided, the distance thresholds, the incision point, and the target point. In this solution, when formulating the surgical path, the surgical path can be obtained based on the incision point and target point, combined with the tissues to be avoided and the distance thresholds. This surgical path considers the tissues to be avoided and the distance between the surgical path and the tissues to be avoided, enabling the surgical path to bypass the tissues to be avoided and avoid damage to them. Moreover, this surgical path can be obtained preoperatively after calculation and processing based on the tissue segmentation images, largely avoiding reliance on the surgeon's experience and improving the efficiency of obtaining the surgical path.
[0035] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description
[0036] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:
[0037] Figure 1 This is a hardware structure block diagram of the terminal of the surgical path processing method in one embodiment.
[0038] Figure 2 This is a flowchart illustrating a surgical path processing method in one embodiment.
[0039] Figure 3 This is a schematic diagram of the surgical path processing system in one embodiment.
[0040] Figure 4 This is a schematic diagram of the surgical path processing system in another embodiment.
[0041] Figure 5 This is a schematic diagram of the surgical path processing system in another embodiment.
[0042] Figure 6 This is a schematic diagram of the surgical path processing system in another embodiment.
[0043] Figure 7 This is a schematic diagram of the surgical system in one embodiment.
[0044] Figure 8 This is a schematic diagram of the preoperative planning workflow in one embodiment.
[0045] Figure 9 This is a schematic diagram of the workflow of a surgical system in one embodiment. Detailed Implementation
[0046] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.
[0047] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.
[0048] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first”, “second”, etc. used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.
[0049] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. Taking running on a terminal as an example, Figure 1 This is a hardware structure block diagram of the terminal for the surgical path processing method according to an embodiment of this application. For example... Figure 1 As shown, terminal 10 may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, terminal 10 may also include components that are larger than those described above. Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.
[0050] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the surgical path processing method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned surgical path processing method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
[0051] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.
[0052] While this application makes various references to certain modules in systems according to embodiments of this application, any number of different modules may be used and run on the system and / or processor. Modules are merely illustrative, and different aspects of the system and method may use different modules.
[0053] Flowcharts are used in this application to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, various steps can be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more steps may be removed from these processes.
[0054] See Figure 2 The diagram shown is a flowchart illustrating a surgical path processing method according to an embodiment of this application. The surgical path processing method in this embodiment includes the following steps:
[0055] Step S210: Obtain a tissue segmentation image, wherein the tissue segmentation image includes multiple segmented tissues;
[0056] In this step, the tissue segmentation image is an image that has already undergone tissue segmentation, which may include various segmented tissues, such as blood vessels, nerves, and bones. Multiple segmented tissues are fused and displayed in the tissue segmentation image. Specifically, different tissues in the image can be labeled with different colors or fluorescent markers to distinguish between tissues. The tissue segmentation image can be read from memory or obtained after data processing in a processor.
[0057] Step S220: Determine the tissues to be avoided and the distance thresholds based on the surgical procedure and tissue segmentation images, wherein the distance thresholds correspond to the tissues;
[0058] In this step, the surgical procedure refers to the specific type of surgery, including DBS (Deep Brain Stimulation), SEEG (Stereotactic Electroencephalography), puncture procedures, etc. Different surgical procedures have different operational methods, and the tissues to be avoided also differ. The distance threshold is the appropriate threshold for the distance between the surgical path and the tissue to be avoided. If the distance between the surgical path and the tissue to be avoided reaches the distance threshold, it indicates that the surgical path can successfully bypass the tissue to be avoided. Distance thresholds also reflect the operational precision of surgical procedures. Different surgical procedures have different requirements for system spatial registration precision. For example, DBS requires a spatial registration precision within 0.5mm, SEEG requires within 0.8mm, and puncture procedures require system positioning precision depending on the specific lesion size and location. Therefore, for DBS, the default distance threshold for important tissues the system needs to avoid can be 1mm; for SEEG, the default distance threshold can be 1.6mm; and for puncture procedures, the default distance threshold can be 2mm. Additionally, a safety check range can be set, which can be set to greater than or equal to 0.5mm, depending on the system's achievable precision.
[0059] It should be noted that the tissues to be avoided and the distance thresholds can be adjusted and confirmed based on the actual situation and experience, such as receiving instructions from doctors to modify the tissues to be avoided and the distance thresholds.
[0060] Step S230: Select the incision point and target point on the tissue segmentation image, where the incision point and target point are the start and end points of the surgical path, respectively;
[0061] In this step, the target point is the location of the lesion to be operated on, and the incision point is the entry point for the surgical robot to enter the tissue from outside the human body. The incision point and the target point are the starting point and the ending point of the surgical path, respectively. They can be automatically generated based on the tissue segmentation graphics when processing tissue segmentation images, or they can be generated based on the doctor's operation instructions.
[0062] Step S240: Obtain the surgical path based on the tissue to be avoided, distance threshold, entry point, and target point.
[0063] In this step, the surgical path must bypass the tissue to be avoided, and the distance between the surgical path and the tissue to be avoided must be greater than or equal to a distance threshold. The incision point and the target point are the starting point and the ending point of the surgical path, respectively. A reasonable surgical path can be generated by using the location of the tissue to be avoided, the distance threshold, the location of the incision point, and the location of the target point.
[0064] In this embodiment, tissue segmentation images including various segmented tissues are acquired. Based on the surgical procedure and the tissue segmentation images, the tissues to be avoided and their corresponding distance thresholds are determined. An incision point and a target point are selected on the tissue segmentation images. The surgical path is then obtained based on the tissues to be avoided, the distance thresholds, the incision point, and the target point. In this approach, when formulating the surgical path, the incision point and target point, combined with the tissues to be avoided and the distance thresholds, can be used to obtain the surgical path. This surgical path considers the tissues to be avoided and the distance between the surgical path and the tissues to be avoided, enabling the surgical path to bypass the tissues to be avoided and avoid damage to them. Furthermore, this surgical path can be obtained preoperatively after calculation and processing based on the tissue segmentation images, largely avoiding reliance on the surgeon's experience and improving the efficiency of obtaining the surgical path.
[0065] It should be noted that the above surgical path processing method can be executed on the control console of the surgical robot, on the post-processing workstation of the medical device, or on a terminal device that can communicate with the medical device, and is not limited to these. It can be varied and adjusted according to the actual application needs. The above surgical path processing method is mainly used for preoperative planning and does not directly participate in the surgical process; it only provides a reasonable surgical path before the operation.
[0066] Furthermore, the obtained surgical path can be manually adjusted. After obtaining the surgical path, it can be adjusted according to the doctor's operating instructions. The surgical path can also be displayed in a tissue segmentation image, specifically showing the relationship between the surgical path and the tissue on the display device. The surgical path and the tissue segmentation image are stored in memory for later retrieval.
[0067] In one embodiment, the surgical path processing method further includes the following steps:
[0068] Obtain the minimum distance between the surgical path and the tissue to be avoided. If the minimum distance is less than the corresponding distance threshold, issue an alarm.
[0069] In this embodiment, when the tissues to be avoided are complex or numerous, the obtained surgical path may not fully meet the distance threshold condition. Therefore, the minimum distance between the surgical path and the tissues to be avoided can be obtained and compared with the distance threshold corresponding to the tissues to be avoided. When the minimum distance is less than the distance threshold, an alarm message is issued, indicating a risk that the surgical path may not be able to bypass the tissues to be avoided. The alarm message can be used to remind the surgeon to modify the surgical path. In this way, by modifying the surgical path based on the alarm message, it is confirmed that the surgical path can accurately avoid the tissues to be avoided, thus improving the accuracy of the surgical path.
[0070] It should be noted that there are multiple tissues that need to be avoided. Distance comparisons can be performed on multiple tissues that need to be avoided, and warnings can be issued. The surgical path can be modified as a whole to improve the accuracy of the surgical path.
[0071] In one embodiment, after issuing an alarm message, the surgical path processing method further includes the following steps:
[0072] Receive the first adjustment instruction and adjust the distance threshold according to the first adjustment instruction;
[0073] Alternatively, receive a second adjustment instruction and adjust the entry point or target point according to the second adjustment instruction;
[0074] Return to the step of obtaining the surgical path based on the tissue to be avoided, distance threshold, entry point, and target.
[0075] In this embodiment, after an alarm message is displayed, if the currently obtained surgical path is deemed unreasonable, it can be modified by receiving adjustment commands. Modification methods may include, but are not limited to, two: a first adjustment command, used to adjust the distance threshold. Since the distance threshold is set with safety check ranges considered, appropriately adjusting the distance threshold will not affect the rationality of the surgical path; and a second adjustment command, used to adjust the incision point or target point. Different positions of the incision point and target point will also affect the surgical path, and modifying the incision point or target point can also appropriately modify the surgical path. After adjusting the distance threshold, incision point, or target point, the surgical path can be re-obtained based on the tissue to be avoided, the distance threshold, the incision point, and the target point. Using adjustment commands allows for the modification of the surgical path, improving its accuracy, and facilitates user adjustments during actual use.
[0076] In one embodiment, the surgical path processing method further includes the following steps:
[0077] Marker points are extracted from the tissue segmentation image, and the spatial transformation relationship between the image coordinate system and the surgical robot coordinate system is obtained based on the marker points;
[0078] The surgical path is converted into the movement path of the surgical robot based on the spatial transformation relationship.
[0079] In this embodiment, the surgical path is executed by a surgical robot. Since the image coordinate system of the tissue segmentation image differs from the coordinate system of the surgical robot, the surgical path obtained from the tissue segmentation image needs to be converted into a movement path in the surgical robot's coordinate system through spatial transformation. Specifically, marker points can be extracted from the tissue segmentation image. These marker points can be used for spatial registration to determine the spatial transformation relationship between the image coordinate system and the surgical robot's coordinate system. By utilizing the marker points extracted from the tissue segmentation image to obtain the spatial transformation relationship between the image coordinate system and the surgical robot's coordinate system, the surgical path can be quickly converted into the surgical robot's movement path, improving the efficiency of obtaining the surgical robot's movement path.
[0080] Furthermore, the tissue segmentation image includes 2D or 3D images, and the markers can be located at multiple different locations in the space of the tissue segmentation image.
[0081] In one embodiment, obtaining a tissue segmentation image includes the following steps:
[0082] Acquire the patient's scanned image data, segment the tissue based on the characteristics of the scanned image data, and obtain multiple different tissue data;
[0083] Multiple different tissue data are fused to obtain tissue segmentation images.
[0084] In this embodiment, various scanned image data of the patient can be acquired. Different tissues exhibit different characteristics in different scanned images. The features of the scanned image data can be used for tissue segmentation to obtain multiple different tissue data sets. These data sets are then fused to obtain a tissue segmentation image, providing a reference for surgical path processing. Because tissues have different characteristics in different scanned images, the accuracy of tissue data in the tissue segmentation image can be improved through tissue segmentation and fusion of different scanned images.
[0085] In one embodiment, tissue segmentation based on the characteristics of scanned image data includes the following steps:
[0086] If the scanned image data includes multi-sequence image data, the multi-sequence image data is registered, and the registered multi-sequence image data is segmented separately.
[0087] In this embodiment, DICOM (Digital Imaging and Communications in Medicine) images are commonly used in the scanned images. These images include single-sequence and multi-sequence types. Multi-sequence images correspond to different tissues and need to be registered before tissue segmentation to improve the accuracy of tissue segmentation.
[0088] Specifically, MR (Magnetic Resonance) T1 (T1-weighted imaging) and T2 (T2-weighted imaging) sequences can be used for nucleus extraction, DTI (Diffusion Tensor Imaging) sequences can be used for neural analysis, and CT (Computed Tomography) data can be used for blood vessel extraction, etc.
[0089] Furthermore, if the scanned image data includes single-sequence image data, then registration is not required.
[0090] Furthermore, when performing tissue segmentation, techniques such as image segmentation algorithms and deep learning can be used to accurately segment the tissue.
[0091] In one embodiment, the scanned image data includes at least one of computed tomography (CT) image data, X-ray image data, magnetic resonance imaging (MRI) image data, positron emission tomography (PET) image data, and multimodal fusion image data.
[0092] In this embodiment, the scanned image data may include various types, such as computed tomography (CT) image data, X-ray image data, magnetic resonance imaging (MRI) image data, positron emission tomography (PET) image data, and multimodal fusion image data. The corresponding modal scanned image data can be obtained by scanning imaging modal devices such as CT scanners, MRI scanners, or PET scanners. The scanned image data can also be read from the memory of the corresponding device.
[0093] In the embodiments of this application, the surgical path processing method can be applied to the preoperative planning of surgeries in areas such as the skull and abdomen, and the tissues to be avoided include the heart, blood vessels, bones, nerves, etc.
[0094] Based on the above surgical path processing method, this application also provides a surgical path processing system, and the embodiments of the surgical path processing system are described in detail below.
[0095] See Figure 3 The diagram shown is a structural schematic of a surgical path processing system according to one embodiment. The surgical path processing system in this embodiment includes:
[0096] Image acquisition unit 310 is used to acquire tissue segmentation images, wherein the tissue segmentation images include multiple segmented tissues;
[0097] The avoidance processing unit 320 is used to determine the tissue to be avoided and the distance threshold based on the surgical procedure and the tissue segmentation image, wherein the distance threshold corresponds to the tissue.
[0098] The site selection unit 330 is used to select the incision point and the target point on the tissue segmentation image, wherein the incision point and the target point are the start point and the end point of the surgical path, respectively.
[0099] The path acquisition unit 340 is used to acquire the surgical path based on the tissue to be avoided, distance threshold, entry point and target point.
[0100] In this embodiment, the image acquisition unit 310 acquires tissue segmentation images including various segmented tissues, the avoidance processing unit 320 determines the tissues to be avoided and the corresponding distance thresholds based on the surgical procedure and the tissue segmentation images, the site selection unit 330 selects an incision point and a target point on the tissue segmentation images, and the path acquisition unit 340 acquires the surgical path based on the tissues to be avoided, the distance thresholds, the incision point, and the target point. In this solution, when formulating the surgical path, the surgical path can be obtained based on the incision point and target point, combined with the tissues to be avoided and the distance thresholds. This surgical path considers the tissues to be avoided and the distance between the surgical path and the tissues to be avoided, enabling the surgical path to bypass the tissues to be avoided and avoid damage to them. Moreover, this surgical path can be obtained preoperatively after calculation and processing based on the tissue segmentation images, which largely avoids reliance on the doctor's experience and improves the efficiency of acquiring the surgical path.
[0101] In one embodiment, such as Figure 4 As shown, the surgical path processing system also includes an alarm unit 350, which is used to obtain the minimum distance between the surgical path and the tissue to be avoided. If the minimum distance is less than the corresponding distance threshold, an alarm message is issued.
[0102] In one embodiment, such as Figure 5 As shown, the surgical path processing system also includes a parameter adjustment unit 360, which is used to receive a first adjustment instruction after an alarm message is displayed, and adjust the distance threshold according to the first adjustment instruction; or, receive a second adjustment instruction and adjust the incision point or target point according to the second adjustment instruction.
[0103] The path acquisition unit 340 is also used to reacquire the surgical path based on the tissue to be avoided, distance threshold, entry point and target point.
[0104] In one embodiment, such as Figure 6As shown, the surgical path processing system also includes a path transformation unit 370, which is used to extract marker points on the tissue segmentation image, obtain the spatial transformation relationship between the image coordinate system and the surgical robot coordinate system based on the marker points, and convert the surgical path into the movement path of the surgical robot based on the spatial transformation relationship.
[0105] In one embodiment, the image acquisition unit 310 is further configured to acquire the patient's scanned image data, perform tissue segmentation based on the characteristics of the scanned image data to obtain multiple different tissue data, and fuse the multiple different tissue data to obtain a tissue segmentation image.
[0106] In one embodiment, the image acquisition unit 310 is further configured to register the multi-sequence image data when the scanned image data includes multi-sequence image data, and to organize and segment the registered multi-sequence image data respectively.
[0107] In one embodiment, the scanned image data includes at least one of computed tomography (CT) image data, X-ray image data, magnetic resonance imaging (MRI) image data, positron emission tomography (PET) image data, and multimodal fusion image data.
[0108] The surgical path processing system of this application corresponds one-to-one with the surgical path processing method described above. The technical features and beneficial effects described in the embodiments of the surgical path processing method are also applicable to the embodiments of the surgical path processing system.
[0109] Based on the above surgical path processing method, embodiments of this application also provide a readable storage medium, a surgical path processing device, and a surgical system.
[0110] A readable storage medium having an executable program stored thereon, which, when executed by a processor, implements the steps of the surgical path processing method described above.
[0111] The aforementioned readable storage medium, by running an executable program on a processor, enables the development of a surgical path based on the incision point and target point, combined with the tissue to be avoided and a distance threshold. This surgical path takes into account the tissue to be avoided and the distance between the surgical path and the tissue to be avoided, allowing the surgical path to bypass the tissue to be avoided and avoid damage to it. Moreover, this surgical path can be obtained preoperatively by processing the tissue segmentation image, which largely avoids reliance on the doctor's experience and improves the efficiency of obtaining the surgical path.
[0112] A surgical pathway processing device includes a surgical robot and a processing server;
[0113] The processing server is used to obtain the surgical path according to the surgical path processing method described above, and to drive the surgical robot to move according to the surgical path.
[0114] A surgical pathway processing device includes a surgical robot, a processing server, and an imaging device;
[0115] Imaging equipment is used to provide medical images to a processing server;
[0116] The processing server is used to obtain the surgical path according to the surgical path processing method described above, and to drive the surgical robot to move according to the surgical path.
[0117] The aforementioned surgical path processing device, by running an executable program on a processing server, can generate a surgical path based on the incision point and target point, combined with the tissue to be avoided and distance thresholds. This surgical path takes into account the tissue to be avoided and the distance between the surgical path and the tissue to be avoided, enabling the surgical path to bypass the tissue to be avoided and avoid damage to it. Moreover, this surgical path can be obtained preoperatively based on tissue segmentation images after calculation and processing, which largely avoids reliance on the doctor's experience and improves the efficiency of obtaining the surgical path. In addition, the surgical path can also drive the surgical robot to move, enabling the surgical robot to successfully reach the target point.
[0118] A surgical system includes a surgical path processing system, a surgical robot, and an imaging device;
[0119] Imaging equipment is used to provide medical images to surgical pathway processing systems;
[0120] The surgical robot moves according to the surgical path provided by the surgical path processing system.
[0121] The aforementioned surgical system can generate a surgical path based on the incision point and target point, combined with the tissue to be avoided and distance thresholds. This surgical path takes into account the tissue to be avoided and the distance between the surgical path and the tissue to be avoided, enabling the surgical path to bypass the tissue to be avoided and avoid damage to it. Moreover, this surgical path can be obtained preoperatively based on tissue segmentation images through calculation and processing, which largely avoids reliance on the doctor's experience and improves the efficiency of obtaining the surgical path. In addition, the surgical path can also drive the surgical robot to move, enabling the surgical robot to successfully reach the target point.
[0122] Furthermore, the surgical path processing system can be set up in the processing server. The processing server can be set up separately, integrated into the surgical robot, or divided into a preoperative processor and a surgical robot controller.
[0123] Taking the processing server as an example, which is divided into a preoperative processor and a surgical robot controller, such as... Figure 7As shown, to successfully acquire scanned image data, the preoperative processor can be connected to scanning imaging modal devices such as computed tomography (CT), magnetic resonance imaging (MRI), or positron emission tomography (PET) via wired or wireless means. Patients can undergo one or more examinations before surgery, and the resulting image data can be imported into the preoperative processor via PACS (Picture Archiving and Communication Systems), USB flash drive, or DVD for preoperative planning analysis. The preoperative planning results prepared on the preoperative processor can be exported to the surgical robot control console software, which then controls the movement of the surgical robot based on the preoperative planning results. Alternatively, the examination image data can also be directly imported into the surgical robot control console software via PACS, USB flash drive, or DVD for preoperative planning analysis to obtain the preoperative planning results, and the surgical robot movement can be controlled based on these results.
[0124] In the software of the preoperative processor or the surgical robot console software, the preoperative planning workflow is as follows: Figure 8 As shown, it can be roughly divided into three parts: patient management, image processing, and preoperative planning.
[0125] Patient Management: Manage patient scan image data and select the scan image data to be loaded.
[0126] Image processing: Analysis and processing of the loaded image sequences. If it is a single sequence, image registration is not required; if it is a multiple sequence, image registration is required first, followed by tissue segmentation and extraction.
[0127] Preoperative planning: Based on image processing, path planning and marker extraction are performed. Path planning is used for positioning and orientation during robotic surgical path execution, while marker extraction is used for spatial registration to determine the spatial transformation relationship between the image coordinate system and the robot coordinate system.
[0128] Surgical robots, including but not limited to stereotactic surgical robots, are generally used in neurosurgery. Their workflow can be abstractly summarized into five steps: patient image scanning, image analysis, preoperative planning, spatial registration, and path execution. Different surgical procedures have different requirements for system spatial registration accuracy. For example, DBS requires a system spatial registration accuracy within 0.5mm; SEEG requires a system spatial registration accuracy within 0.8mm; and for puncture procedures, the system positioning requirements depend on the specific lesion size and location.
[0129] Therefore, for DBS procedures, the system's default distance threshold for avoiding important tissues is set to 1 mm; for SEEG procedures, the recommended default distance threshold is 1.6 mm; and for puncture biopsy procedures, the recommended default distance threshold is 2 mm. Regarding the safety inspection range, based on the system's achievable accuracy, this range is set to be greater than or equal to 0.5 mm.
[0130] Taking its application to the brain as an example, the workflow of the surgical system is as follows: Figure 9 As shown, the details are as follows:
[0131] 1. Preoperative imaging scan: Import the scanned patient image data into the surgical robot system.
[0132] 2. Select the sequences to be loaded for image analysis. Image analysis can be divided into image registration, tissue segmentation, and result display. If multiple sequences are loaded, after image registration, tissue segmentation will proceed. In the tissue segmentation step, tissue segmentation will be performed separately for each sequence. For example, nucleus extraction will be performed on T1 (T1-weighted imaging) and T2 (T2-weighted imaging) sequences from MR (Magnetic Resonance) imaging, neural analysis will be performed on DTI (Diffusion Tensor Imaging) sequences, and blood vessel extraction will be performed on CT (Computed Tomography) data. After tissue segmentation and extraction, the result display step will proceed, where all segmented tissue sequences will be fused and displayed.
[0133] The surgical system may also include a display device for displaying tissue segmentation images, surgical paths, etc.; wherein the surgical path can be displayed at a corresponding position on the tissue segmentation image. Specifically, the display device can be various display devices such as LED displays or OLED displays.
[0134] 3. After image analysis, the preoperative planning begins. Based on the current surgical procedure (e.g., DBS, SEEG, puncture) and the extracted tissue, the system recommends default tissues to be avoided and distance thresholds. Users can adjust and confirm these based on actual circumstances and experience.
[0135] 4. The user selects the entry point and target point on the image after combining the segmented and fused images. The system automatically generates a surgical path based on the user-selected target and entry points, calculates the minimum distance between the surgical path and the tissue to be avoided, and determines whether this minimum distance is greater than a distance threshold. If it is greater than the distance threshold, the surgical path is valid; if it is less than the distance threshold, the system explicitly prompts the user that the minimum distance between the surgical path and the tissue to be avoided is less than the system-set distance threshold, indicating a significant risk.
[0136] 5. When the system indicates that the surgical path is risky, the user can adjust the target point or entry point based on the actual situation and experience, or reset the surgical path and distance threshold to be avoided, and thus plan a surgical path that meets the requirements.
[0137] This application provides a surgical path processing method, system, readable storage medium, and surgical system. When a user is designing a surgical path, the system detects that the path passes through or is too close to arteries, veins, or key nerve tissues, and provides the user with a clear prompt. Simultaneously, it can also incorporate the user's experience and habits, allowing the user to adjust the path settings.
[0138] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.
[0139] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a readable storage medium. When executed, the program includes the steps described in the methods above. The storage medium includes ROM / RAM, magnetic disks, optical disks, etc.
[0140] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A surgical path processing method, characterized in that, The method includes the following steps: Acquire tissue segmentation images, wherein the tissue segmentation images include various segmented tissues, including the brain; The tissues to be avoided and the distance thresholds are determined based on the surgical procedure and the tissue segmentation images, wherein the distance thresholds correspond to the tissues; the safety inspection range is set according to the system spatial registration accuracy of the surgical procedure; An incision point and a target point are selected on the tissue segmentation image, wherein the incision point and the target point are the start and end points of the surgical path, respectively. The surgical path is obtained based on the tissue to be avoided, the distance threshold, the safety inspection range, the entry point, and the target point.
2. The surgical path processing method according to claim 1, characterized in that, The method further includes the following steps: Obtain the minimum distance between the surgical path and the tissue to be avoided. If the minimum distance is less than the corresponding distance threshold, issue an alarm message.
3. The surgical path processing method according to claim 2, characterized in that, Following the alarm message, the method further includes the following steps: Receive a first adjustment instruction and adjust the distance threshold according to the first adjustment instruction; Alternatively, receive a second adjustment instruction and adjust the entry point or target point according to the second adjustment instruction; Return to the step of obtaining the surgical path based on the tissue to be avoided, the distance threshold, the entry point, and the target point.
4. The surgical path processing method according to claim 1, characterized in that, The method further includes the following steps: Marker points are extracted from the tissue segmentation image, and the spatial transformation relationship between the image coordinate system and the surgical robot coordinate system is obtained based on the marker points; The surgical path is converted into the movement path of the surgical robot based on the spatial transformation relationship.
5. The surgical path processing method according to claim 1, characterized in that, The process of obtaining the tissue segmentation image includes the following steps: Acquire the patient's scanned image data, and perform tissue segmentation based on the characteristics of the scanned image data to obtain multiple different tissue data; The multiple different tissue data are fused to obtain the tissue segmentation image.
6. The surgical path processing method according to claim 5, characterized in that, The tissue segmentation based on the characteristics of the scanned image data includes the following steps: If the scanned image data includes multi-sequence image data, the multi-sequence image data is registered, and the registered multi-sequence image data is segmented into different parts.
7. The surgical path processing method according to claim 5 or 6, characterized in that, The scanned image data includes at least one of computed tomography (CT) image data, X-ray image data, magnetic resonance imaging (MRI) image data, positron emission tomography (PET) image data, and multimodal fusion image data.
8. A surgical path processing system, characterized in that, The system includes: An image acquisition unit is used to acquire tissue segmentation images, wherein the tissue segmentation images include various segmented tissues, including the brain; The avoidance processing unit is used to determine the tissue to be avoided and the distance threshold based on the surgical procedure and the tissue segmentation image, wherein the distance threshold corresponds to the tissue; and to set the security check range according to the system spatial registration accuracy of the surgical procedure. A site selection unit is used to select an incision point and a target point on the tissue segmentation image, wherein the incision point and the target point are the start point and the end point of the surgical path, respectively. The path acquisition unit is used to acquire the surgical path based on the tissue to be avoided, the distance threshold, the safety inspection range, the entry point, and the target point.
9. A readable storage medium having an executable program stored thereon, characterized in that, When the executable program is executed by the processor, it implements the steps of the surgical path processing method according to any one of claims 1 to 7.
10. A surgical system, characterized in that, The surgical system includes the surgical path processing system, surgical robot, and imaging device as described in claim 8; The imaging device is used to provide medical images to the surgical path processing system; The surgical robot moves according to the surgical path provided by the surgical path processing system.