Breast puncture device and computer device

Abstract

The embodiment of the present application discloses a breast puncture device and computer equipment, the device comprises: an acquisition module is used for acquiring the position data of a simulated puncture needle and the position data of a lesion mark point on at least two breast positioning images, wherein the position data of the simulated puncture needle is determined based on the projection position of the lesion mark point on a preset projection plane on the at least two breast positioning images, wherein the shooting angles of the at least two breast positioning images are different; an output module is used for determining a simulated puncture needle model according to the position data of the simulated puncture needle on the at least two breast positioning images, and determining a lesion point according to the position data of the lesion mark point on the at least two positioning images and the system parameters corresponding to the at least two breast positioning images; a display module is used for adding the lesion point and the simulated puncture needle model into a three-dimensional breast model to display a simulated puncture result. The problem of low positioning efficiency existing in the prior breast positioning method is solved.

Description

[0001] This application is a divisional application of the case with the following application date: September 28, 2020; application number: 2020110434356; invention title: breast puncture method, apparatus, device and storage medium. Technical Field

[0002] This invention relates to the field of medical devices, and more particularly to a breast biopsy device and a computer device. Background Technology

[0003] During breast examinations or treatments, biopsies are often required. Before the biopsy, the patient needs to be located for the biopsy. The images taken at the end of the biopsy are then sent to the doctor, who uses these two images to perform a breast fibroid examination or mastectomy.

[0004] During breast biopsy localization, the patient needs to complete the following steps while under breast compression: taking an initial localization image, identifying the lesion point in the initial localization image, positioning the puncture needle based on the lesion point, and taking a target localization image to confirm the accuracy of the puncture needle positioning. Before puncture needle localization, if the patient's breast has shifted due to voluntary or involuntary movement, then the lesion point 101 will shift relative to the initial localization image, moving from one location to another (see...). Figure 1 If the initial positioning image is insufficient, the positioning of the puncture needle based on the initial positioning image will not meet the positioning requirements. If the positioning of the puncture needle cannot meet the positioning requirements, it is necessary to redetermine the location of the lesion point based on the target positioning image and then position the puncture needle based on the redetermined lesion point until the latest target positioning image shows that the positioning of the puncture needle meets the positioning requirements.

[0005] In summary, existing breast biopsy methods suffer from low positioning efficiency and poor resection accuracy. Summary of the Invention

[0006] This invention provides a method, apparatus, device, and storage medium for breast biopsy to address the problem of low positioning efficiency in existing breast localization methods.

[0007] In a first aspect, embodiments of the present invention provide a method for breast biopsy, comprising:

[0008] Acquire location data of a simulated puncture needle and location data of lesion markers on at least two breast localization images, wherein the location data of the simulated puncture needle is determined based on the lesion markers on the at least two breast localization images, wherein the at least two breast localization images are taken from different angles;

[0009] The simulated puncture needle model is determined based on the position data of the simulated puncture needle on the at least two breast localization images, and the lesion point is determined based on the position data of the lesion marker point on the at least two localization images and the system parameters corresponding to the at least two breast localization images;

[0010] The lesion point and the simulated puncture needle model were added to the three-dimensional breast model to demonstrate the simulated puncture results.

[0011] Secondly, embodiments of the present invention also provide a breast biopsy device, comprising:

[0012] The acquisition module is used to acquire the location data of the simulated puncture needle and the location data of the lesion markers on at least two breast positioning images, wherein the location data of the simulated puncture needle is determined based on the lesion markers on the at least two breast positioning images, and wherein the at least two breast positioning images are captured from different angles.

[0013] The output module is used to determine the simulated puncture needle model based on the position data of the simulated puncture needle on at least two breast localization images, and to determine the lesion point based on the position data of the lesion marker point on at least two localization images and the system parameters corresponding to the at least two breast localization images;

[0014] The display module is used to add the lesion point and the simulated puncture needle model to the three-dimensional breast model to demonstrate the simulated puncture effect.

[0015] Thirdly, embodiments of the present invention also provide a breast biopsy system, the system comprising:

[0016] One or more processors;

[0017] Storage device for storing one or more programs;

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the breast biopsy method as described in any embodiment.

[0019] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the breast biopsy method as described in any embodiment.

[0020] The technical solution provided by this invention, compared with the prior art, determines the simulated puncture needle model based on the position data of the simulated puncture needle on at least two breast localization images, determines the lesion point based on the position data of the lesion marker point on at least two localization images and the system parameters corresponding to the at least two breast localization images, and adds the lesion marker point and the simulated puncture needle model to the three-dimensional breast model to display the simulated puncture effect. This allows the localization physician to intuitively understand the positional relationship between the puncture needle model and the lesion point, making it easier for the physician to quickly and accurately determine the puncture strategy, such as further refining the puncture needle localization operation or directly determining the puncture plan. Because the accuracy of the puncture strategy is high, the number of times the patient needs to take breast localization images can be reduced, thereby reducing the patient's breast puncture localization time and fear, and improving the localization physician's breast puncture localization efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of lesion point movement provided by the background technology of this invention;

[0023] Figure 2 This is a flowchart of the breast biopsy method provided in Embodiment 1 of the present invention;

[0024] Figure 3 This is a schematic diagram of the X-ray imaging principle provided in Embodiment 1 of the present invention;

[0025] Figure 4 This is a flowchart of the breast biopsy method provided in Embodiment 2 of the present invention;

[0026] Figure 5 This is a schematic diagram of the display interface of the three-dimensional breast model provided in Embodiment 2 of the present invention;

[0027] Figure 6 This is a structural block diagram of the breast puncture device provided in Embodiment 3 of the present invention;

[0028] Figure 7 This is a structural block diagram of another breast puncture device provided in Embodiment 3 of the present invention;

[0029] Figure 8 This is a structural block diagram of the server device provided in Embodiment 4 of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this invention. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0031] Example 1

[0032] Figure 2 This is a flowchart of a breast biopsy method provided in Embodiment 1 of the present invention. The technical solution of this embodiment is applicable to visually displaying simulated puncture results using a three-dimensional breast model with an added simulated puncture needle model, enabling doctors to quickly and accurately determine the puncture strategy. This method can be executed by the breast biopsy device provided in this embodiment of the present invention. This device can be implemented in software and / or hardware and configured in the processor of a server device. The method specifically includes the following steps:

[0033] S101. Obtain the location data of the simulated puncture needle and the location data of the lesion markers on at least two breast localization images, wherein the location data of the simulated puncture needle is determined based on the lesion markers on at least two breast localization images, wherein the at least two breast localization images are taken from different angles.

[0034] Among them, the breast localization image is preferably a two-dimensional X-ray image, but it can also be a three-dimensional X-ray image, such as digital breast tomography (DBT). For three-dimensional X-ray images, the reconstructed three-dimensional image needs to be projected onto a preset shooting angle.

[0035] The system parameters can include the X-ray tube position, the constrictor opening size, or the detector position, etc. This embodiment uses the X-ray tube position as the system parameter and two breast localization images as an example to illustrate the technical solution. The two localization images correspond to different X-ray tube positions, and the included angle between the X-ray tubes is between 0 and 90 degrees. The X-ray tube angles corresponding to the two breast localization images are +15 degrees and -15 degrees, respectively. See [link to documentation]. Figure 2 X-ray tubes B and C are shown in the image.

[0036] Before performing a breast biopsy, the breast needs to be compressed and fixed. Then, two breast localization images corresponding to different X-ray tube positions are taken while the breast is under compression and fixed. After obtaining the two breast localization images, the lesion center point is determined in each of the two breast localization images. Then, a marker indicating the lesion center point is placed on the lesion center point to generate a lesion marker.

[0037] The lesion markers from two breast localization images are projected onto a preset projection plane. After projection, the localization physician determines the projection position of the simulated puncture needle on the preset projection plane based on the projection position of the lesion markers. After detecting the projection position of the simulated puncture needle on the preset projection plane, the projection position is back-projected onto the two breast localization images to obtain the position data of the simulated puncture needle on the two breast localization images.

[0038] The preset projection plane is either parallel or perpendicular to the puncture direction of the simulated puncture needle. Taking perpendicularity as an example, if the simulated puncture needle's puncture direction is downward along the Z-axis, then the preset projection plane is either the XZ plane or the YZ plane. The coordinate system directions are defined as follows: the left-right direction is the X-axis, the head-to-toe direction is the Z-axis, and the anterior-posterior direction is the Y-axis. Taking horizontality as an example, if the simulated puncture needle's puncture direction is along the Y-axis, then the preset projection plane is either the YZ plane or the XY plane.

[0039] S102. Determine the simulated puncture needle model based on the position data of the simulated puncture needle on at least two breast localization images, and determine the lesion point based on the position data of the lesion marker point on the at least two localization images and the system parameters corresponding to the at least two breast localization images.

[0040] Understandably, based on the principles of X-ray imaging, the spatial coordinates of the simulated needle tip are mapped onto the line connecting the needle tip on the breast localization image and the corresponding X-ray tube position on that image. (See...) Figure 3 As shown. Figure 3 Points P1 and P2 in the image are coordinate points on two breast localization images, such as lesion markers on the images. Point P is the lesion point to be determined. Let the coordinates of tube B be (xb, yb, zb), and the coordinates of tube C be (xc, yc, zc). The coordinates of the two lesion markers P1 and P2 on the two breast localization images are (xp1, Yp1, Zp1) and (xp2, Yp2, Zp2), respectively. The equation of the straight line passing through points P1 and B is:

[0041]

[0042] The equation of the line passing through points P2 and C is:

[0043]

[0044] Calculate the intersection of these two lines; this intersection is the spatial location of the lesion.

[0045] Based on the projection position of the lesion marker on the preset projection plane, a simulated puncture needle is placed on the preset projection plane. When the processor detects the simulated puncture needle on the preset projection plane, or when it detects the simulated puncture needle projected from the preset projection plane onto two breast localization images, it obtains the size or model of the actual puncture needle corresponding to the simulated puncture needle. Then, based on the size or model of the actual puncture needle, and the position data of the simulated puncture needle on the preset projection plane or the position data of the simulated puncture needle projected onto the two breast localization images, a simulated puncture needle model is generated.

[0046] S103. Add the lesion point and simulated puncture needle model to the three-dimensional breast model to display the simulated puncture results.

[0047] The three-dimensional breast model is preferably determined by the processor based on two breast positioning images to determine the compression thickness of the breast, and is drawn in real time based on the compression thickness of the breast and the opening size of the puncture compression plate.

[0048] In some embodiments, a model database containing three-dimensional breast models of different sizes and shapes is established in advance. Doctors manually select breast models that are similar in shape and size to the patient's breasts, or the processor determines the size and shape of the patient's breasts based on two breast localization images and then selects breast models with similar shapes and sizes from the model database.

[0049] To visually demonstrate the spatial position of the simulated puncture needle, this embodiment adds the simulated puncture needle model and the lesion point to the 3D breast model, or adds the needle tip and the lesion point to the 3D breast model. The 3D breast model with the simulated puncture needle model can visually display the position of the needle tip within the patient's breast, and the position of the needle tail on the patient's breast skin, as well as the relationship between this position and the patient's nipple and anterior chest. It can be understood that this position is where the puncture needle enters the patient's breast. After determining the positional relationship of the needle tail relative to the patient's nipple and anterior chest, the puncture point of the puncture needle on the patient's breast can be determined.

[0050] Understandably, a three-dimensional breast model that includes the lesion point and the simulated puncture needle model can intuitively show the positional relationship between the needle tip of the simulated puncture needle model and the lesion point, that is, intuitively show the positional relationship between the needle tip of the actual puncture needle and the lesion point.

[0051] In some embodiments, while displaying the three-dimensional breast model, the positional deviation of the needle tip relative to the lesion is also output in digital form, or the positional deviation of the needle tip relative to the lesion and the positional deviation of the needle tail relative to the nipple and the anterior chest are output respectively.

[0052] If the positional deviation of the needle tip relative to the lesion meets the clinical requirements in the doctor's opinion, the doctor will preferably take two more breast localization images for the patient to verify the positional deviation of the needle tip relative to the lesion. If the positional deviation of the needle tip relative to the lesion does not meet the clinical requirements in the doctor's opinion, the doctor can adjust the positional data of the simulated puncture needle on the two breast localization images. When the processor detects that the positional data of the simulated puncture needle on at least one breast localization image has changed, it updates and outputs a three-dimensional breast model containing the lesion and the simulated puncture needle model according to the current positional data of the simulated puncture needle on the current two breast localization images.

[0053] In some embodiments, a preset deviation threshold is set, and when the current position data of the simulated puncture needle on the current two breast localization images are used, a three-dimensional breast model including the lesion point and the simulated puncture needle model is output. At the same time, the position deviation of the needle tip relative to the lesion point, whether the position deviation exceeds the limit (exceeds the preset deviation threshold), and the adjustment strategy of the simulated puncture needle are output, so that the doctor can adjust the position data of the simulated puncture needle on at least one breast localization image according to the adjustment strategy.

[0054] In some embodiments, the aforementioned two breast localization images and the three-dimensional breast model are displayed on the same screen. Once the position data of the simulated puncture needle modified by the localization physician on either breast localization image takes effect, the position of the simulated puncture needle model in the three-dimensional breast model changes accordingly.

[0055] In summary, when the locator determines that the positional deviation of the simulated puncture needle model relative to the lesion marker exceeds the limit, the puncture needle positioning operation can be manually refined, improving the flexibility of breast biopsy positioning. When the locator determines that the positional deviation of the simulated puncture needle model relative to the lesion marker is within expectations, the handling strategy for the puncture components can be determined, such as determining the puncture needle position based on the position of the simulated puncture needle model on the surface of the 3D breast model and the current state of the patient's breast. This can significantly improve the accuracy of puncture needle positioning, reduce the number of breast positioning images taken by the patient and the number of puncture needle adjustments, thereby reducing the time required for breast biopsy positioning.

[0056] The technical solution provided by this invention, compared with the prior art, determines the simulated puncture needle model based on the position data of the simulated puncture needle on at least two breast localization images, determines the lesion point based on the position data of the lesion marker point on at least two localization images and the system parameters corresponding to at least two breast localization images, and adds the lesion marker point and the simulated puncture needle model to the three-dimensional breast model to display the simulated puncture result. This allows the localization physician to intuitively understand the positional relationship between the simulated puncture needle model and the lesion point, making it easier for the physician to quickly and accurately determine the puncture strategy, such as further refining the puncture needle localization operation or directly determining the puncture plan. Because the accuracy of the puncture strategy is high, the number of times the patient needs to take breast localization images can be reduced, thereby reducing the patient's breast puncture localization time and fear, and improving the localization physician's breast puncture localization efficiency.

[0057] Example 2

[0058] Figure 4 This is a flowchart of the breast biopsy method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment adds a method for using a three-dimensional breast model on a doctor's workstation.

[0059] Accordingly, the method of this embodiment includes:

[0060] S201. Obtain the location data of the simulated puncture needle and the location data of the lesion markers on at least two breast localization images, wherein the location data of the simulated puncture needle is determined based on the lesion markers on at least two breast localization images, wherein the at least two breast localization images are taken from different angles.

[0061] S202. Determine the simulated puncture needle model based on the position data of the simulated puncture needle on at least two breast localization images, and determine the lesion point based on the position data of the lesion marker point on the at least two localization images and the system parameters corresponding to the at least two breast localization images.

[0062] S203. Add the lesion point and simulated puncture needle model to the three-dimensional breast model to display the simulated puncture results.

[0063] S204. When a position deviation display command is detected, output a three-dimensional breast model containing a simulated puncture needle model and lesion points.

[0064] After the breast biopsy is completed and the patient is located, the next step is either breast biopsy with threading or breast excision. In either stage, the physician needs to know the desired needle tip location and the positional relationship between the lesion and that needle tip.

[0065] In existing techniques, doctors determine the desired needle tip location and the spatial relationship between the lesion and the needle tip based on two final breast localization images taken during the breast biopsy localization phase. Then, breast biopsy with wire guide or mastectomy is performed based on this determined spatial relationship. However, because breast shape and size vary from patient to patient, it is difficult for doctors to accurately determine the spatial relationship between the lesion and the puncture point using only two breast localization images. This can easily lead to an enlarged mastectomy area or, in cases where the lesion is small, failure of the wire guide guide.

[0066] To address the aforementioned issues, in this embodiment, when a doctor performs breast biopsy with wire guide or mastectomy on a patient, a positional deviation display command is sent from the doctor's workstation to the server. Based on the positional deviation display command, the server sends a corresponding three-dimensional breast model to the doctor's workstation. The doctor's workstation outputs a three-dimensional breast model 100 containing lesion points 101 and a simulated puncture needle model 102. (See [reference]). Figure 5 As shown. The three-dimensional breast model 100 can intuitively and accurately display the puncture result corresponding to the current position of the puncture simulation needle model, that is, intuitively display the positional relationship between the lesion point 101 and the needle tip of the simulated puncture needle model 102, as well as the positional relationship between the simulated puncture needle model and the patient's nipple and chest, thereby enabling doctors to quickly and accurately determine the puncture strategy.

[0067] In some embodiments, to more intuitively demonstrate the positional deviation of the lesion point relative to the needle tip, while outputting a three-dimensional breast model 100 with the lesion point and needle tip added to the display screen 2, a positional deviation output area 21 (see...) is also displayed. Figure 5 Output the positional deviation of the lesion point relative to the needle tip of the simulated puncture needle model in digital form.

[0068] In some embodiments, the doctor can also send a display request instruction to the server via the doctor's workstation to display a simulated puncture needle. The server then sends a corresponding three-dimensional breast model to the doctor's workstation based on the received instruction, so that the doctor can view a three-dimensional breast model containing a simulated puncture needle model on the doctor's workstation.

[0069] In some embodiments, doctors can zoom in or out of the three-dimensional breast model as needed. At the same time as the three-dimensional breast model is zoomed in or out, the simulated puncture needle model and lesion point are also zoomed in or out.

[0070] The technical solution provided by this invention, compared with the prior art, can intuitively show doctors the positional relationship between the simulated puncture needle model and the lesion point through a three-dimensional breast model that includes the lesion point and the simulated puncture needle model. This makes it easier for doctors to quickly and accurately determine the puncture strategy, such as to further improve the puncture needle positioning operation or directly determine the puncture plan. Since the accuracy of the puncture strategy is high, the number of times the patient needs to take breast positioning images can be reduced, thereby reducing the time and fear of breast puncture positioning for the patient, and improving the efficiency of breast puncture positioning for the positioning doctor.

[0071] Example 3

[0072] Figure 6 This is a structural block diagram of a breast biopsy device provided in an embodiment of the present invention. The device is used to perform the breast biopsy method provided in any of the above embodiments, and the device can be implemented in software or hardware. The device includes:

[0073] The acquisition module 31 is used to acquire the location data of the simulated puncture needle and the location data of the lesion markers on at least two breast positioning images, wherein the location data of the simulated puncture needle is determined based on the lesion markers on at least two breast positioning images, wherein the at least two breast positioning images are captured from different angles.

[0074] Output module 32 is used to determine the simulated puncture needle model based on the position data of the simulated puncture needle on at least two breast localization images, and to determine the lesion point based on the position data of the lesion marker point on at least two localization images and the system parameters corresponding to at least two breast localization images;

[0075] The display module 33 is used to add lesion points and simulated puncture needle models to the three-dimensional breast model to display the simulated puncture results.

[0076] Optionally, the acquisition module is used to determine the projection position of lesion markers on at least two breast localization images on a preset projection plane; acquire the projection position of a simulated puncture needle on the preset projection plane, wherein the projection position of the simulated puncture needle on the preset projection plane is determined by the user based on the projection position of the lesion markers on the preset projection plane; and determine the position data of the simulated puncture needle on the two breast localization images based on the projection position of the simulated puncture needle on the preset projection plane.

[0077] Optionally, the output module is used to generate a simulated puncture needle model based on the position data of the simulated puncture needle on two breast localization images, the system parameters corresponding to the two breast localization images respectively, and the size of the actual puncture needle corresponding to the simulated puncture needle.

[0078] Optionally, when a position deviation display command is detected, the position deviation of the needle tip of the simulated puncture needle model relative to the lesion point is output in digital form.

[0079] Optionally, see Figure 7 As shown, the device also includes a communication module 34, which outputs a three-dimensional breast model containing the lesion point and the simulated puncture needle model to the doctor's workstation when a display request command is detected.

[0080] Optionally, the output module is also used to update and output a three-dimensional breast model containing lesion points and a simulated puncture needle model when the position data of the simulated puncture needle on at least one breast positioning image is detected to change, based on the current position data of the simulated puncture needle on at least two breast positioning images, the position data of the lesion marker points on at least two breast positioning images, and the system parameters corresponding to the at least two breast positioning images respectively.

[0081] Compared to existing technologies, the technical solution provided by this invention determines a simulated puncture needle model based on the position data of the simulated puncture needle on at least two breast localization images, determines the lesion point based on the position data of the lesion marker point on at least two localization images and the system parameters corresponding to the at least two breast localization images, and adds the lesion marker point and the simulated puncture needle model to a three-dimensional breast model to display the simulated puncture results. This allows the localization physician to intuitively understand the positional relationship between the simulated puncture needle model and the lesion point, facilitating the physician to quickly and accurately determine the puncture strategy, such as further refining the puncture needle localization operation or directly determining the puncture plan. Because the accuracy of the puncture strategy is high, the number of times the patient needs to take breast localization images can be reduced, thereby reducing the patient's breast puncture localization time and fear, and improving the localization physician's breast puncture localization efficiency.

[0082] The breast puncture device provided in the embodiments of the present invention can perform the breast puncture method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for performing the method.

[0083] Example 4

[0084] Figure 8 This is a schematic diagram of the structure of a server device provided in an embodiment of the present invention, such as... Figure 8 As shown, the device includes a processor 401, a memory 402, an input device 403, and an output device 404; the number of processors 401 in the device can be one or more. Figure 8 Taking a processor 401 as an example; the processor 401, memory 402, input device 403, and output device 404 in the device can be connected via a bus or other means. Figure 8 Taking the example of a connection between China and Israel via a bus.

[0085] The memory 402, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the breast biopsy method in this embodiment of the invention (e.g., acquisition module 31, output module 32, and display module 33). The processor 401 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 402, thereby implementing the aforementioned breast biopsy method.

[0086] The memory 402 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 402 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 402 may further include memory remotely located relative to the processor 401, which can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0087] The input device 403 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device.

[0088] The output device 404 may include a display device such as a display screen, for example, the display screen of a user terminal.

[0089] The output device includes a positioning workstation, which is used to display positioning interactive information during breast biopsy positioning, such as outputting at least two breast positioning images, receiving position data of lesion markers determined by the positioning physician on the at least two breast positioning images, receiving preset projection plane information, and projecting the at least two breast positioning images onto the preset projection plane according to the preset projection plane information, so that the positioning physician can determine the position of the simulated puncture needle on the preset projection plane, and generate position data of the simulated puncture needle based on the position.

[0090] The output device also includes a doctor's workstation, which displays a three-dimensional breast model including the lesion point and a simulated puncture needle during breast biopsy. This allows the surgeon to quickly and accurately determine the breast biopsy strategy and perform a precise procedure based on the 3D model. The surgeon can also perform operations such as zooming in, zooming out, rotating, and translating the 3D breast model on the workstation. Furthermore, the workstation can output the positional deviation of the lesion point relative to the needle tip along with the 3D breast model, enabling the surgeon to more accurately understand the simulated puncture results corresponding to the puncture components on the patient, and determine and execute the puncture strategy based on these results.

[0091] Example 5

[0092] This invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a breast biopsy method, the method comprising:

[0093] Acquire location data of a simulated puncture needle and location data of lesion markers on at least two breast localization images, wherein the location data of the simulated puncture needle is determined based on the lesion markers on the at least two breast localization images, wherein the at least two breast localization images are taken from different angles;

[0094] The simulated puncture needle model is determined based on the position data of the simulated puncture needle on the at least two breast localization images, and the lesion point is determined based on the position data of the lesion marker point on the at least two localization images and the system parameters corresponding to the at least two breast localization images;

[0095] The lesion point and the simulated puncture needle model were added to the three-dimensional breast model to demonstrate the simulated puncture results.

[0096] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the breast puncture method provided in any embodiment of the present invention.

[0097] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the breast biopsy method described in the various embodiments of the present invention.

[0098] It is worth noting that in the embodiments of the breast puncture device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0099] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A breast biopsy device, characterized in that, include: The acquisition module is used to take at least two breast positioning images corresponding to different tube positions on a breast under compression and fixation, and to acquire the position data of the simulated puncture needle and the position data of the lesion marker on the at least two breast positioning images. The position data of the simulated puncture needle is determined based on the projection position of the lesion marker on the at least two breast positioning images on a preset projection plane. The at least two breast positioning images are taken from different angles. The lesion marker is generated by placing a marker representing the center point of the lesion on the center point of the lesion. The output module is used to generate a simulated puncture needle model based on the position data of the simulated puncture needle on at least two breast localization images and the size of the actual puncture needle corresponding to the simulated puncture needle, and to determine the lesion point based on the position data of the lesion marker point on at least two breast localization images and the system parameters corresponding to the at least two breast localization images; the system parameters are the X-ray tube position; The display module is used to add the lesion point and the simulated puncture needle model to the three-dimensional breast model to demonstrate the simulated puncture effect.

2. The apparatus according to claim 1, characterized in that, The display module is also used to output the positional deviation of the needle tip relative to the lesion in digital form, or to output the positional deviation of the needle tip relative to the lesion and the positional deviation of the needle tail relative to the nipple and the anterior chest, respectively.

3. The apparatus according to claim 1, characterized in that, The display module is also used to detect when the position data of the simulated puncture needle on at least one breast positioning image changes, and update and output a three-dimensional breast model containing the lesion point and the simulated puncture needle model according to the position data of the simulated puncture needle on the two breast positioning images.

4. The apparatus according to claim 1, characterized in that, The output module is specifically used to generate a simulated puncture needle model based on the position data of the simulated puncture needle on the two breast localization images and the size of the actual puncture needle corresponding to the simulated puncture needle.

5. The apparatus according to claim 1, characterized in that: The acquisition module is used to determine the projection position of lesion markers on at least two breast localization images on a preset projection plane; acquire the projection position of a simulated puncture needle on the preset projection plane, wherein the projection position of the simulated puncture needle on the preset projection plane is determined by the user based on the projection position of the lesion markers on the preset projection plane; and determine the position data of the simulated puncture needle on the two breast localization images based on the projection position of the simulated puncture needle on the preset projection plane.

6. The apparatus according to claim 5, characterized in that: The preset projection plane is parallel or perpendicular to the puncture direction of the simulated puncture needle.

7. The apparatus according to claim 1, characterized in that, Also includes: The communication module is used to output a three-dimensional breast model containing the lesion point and the simulated puncture needle model to the doctor's workstation when a display request command is detected.

8. The apparatus according to claim 1, characterized in that: The output module is further configured to, when detecting a change in the position data of the simulated puncture needle on at least one breast positioning image, update and output a three-dimensional breast model containing the lesion point and the simulated puncture needle model based on the current position data of the simulated puncture needle on at least two breast positioning images, the position data of the lesion marker on at least two breast positioning images, and the system parameters corresponding to the at least two breast positioning images respectively.

9. A computer device, characterized in that, The device includes: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the following steps: At least two breast localization images corresponding to different X-ray tube positions are taken for the breast under compression and fixation, and the position data of the simulated puncture needle and the position data of the lesion marker points on the at least two breast localization images are obtained. The position data of the simulated puncture needle is determined based on the projection position of the lesion marker points on the at least two breast localization images on a preset projection plane. The at least two breast localization images are taken from different angles. The lesion marker points are generated by placing a marker representing the center point of the lesion on the center point of the lesion. A simulated puncture needle model is generated based on the position data of the simulated puncture needle on at least two breast localization images and the size of the actual puncture needle corresponding to the simulated puncture needle. The lesion point is determined based on the position data of the lesion marker point on at least two breast localization images and the system parameters corresponding to the at least two breast localization images; the system parameters are the position of the X-ray tube. The lesion point and the simulated puncture needle model were added to the three-dimensional breast model to demonstrate the simulated puncture results.

10. The computer device according to claim 9, characterized in that, The processor also performs the steps of: outputting the positional deviation of the needle tip relative to the lesion in digital form, or outputting the positional deviation of the needle tip relative to the lesion and the positional deviation of the needle tail relative to the nipple and the anterior chest, respectively.

11. The computer device according to claim 9, characterized in that, The processor further performs the following steps: when it detects a change in the position data of the simulated puncture needle on at least one breast localization image, it updates and outputs a three-dimensional breast model containing the lesion point and the simulated puncture needle model based on the position data of the simulated puncture needle on two breast localization images.

12. The computer device according to claim 9, characterized in that, The processor specifically executes the following steps: generating a simulated puncture needle model based on the position data of the simulated puncture needle on the two breast localization images and the size of the actual puncture needle corresponding to the simulated puncture needle.

13. The computer device according to claim 9, characterized in that, The acquisition of simulated puncture needle position data on at least two breast localization images includes: Determine the projection position of lesion markers on a pre-defined projection plane in at least two breast localization images; Obtain the projection position of the simulated puncture needle on the preset projection plane, wherein the projection position of the simulated puncture needle on the preset projection plane is determined by the user based on the projection position of the lesion marker on the preset projection plane; Based on the projection position of the simulated puncture needle on the preset projection plane, the position data of the simulated puncture needle on the two breast localization images are determined.

14. The computer device according to claim 13, characterized in that, The preset projection plane is parallel or perpendicular to the puncture direction of the simulated puncture needle.

15. The computer device according to claim 9, characterized in that, Also includes: Upon detecting a display request command, the system outputs a three-dimensional breast model containing the lesion point and the simulated puncture needle model, as well as two two-dimensional breast localization images taken at positive and negative angles, to the doctor's workstation.

16. The computer device according to claim 9, characterized in that, Also includes: When a change in the position data of the simulated puncture needle on at least one breast localization image is detected, a three-dimensional breast model containing the lesion point and the simulated puncture needle model is updated and output based on the current position data of the simulated puncture needle on at least two breast localization images, the position data of the lesion marker point on at least two breast localization images, and the system parameters corresponding to the at least two breast localization images respectively.

17. The computer device according to claim 9, characterized in that, Also includes: A positioning workstation is used to display positioning interactive information during breast biopsy positioning. The doctor's workstation is used to display a three-dimensional breast model, including the lesion and a simulated puncture needle, during breast biopsy.

18. The computer device according to claim 17, characterized in that, The doctor's workstation is also used to respond to any of the operations of zooming in, zooming out, rotating, or translating performed on the three-dimensional breast model.

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