A precise puncture sampling system based on real-time modeling

Abstract

The present application discloses a precise puncture sampling system based on real-time modeling, which is used to achieve precise sampling without changing the patient's examination position, including: a detection modeling system, which is used to produce a three-dimensional model of the patient's interest area through tomography to obtain the tissue position and size of the interest area to generate a sampling puncture needle track, and is specifically composed of a mobile plain scanning unit and a three-dimensional reconstruction unit; a guided puncture system, which is used to execute the sampling puncture needle track generated by the detection modeling system; the present invention integrates the detection modeling system and the guided puncture system into one, and the patient only needs to determine the sampling target position and size through tomography, and simultaneously plan the optimal puncture path, and the guided puncture system accurately executes and guides the optimal puncture path to achieve precise guided puncture.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical auxiliary devices or systems, and in particular to the technical field of biopsy puncture, and specifically to a precise puncture sampling system based on real-time modeling. Background Art

[0002] Puncture biopsy is the main method for obtaining histopathological diagnosis of bone and soft tissue tumors. Because limb-sparing treatment of malignant tumors has become the main trend, this requires stricter requirements on the sampling route and method during biopsy. Incorrect biopsy often causes the tumor to contaminate local important structures such as blood vessels and nerve bundles during sampling, making it impossible to completely remove the tumor and leading to failure of limb-sparing treatment. Therefore, before puncture biopsy, one should have a full understanding of the nature, staging and treatment of the tumor, make sufficient preoperative planning, and ensure that the needle channel for sampling is located on the surgical incision so that it can be completely removed during surgery. Therefore, a large number of literatures emphasize that puncture biopsy should be performed by experienced specialists, and it is best for the surgeon to perform the biopsy personally to improve the accuracy of puncture biopsy and reduce complications.

[0003] When performing puncture biopsy sampling on the internal organs, the requirements are more stringent than those for sampling on the limbs. For example, a lung tumor puncture biopsy can easily cause pneumothorax if the patient is not careful. Pneumothorax can cause severe chest pain and dyspnea in patients, accompanied by coughing, etc. If it is not controlled and treated in a timely and effective manner, it can easily lead to serious consequences. Therefore, the requirements for biopsy puncture are different at different locations. Puncture deviations may lead to sampling failure, organ damage, or other complications. Therefore, specifying a scientific, reasonable, and safe puncture path and accurately puncturing according to the preset needle path, accurately executing the position, angle, and depth to achieve effective sampling and avoid unnecessary complications are new requirements for biopsy puncture in precision medicine. Summary of the invention

[0004] In order to solve the practical problem that puncture complications or organ damage are easily caused by execution deviation of biopsy puncture, the present application provides a precise puncture sampling system based on real-time modeling, which is used to guide precise biopsy puncture, and can clearly present the target puncture area through three-dimensional modeling, so as to specify a scientific and precise puncture needle track, and cooperate with the precise control of the guiding puncture system so that the actual puncture position, angle, and depth can be effectively and accurately controlled and mastered, so that the theoretical optimal puncture plan can be accurately executed to achieve the purpose of precise puncture sampling, and to avoid subsequent complications caused by biopsy puncture to the greatest extent, and to avoid problems such as damage to healthy organs outside the target puncture area to the greatest extent.

[0005] In order to achieve this technical effect, the applicant combined the applicant's long-term research on precision medical positioning devices with the existing upstream detection equipment, as well as the necessary processes involved in the actual puncture plan formulation and the factors that may introduce or expand puncture errors. By simplifying the process, the problem of deviation between the preset puncture plan and the actual puncture plan caused by patient movement is avoided, thereby eliminating the biggest unfavorable factor that hinders the realization of precise puncture in existing biopsy puncture operations. For this reason, the present invention is specially completed.

[0006] In order to achieve accurate puncture sampling, the technical solution adopted by the present invention is:

[0007] A precise puncture sampling system based on real-time modeling is used to achieve precise sampling without changing the patient's examination position, including:

[0008] The detection modeling system is used to generate a three-dimensional model of the patient's area of ​​interest through tomography to obtain the tissue position and size of the area of ​​interest to generate a sampling puncture needle track, and is specifically composed of a mobile plain scanning unit and a three-dimensional reconstruction unit;

[0009] A guided puncture system, used to execute the sampling puncture needle track generated by the detection modeling system, comprising a data parsing unit for receiving the sampling puncture needle track and a puncture execution unit for executing the sampling puncture needle track, wherein the puncture execution unit has a guide rail surrounding the region of interest at 360° and a puncture sleeve with multi-axis deflection slidably arranged on the guide rail, wherein a puncture needle for sampling is installed in the puncture sleeve;

[0010] The detection modeling system and the guided puncture system share the same spatial coordinate origin and take the patient's head and foot side as the z-axis, the ventral and dorsal side as the y-axis, and the left and right sides as the x-axis.

[0011] Preferably, the detection modeling system includes a mobile scanning unit and a three-dimensional reconstruction unit for acquiring a patient's tomographic image, the mobile scanning unit includes a data receiving unit for receiving information of a region of interest to determine a scanning range and a layer thickness, a central processing unit, an execution unit A and a data storage unit, the execution unit A includes a tomographic scanning module and a linear movement module that operate synchronously and cooperatively; the three-dimensional reconstruction unit includes a data recognition unit for receiving and sorting tomographic scan images sent by the data storage unit, and an image fusion unit for fusing the sorted images one by one to form a three-dimensional model, the three-dimensional model is automatically / manually color-differentiated and displayed by a distinguishing and marking unit, and also includes a needle track generation unit for reading the coordinates of the center of the target tissue in the region of interest and calculating and generating multiple feasible sampling puncture needle tracks that meet the puncture conditions; wherein the puncture conditions include: ① the sampling puncture needle track does not intersect with the organ at risk; ② the puncture shortcut is short, and the puncture shortcut refers to the straight-line distance from the needle entry point on the patient's body surface to the center of the target tissue.

[0012] Preferably, the image fusion unit includes a contour recognition module for identifying the edge of a tomographic image patch, a pole marking module for identifying and marking the orientation poles of the edge of the image patch, and a pole matching module for matching corresponding poles in two adjacent tomographic images and fusing them into a single tomographic image.

[0013] Preferably, the guided puncture system comprises a data analysis unit for converting the sampling puncture needle track into executable data with spatial coordinate information, the data analysis unit comprises a coordinate analysis module for analyzing the sampling puncture needle track into data with spatial coordinate information and spatial orientation, the information with spatial coordinate information and spatial orientation is a spatial vector within the spatial coordinate range; and a discrimination execution module for comparing the spatial vector with the executable range of the guided puncture system;

[0014] If the result of the judgment execution module is "yes", the data analysis unit sends the spatial vector data to the puncture execution unit for execution guidance; if the result of the judgment execution module is "no", the data analysis unit feeds back the spatial vector data to the three-dimensional reconstruction unit and stops execution.

[0015] Preferably, the puncture execution unit comprises a universal rotation mechanism composed of a multi-axis rotation connection to control the direction of the puncture cannula to be consistent with the space vector.

[0016] Preferably, the puncture execution unit includes a decoding unit, a driving unit, an execution unit B and a feedback unit, the decoding unit includes a decoder A, a decoder B and a decoder C; the driving unit includes a driver A, a driver B and a driver C; the execution unit B includes a servo motor A, a servo motor B and a servo motor C; the feedback unit includes an encoder A, an encoder B and an encoder C;

[0017] The decoder A, driver A, servo motor A and encoder A are used to control the rotation of the first axis, that is, to drive the puncture cannula to rotate 360° along the guide rail and to feed back the actual execution angle for secondary verification;

[0018] The decoder B, driver B, servo motor B and encoder B are used to control the rotation of the second axis, and the decoder C, driver C, servo motor C and encoder C are used to control the rotation of the third axis. The angles between the first axis, the second axis and the third axis are 90° or 45° to each other.

[0019] Beneficial effects:

[0020] The present invention integrates the detection modeling system and the guided puncture system into one. The patient only needs to determine the sampling target position and size through tomography and simultaneously plan the optimal puncture path. The guided puncture system accurately executes and guides the optimal puncture path to achieve precise guided puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 those skilled in the art, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 This is a schematic diagram of one application scenario of the present invention.

[0023] Figure 2 It is a structural composition block diagram of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0026] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0027] In the description of this application, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, if the terms "first", "second", etc. appear in the description of this application, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0028] In addition, if the terms "horizontal" or "vertical" appear in the description of this application, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] Embodiment 1:

[0031] Combination Figure 1 and Figure 2 A precise puncture sampling system based on real-time modeling is shown, which is used to achieve precise sampling without changing the patient's examination position, and includes:

[0032] The detection modeling system is used to generate a three-dimensional model of the patient's area of ​​interest through tomography to obtain the tissue position and size of the area of ​​interest to generate a sampling puncture needle track, and is specifically composed of a mobile plain scanning unit and a three-dimensional reconstruction unit;

[0033] A guided puncture system, used to execute the sampling puncture needle track generated by the detection modeling system, comprising a data parsing unit for receiving the sampling puncture needle track and a puncture execution unit for executing the sampling puncture needle track, wherein the puncture execution unit has a guide rail surrounding the region of interest at 360° and a puncture sleeve with multi-axis deflection slidably arranged on the guide rail, wherein a puncture needle for sampling is installed in the puncture sleeve;

[0034] The detection modeling system and the guided puncture system share the same spatial coordinate origin and take the patient's head and foot side as the z-axis, the ventral and dorsal side as the y-axis, and the left and right sides as the x-axis.

[0035] Working principle:

[0036] Combination Figure 1 As shown, this embodiment is explained by taking the example of a patient with suspected tumor in the lungs who needs a biopsy puncture sampling test; the patient lies flat on the platform of the detection modeling system, and by setting the area of ​​interest that the patient needs to detect, the mobile scanning unit automatically moves the patient horizontally and completes the tomographic scan of the area of ​​interest. At this time, several tomographic scan images of the area of ​​interest are obtained through scanning, which are recorded as P1-Pn.

[0037] The 3D reconstruction unit reconstructs the acquired P1-Pn into a 1:1 3D model Q, and makes a surgical plan by analyzing the healthy organs around the 3D model Q, thereby determining the best sampling puncture needle track for puncture. The guided puncture system is a system used to actually perform the sampling puncture needle track. The sampling puncture needle track is analyzed by the data analysis unit, and is used to guide the puncture system to drive the puncture cannula and the sampling puncture needle track to be consistent in space, so that the doctor can insert the puncture needle into the puncture cannula and perform the puncture directly along the puncture cannula. It only needs to visually observe the puncture depth. The puncture point and puncture angle have all been realized by the guided puncture system, avoiding many problems of other complications caused by puncture deviation.

[0038] The biggest difference between this embodiment and the existing guidance system is that the detection modeling system and the guided puncture system work together. The patient does not need to stand up after the detection, and the surgery can be performed after the procedure plan is determined. If the patient's body position changes, no matter how accurately the parameters during the puncture are controlled, uncontrollable errors will always be introduced; furthermore, the detection modeling system and the guided puncture system of the present invention are established in the same spatial coordinate system, which can realize data sharing, thereby ensuring the accuracy, reliability and credibility of the execution, and there is no problem of data deviation. In this embodiment, the process and implementation method of the three-dimensional reconstruction unit refer to the invention patent of the applicant with announcement number CN113244516B. The implementation method and structure of the puncture execution unit driving the puncture cannula for spatial positioning can be implemented by the announcement number CN112690881B held by the holding company of the applicant.

[0039] Embodiment 2:

[0040] This embodiment further refines the system based on the embodiment 1. Figure 1 and Figure 2The architecture shown in the figure, the detection modeling system includes a mobile scanning unit and a three-dimensional reconstruction unit for acquiring a patient's tomographic image, the mobile scanning unit includes a data receiving unit for receiving information of an area of ​​interest to determine a scanning range and a layer thickness, a central processing unit, an execution unit A and a data storage unit, the execution unit A includes a tomographic scanning module and a linear movement module that operate synchronously and cooperatively; the three-dimensional reconstruction unit includes a data recognition unit for receiving and sorting tomographic scan images sent by the data storage unit, and an image fusion unit for fusing the sorted images one by one to form a three-dimensional model, the three-dimensional model is automatically / manually color-differentiated and displayed by a distinguishing and marking unit, and also includes a needle track generation unit for reading the coordinates of the center of the target tissue in the area of ​​interest and calculating and generating multiple feasible sampling puncture needle tracks that meet the puncture conditions; wherein the puncture conditions include: ① the sampling puncture needle track does not intersect with the organ at risk; ② the puncture shortcut is short, and the puncture shortcut refers to the straight-line distance from the needle entry point on the patient's body surface to the center of the target tissue.

[0041] In this embodiment, the image fusion unit includes a contour recognition module for identifying the edge of a tomographic image patch, a pole marking module for identifying and reading the orientation pole of the image patch edge and marking it, and a pole matching module for matching the corresponding poles in two adjacent tomographic images and fusing them into a single tomographic image. In this embodiment, the orientation pole refers to the outermost point within a certain range on the edge of a contour. As a special case, the extreme left, extreme right, extreme top, and extreme bottom points can be selected; of course, since the contour of each image patch is irregular, the pole selection method usually adopts automatic preliminary selection, and then is manually corrected and changed to ensure that the target area and the healthy organ can be accurately separated, and the accuracy of modeling and subsequent distinction and annotation can be guaranteed.

[0042] In this embodiment, the guided puncture system includes a data analysis unit for converting the sampling puncture needle track into executable data with spatial coordinate information, the data analysis unit includes a coordinate analysis module for analyzing the sampling puncture needle track into data with spatial coordinate information and spatial orientation, the information with spatial coordinate information and spatial orientation is a spatial vector within the spatial coordinate range; and a discrimination execution module for comparing the spatial vector with the executable range of the guided puncture system;

[0043] If the result of the judgment execution module is "yes", the data analysis unit sends the spatial vector data to the puncture execution unit for execution guidance; if the result of the judgment execution module is "no", the data analysis unit feeds back the spatial vector data to the three-dimensional reconstruction unit and stops execution.

[0044] In this embodiment, the puncture execution unit includes a universal rotation mechanism composed of a multi-axis rotation connection to control the direction of the puncture sleeve to be consistent with the space vector.

[0045] In this embodiment, the puncture execution unit includes a decoding unit, a driving unit, an execution unit B and a feedback unit, wherein the decoding unit includes a decoder A, a decoder B and a decoder C; the driving unit includes a driver A, a driver B and a driver C; the execution unit B includes a servo motor A, a servo motor B and a servo motor C; the feedback unit includes an encoder A, an encoder B and an encoder C;

[0046] The decoder A, driver A, servo motor A and encoder A are used to control the rotation of the first axis, that is, to drive the puncture cannula to rotate 360° along the guide rail and to feed back the actual execution angle for secondary verification;

[0047] The decoder B, driver B, servo motor B and encoder B are used to control the rotation of the second axis, and the decoder C, driver C, servo motor C and encoder C are used to control the rotation of the third axis. The angles between the first axis, the second axis and the third axis are 90° or 45°. It is worth noting that the use of three-axis linkage is the minimum number of axes to achieve spatial free vector positioning. The three-axis linkage distance in this embodiment does not mean that only three-axis linkage can be used within the scope of the technical solution provided by the present invention. A fourth week linkage and a spatial translation mechanism can also be added.

[0048] In this embodiment, the analysis of the needle track and the control principle of the actuator B are disclosed in detail in the invention patent with announcement number CN110755142B of the applicant. This part is not the technical improvement content of the present invention and will not be described in detail here.

[0049] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A precise puncture sampling system based on real-time modeling, used to achieve precise sampling without changing the patient's examination position, characterized in that: include: The detection modeling system is used to generate a three-dimensional model of the patient's area of ​​interest through tomography to obtain the tissue position and size of the area of ​​interest to generate a sampling puncture needle track, and is specifically composed of a mobile plain scanning unit and a three-dimensional reconstruction unit; A guided puncture system, used to execute the sampling puncture needle track generated by the detection modeling system, comprising a data parsing unit for receiving the sampling puncture needle track and a puncture execution unit for executing the sampling puncture needle track, wherein the puncture execution unit has a guide rail surrounding the region of interest at 360° and a puncture sleeve with multi-axis deflection slidably arranged on the guide rail, wherein a puncture needle for sampling is installed in the puncture sleeve; The detection modeling system and the guided puncture system share the same spatial coordinate origin and take the patient's head and foot side as the z-axis, the ventral and dorsal side as the y-axis, and the left and right sides as the x-axis.

2. According to claim 1, a precise puncture sampling system based on real-time modeling is characterized in that: The detection modeling system includes a mobile scanning unit and a three-dimensional reconstruction unit for acquiring a patient's tomographic image. The mobile scanning unit includes a data receiving unit for receiving information of an area of ​​interest to determine a scanning range and a layer thickness, a central processing unit, an execution unit A and a data storage unit. The execution unit A includes a tomographic scanning module and a linear movement module that operate synchronously and cooperatively. The three-dimensional reconstruction unit includes a data recognition unit for receiving and sorting tomographic scan images sent by the data storage unit, and an image fusion unit for fusing the sorted images one by one to form a three-dimensional model. The three-dimensional model is automatically / manually displayed by color differentiation through a differentiation and annotation unit. The system also includes a needle track generation unit for reading the coordinates of the center of the target tissue in the area of ​​interest and calculating and generating multiple feasible sampling puncture needle tracks that meet the puncture conditions. The puncture conditions include: ① the sampling puncture needle track does not intersect with the organ at risk; ② the puncture shortcut is short, and the puncture shortcut refers to the straight-line distance between the needle entry point on the patient's body surface and the center of the target tissue.

3. The precise puncture sampling system based on real-time modeling according to claim 2, characterized in that: The image fusion unit includes a contour recognition module for identifying the edge of a tomographic image patch, a pole marking module for identifying and marking the orientation poles of the edge of the image patch, and a pole matching module for matching the corresponding poles in two adjacent tomographic images and fusing them into a single tomographic image.

4. A precise puncture sampling system based on real-time modeling according to any one of claims 1 to 3, characterized in that: The guided puncture system includes a data analysis unit for converting the sampling puncture needle track into executable data with spatial coordinate information, the data analysis unit includes a coordinate analysis module for analyzing the sampling puncture needle track into data with spatial coordinate information and spatial orientation, the information with spatial coordinate information and spatial orientation is a spatial vector within the spatial coordinate range; and a discrimination execution module for comparing the space vector with the executable range of the guided puncture system; If the result of the judgment execution module is "yes", the data analysis unit sends the spatial vector data to the puncture execution unit for execution guidance; if the result of the judgment execution module is "no", the data analysis unit feeds back the spatial vector data to the 3D reconstruction unit and stops execution.

5. The precise puncture sampling system based on real-time modeling according to claim 4, characterized in that: The puncture execution unit comprises a universal rotation mechanism composed of a multi-axis rotation connection to control the direction of the puncture sleeve to be consistent with the space vector.

6. The precise puncture sampling system based on real-time modeling according to claim 5, characterized in that: The puncture execution unit includes a decoding unit, a driving unit, an execution unit B and a feedback unit. The decoding unit includes a decoder A, a decoder B and a decoder C; the driving unit includes a driver A, a driver B and a driver C; the execution unit B includes a servo motor A, a servo motor B and a servo motor C; The feedback unit includes encoder A, encoder B and encoder C; The decoder A, driver A, servo motor A and encoder A are used to control the rotation of the first axis, that is, to drive the puncture cannula to rotate 360° along the guide rail and to feed back the actual execution angle for secondary verification; The decoder B, driver B, servo motor B and encoder B are used to control the rotation of the second axis, and the decoder C, driver C, servo motor C and encoder C are used to control the rotation of the third axis. The angles between the first axis, the second axis and the third axis are 90° or 45° to each other.

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