Accuracy testing methods and related products for puncture navigation systems

Abstract

This application discloses a method for detecting the accuracy of a puncture navigation system and related products. The detection method is used to detect the accuracy of a puncture navigation system. The puncture navigation system plans a target puncture path for a first needle insertion point and a first target point, and controls a puncture guide to perform puncture based on the target puncture path. The method includes: acquiring the puncture path to be detected, which is the puncture path determined by the puncture guide when puncture is performed based on the target puncture path; acquiring the first coordinates of the first needle insertion point in a world coordinate system and the second coordinates of the first target point in a world coordinate system; determining the actual puncture path passing through the first needle insertion point and the first target point based on the first and second coordinates; and determining the accuracy of the puncture navigation system based on a first difference between the puncture path to be detected and the actual puncture path.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method for detecting the accuracy of a puncture navigation system and related products. Background Technology

[0002] A puncture navigation system allows for the planning of puncture paths and the control of the puncture guide to perform the puncture according to the planned path. The puncture guide also helps to fix the needle used for puncture. The accuracy of punctures performed using a puncture navigation system directly determines the outcome of the puncture procedure; therefore, how to test the accuracy of the puncture navigation system is of great importance. Summary of the Invention

[0003] This application provides a method for detecting the accuracy of a puncture navigation system and related products.

[0004] Firstly, a method for detecting the accuracy of a puncture navigation system is provided. The method is used to detect the accuracy of the puncture navigation system, which, after planning a target puncture path for a first needle insertion point and a first target point, controls a puncture guide to perform puncture based on the target puncture path. The method includes:

[0005] Obtain the puncture path to be detected, wherein the puncture path to be detected is the puncture path determined by the puncture guide when the puncture is performed by controlling the diameter of the puncture guide based on the target puncture path.

[0006] Obtain the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system;

[0007] Based on the first coordinate and the second coordinate, determine the actual puncture path passing through the first needle insertion point and the first target point;

[0008] The accuracy of the puncture navigation system is determined based on a first difference between the puncture path to be detected and the actual puncture path, wherein the accuracy is negatively correlated with the first difference.

[0009] In conjunction with any embodiment of this application, before determining the accuracy of the puncture navigation system based on the first difference between the puncture path to be detected and the actual puncture path, the method further includes:

[0010] Based on the second difference between the second coordinate and the third coordinate of the second target point of the puncture path to be detected, the first difference between the puncture path to be detected and the actual puncture path is determined, and the first difference is positively correlated with the second difference.

[0011] In any embodiment of this application, determining the accuracy of the puncture navigation system based on the first difference between the puncture path to be detected and the actual puncture path includes:

[0012] Determine the second difference;

[0013] Determine the length of the actual puncture path;

[0014] The accuracy of the puncture navigation system is determined based on the quotient of the second difference and the length, wherein the accuracy is negatively correlated with the quotient.

[0015] In conjunction with any embodiment of this application, before obtaining the puncture path to be detected, the method further includes:

[0016] A first three-dimensional computed tomography (CT) image and a first three-dimensional ultrasound image are acquired. The first three-dimensional CT image includes a third target point, and the first three-dimensional ultrasound image includes a second needle insertion point corresponding to the first needle insertion point. Both the first three-dimensional CT image and the first three-dimensional ultrasound image are obtained by scanning the object to be punctured.

[0017] The first three-dimensional CT image and the first three-dimensional ultrasound image are registered to obtain the second three-dimensional CT image;

[0018] The point in the second 3D CT image corresponding to the third target point is identified as the fourth target point;

[0019] The target puncture path is determined based on the second needle insertion point and the fourth target point.

[0020] In any embodiment of this application, the object to be punctured includes an organ model and a fixation device, wherein the first needle insertion point and the first target point both belong to the fixation device.

[0021] In any embodiment of this application, the puncture guide includes a fixing groove for fixing the needle, and the step of obtaining the puncture path to be detected includes:

[0022] According to the target puncture path, the robotic arm is controlled to move the puncture guide to the target position, which is the starting position for puncture according to the target puncture path;

[0023] When the puncture guide is located at the target position, the puncture path to be detected is determined based on a straight line passing through the fixing groove.

[0024] In conjunction with any embodiment of this application, acquiring the first three-dimensional CT image includes:

[0025] A third 3D CT image is acquired by scanning the object to be punctured;

[0026] If a cross-sectional viewing instruction for the third 3D CT image is detected, a target cross-section is determined from the third 3D CT image according to the cross-sectional viewing instruction;

[0027] Display the target cross-section;

[0028] If the target point in the target cross-section is detected as the target point, the target point in the third three-dimensional CT image is used as the third target point to obtain the first three-dimensional CT image.

[0029] Secondly, a precision detection device for a puncture navigation system is provided. The detection device is used to detect the precision of the puncture navigation system. The puncture navigation system, after planning a target puncture path for a first needle insertion point and a first target point, controls a puncture guide to perform puncture based on the target puncture path. The detection device includes:

[0030] The acquisition unit is used to acquire the puncture path to be detected, wherein the puncture path to be detected is the puncture path determined by the puncture guide when the puncture is performed by controlling the diameter of the puncture guide based on the target puncture path.

[0031] The acquisition unit is further configured to acquire the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system;

[0032] The determining unit is used to determine the actual puncture path passing through the first needle insertion point and the first target point based on the first coordinate and the second coordinate;

[0033] The determining unit is used to determine the accuracy of the puncture navigation system based on a first difference between the puncture path to be detected and the actual puncture path, wherein the accuracy is negatively correlated with the first difference.

[0034] In any embodiment of this application, the determining unit is further configured to determine the first difference between the puncture path to be detected and the actual puncture path based on the second difference between the second coordinate and the third coordinate of the second target point of the puncture path to be detected, wherein the first difference is positively correlated with the second difference.

[0035] In conjunction with any embodiment of this application, the determining unit is configured to:

[0036] Determine the second difference;

[0037] Determine the length of the actual puncture path;

[0038] The accuracy of the puncture navigation system is determined based on the quotient of the second difference and the length, wherein the accuracy is negatively correlated with the quotient.

[0039] In any embodiment of this application, the acquisition unit is further configured to acquire a first three-dimensional CT image and a first three-dimensional ultrasound image, wherein the first three-dimensional CT image includes a third target point and the first three-dimensional ultrasound image includes a second needle insertion point corresponding to the first needle insertion point, and both the first three-dimensional CT image and the first three-dimensional ultrasound image are obtained by scanning the object to be punctured.

[0040] The detection device further includes:

[0041] A registration unit is used to register the first three-dimensional CT image with the first three-dimensional ultrasound image to obtain a second three-dimensional CT image;

[0042] The determining unit is further configured to determine the point in the second three-dimensional CT image corresponding to the third target point as the fourth target point;

[0043] The determining unit is further configured to determine the target puncture path based on the second needle insertion point and the fourth target point.

[0044] In any embodiment of this application, the object to be punctured includes an organ model and a fixation device, wherein the first needle insertion point and the first target point both belong to the fixation device.

[0045] In any embodiment of this application, the puncture guide includes a fixing groove for fixing the needle, and the acquisition unit is used for:

[0046] According to the target puncture path, the robotic arm is controlled to move the puncture guide to the target position, which is the starting position for puncture according to the target puncture path;

[0047] When the puncture guide is located at the target position, the puncture path to be detected is determined based on a straight line passing through the fixing groove.

[0048] In conjunction with any embodiment of this application, the acquisition unit is used for:

[0049] A third 3D CT image is acquired by scanning the object to be punctured;

[0050] If a cross-sectional viewing instruction for the third 3D CT image is detected, a target cross-section is determined from the third 3D CT image according to the cross-sectional viewing instruction;

[0051] Display the target cross-section;

[0052] If the target point in the target cross-section is detected as the target point, the target point in the third three-dimensional CT image is used as the third target point to obtain the first three-dimensional CT image.

[0053] Thirdly, an electronic device is provided, characterized in that it comprises: a processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method as described in the first aspect above and any possible implementation thereof.

[0054] Fourthly, another electronic device is provided, comprising: a processor, a transmitting device, an input device, an output device, and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs the method as described in the first aspect above and any possible implementation thereof.

[0055] Fifthly, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program including program instructions that, when executed by a processor, cause the processor to perform a method as described in the first aspect above and any possible implementation thereof.

[0056] In a sixth aspect, a computer program product is provided, the computer program product comprising a computer program or instructions, wherein, when the computer program or instructions are executed on a computer, the computer performs the method described in the first aspect and any possible implementation thereof.

[0057] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0058] In this application, after acquiring the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system, the detection device can determine the actual puncture path passing through the first needle insertion point and the first target point based on the first and second coordinates. After acquiring the puncture path to be detected and determining the actual puncture path, the detection device can determine the accuracy based on the first difference between the puncture path to be detected and the actual puncture path, where the first difference is negatively correlated with the accuracy of the puncture navigation system.

[0059] Since the puncture path to be detected can characterize the effect of puncturing the first target point by using the first needle insertion point as the needle insertion point through the puncture navigation system, the accuracy of the puncture navigation system is determined through the embodiments of this application, which is equivalent to considering all aspects of the puncture process of the puncture navigation system, thus improving the accuracy of the puncture navigation system. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0062] Figure 1 A flowchart illustrating a method for detecting the accuracy of a puncture navigation system provided in an embodiment of this application;

[0063] Figure 2 A schematic diagram of a puncture guide provided in an embodiment of this application;

[0064] Figure 3 This is a schematic diagram of a puncture target provided in an embodiment of this application;

[0065] Figure 4 A schematic diagram illustrating the display of a third three-dimensional CT image, provided as an embodiment of this application;

[0066] Figure 5 A schematic diagram showing a target cross-section provided in an embodiment of this application;

[0067] Figure 6 This application provides a schematic diagram illustrating the relationship between a puncture guide and the object to be punctured when the puncture guide is located at the target position.

[0068] Figure 7 This is a schematic diagram of the structure of a detection device provided in an embodiment of this application;

[0069] Figure 8 This is a schematic diagram of the hardware structure of a detection device provided in an embodiment of this application. Detailed Implementation

[0070] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0071] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0072] It should be understood that in this application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can indicate three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " can indicate that the related objects before and after are in an "or" relationship, referring to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple. The character " / " can also represent the division sign in mathematical operations, for example, a / b = a divided by b; 6 / 3 = 2. "At least one of the following" or similar expressions.

[0073] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0074] A puncture navigation system allows for the planning of puncture paths and the control of the puncture guide to perform the puncture according to the planned path. The puncture guide also helps to fix the needle used for puncture. The accuracy of punctures performed using a puncture navigation system directly determines the outcome of the puncture procedure; therefore, how to test the accuracy of the puncture navigation system is of great importance.

[0075] The specific process of puncture using a puncture navigation system is as follows: Multiple two-dimensional CT images, including the organ to be punctured, are obtained through CT scanning of the object to be punctured. Then, based on these multiple two-dimensional CT images, a first three-dimensional CT image of the organ to be punctured is obtained. By observing the first three-dimensional CT image, the physician can identify the lesion and use it as the third target point. An ultrasound scan of the object to be punctured yields a first three-dimensional ultrasound image including the organ to be punctured. Since the pixel coordinate system of the three-dimensional ultrasound image is the world coordinate system, the coordinates of the third target point in the world coordinate system can be determined by registering the first three-dimensional CT image and the first three-dimensional ultrasound image.

[0076] During a puncture procedure, after determining the needle insertion point, an ultrasound probe is used to scan the insertion point to obtain a two-dimensional ultrasound image including the first insertion point. The coordinates of the first insertion point in the two-dimensional ultrasound image are then transformed according to a first transformation relationship to obtain its coordinates in the world coordinate system. This first transformation relationship is the transformation between the pixel coordinate system of the two-dimensional ultrasound image and the world coordinate system; that is, the coordinates of any pixel in the two-dimensional ultrasound image in the world coordinate system can be determined based on the first transformation relationship. For example, if the two-dimensional ultrasound image includes pixel 'a', and the object point corresponding to pixel 'a' in the real world is object point 'b', then the coordinates of object point 'b' in the world coordinate system can be determined based on the first transformation relationship and the position of pixel 'a' in the pixel coordinate system of the two-dimensional ultrasound image. Optionally, the first transformation relationship is determined before the puncture procedure is performed on the subject.

[0077] After determining the coordinates of the target point and the needle insertion point in the world coordinate system, the puncture navigation system can determine the target puncture path passing through the needle insertion point and the target point. Once the target puncture path is obtained, the puncture navigation system can control the puncture guide to move to the target position, ensuring that the needle fixed in the puncture guide is on the same straight line as the target puncture path. The puncture can then be completed by controlling the puncture guide to move along the target puncture path.

[0078] As described above regarding the implementation process of puncture via a puncture navigation system, the accuracy of puncture via this system is equivalent to the accuracy of the puncture guide. Factors affecting the accuracy of the puncture guide include all aspects of the puncture process via the navigation system; the accuracy of any single aspect will affect the overall accuracy of the puncture navigation system. However, current technologies typically determine the accuracy of the puncture navigation system by only detecting the accuracy of a subset of these aspects, which can easily lead to significant errors in the detected accuracy. Therefore, this application provides an accuracy detection method for a puncture navigation system to improve the accuracy of the detected accuracy.

[0079] The execution subject of this application embodiment is a detection device, which can be any electronic device capable of executing the technical solutions disclosed in the method embodiments of this application. Optionally, the detection device can be one of the following: a computer or a server.

[0080] It should be understood that the method embodiments of this application can also be implemented by a processor executing computer program code. The embodiments of this application are described below with reference to the accompanying drawings. Please refer to... Figure 1 , Figure 1 This is a flowchart illustrating a method for detecting the accuracy of a puncture navigation system provided in an embodiment of this application.

[0081] 101. Obtain the puncture path to be detected.

[0082] In this embodiment, the puncture path to be detected is the puncture path determined by the puncture guide when puncture is performed based on the target puncture path and the diameter of the puncture guide is controlled. Specifically, after the target puncture path is determined by the puncture navigation system, the puncture guide is moved to control the needle fixed on the puncture guide to move along the target puncture path, thereby completing the puncture. The path the needle moves is determined by the puncture guide, and the puncture path of the needle determined by the puncture guide is the puncture path to be detected.

[0083] In one possible implementation method Figure 2 The diagram shown is of a puncture guide device. Figure 2 As shown, the puncture guide includes four passive reflective infrared markers (2001, 2002, 2003, and 2004) and a fixing groove for securing the needle. By combining this puncture guide with the optical system host, the position of the puncture path can be tracked in real time.

[0084] It should be understood that although the puncture path determined by the puncture navigation system is the target puncture path, the puncture path to be detected, which is controlled by the puncture guide based on the target puncture path, may deviate from the target puncture path. That is, the puncture path to be detected may be different from the target puncture path.

[0085] In one implementation of obtaining the puncture path to be detected, after the puncture navigation system determines the target puncture path and controls the puncture guide to move to the target position according to the target puncture path, the detection device determines the puncture path to be detected based on the fixing groove in the puncture guide used to fix the needle. Since the needle used for puncture is fixed in the fixing groove of the puncture guide, the path traversed by the needle is the path traversed by the fixing groove. Therefore, the detection device can determine the puncture path to be detected based on the fixing groove of the puncture guide. Optionally, the detection device uses a straight line passing through the central axis of the fixing groove as the puncture path to be detected.

[0086] In this implementation, since the puncture path to be detected is determined by the fixed groove, it is not necessary to determine the puncture path to be detected by fixing the needle in the fixed groove of the guide. This reduces the complexity of determining the puncture path to be detected and improves the efficiency of determining the puncture path to be detected.

[0087] In another implementation of obtaining the puncture path to be detected, the detection device receives the puncture path to be detected input by the user through input components, wherein the input components include: mouse, keyboard, touch screen, touchpad, and audio input device.

[0088] In another implementation of obtaining the puncture path to be detected, the detection device receives the puncture path to be detected sent by the user through a terminal to obtain the puncture path to be detected. The terminal includes: mobile phone, computer, tablet computer, and smart wearable device.

[0089] 102. Obtain the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system.

[0090] In this embodiment, the first target point is the target point to be punctured during the puncture surgery; in other words, the first target point is the lesion to be punctured during the puncture surgery. It should be understood that the first target point is a real-world object point. The first coordinate is the coordinate of the first needle insertion point in the world coordinate system, and the second coordinate is the coordinate of the first target point in the world coordinate system. In one implementation of obtaining the first coordinate, the detection device receives the first coordinate input by the user through an input component. In another implementation of obtaining the first coordinate, the detection device obtains the first coordinate through the first coordinate sent by the terminal.

[0091] In one implementation of obtaining the second coordinates, the detection device receives the second coordinates input by the user through an input component. In another implementation, the detection device obtains the second coordinates via second coordinates sent by the terminal.

[0092] It should be understood that in the embodiments of this application, the steps of obtaining the first coordinate and obtaining the second coordinate can be performed separately or simultaneously, and this application does not limit this.

[0093] 103. Based on the first coordinate and the second coordinate mentioned above, determine the actual puncture path passing through the first needle insertion point and the first target point mentioned above.

[0094] In this embodiment, the puncture path between the first needle insertion point and the first target point is the actual puncture path, that is, the correct puncture path for puncturing the first target point with the first needle insertion point as the needle insertion point is the actual puncture path. In one possible implementation, the detection device uses the first coordinate as the starting point and the second coordinate as the ending point, and determines the line segment between the starting point and the ending point as the actual puncture path.

[0095] 104. Based on the first difference between the above-mentioned puncture path to be detected and the above-mentioned actual puncture path, determine the accuracy of the above-mentioned puncture navigation system.

[0096] In this embodiment, the puncture path to be detected is the puncture path determined by the puncture navigation system. This puncture path characterizes the actual puncture effect of the puncture navigation system, and the actual puncture path is the correct puncture path. Therefore, the detection device can determine the accuracy of the puncture navigation system based on the difference between the puncture path to be detected and the actual puncture path. The difference between the puncture path to be detected and the actual puncture path is called the first difference, and the accuracy of the puncture navigation system is negatively correlated with the first difference. Specifically, the smaller the first difference, the smaller the deviation between the puncture path to be detected and the actual puncture path, i.e., the higher the accuracy of the puncture navigation system. Conversely, the larger the first difference, the larger the deviation between the puncture path to be detected and the actual puncture path, i.e., the lower the accuracy of the puncture navigation system.

[0097] In this embodiment, the puncture path to be detected is the puncture path determined by the puncture guide when puncture is performed based on the target puncture path. The target puncture path is the puncture path planned by the puncture navigation system for the first needle insertion point and the first target point. Therefore, the puncture path to be detected can characterize the effect of puncturing the first target point using the first needle insertion point through the puncture navigation system.

[0098] After acquiring the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system, the detection device can determine the actual puncture path passing through the first needle insertion point and the first target point based on the first and second coordinates. After acquiring the puncture path to be detected and determining the actual puncture path, the detection device can determine the accuracy based on the first difference between the puncture path to be detected and the actual puncture path, provided that the accuracy of the puncture navigation system is negatively correlated with the first difference.

[0099] Since the puncture path to be detected can characterize the effect of puncturing the first target point by using the first needle insertion point as the needle insertion point through the puncture navigation system, the accuracy of the puncture navigation system is determined through the embodiments of this application, which is equivalent to considering all aspects of the puncture process of the puncture navigation system, thus improving the accuracy of the puncture navigation system.

[0100] As an optional implementation, the detection device further performs the following steps before performing step 104:

[0101] 201. Based on the second difference between the second coordinate and the third coordinate of the second target point of the puncture path to be detected, determine the first difference between the puncture path to be detected and the actual puncture path.

[0102] In this embodiment, the second target point is a target point determined based on the puncture path to be detected, and the coordinates of the second target point in the world coordinate system are the third coordinates. The puncture effect of the puncture navigation system is the difference between the target point punctured through the puncture navigation system and the actual target point; that is, the puncture effect of the puncture navigation system is the difference between the target point determined by puncturing through the puncture path to be detected and the actual target point. Therefore, the detection device can determine the first difference between the puncture path to be detected and the actual puncture path based on the second difference between the second coordinates and the third coordinates, and then determine the accuracy of the puncture navigation system based on the first difference.

[0103] In this embodiment, the first difference and the second difference are positively correlated. That is, the greater the difference between the first target point and the second target point, the greater the difference between the puncture path to be detected and the actual puncture path, which means the lower the accuracy of the puncture navigation system. Conversely, the smaller the difference between the first target point and the second target point, the smaller the difference between the puncture path to be detected and the actual puncture path, which means the higher the accuracy of the puncture navigation system.

[0104] In this embodiment, when the detection device determines the first difference based on the second difference when the first difference and the second difference are positively correlated, the accuracy of the first difference and the speed of determining the first difference can be improved.

[0105] As an optional implementation, the detection device performs the following steps during step 104:

[0106] 301. Determine the second difference mentioned above.

[0107] In one possible implementation, the detection device obtains the second difference by calculating the difference between the second coordinate and the third coordinate.

[0108] 302. Determine the length of the actual puncture path described above.

[0109] In this embodiment of the application, the length of the actual puncture path is the distance from the first needle insertion point to the first target point, which is the actual puncture distance.

[0110] 303. Determine the accuracy of the puncture navigation system based on the quotient of the second difference and the length.

[0111] In this embodiment of the application, the accuracy of the puncture navigation system is negatively correlated with the above-mentioned quotient. That is, the larger the quotient of the second difference and the length of the actual puncture path, the lower the accuracy of the puncture navigation system.

[0112] In one possible implementation, the detection device uses the quotient of the second difference and the length as the accuracy of the puncture navigation system. For example, if the second difference is 0.75 mm and the actual puncture path length is 110 mm, then the quotient of the second difference and the actual puncture path length is 0.75 / 110 = 0.68%.

[0113] In this embodiment, after determining the second difference and the length of the actual puncture path, the detection device determines the accuracy of the puncture navigation system based on the quotient of the second difference and the actual puncture path. This is equivalent to determining the relative error of the puncture path to be detected by calculating the quotient of the absolute error of the puncture path to be detected and the length of the actual puncture path, and then determining the accuracy of the puncture navigation system based on this relative error. This allows for a more direct reflection of the deviation between the puncture path to be detected and the actual puncture path through the accuracy.

[0114] As an optional implementation, the detection device performs the following steps before acquiring the puncture path to be detected:

[0115] 401. Acquire the first three-dimensional CT image and the first three-dimensional ultrasound image.

[0116] In this embodiment, the first three-dimensional CT image includes a third target point. It should be understood that the third target point is the pixel in the first three-dimensional CT image corresponding to the first target point. The first three-dimensional ultrasound image includes a second needle insertion point corresponding to the first needle insertion point; that is, the first needle insertion point is the real-world needle insertion point, and the second needle insertion point is the pixel in the first three-dimensional ultrasound image corresponding to the first needle insertion point. Both the first three-dimensional CT image and the first three-dimensional ultrasound image are obtained by scanning the object to be punctured. The object to be punctured can be a person or an organ model, where the organ model includes organ models and tissue models. Optionally, the organ model is a kidney model, meaning the object punctured through the puncture navigation system includes a kidney.

[0117] In one implementation of acquiring a first three-dimensional CT image, the detection device receives the first three-dimensional CT image input by a user through an input component.

[0118] In another implementation of acquiring the first three-dimensional CT image, the detection device receives the first three-dimensional CT image sent by the user through a terminal.

[0119] In another method of acquiring the first three-dimensional CT image, the detection device acquires multiple two-dimensional CT images and then performs three-dimensional reconstruction based on these multiple two-dimensional CT images to obtain the first three-dimensional CT image.

[0120] In one method of acquiring a first three-dimensional ultrasound image, the detection device and the ultrasound probe have a communication connection, and the detection device acquires the three-dimensional ultrasound image acquired by the ultrasound probe through the communication connection, which is used as the first three-dimensional ultrasound image.

[0121] It should be understood that in the embodiments of this application, the steps of acquiring the first three-dimensional CT image and acquiring the first three-dimensional ultrasound image by the detection device can be performed separately or simultaneously, and this application does not limit this.

[0122] 402. Register the first three-dimensional CT image with the first three-dimensional ultrasound image to obtain the second three-dimensional CT image.

[0123] As mentioned above, the pixel coordinate system of the first three-dimensional ultrasound image is the world coordinate system. Therefore, by registering the first three-dimensional CT image with the first three-dimensional ultrasound image, the first three-dimensional CT image can be aligned with the world coordinate system. That is, when the second three-dimensional CT image is obtained by executing step 402, the pixel coordinate system of the second three-dimensional CT image is already aligned with the world coordinate system.

[0124] 403. The point in the second three-dimensional CT image that corresponds to the third target point is identified as the fourth target point.

[0125] In step 402, during the registration of the first 3D CT image and the first 3D ultrasound image to obtain the second 3D CT image, the positions of pixels in the first 3D CT image will change. During this registration process, the position of the third target point changes, resulting in a fourth target point. For example, if the coordinates of the third target point in the first 3D CT image are p1, and the registration amount of the first 3D CT image is determined as vector v by registering the first 3D CT image and the first 3D ultrasound image, then the displacement of the pixels in the first 3D CT image is v. At this point, by moving the third target point according to the registration amount, the fourth target point can be obtained, meaning the coordinates of the fourth target point in the second 3D CT image are p1+v.

[0126] It should be understood that since the pixel coordinate system of the second 3D CT image is the same as the world coordinate system, the third target point corresponds to the fourth target point, and the position of the fourth target point in the second 3D CT image is the position of the third target point in the world coordinate system.

[0127] 404. Based on the second needle insertion point and the fourth target point mentioned above, determine the target puncture path.

[0128] In this embodiment, the target puncture path is the puncture path planned by the puncture navigation system. In one possible implementation, the detection device uses the coordinates of the second needle insertion point in the first three-dimensional ultrasound image as the starting point and the coordinates of the fourth target point in the second three-dimensional CT image as the ending point, and determines the line segment between the starting point and the ending point as the target puncture path.

[0129] In this embodiment, after acquiring a first three-dimensional CT image and a first three-dimensional ultrasound image, the puncture navigation system registers the first three-dimensional CT image with the first three-dimensional ultrasound image to obtain a second three-dimensional CT image. Then, after determining a fourth target point in the second three-dimensional CT image that corresponds to the third target point, the target puncture path can be determined based on the second needle insertion point and the fourth target point. Thus, the puncture path can be planned by the puncture navigation system.

[0130] Optionally, after the target puncture path is determined by the puncture navigation system, the detection device determines a third difference between the target puncture path and the actual puncture path. By comparing the third difference with the first difference, it can be determined whether the puncture navigation system generates errors in controlling the puncture guide based on the target puncture path after determining it. In other words, by comparing the third difference with the first difference, it can be determined which part of the puncture navigation system's error originates.

[0131] Specifically, if the third difference is greater than or equal to the first difference, it indicates that the puncture navigation system did not generate error in controlling the puncture guide based on the target puncture path, but rather that the puncture navigation system generated error in determining the target puncture path. Therefore, when the third difference is greater than or equal to the first difference, the detection device determines that the error in the puncture navigation system originates from determining the target puncture path. If the third difference is less than the first difference, it indicates that the puncture navigation system generated error in controlling the puncture guide based on the target puncture path. Therefore, when the third difference is less than the first difference, the detection device determines that the puncture navigation system generated error in controlling the puncture guide based on the target puncture path.

[0132] Furthermore, a large third difference indicates that the puncture navigation system has produced an error in determining the target puncture path. Therefore, if the third difference is greater than or equal to the first threshold, the detection device determines that the puncture navigation system has produced an error in determining the target puncture path. The first threshold is the basis for judging whether the third difference is large or small. Specifically, a third difference greater than or equal to the first threshold indicates a large third difference, and a third difference less than the first threshold indicates a small third difference.

[0133] Based on the third and first differences, the detection device determines the source of error in the puncture navigation system and can optimize the puncture navigation system accordingly, thereby improving its accuracy.

[0134] Optionally, since it is unnecessary to determine the source of error in the puncture navigation system when its accuracy is high, the detection device further determines the source of error based on the third difference and the first difference when the accuracy of the puncture navigation system is low. The detection device uses a second threshold as a basis to determine whether the accuracy of the puncture navigation system is high or low. Specifically, if the accuracy of the puncture navigation system is greater than or equal to the second threshold, it indicates that the accuracy of the puncture navigation system is high; if the accuracy of the puncture navigation system is less than the second threshold, it indicates that the accuracy of the puncture navigation system is low.

[0135] As an optional implementation, the object to be punctured includes an organ model and a fixation device, wherein both the first needle insertion point and the first target point are part of the fixation device. The organ model is a three-dimensional model of the organ; optionally, the organ model may also include a skin tissue model, thus making the organ model closer to a real human body.

[0136] In one possible implementation method Figure 3 A schematic diagram of an object to be punctured is shown, such as Figure 3 As shown, the object to be punctured includes a fixation device and an organ model, wherein the organ model is placed on the fixation device, or optionally, the organ model is fixed to the fixation device. Figure 3As shown, the organ model includes two kidney models and a skin tissue model, where the skin tissue model is the transparent portion of the organ model. It should be understood that in the actual object to be punctured, the skin tissue may be opaque. Optionally, in the object to be punctured, such as... Figure 3 In the case shown, the top of the column includes a conical groove, and the first needle insertion point and the first target point are the centers of different grooves.

[0137] In this embodiment, since the object to be punctured includes an organ model and a fixation device, the organ model and fixation device can be punctured using a puncture navigation system, and the accuracy of the puncture navigation system can be tested. When both the first needle insertion point and the first target point are fixed objects, it is convenient to obtain the first coordinate of the first needle insertion point in the world coordinate system and the second coordinate of the first target point in the world coordinate system. Furthermore, since both the first needle insertion point and the first target point are fixed objects, the first and second coordinates do not change. Therefore, the actual puncture path determined based on the first and second coordinates also remains unchanged. Thus, determining the accuracy of the puncture navigation system based on the actual puncture path can improve the accuracy of the puncture navigation system.

[0138] As an optional implementation, the detection device acquires a first three-dimensional CT image by performing the following steps:

[0139] 501. Obtain the third-dimensional CT image.

[0140] In this embodiment of the application, the third three-dimensional CT image is obtained by scanning the object to be punctured.

[0141] 502. When a cross-sectional viewing instruction for the aforementioned third three-dimensional CT image is detected, a target cross-section is determined from the aforementioned third three-dimensional CT image according to the cross-sectional viewing instruction.

[0142] In this embodiment, the cross-sectional viewing instruction includes the position of the cross-section in the third 3D CT image. After detecting the cross-sectional viewing instruction, the detection device can determine the target cross-section from the third 3D CT image according to the cross-sectional viewing instruction. In one possible implementation, after acquiring the third 3D CT image, the detection device can display the third 3D CT image. Figure 4 The image shown is a schematic diagram displaying a third-dimensional CT image. Figure 4 As shown, the third 3D CT image is obtained by analyzing... Figure 3 The object to be punctured was obtained by scanning. Figure 4 It also shows the world coordinate system (i.e. Figure 4 The relationship between the xyz coordinate system and the body position of the target person should be understood, and the organ model of the hypothetical object to be punctured should be understood to belong to the person. Figure 4The bottom right corner also includes three view buttons: Head Left, Kidney Centered, and Head Right. Clicking Head Left adjusts the view of the 3D CT image of the kidney to show the left side of the subject, i.e., the left side of the patient to be punctured. Clicking Kidney Centered adjusts the view of the 3D CT image of the kidney to center the kidney in the image, i.e., showing the front of the patient to be punctured. Clicking Head Left again adjusts the view of the 3D CT image of the kidney to show the right side of the subject, i.e., the right side of the patient to be punctured.

[0143] 503. Display the cross-section of the above target.

[0144] In one possible implementation method Figure 5 A schematic diagram showing the cross-section of the target is provided. (For example...) Figure 5 As shown, the top-down view of the object to be punctured in the upper left corner is the coronal plane, the bottom-left view is the side view of the object to be punctured is the sagittal plane, and the right-hand area shows the target cross-section. Figure 5 The text and numbers in the text are temporary information and data during the display process.

[0145] 504. When the target point in the target cross section is detected as the target point, the target point in the third three-dimensional CT image is used as the third target point to obtain the first three-dimensional CT image.

[0146] In one possible implementation, after the user determines that the target point in the target cross-section is the first target point by observing the target cross-section, the user inputs a command to the detection device to use the target point as the third target point. Upon detecting this command, the detection device uses the target point in the third 3D CT image as the third target point, thus obtaining the first 3D CT image. It should be understood that since the target cross-section belongs to the third 3D CT image, the target point in the target cross-section is equivalent to a pixel in the third 3D CT image. Therefore, using the target point in the target cross-section as the third target point means using the target point in the third 3D CT image as the third target point. By executing step 504, the detection device can determine the third target point corresponding to the first target point from the third 3D CT image to obtain the first 3D CT image.

[0147] As an optional implementation, the puncture guide includes a fixing groove for securing the needle, and the detection device obtains the puncture path to be detected by performing the following steps:

[0148] 601. Based on the above target puncture path, control the robotic arm to move the above puncture guide to the target position.

[0149] In this embodiment, the puncture guide is fixed to a robotic arm, and the puncture guide can be moved by controlling the movement of the robotic arm. After the puncture navigation system plans the target puncture path, the puncture navigation system controls the robotic arm to move the puncture guide to the target position, so that the needle fixed on the puncture guide is aligned with the target puncture path, that is, the straight line passing through the fixing groove on the puncture guide for fixing the needle is aligned with the target puncture path. In other words, the target position is the starting position for puncture according to the target puncture path. That is, when the puncture guide is in the target position, controlling the puncture guide to move along the straight line passing through the fixing groove allows the puncture guide to be controlled to perform puncture according to the target puncture path.

[0150] 602. When the above-mentioned puncture guide is located at the above-mentioned target position, the above-mentioned puncture path to be detected is determined according to the straight line passing through the above-mentioned fixing groove.

[0151] Since the needle puncture path is a straight line through the fixed groove when the puncture guide is in the target position, the detection device can determine the puncture path to be detected based on the straight line through the fixed groove.

[0152] In one possible implementation, after determining the target puncture path, the puncture navigation system controls a robotic arm to move the puncture guide to the target position based on the target puncture path. The software interface then displays the relationship between the puncture guide and the object to be punctured, showing the relationship when the puncture guide is at the target position. For example... Figure 6 This is a schematic diagram illustrating the relationship between the puncture guide and the object to be punctured when the puncture guide is positioned at the target location. Figure 6 As shown, the puncture path to be tested can be determined based on the fixing groove of the puncture guide.

[0153] also, Figure 6 It also shows the real-time needle depth of puncture based on the puncture path to be detected, and the target needle depth of puncture based on the actual puncture path. Figure 6 It also shows the world coordinate system (i.e. Figure 6 The relationship between the xyz coordinate system and the body position of the target person should be understood, and the organ model of the hypothetical object to be punctured should be understood to belong to the person. Figure 6 The bottom right corner also includes three view buttons: Head Left, Kidney Centered, and Head Right. Clicking Head Left adjusts the view of the 3D CT image of the kidney to show the left side of the subject, i.e., the left side of the patient to be punctured. Clicking Kidney Centered adjusts the view of the 3D CT image of the kidney to center the kidney in the image, i.e., showing the front of the patient to be punctured. Clicking Head Left again adjusts the view of the 3D CT image of the kidney to show the right side of the subject, i.e., the right side of the patient to be punctured.

[0154] Based on the technical solutions provided in the embodiments of this application, the embodiments of this application also provide a possible application scenario. In cases where the object to be punctured is such as... Figure 3 In the case shown, the object to be punctured includes a column with a conical groove at the top. In this case, the center of different conical grooves can be used as the first needle insertion point and the first target point, respectively. Then, based on the technical solution described above, the first difference between the puncture path and the target puncture path can be determined, and the accuracy of the puncture navigation system can be determined based on the first difference.

[0155] Optionally, after determining the first difference, the detection device determines the quotient of the first difference and the length of the actual puncture path as the relative error of the puncture navigation system. Optionally, the center of each conical groove in the object to be punctured is taken as the first target point in sequence to determine the relative error of the puncture navigation system. For example, when the length of the actual puncture path is 110 mm, the absolute error and relative error obtained by taking the center of different conical grooves as the first target point are shown in Table 1 below, where the absolute error is the first difference, and different experimental numbers indicate different first target points.

[0156] Experiment number 1 2 3 4 5 6 7 8 Absolute error (mm) 0.75 0.62 1.04 0.89 0.82 0.84 1.23 0.93 Relative error (%) 0.68％ 0.56％ 0.95％ 0.81％ 0.75％ 0.76％ 1.18％ 0.85％

[0157] Table 1

[0158] Optionally, after obtaining multiple relative errors, the mean and standard deviation of all relative errors can be calculated, and the confidence intervals for the absolute error and the relative error can be determined based on the mean and standard deviation. For example, the results shown in Table 2 below can be obtained based on the data in Table 1.

[0159] average Standard deviation Confidence interval (99%) Absolute error (mm) 0.89 0.185 【0.76，1.02】 Relative error (%) 0.825％ 0.0018 【0.705％，0.945％】

[0160] Table 2

[0161] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0162] If the technical solution of this application involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, while using clear signs / information to inform users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, personal information processing may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

[0163] The methods of the embodiments of this application have been described in detail above, and the apparatus of the embodiments of this application is provided below.

[0164] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of a precision detection device 1 for a puncture navigation system provided in an embodiment of this application. The detection device 1 is used to detect the precision of the puncture navigation system. The puncture navigation system plans a target puncture path for a first needle insertion point and a first target point, and controls a puncture guide to perform puncture based on the target puncture path. The detection device 1 includes: an acquisition unit 11 and a determination unit 12. Optionally, the detection device 1 further includes a registration unit 13. Specifically:

[0165] The acquisition unit 11 is used to acquire the puncture path to be detected, wherein the puncture path to be detected is the puncture path determined by the puncture guide when the puncture guide diameter is controlled based on the target puncture path for puncture.

[0166] The acquisition unit 11 is further configured to acquire the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system;

[0167] The determining unit 12 is used to determine the actual puncture path passing through the first needle insertion point and the first target point based on the first coordinate and the second coordinate;

[0168] The determining unit 12 is used to determine the accuracy of the puncture navigation system based on a first difference between the puncture path to be detected and the actual puncture path, wherein the accuracy is negatively correlated with the first difference.

[0169] In any embodiment of this application, the determining unit 12 is further configured to determine the first difference between the puncture path to be detected and the actual puncture path based on the second difference between the second coordinate and the third coordinate of the second target point of the puncture path to be detected, wherein the first difference is positively correlated with the second difference.

[0170] In any embodiment of this application, the determining unit 12 is configured to:

[0171] Determine the second difference;

[0172] Determine the length of the actual puncture path;

[0173] The accuracy of the puncture navigation system is determined based on the quotient of the second difference and the length, wherein the accuracy is negatively correlated with the quotient.

[0174] In any embodiment of this application, the acquisition unit 11 is further configured to acquire a first three-dimensional CT image and a first three-dimensional ultrasound image. The first three-dimensional CT image includes a third target point, and the first three-dimensional ultrasound image includes a second needle insertion point corresponding to the first needle insertion point. Both the first three-dimensional CT image and the first three-dimensional ultrasound image are obtained by scanning the object to be punctured.

[0175] The detection device 1 further includes:

[0176] The registration unit 13 is used to register the first three-dimensional CT image with the first three-dimensional ultrasound image to obtain a second three-dimensional CT image;

[0177] The determining unit 12 is further configured to determine the point in the second three-dimensional CT image corresponding to the third target point as the fourth target point;

[0178] The determining unit 12 is further configured to determine the target puncture path based on the second needle insertion point and the fourth target point.

[0179] In any embodiment of this application, the object to be punctured includes an organ model and a fixation device, wherein the first needle insertion point and the first target point both belong to the fixation device.

[0180] In any embodiment of this application, the puncture guide includes a fixing groove for fixing the needle, and the acquisition unit 11 is used for:

[0181] According to the target puncture path, the robotic arm is controlled to move the puncture guide to the target position, which is the starting position for puncture according to the target puncture path;

[0182] When the puncture guide is located at the target position, the puncture path to be detected is determined based on a straight line passing through the fixing groove.

[0183] In any embodiment of this application, the acquisition unit 11 is used for:

[0184] A third 3D CT image is acquired by scanning the object to be punctured;

[0185] If a cross-sectional viewing instruction for the third 3D CT image is detected, a target cross-section is determined from the third 3D CT image according to the cross-sectional viewing instruction;

[0186] Display the target cross-section;

[0187] If the target point in the target cross-section is detected as the target point, the target point in the third three-dimensional CT image is used as the third target point to obtain the first three-dimensional CT image.

[0188] In this embodiment, after acquiring the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system, the detection device can determine the actual puncture path passing through the first needle insertion point and the first target point based on the first and second coordinates. After acquiring the puncture path to be detected and determining the actual puncture path, the detection device can determine the accuracy based on the first difference between the puncture path to be detected and the actual puncture path, provided that the first difference is negatively correlated with the accuracy of the puncture navigation system.

[0189] Since the puncture path to be detected can characterize the effect of puncturing the first target point by using the first needle insertion point as the needle insertion point through the puncture navigation system, the accuracy of the puncture navigation system is determined through the embodiments of this application, which is equivalent to considering all aspects of the puncture process of the puncture navigation system, thus improving the accuracy of the puncture navigation system.

[0190] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0191] Figure 8This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 also includes an input device 23 and an output device 24. The processor 21, memory 22, input device 23, and output device 24 are coupled together via connectors, which include various interfaces, transmission lines, or buses, etc., and are not limited in this embodiment. It should be understood that in the various embodiments of this application, coupling refers to mutual connection in a specific way, including direct connection or indirect connection through other devices, such as through various interfaces, transmission lines, buses, etc.

[0192] Processor 21 can be one or more graphics processing units (GPUs). If processor 21 is a GPU, the GPU can be a single-core GPU or a multi-core GPU. Optionally, processor 21 can be a processor group composed of multiple GPUs, with the multiple processors coupled to each other via one or more buses. Optionally, the processor can also be other types of processors, etc., which are not limited in this embodiment.

[0193] The memory 22 can be used to store computer program instructions, as well as various types of computer program code, including program code for executing the scheme of this application. Optionally, the memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), which is used for related instructions and data.

[0194] Input device 23 is used to input data and / or signals, and output device 24 is used to output data and / or signals. Input device 23 and output device 24 can be independent devices or an integrated device.

[0195] It is understood that in this embodiment of the application, the memory 22 can be used not only to store related instructions, but also to store related data. This embodiment of the application does not limit the specific data stored in the memory.

[0196] Understandable, Figure 8This is merely a simplified design of an electronic device. In practical applications, the electronic device may also include other necessary components, including, but not limited to, any number of input / output devices, processors, memories, etc., and all electronic devices that can implement the embodiments of this application are within the protection scope of this application.

[0197] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0198] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will also readily understand that the various embodiments of this application have different focuses, and for the sake of convenience and brevity, the same or similar parts may not be repeated in different embodiments. Therefore, parts not described or not described in detail in one embodiment can be referred to the descriptions in other embodiments.

[0199] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0200] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0201] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0202] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0203] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A precision detection device for a puncture navigation system, characterized in that, The detection device is used to detect the accuracy of the puncture navigation system. The puncture navigation system, after planning a target puncture path for the first needle insertion point and the first target point, controls the puncture guide to perform puncture based on the target puncture path. The detection device includes: The acquisition unit is used to acquire the puncture path to be detected, wherein the puncture path to be detected is the puncture path determined by the puncture guide when the puncture is performed by controlling the diameter of the puncture guide based on the target puncture path. The step of obtaining the puncture path to be detected includes: when the puncture navigation system controls the puncture guide to move to the target position according to the target puncture path, the puncture path to be detected is determined according to the fixing groove in the puncture guide for fixing the needle. The acquisition unit is further configured to acquire the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system; The determining unit is used to determine the actual puncture path passing through the first needle insertion point and the first target point based on the first coordinate and the second coordinate; The determining unit is used to determine the accuracy of the puncture navigation system based on a first difference between the puncture path to be detected and the actual puncture path, wherein the accuracy is negatively correlated with the first difference. The determining unit is also used to determine a third difference between the target puncture path and the actual puncture path; The determining unit is further configured to determine, when the third difference is greater than or equal to the first difference, that the error of the puncture navigation system originates from determining the target puncture path; The determining unit is further configured to determine, when the third difference is less than the first difference, that the error of the puncture navigation system originates from controlling the puncture guide to perform puncture based on the target puncture path.

2. The apparatus according to claim 1, characterized in that, The determining unit is further configured to determine the first difference between the puncture path to be detected and the actual puncture path based on the second difference between the second coordinate and the third coordinate of the second target point of the puncture path to be detected, wherein the first difference is positively correlated with the second difference.

3. The apparatus according to claim 2, characterized in that, The determining unit is further configured to: Determine the second difference; Determine the length of the actual puncture path; The accuracy of the puncture navigation system is determined based on the quotient of the second difference and the length, wherein the accuracy is negatively correlated with the quotient.

4. The apparatus according to any one of claims 1 to 3, characterized in that, The acquisition unit is also used to acquire a first three-dimensional CT image and a first three-dimensional ultrasound image. The first three-dimensional CT image includes a third target point, and the first three-dimensional ultrasound image includes a second needle insertion point corresponding to the first needle insertion point. Both the first three-dimensional CT image and the first three-dimensional ultrasound image are obtained by scanning the object to be punctured. The detection device further includes: A registration unit is used to register the first three-dimensional CT image with the first three-dimensional ultrasound image to obtain a second three-dimensional CT image; The determining unit is further configured to determine the point in the second three-dimensional CT image corresponding to the third target point as the fourth target point; The determining unit is further configured to determine the target puncture path based on the second needle insertion point and the fourth target point.

5. The apparatus according to claim 4, characterized in that, The object to be punctured includes an organ model and a fixation device, and the first needle insertion point and the first target point both belong to the fixation device.

6. The apparatus according to claim 4, characterized in that, The puncture guide includes a fixing groove for fixing the needle, and the acquisition unit is further configured to: According to the target puncture path, the robotic arm is controlled to move the puncture guide to the target position, which is the starting position for puncture according to the target puncture path; When the puncture guide is located at the target position, the puncture path to be detected is determined based on a straight line passing through the fixing groove.

7. The apparatus according to claim 4, characterized in that, The acquisition unit is further configured to: A third 3D CT image is acquired by scanning the object to be punctured; If a cross-sectional viewing instruction for the third 3D CT image is detected, a target cross-section is determined from the third 3D CT image according to the cross-sectional viewing instruction; Display the target cross-section; If the target point in the target cross-section is detected as the target point, the target point in the third three-dimensional CT image is used as the third target point to obtain the first three-dimensional CT image.

8. An electronic device, characterized in that, include: A processor and a memory, the memory for storing computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method for detecting the accuracy of a puncture navigation system, wherein the puncture navigation system, having planned a target puncture path for a first needle insertion point and a first target point, controls a puncture guide to perform puncture based on the target puncture path, the method comprising: Obtain the puncture path to be detected, wherein the puncture path to be detected is the puncture path determined by the puncture guide when the puncture is performed by controlling the diameter of the puncture guide based on the target puncture path. The step of obtaining the puncture path to be detected includes: when the puncture navigation system controls the puncture guide to move to the target position according to the target puncture path, the puncture path to be detected is determined according to the fixing groove in the puncture guide for fixing the needle. Obtain the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system; Based on the first coordinate and the second coordinate, determine the actual puncture path passing through the first needle insertion point and the first target point; The accuracy of the puncture navigation system is determined based on a first difference between the puncture path to be detected and the actual puncture path, wherein the accuracy is negatively correlated with the first difference. Determine the third difference between the target puncture path and the actual puncture path; If the third difference is greater than or equal to the first difference, it is determined that the error of the puncture navigation system originates from determining the target puncture path; If the third difference is less than the first difference, it is determined that the error of the puncture navigation system originates from controlling the puncture guide to perform puncture based on the target puncture path.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to execute a method for detecting the accuracy of a puncture navigation system. The puncture navigation system, having planned a target puncture path for a first needle insertion point and a first target point, controls a puncture guide to perform puncture based on the target puncture path. The method includes: Obtain the puncture path to be detected, wherein the puncture path to be detected is the puncture path determined by the puncture guide when the puncture is performed by controlling the diameter of the puncture guide based on the target puncture path. The step of obtaining the puncture path to be detected includes: when the puncture navigation system controls the puncture guide to move to the target position according to the target puncture path, the puncture path to be detected is determined according to the fixing groove in the puncture guide for fixing the needle. Obtain the first coordinates of the first needle insertion point in the world coordinate system and the second coordinates of the first target point in the world coordinate system; Based on the first coordinate and the second coordinate, determine the actual puncture path passing through the first needle insertion point and the first target point; The accuracy of the puncture navigation system is determined based on a first difference between the puncture path to be detected and the actual puncture path, wherein the accuracy is negatively correlated with the first difference. Determine the third difference between the target puncture path and the actual puncture path; If the third difference is greater than or equal to the first difference, it is determined that the error of the puncture navigation system originates from determining the target puncture path; If the third difference is less than the first difference, it is determined that the error of the puncture navigation system originates from controlling the puncture guide to perform puncture based on the target puncture path.

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