Automated delivery system for interventional medical instruments based on image tracking

Abstract

The application provides an automatic delivery system of an interventional medical instrument based on image tracking, comprising: module M1: acquiring in-situ interventional medical instrument image information in real time, and acquiring instrument feature information based on the acquired interventional medical instrument image information; and module M2: delivering the interventional medical instrument based on the instrument feature information until the interventional medical instrument is delivered to a target position.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical engineering, in particular, to an automatic delivery system of an interventional medical instrument based on image tracking, and more particularly, to an automatic delivery method and system of an interventional medical instrument. BACKGROUND

[0002] In recent years, in order to improve the operation environment and protect doctors from radiation, more and more medical operation robots have begun to replace doctors to implement vascular interventional surgery. The traditional medical operation robot still needs the doctor to remotely control the robot to implement the operation by means of image and tactile feedback technology, and the doctor is easy to feel fatigue and cause operation failure in long-time operation. Therefore, a solution is proposed to improve the automation, precision and intelligence of the medical operation robot.

[0003] An automatic operation robot is developed by means of a computer and an image processing module. The automatic operation robot can recognize the shape of the interventional medical instrument through a navigation system, and feed back the shape information to the computer. The computer is used to control the automatic operation robot to accurately deliver the interventional medical instrument to the lesion position, and to feed back the current operation information to the doctor in real time, so as to greatly improve the safety of the operation, reduce the work pressure of the doctor, and reduce the occurrence of medical accidents.

[0004] Patent document CN105892676A (application number: 201610266180.7) discloses a man-machine interaction system, device and method of a vascular interventional surgery wire feeding mechanism based on surface electromyography. The system comprises: a driving guide wire, a first electrode sheet, an arm, a second electrode sheet, an electromyography signal acquisition channel, an electromyography signal acquisition instrument, a driven guide wire, a wire feeding mechanism and a control device. The first electrode sheet is used to be attached to the user's short thumb muscle. The second electrode sheet is used to be attached to the user's biceps muscle. The electromyography signal acquisition instrument is used to acquire electromyography signals. The control device generates a control instruction according to the electromyography signals. The wire feeding mechanism controls the radial stepper motor and the axial stepper motor to execute actions according to the received control instruction. The radial stepper motor is used to rotate the driven guide wire, and the axial stepper motor is used to push the driven guide wire. In this patent, the wire feeding method is to advance and retreat by clamping the guide wire with two rolling wheels, which is very inconvenient for the rotation of the guide wire, and the stepping value of the guide wire cannot achieve the effect of precise wire feeding.

[0005] Patent document CN110729051A (application number: 201910958017.0) discloses an interventional surgery guide wire mechanical analysis method, system and electronic equipment. The method comprises the following steps: step a: acquiring a three-dimensional image of an imaging object; step b: extracting the three-dimensional shape of the guide wire from the three-dimensional image; step c: performing center line calculation on the three-dimensional shape of the guide wire to obtain its one-dimensional topological structure in three-dimensional space, and calculating the volume force on the unit element according to the one-dimensional topological structure; step d: calculating the contact force of the guide wire under the known external constraint condition according to the volume force on the unit element. Although the patent can obtain guide wire shape estimation from imaging, the shape estimation has little practical significance in the case of discontinuous appearance of the interventional guide wire in the image. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide an automatic delivery system for interventional medical instruments based on image tracking.

[0007] According to the automatic delivery system for interventional medical instruments based on image tracking provided by the present application, the system comprises:

[0008] Module M1: real-time acquisition of intraoperative interventional medical instrument image information, and acquisition of instrument feature information based on the acquired interventional medical instrument image information;

[0009] Module M2: delivery of the interventional medical instrument based on the instrument feature information until the interventional medical instrument is delivered to the target position.

[0010] Specifically, in the module M1, the instrument feature information in the global image and the local image is respectively acquired by using the threshold segmentation method according to the real-time displayed interventional medical instrument DSA or video image;

[0011] The global image and the local image are based on the real-time acquired interventional medical instrument image information, and the image is divided into a global image and a local image according to the target position.

[0012] Specifically, in the module M2,

[0013] Module M2.1: pushing the interventional medical instrument according to the position information of the interventional medical instrument acquired in the image;

[0014] Module M2.2: rotating the interventional medical instrument according to the posture information of the interventional medical instrument acquired in the image.

[0015] Specifically, in the module M2.1, the pushing mode of the interventional medical instrument includes: fixed step pushing or variable step pushing.

[0016] Specifically, when the interventional medical instrument has position information in the global image and does not have position information in the local image, fixed step pushing is adopted.

[0017] Specifically, when the interventional medical instrument has position information in the global image and also has position information in the local image, and the interventional medical instrument and the target position in the local image satisfy a preset condition, variable step pushing is adopted.

[0018] Specifically, the variable step in the variable step pushing is the distance between the head end of the interventional medical instrument and the target position.

[0019] Specifically, in the module M2.2, the rotating interventional medical instrument mode includes fixed angle rotation or variable angle rotation.

[0020] Specifically, when the head end of the interventional medical instrument is towards or away from the front, fixed angle rotation is adopted.

[0021] Specifically, when the head end of the interventional medical instrument is towards the target position, the variable rotation angle is defined according to the difference between the head end bending angle of the interventional medical instrument and the expected angle.

[0022] Compared with the prior art, the present application has the following beneficial effects:

[0023] 1. The present application realizes fine operation of the surgical robot on the interventional medical instrument by calculating image feature information, and can perform surgery more safely in the human body blood vessel;

[0024] 2. The present application can more quickly complete pushing of the interventional surgical medical instrument through mutual cooperation of global and local image information, shortens the surgery time, and reduces the time of X-ray irradiation of the patient during surgery;

[0025] 3. The present application realizes millimeter level pushing operation of the surgical robot on the interventional medical instrument by calculating the distance between the interventional medical instrument and the target position;

[0026] 4. The present application realizes accurate rotation operation of the surgical robot on the interventional medical instrument by identifying the type of the head end of the interventional medical instrument, further shortens the surgery time. BRIEF DESCRIPTION OF DRAWINGS

[0027] Other characteristics, objects and advantages of the present application will become more apparent from the following detailed description of non-restrictive embodiments, made with reference to the attached drawings:

[0028] Figure 1 Flow chart for automatic conveying method of interventional medical instrument.

[0029] Figure 2for local image and global image.

[0030] Figure 3 for display of a head end of an interventional medical instrument in a schematic diagram.

[0031] Figure 4 for automatic delivery end judgment of an interventional medical instrument. DETAILED DESCRIPTION

[0032] The application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These are within the scope of the present application.

[0033] Example 1

[0034] According to the application, an automatic delivery system of an interventional medical instrument based on image tracking is provided, comprising:

[0035] Module M1: real-time acquisition of intraoperative interventional medical instrument image information, and acquisition of instrument feature information based on the acquired interventional medical instrument image information;

[0036] Module M2: delivery of the interventional medical instrument based on the instrument feature information until the interventional medical instrument is delivered to the target position.

[0037] Specifically, in the module M1, according to the real-time displayed DSA or video image of the interventional medical instrument, the threshold segmentation method is used to acquire the instrument feature information in the global image and the local image, respectively;

[0038] The global image and the local image are based on the real-time acquired interventional medical instrument image information, and according to the target position, the image is divided into a global image and a local image.

[0039] Specifically, in the module M2,

[0040] Module M2.1: pushing the interventional medical instrument according to the position information of the interventional medical instrument acquired in the image;

[0041] Module M2.2: rotating the interventional medical instrument according to the posture information of the interventional medical instrument acquired in the image.

[0042] Specifically, in the module M2.1, the pushing mode of the interventional medical instrument includes: fixed step pushing or variable step pushing.

[0043] Specifically, when the interventional medical instrument has position information in the global image and no position information in the local image, fixed step pushing is adopted.

[0044] Specifically, when the interventional medical instrument has position information in the global image and also has position information in the local image, and the interventional medical instrument and the target position in the local image satisfy a preset condition, variable step pushing is adopted.

[0045] Specifically, the variable step in the variable step pushing is the distance between the head end of the interventional medical instrument and the target position.

[0046] Specifically, in the module M2.2, the rotating interventional medical instrument mode includes fixed angle rotation or variable angle rotation.

[0047] Specifically, when the head end of the interventional medical instrument is towards or away from the front, fixed angle rotation is adopted.

[0048] Specifically, when the head end of the interventional medical instrument is towards the target position, the variable rotation angle is defined according to the difference between the head end bending angle of the interventional medical instrument and the expected angle.

[0049] According to the present application, an automatic delivery method of an interventional medical instrument is provided, which comprises the following steps: Figure 1 as shown in the figure, comprising:

[0050] The real-time acquisition of interventional medical instrument feature information step: according to the real-time displayed DSA or video image, the threshold segmentation method is used to acquire the instrument feature information in the global image and the local image respectively;

[0051] The automatic pushing of interventional medical instrument step: according to the position information of the interventional medical instrument acquired in the image, the interventional medical instrument is pushed in fixed step or variable step;

[0052] The automatic rotation of interventional medical instrument step: according to the posture information of the interventional medical instrument acquired in the image, the interventional medical instrument is rotated in fixed angle or variable angle;

[0053] The interventional medical instrument automatic delivery end judgment step: when the interventional medical instrument is delivered to the expected position of the branch blood vessel, it is judged that the whole automatic delivery process is ended.

[0054] Specifically, the real-time acquisition of interventional medical instrument feature information step adopts:

[0055] Acquire real-time intraoperative image data of a patient, and divide the image into global image and local image according to the lesion part of the patient. At the same time, the threshold segmentation method is used to process the global image and the local image respectively, and the information of the interventional medical instrument in the image is segmented. When there is a threshold pixel of the interventional medical instrument in the global image or the local image, the pixel information of the interventional medical instrument is highlighted with different colors. For example Figure 2 (1) is a local image; Figure 2 (2) is a global image.

[0056] Specifically, the automatic pushing step of the interventional medical instrument adopts:

[0057] According to the current position information of the interventional medical instrument, two pushing stages of the interventional medical instrument are defined: fixed step pushing stage and variable step pushing stage.

[0058] When the interventional medical instrument has position information in the global image but has no position information in the local image, fixed step pushing is adopted, such as 20mm / step.

[0059] When the interventional medical instrument has position information in the global image and also has position information in the local image, and the interventional medical instrument approaches the lesion position in the local image, variable step pushing is adopted, wherein the variable step is the distance between the head of the interventional medical instrument and the lesion position calculated by the computer, such as 5mm / step.

[0060] When the medical robot controls the head position of the interventional medical instrument to reach the expected position near the lesion, it is judged that the automatic pushing stage of the interventional medical instrument is ended, and enters the automatic rotation stage.

[0061] The automatic rotation step of the interventional medical instrument:

[0062] According to the current posture information of the interventional medical instrument, three identification categories of the interventional medical instrument are defined: the first category: the head of the interventional medical instrument faces the blood vessel hanging port; the second category: the head of the interventional medical instrument faces the front; the third category: the head of the interventional medical instrument deviates from the blood vessel hanging port. The three identification categories of the interventional medical instrument are shown in Figure 3 , wherein Figure 3 (1) is the first category, Figure 3 (2) is the second category, Figure 3 (3) is the third category.

[0063] According to the current angle information of the interventional medical instrument, two rotation stages of the interventional medical instrument are defined: fixed angle rotation stage and variable angle rotation stage.

[0064] When the recognition category of the interventional medical instrument in the local image is the second category: the head end of the interventional medical instrument faces the front, and the third category: the head end of the interventional medical instrument faces away from the blood vessel port, a fixed angle rotation is adopted, such as 90 degrees / second.

[0065] When the recognition category of the interventional medical instrument in the local image is the first category: the head end of the interventional medical instrument faces the blood vessel port, a variable rotation angle is defined according to the difference between the head end bending angle of the interventional medical instrument and the expected angle, such as 10 degrees / second.

[0066] When the head end posture of the interventional medical instrument controlled by the medical robot is rotated to the blood vessel port position, it is judged that the automatic rotation stage of the interventional medical instrument is ended, and the next stage is entered.

[0067] Specifically, the interventional medical instrument automatic delivery end judgment step adopts:

[0068] When the diagnostic interventional medical instrument (such as an interventional catheter) is delivered to the blood vessel port position, the medical robot enters the delivery stage of the therapeutic interventional medical instrument (such as an interventional guide wire), and when the head end of the therapeutic interventional medical instrument completely enters the capillary blood vessel of the lesion, it is judged that the interventional medical instrument automatic delivery task is ended, such as shown in the following table. Figure 4

[0069] Those skilled in the art know that, in addition to implementing the system, device and each module thereof provided by the present application in a pure computer readable program code manner, the same program can also be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and each module thereof provided by the present application can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing methods and structures within hardware components.

[0070] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.​

Claims

1. An automated delivery system for an interventional medical instrument based on image tracking, characterized by, Comprise: Module M1: Real-time acquisition of intraoperative interventional medical instrument image information, based on the acquired interventional medical instrument image information, the instrument feature information is acquired; Module M2: Based on the instrument feature information, the interventional medical instrument is delivered until the interventional medical instrument is delivered to the target position; In the module M2, Module M2.1: According to the position information of the interventional medical instrument obtained in the image, the interventional medical instrument is pushed; Module M2.2: According to the posture information of the interventional medical instrument obtained in the image, the interventional medical instrument is rotated; In the module M2.1, the pushing mode of the interventional medical instrument includes: fixed step pushing or variable step pushing; When the interventional medical instrument has position information in the global image and no position information in the local image, fixed step pushing is adopted; When the interventional medical instrument has position information in the global image and also has position information in the local image, and the interventional medical instrument and the target position in the local image meet the preset conditions, variable step pushing is adopted; In the module M2.2, the rotating mode of the interventional medical instrument includes fixed angle rotation or variable angle rotation; When the head end of the interventional medical instrument is towards or away from the front, fixed angle rotation is adopted; When the head end of the interventional medical instrument is towards the target position, the variable rotation angle is defined according to the difference between the head end bending angle of the interventional medical instrument and the expected angle.

2. The automated delivery system of an interventional medical device according to claim 1, characterized in that, In the module M1, according to the real-time displayed interventional medical instrument DSA or video image, the threshold segmentation method is used to acquire the instrument feature information in the global image and the local image respectively; The global image and the local image are based on the real-time acquired interventional medical instrument image information, and according to the target position, the image is divided into global image and local image.

3. The automated delivery system of an interventional medical device according to claim 1, wherein, The variable step length in the variable step length pushing is the distance between the head end of the interventional medical instrument and the target position.

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