Methods, apparatus, and storage media for determining tissue operation parameters based on detection devices.
By combining ultrasonic probes and piezoelectric layers with ultrasonic imaging, shear wave elastography, and quasi-static elastography data, the problem of inaccurate imaging by ultrasonic equipment has been solved, achieving high precision in tissue manipulation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- WUXI HISKY MEDICAL TECH
- Filing Date
- 2023-05-30
- Publication Date
- 2026-05-26
AI Technical Summary
In existing technologies, ultrasound equipment does not provide accurate imaging when guiding tissue operations, resulting in insufficient operational precision.
A detection-based approach is employed, using an ultrasonic probe and a piezoelectric layer to transmit and receive ultrasonic signals. By combining ultrasonic imaging data, shear wave elastography data, and quasi-static elastography data, tissue manipulation parameters, including the initiation position of rotary cutting, are determined.
It improves the precision of organizational operations, ensures the consistency and stability of data collected under unified standards, and obtains more accurate operating parameters.
Smart Images
Figure CN116671962B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of biomedicine, and more specifically to a method, apparatus, and storage medium for determining tissue operating parameters based on a detection device. Background Technology
[0002] Depending on the nature of the human tissue (such as tumor tissue, nodules, benign lesions, etc.), different treatment methods can be adopted. For example, for malignant tumor tissue, surgical resection can be performed; for benign tumor tissue, conservative drug treatment can be used. However, regardless of the method used to treat the human tissue, it is necessary to ensure the precision of the operation. For example, when performing surgical resection, it is necessary to ensure that the human tissue is completely removed.
[0003] Currently, tissue manipulation is usually guided by ultrasound equipment, which leads to inaccurate tissue imaging and requires further improvement in the precision of tissue manipulation. Summary of the Invention
[0004] In view of this, embodiments of the present invention provide a method, a parameter determination device, an electronic device, and a computer-readable storage medium for determining tissue operation parameters based on a detection device. The determined operation parameters have high accuracy, thereby improving the operation accuracy.
[0005] This invention provides a method for determining tissue operation parameters based on a detection device. The detection device includes an ultrasound probe, a transmitting module, and a receiving module. The ultrasound probe is connected to both the transmitting and receiving modules. The ultrasound probe includes a first piezoelectric layer and a second piezoelectric layer. The first piezoelectric layer is used to sense the contact pressure between the skin surface of the area where the tissue to be operated is located and the ultrasound probe. The second piezoelectric layer connects the transmitting module and the receiving module. The method includes:
[0006] When the contact pressure meets the preset pressure conditions, the transmitting module is controlled to send a first excitation signal to the second piezoelectric layer. The second piezoelectric layer converts the first excitation signal into a first ultrasonic signal and controls the second piezoelectric layer to emit the first ultrasonic signal to the tissue to be operated on and other surrounding tissues to generate shear waves.
[0007] The transmitting module is controlled to send a second excitation signal to the second piezoelectric layer, which converts the second excitation signal into a second ultrasonic signal. The second piezoelectric layer is then controlled to emit the second ultrasonic signal to the tissue to be operated on and other surrounding tissues to track the shear wave.
[0008] The receiving module is controlled to receive the echo signal of the second ultrasonic signal, and to obtain ultrasonic imaging data and shear wave elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the second ultrasonic signal; and
[0009] The operating parameters for manipulating the tissue to be operated on are determined using the ultrasound imaging data and the shear wave elastography data.
[0010] In some embodiments, the method further includes:
[0011] During the process of the ultrasound probe contacting the skin surface, the transmitting module is controlled to send a third excitation signal to the second piezoelectric layer, which converts the third excitation signal into a third ultrasound signal and controls the second piezoelectric layer to emit the third ultrasound signal to the tissue to be operated on and other surrounding tissues.
[0012] The receiving module is controlled to receive the echo signal of the third ultrasonic signal, and quasi-static elastography data of the tissue to be operated on and other surrounding tissues are obtained based on the echo signal of the third ultrasonic signal.
[0013] The operation parameters for manipulating the tissue to be operated on are determined using the ultrasound imaging data and the elastography data, including:
[0014] The operating parameters for manipulating the tissue to be operated on are determined using the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data.
[0015] In some embodiments, the operation on the tissue to be operated on includes a rotary cutting operation, and the operation parameters include the rotary cutting start position;
[0016] Using the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, the operating parameters for manipulating the tissue to be operated on are determined, including:
[0017] Based on the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, the cutting cost of the rotary cutter at each of the alternative starting positions from the skin surface to the edge of the tissue to be operated is determined. The cutting cost characterizes the force required by the rotary cutter and the degree of damage to the associated tissue when the rotary cutter passes through the skin surface and the alternative starting position.
[0018] Select the candidate starting position with the lowest rotary cutting cost as the starting position for rotary cutting the tissue to be operated on.
[0019] In some embodiments, the detection device further includes a switching module located between the receiving module and the second piezoelectric layer, and the method further includes:
[0020] When the transmitting module sends a first excitation signal, a second excitation signal, or a third excitation signal to the second piezoelectric layer, the switching module is controlled to disconnect the receiving module and the second piezoelectric layer.
[0021] When the receiving module receives the echo signal of the second ultrasonic signal or the echo signal of the third ultrasonic signal, it controls the switching module to disconnect the transmitting module and the second piezoelectric layer.
[0022] In some embodiments, the first piezoelectric layer includes a strain gauge; the contact pressure is detected by the following method:
[0023] The resistance of the strain gauge is detected, wherein the resistance of the strain gauge is used to reflect the deformation of the strain gauge;
[0024] The contact pressure is determined based on the resistance of the strain gauge.
[0025] In some embodiments, the operation on the tissue to be operated on includes a rotary cutting operation, and the operation parameters include the rotary cutting start position;
[0026] Using the ultrasound imaging data and the shear wave elastography data, the operating parameters for manipulating the tissue to be operated on are determined, including:
[0027] Based on the ultrasound imaging data and the shear wave elastography data, the cutting cost of the rotary cutter at each alternative starting position from the skin surface to the edge of the tissue to be operated is determined, wherein the cutting cost characterizes the force required by the rotary cutter and the degree of damage to the associated tissue by the rotary cutter when the rotary cutter passes through the skin surface and the alternative starting position;
[0028] Select the candidate starting position with the lowest rotary cutting cost as the starting position for rotary cutting the tissue to be operated on.
[0029] In another aspect, the present invention provides a parameter determination device for determining tissue operation parameters based on a detection device. The detection device includes an ultrasound probe, a transmitting module, and a receiving module. The ultrasound probe is connected to both the transmitting and receiving modules. The ultrasound probe includes a first piezoelectric layer and a second piezoelectric layer. The first piezoelectric layer is used to sense the contact pressure between the skin surface of the area where the tissue to be operated is located and the ultrasound probe. The second piezoelectric layer connects the transmitting module and the receiving module. The device includes:
[0030] The first signal transmitting module is used to control the transmitting module to send a first excitation signal to the second piezoelectric layer when the contact pressure meets the preset pressure condition. The second piezoelectric layer converts the first excitation signal into a first ultrasonic signal and controls the second piezoelectric layer to transmit the first ultrasonic signal to the tissue to be operated and other surrounding tissues to generate a shear wave.
[0031] The second signal transmitting module is used to control the transmitting module to send a second excitation signal to the second piezoelectric layer, and the second piezoelectric layer converts the second excitation signal into a second ultrasonic signal. The second piezoelectric layer is then controlled to transmit the second ultrasonic signal to the tissue to be operated on and other surrounding tissues to track the shear wave.
[0032] A first data processing module is used to control the receiving module to receive the echo signal of the second ultrasonic signal, and to obtain ultrasonic imaging data and shear wave elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the second ultrasonic signal; and
[0033] The determination module uses the ultrasound imaging data and the shear wave elastography data to determine the operating parameters when operating on the tissue to be operated on.
[0034] In some embodiments, the apparatus further includes:
[0035] The third signal transmitting module is used to control the transmitting module to send a third excitation signal to the second piezoelectric layer during the process of the ultrasound probe contacting the skin surface. The second piezoelectric layer converts the third excitation signal into a third ultrasound signal and controls the second piezoelectric layer to transmit the third ultrasound signal to the tissue to be operated on and other surrounding tissues.
[0036] The second data processing module is used to control the receiving module to receive the echo signal of the third ultrasonic signal, and to obtain quasi-static elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the third ultrasonic signal.
[0037] The determining module is further configured to determine the operating parameters for operating the tissue to be operated on using the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data.
[0038] In another aspect, the present invention provides a computer-readable storage medium for storing a computer program that, when executed by a processor, implements the method described above.
[0039] In another aspect, the present invention provides an electronic device comprising a processor and a memory, the memory being used to store a computer program which, when executed by the processor, implements the method described above.
[0040] In some embodiments of this application, when the contact pressure meets a preset pressure condition, the control transmitter module sends a first excitation signal to the second piezoelectric layer. The second piezoelectric layer converts the excitation signal into a first ultrasonic signal and then transmits the first ultrasonic signal to the tissue to be operated on and other surrounding tissues to generate a shear wave signal. Then, the control transmitter module sends a second excitation signal to the second piezoelectric layer, which converts the excitation signal into a second ultrasonic signal and then transmits the second ultrasonic signal to the tissue to be operated on and other surrounding tissues, receiving corresponding echo signals. The echo signals are then processed to obtain ultrasonic imaging data and elastic imaging data of the tissue to be operated on and other surrounding tissues. Finally, the operating parameters of the tissue to be operated are determined using the acquired ultrasonic imaging data and shear wave elastic imaging data. In this embodiment, on the one hand, when the contact pressure meets the preset pressure condition, ultrasound imaging data and elastography data are collected, realizing data acquisition under a unified standard, ensuring the consistency and stability of the collected data, and thus the obtained operation parameters for operating on the tissue to be operated on can be more accurate; on the other hand, compared with the prior art that relies solely on ultrasound equipment to guide tissue operation, resulting in low operation accuracy, this application determines the operation parameters for the tissue based on both ultrasound imaging data and elastography data, so the determined operation parameters have high accuracy, thereby greatly improving the accuracy of operation. Attached Figure Description
[0041] The features and advantages of the invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the invention in any way. In the drawings:
[0042] Figure 1 A schematic diagram of the structure of a detection device provided in one embodiment of this application is shown;
[0043] Figure 2 A schematic diagram of the structure of the first piezoelectric layer provided in one embodiment of this application is shown;
[0044] Figure 3 A schematic diagram of the structure of the first piezoelectric layer provided in another embodiment of this application is shown;
[0045] Figure 4 A schematic diagram of a detection circuit provided in one embodiment of this application is shown;
[0046] Figure 5A flowchart illustrating a method for determining tissue operating parameters based on a detection device according to an embodiment of this application is shown.
[0047] Figure 6 A flowchart illustrating a method for determining the starting position of rotary cutting according to an embodiment of this application is shown;
[0048] Figure 7 This illustration shows a puncture diagram of a rotary cutter provided in one embodiment of this application;
[0049] Figure 8 This invention provides a schematic diagram of the functional modules of a parameter determination device based on a detection device for determining tissue operation parameters, according to an embodiment of this application.
[0050] Figure 9 A schematic diagram of the structure of an electronic device provided in one embodiment of this application is shown. Detailed Implementation
[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0052] The tissue to be treated includes, but is not limited to, tumor tissue, benign lesions, and nodules. When treating the tissue to be treated, it is usually necessary to perform procedures such as marking and excision on the tissue to be treated and surrounding tissues. Taking tumor tissue as an example, the tumor tissue and surrounding tissues may include the organ containing the tumor (e.g., thyroid gland, liver) and the muscle tissue surrounding that organ; the specific scope depends on the location and size of the tumor. Taking thyroid tumors as an example, the surrounding tissues may include the thyroid gland and the surrounding muscle tissue.
[0053] This application provides a method for determining tissue operation parameters based on a detection device, which can improve operational accuracy. Before introducing the method of this application, the detection device will be described first.
[0054] Please see Figure 1 This is a schematic diagram of the structure of a detection device 100 provided in one embodiment of this application. Figure 1In this device, the detection apparatus 100 includes an ultrasound probe 11, a transmitting module 12, and a receiving module 13. The ultrasound probe 11 is connected to both the transmitting module 12 and the receiving module 13. The ultrasound probe 11 includes a first piezoelectric layer 111 and a second piezoelectric layer 113. The first piezoelectric layer 111 is used to sense the contact pressure between the skin surface of the area where the tissue to be operated is located and the ultrasound probe 11. The second piezoelectric layer 113 is in contact with the skin surface and is connected to both the transmitting module 12 and the receiving module 13. Optionally, the second piezoelectric layer includes an ultrasound transducer. The contact pressure is the pressure applied by the ultrasound probe to the skin surface of the area where the tissue to be operated is located.
[0055] When the tissue to be examined is subjected to ultrasound, the transmitting module 12 sends different excitation signals to the second piezoelectric layer 113, which converts the excitation signals into corresponding ultrasonic signals and emits them. Simultaneously, the second piezoelectric layer 113 can also receive ultrasonic echo signals and send them to the receiving module 13. The receiving module 13 receives the ultrasonic echo signals and sends them to the control module 16. The control module 16 processes the ultrasonic echo signals to obtain ultrasonic imaging data and elastography data of the tissue to be examined and its surrounding tissues.
[0056] In some embodiments, the ultrasound probe 11 further includes an acoustic lens 115, a matching layer 114, and a backing material layer 112. The acoustic lens 115 is used for focusing in a direction perpendicular to the imaging plane to reduce signal loss. The matching layer 114 is located between the second piezoelectric layer 113 and the acoustic lens 115, and is used to match the acoustic impedance between the second piezoelectric layer 113 and the acoustic lens 115 to reduce multiple reflections of the ultrasound signal caused by the acoustic impedance difference between the skin surface and the ultrasound probe 11, allowing more ultrasound signal to propagate into the tissue. The backing material layer 112 is located between the second piezoelectric layer 113 and the first piezoelectric layer 111, and is used to reduce vibration, shorten the wavelength, and improve axial resolution.
[0057] In some embodiments, the detection device 100 further includes a switch module 14 located between the receiving module 13 and the second piezoelectric layer 113. When the transmitting module 12 sends an excitation signal to the second piezoelectric layer 113, the switch module 14 can disconnect the receiving module 13 and the second piezoelectric layer 113. When the receiving module 13 receives an echo signal, the switch module 14 can disconnect the transmitting module 12 and the second piezoelectric layer 113. Thus, by switching the switch module 14 on and off, the transmitting module 12 and the receiving module 13 can be isolated.
[0058] In some embodiments, the detection device 100 further includes a control module 16, an interaction module 17, and a detection module 15. The detection module 15 is connected to the first piezoelectric layer 111 and is used to detect the contact pressure sensed by the first piezoelectric layer 111. The control module 16 is connected to the transmitting module 12, the receiving module 13, the detection module 15, and the interaction module 17, and is specifically used for:
[0059] The transmitting module 12 and the receiving module 13 are controlled to transmit and receive corresponding signals.
[0060] The receiving module 15 receives the contact pressure detected by the receiving module 15 and the echo signal transmitted by the receiving module 13, and processes the received echo signal.
[0061] The detected contact pressure is sent to the interaction module 17 for display, and information input by the operator through the interaction module 17 is received.
[0062] Please see Figure 2 This is a schematic diagram of the structure of the first piezoelectric layer 111 provided in one embodiment of this application. Figure 2 In the first piezoelectric layer 111, a piezoelectric sensor 1111 and an elastomer 1112 are included. The piezoelectric sensor 1111 is located on one side of the elastomer 1112. By adding the elastomer 1112, the deformation of the piezoelectric sensor 1111 is more pronounced when the ultrasound probe 11 comes into contact with the skin surface, thereby improving the detection accuracy of the contact pressure.
[0063] In some other embodiments, the first piezoelectric layer 111 may also be exempt from including the elastomer 1112.
[0064] Please see Figure 3 This is a schematic diagram of the structure of the first piezoelectric layer 111 provided in another embodiment of this application. Figure 3 In the first piezoelectric layer 111, there are multiple piezoelectric sensors 1111. All the multiple piezoelectric sensors 1111 are located on one side of the elastomer 1112. Sensing by multiple piezoelectric sensors 1111 can improve the accuracy of contact pressure detection.
[0065] In some other embodiments, the piezoelectric sensors 1111 may also be located on both sides of the elastic body 1112. That is, some piezoelectric sensors 1111 are located on one side of the elastic body 1112, and some piezoelectric sensors 1111 are located on the other side of the elastic body 1112.
[0066] Accordingly, this application proposes a detection circuit for detecting the characteristic value of the piezoelectric sensor 1111 in the first piezoelectric layer 111. The detection circuit may be located in the detection module 15.
[0067] Please see Figure 4This is a schematic diagram of a detection circuit 500 provided in one embodiment of this application. Figure 4 In the middle, if the first piezoelectric layer 111 has only one piezoelectric sensor 1111 ( Figure 2 As shown), then in Figure 4 The piezoelectric sensor 1111 is connected at the location of R1 (i.e., R1 is a piezoelectric sensor). Thus, when the resistance of the piezoelectric sensor 1111 changes, the voltage output V... o And corresponding changes will also occur. By detecting V o This allows us to determine the pressure between the ultrasound probe 11 and the skin surface.
[0068] Similarly, if the first piezoelectric layer 111 includes two piezoelectric sensors 1111 ( Figure 2 As shown), then in Figure 4 A piezoelectric sensor 1111 is connected to each of the locations R1 and R2. If the first piezoelectric layer 111 includes four piezoelectric sensors 1111, then... Figure 4 A piezoelectric sensor 1111 is connected to each of the positions R1, R2, R3, and R4.
[0069] Please see Figure 5 This is a flowchart illustrating a method for determining tissue operation parameters based on a detection device, provided as an embodiment of this application. Figure 5 The method shown can be applied to Figure 1 Control module 16 in the middle.
[0070] Figure 5 In this method, the following steps may be included:
[0071] Step S51: When the contact pressure meets the preset pressure conditions, the control module sends a first excitation signal to the second piezoelectric layer. The second piezoelectric layer converts the first excitation signal into a first ultrasonic signal and controls the second piezoelectric layer to emit the first ultrasonic signal to the tissue to be operated and other surrounding tissues to generate a shear wave.
[0072] Specifically, the preset pressure condition can be a pressure range or a pressure value. The following explanation uses a pressure range as an example. The preset pressure range can be a fixed range; it can also be set differently depending on the location of the tissue. That is, different tissues have different preset pressure ranges because different tissues in the human body have different fat thicknesses, skin density, etc. The appropriate pressure applied by the ultrasound probe to the skin surface of different tissue areas is also different. Different tissues can have their own corresponding preset pressure ranges, which can further improve the accuracy of subsequent operating parameters, thus making the operation of the tissue more precise. For example, when the tissue to be operated on is the breast, the contact pressure between the ultrasound probe and the skin surface should be between 0.002 and 5 N when examining the breast and other surrounding tissues.
[0073] In some embodiments, the preset pressure condition is a preset pressure range. The contact pressure sensed by the first piezoelectric layer is compared with the preset pressure range. If the contact pressure is within the preset pressure range, it means that the contact pressure meets the preset pressure condition; if it is not within the preset pressure range, it means that the preset pressure condition is not met.
[0074] In some embodiments, the preset pressure conditions may be manually selected or entered by the operator performing the tissue testing.
[0075] To facilitate a better understanding of step S51, Figure 1 The following description uses the detection device 100 as an example. The control module 16 can control the detection module 15 to detect the contact pressure between the ultrasound probe 11 and the skin surface. The detection module 15 sends the detected contact pressure to the control module 16. After comparing the contact pressure with a preset pressure condition, if the contact pressure meets the preset pressure condition, the control module 16 controls the transmitting module 12 to send a first excitation signal to the second piezoelectric layer 113. The second piezoelectric layer 113 converts the first excitation signal into a first ultrasonic signal and controls the second piezoelectric layer to emit the first ultrasonic signal to the tissue to be operated on and other surrounding tissues, so as to generate shear waves within the tissue to be operated on and other surrounding tissues. The first ultrasonic signal can be a high-intensity ultrasonic signal.
[0076] Step S52: Control the transmitting module to send a second excitation signal to the second piezoelectric layer, the second piezoelectric layer converts the second excitation signal into a second ultrasonic signal, and controls the second piezoelectric layer to emit the second ultrasonic signal to the tissue to be operated on and other surrounding tissues to track shear waves.
[0077] Specifically, the second ultrasonic signal can be used to track shear waves.
[0078] Step S53: Control the receiving module to receive the echo signal of the second ultrasonic signal, and obtain the ultrasonic imaging data and shear wave elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the second ultrasonic signal.
[0079] Step S54: Determine the operating parameters for operating the tissue by using ultrasound imaging data and shear wave elastography data.
[0080] In this application, ultrasonic imaging data and shear wave elastography data are acquired under preset pressure conditions. This allows for the standardization of contact pressure applied by different operators during the imaging data acquisition process, ensuring that the imaging data are acquired under the same standard. Therefore, the consistency of the obtained imaging data is high, which in turn allows for better stability and higher accuracy of the determined operating parameters.
[0081] In some embodiments, the method further includes:
[0082] During the contact between the ultrasound probe and the skin surface, the control transmission module sends a third excitation signal to the second piezoelectric layer. The second piezoelectric layer converts the third excitation signal into a third ultrasound signal, and controls the second piezoelectric layer to emit the third ultrasound signal to the tissue to be operated on and other surrounding tissues.
[0083] The control receiving module receives the echo signal of the third ultrasonic signal and obtains quasi-static elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the third ultrasonic signal.
[0084] Among these methods, the operational parameters for manipulating the tissue are determined using ultrasound imaging data and shear wave elastography data, including:
[0085] By using ultrasound imaging data, shear wave elastography data, and quasi-static elastography data, the operating parameters for manipulating the tissue to be operated on are determined.
[0086] Quasi-static elastography data represents the relative elasticity of the tissue to be operated on and its surrounding tissues at different locations, and can be expressed using parameters such as strain ratio and strain. For example, is the elasticity at location A of the tissue to be operated on better or worse than that at other locations? Quasi-static elastography data and the aforementioned shear wave elastography data can reflect the elasticity of the tissue to be operated on and its surrounding tissues from different dimensions. Therefore, by combining ultrasound imaging data, shear wave elastography data, and quasi-static elastography data, we can better evaluate the elasticity and other relevant information of the tissue to be operated on and its surrounding tissues, and thus obtain more accurate operating parameters.
[0087] Specifically, before the contact pressure between the ultrasound probe and the skin surface reaches the preset pressure condition (i.e., during the contact pressure adjustment phase), when the ultrasound probe performs an upward or downward operation, a third ultrasound signal is emitted to the tissue to be operated on and other surrounding tissues. Based on the echo signal of the third ultrasound signal, a quasi-static elastography image of the tissue to be operated on and other surrounding tissues is generated. Since the quasi-static elastography image includes information on quasi-static elastography parameters, quasi-static elastic data of the tissue to be operated on and other surrounding tissues can be obtained through the quasi-static elastography image. The scheme of this application is ingeniously conceived; during the pressure adjustment phase before acquiring ultrasound imaging data and shear wave elastography data, quasi-static elastography data is acquired simultaneously, allowing for the acquisition of multiple elastography data in a single detection process, and the data acquisition is highly efficient.
[0088] In some embodiments, during the signal transmission or reception process described above, when the transmitting module sends a first excitation signal, a second excitation signal, or a third excitation signal to the second piezoelectric layer, the control switch module can disconnect the receiving module and the second piezoelectric layer; and when the receiving module receives the echo signal of the second ultrasonic signal or the echo signal of the third ultrasonic signal, the control switch module disconnects the transmitting module and the second piezoelectric layer. This achieves isolation between the transmitting module and the receiving module.
[0089] In some embodiments, the operation on the tissue to be operated on may include a rotary cutting operation, and the operation parameters may include the starting position of the rotary cutting operation on the tissue to be operated on. Please refer to Figure 6 This is a flowchart illustrating a method for determining the starting position of rotary cutting according to an embodiment of this application.
[0090] Step S61: Based on ultrasound imaging data and shear wave elastography data, determine the cutting cost of each alternative starting position of the rotary cutter from the skin surface to the edge of the tissue to be operated. The cutting cost characterizes the force required by the rotary cutter when it passes through the associated tissue between the skin surface and the alternative starting position and the degree of damage to the associated tissue by the rotary cutter.
[0091] In this embodiment, the force required for the rotary cutter to penetrate the associated tissue between the skin surface and the candidate starting position, as well as the degree of damage to the associated tissue, can be determined based on ultrasound imaging data and shear wave elastography data. Then, the force and the degree of damage are fused and calculated to obtain the rotary cutting cost. The determination of force, degree of damage, and rotary cutting cost will be explained below.
[0092] Among them, the associated tissue is the tissue on the skin surface between the needle insertion position and the alternative starting position during the rotation operation.
[0093] In some embodiments, the force required for the rotary cutter to reach any alternative starting position from the skin surface may include the force required for the rotary cutter to reach the alternative starting position from multiple different puncture sites on the skin surface. See details. Figure 7 This is a schematic diagram of the puncture of a rotary cutter provided in one embodiment of this application. Figure 7 In this context, position Q can be one of the alternative starting positions at the edge of the tissue to be operated on, while positions A and B are different rotary cutting needle insertion positions on the skin surface, i.e., different puncture positions. The force required for the rotary cutting blade to reach position Q from the skin surface can include the force required for the rotary cutting blade to reach position Q from position A, and the force required for the rotary cutting blade to reach position Q from position B.
[0094] Taking the determination of the force required for the rotary cutter to move from position A to position Q as an example, the hardness of the tissue m1 (i.e., the associated tissue) between position A and position Q can be obtained based on the ultrasound imaging data of the tissue to be operated on and other surrounding tissues and shear wave elastography data. Then, based on the hardness of tissue m1, the force required for the rotary cutter to move from position A to position Q can be determined.
[0095] Specifically, based on shear wave elastography data, the absolute elasticity at various locations of tissue m1 can be obtained, which can be represented by parameters such as elastic modulus and elastic modulus distribution characteristics. Based on ultrasound imaging data, the compositional data (including the material composition and content of material composition) and density data of tissue m1 at various locations can be obtained. Since absolute elasticity, compositional composition, and density all affect the hardness of tissue m1, the hardness of tissue m1 can be determined by comprehensively evaluating the absolute elasticity and compositional data; alternatively, it can be determined by comprehensively evaluating the absolute elasticity and density data; and a third method can be determined by comprehensively evaluating the absolute elasticity, compositional composition, and density data, with the latter method yielding a more accurate assessment of the hardness. The specific evaluation method can be selected according to the requirements.
[0096] Furthermore, different degrees of softness and hardness correspond to different forces. Therefore, after obtaining the softness and hardness of tissue m1, the force required for the rotary cutter to move from position A to position Q can be determined. Based on a similar principle, the force required to move from different puncture points on the skin surface to various candidate starting positions can be determined.
[0097] At this point, the acquisition of strength is complete.
[0098] In some embodiments, for any alternative starting position, the degree of damage to the associated tissue when the rotary cutter reaches the alternative starting position from the skin surface can be determined based on the following method.
[0099] Please see Figure 7 Taking the determination of the degree of damage to associated tissues when a rotary cutter moves from position A to position Q as an example, blood supply information of tissue m1 (i.e., associated tissue) between positions A and Q can be obtained from ultrasound imaging data, such as vascular density, vascular diameter, and blood flow velocity gradient. Based on this blood supply information, the degree of damage to tissue m1 can be determined. Blood supply information includes, but is not limited to, the size and density of blood vessels in tissue m1. Specifically, if the blood vessels in tissue m1 are large and dense, the degree of damage to tissue m1 when the rotary cutter moves from position A to position Q is greater. If the blood vessels in tissue m1 are small and sparse, the degree of damage to tissue m1 when the rotary cutter moves from position A to position Q is less. Different blood supply information can correspond to different degrees of damage. For example, if the vascular diameter does not exceed a first threshold and the vascular density does not exceed a second threshold, it can correspond to the first degree of damage; if the vascular diameter exceeds the first threshold and the vascular density exceeds the second threshold, it can correspond to the second degree of damage.
[0100] This completes the assessment of the extent of damage.
[0101] In some embodiments, for any candidate starting position, a rotational cutting cost can be determined based on the force and degree of damage between the candidate starting position and different puncture positions. For example, Figure 7 In this process, based on the force and damage degree between position Q and position A, one shearing cost can be determined, and based on the force and damage degree between position Q and position B, another shearing cost can be determined. That is, each candidate starting position can correspond to one or more shearing costs.
[0102] Taking the determination of the veneer cost between position Q and position A as an example, the force and damage level between positions Q and A can be integrated (i.e., comprehensive evaluation) to obtain the veneer cost expressed in numerical form. The larger the value, the greater the cost, that is, the greater the force required by the veneer and the greater the damage to the tissue to be operated.
[0103] At this point, the cost of rotary cutting has been determined.
[0104] Step S62: Select the candidate starting position with the lowest rotary cutting cost as the starting position for rotary cutting of the tissue to be operated on.
[0105] Specifically, the minimum veneer cost can be the veneer cost with the lowest numerical value. The alternative starting position corresponding to the minimum veneer cost is used as the starting position for veneer operation on the tissue to be operated on, and the force required by the veneer and the degree of damage to the tissue to be operated on can be relatively small.
[0106] In some embodiments, determining the shearing initiation position using ultrasonic imaging data, shear wave elastography data, and quasi-static elastography data may include the following steps:
[0107] Step S81: Based on ultrasound imaging data, shear wave elastography data, and quasi-static elastography data, determine the cutting cost of each alternative starting position of the rotary cutter from the skin surface to the edge of the tissue to be operated. The cutting cost characterizes the force required by the rotary cutter when it passes through the associated tissue between the skin surface and the alternative starting position and the degree of damage to the associated tissue by the rotary cutter.
[0108] Step S81 is largely similar to step S61, with the main difference being that the determination of the softness / hardness of the associated tissue is based on ultrasound imaging data, shear wave elastography data, and quasi-static elastography data of the associated tissue. Specifically, the quasi-static elastography data provides the relative elasticity at various locations within the associated tissue. Absolute and relative elasticity reflect the elasticity of the associated tissue from different dimensions, and elasticity is related to the softness / hardness of the associated tissue. Therefore, combining ultrasound imaging data, shear wave elastography data, and quasi-static elastography data to determine the softness / hardness of the associated tissue yields more accurate results.
[0109] Specifically, the absolute elasticity at different locations of tissue m1 can be obtained from shear wave elastography data, and the relative elasticity at different locations of tissue m1 can be obtained from quasi-static elastography data. Then, the relative and absolute elasticities at the same location are fused to obtain the elasticity data for that location. Simultaneously, the composition and density data of tissue m1 can be obtained based on ultrasound imaging data. Since elasticity, composition, and density all affect the hardness of tissue m1, the hardness of tissue m1 can be determined by comprehensively evaluating both elasticity and composition data; alternatively, it can be determined by comprehensively evaluating both elasticity and density data; or, more accurately, by comprehensively evaluating all three. The specific evaluation method can be selected based on the specific needs.
[0110] Then, based on a similar method to step S61, the cutting cost of each alternative starting position of the rotary cutter from the skin surface to the edge of the tissue to be operated can be determined.
[0111] Step S82: Select the candidate starting position with the lowest rotary cutting cost as the starting position for rotary cutting of the tissue to be operated on.
[0112] This step is similar to step S62 above, and will not be repeated here.
[0113] In some embodiments of this application, on the one hand, when the contact pressure meets the preset pressure condition, ultrasound imaging data and elastography data are collected, realizing data collection under a unified standard, ensuring the consistency and stability of the collected data, and thus, the operation parameters obtained when operating on the tissue to be operated can be more accurate; on the other hand, compared with the prior art that relies solely on ultrasound equipment to guide tissue operation, resulting in low operation accuracy, this application determines the operation parameters of the tissue based on ultrasound imaging data and elastography data, so the determined operation parameters have high accuracy, thereby greatly improving the operation accuracy.
[0114] Please see Figure 8 This is a functional module diagram of a parameter determination device based on a detection device for determining tissue operation parameters, provided in an embodiment of this application. The detection device includes an ultrasound probe, a transmitting module, and a receiving module. The ultrasound probe is connected to both the transmitting and receiving modules. The ultrasound probe includes a first piezoelectric layer and a second piezoelectric layer. The first piezoelectric layer is used to sense the contact pressure between the skin surface of the area to be operated on and the ultrasound probe. The second piezoelectric layer connects the transmitting module and the receiving module. The parameter determination device includes:
[0115] The first signal transmitting module is used to control the transmitting module to send a first excitation signal to the second piezoelectric layer when the contact pressure meets the preset pressure condition. The second piezoelectric layer converts the first excitation signal into a first ultrasonic signal and controls the second piezoelectric layer to transmit the first ultrasonic signal to the tissue to be operated and other surrounding tissues to generate a shear wave.
[0116] The second signal transmitting module is used to control the transmitting module to send a second excitation signal to the second piezoelectric layer, and the second piezoelectric layer converts the second excitation signal into a second ultrasonic signal. The second piezoelectric layer is then controlled to transmit the second ultrasonic signal to the tissue to be operated on and other surrounding tissues to track the shear wave.
[0117] A first data processing module is used to control the receiving module to receive the echo signal of the second ultrasonic signal, and to obtain ultrasonic imaging data and shear wave elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the second ultrasonic signal; and
[0118] The determination module uses the ultrasound imaging data and the shear wave elastography data to determine the operating parameters when operating on the tissue to be operated on.
[0119] In some embodiments, the apparatus further includes:
[0120] The third transmitting module is used to control the transmitting module to send a third excitation signal to the second piezoelectric layer during the process of the ultrasound probe contacting the skin surface. The second piezoelectric layer converts the third excitation signal into a third ultrasound signal and controls the second piezoelectric layer to transmit the third ultrasound signal to the tissue to be operated on and other surrounding tissues.
[0121] The second data processing module is used to control the receiving module to receive the echo signal of the third ultrasonic signal, and to obtain quasi-static elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the third ultrasonic signal.
[0122] In some embodiments, the determining module is further configured to determine, through the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, the operating module determines the operating parameters for operating on the tissue to be operated on.
[0123] The first data processing module and the second data processing module can be the same module. The first signal transmitting module, the second signal transmitting module, and the third signal transmitting module can also be the same module.
[0124] Please see Figure 9 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. The electronic device includes a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the aforementioned operation method.
[0125] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the embodiments of this invention. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the methods described in the above embodiments.
[0126] One embodiment of this application also provides a computer-readable storage medium for storing a computer program that, when executed by a processor, implements the above-described operation method.
[0127] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.
Claims
1. A method for determining tissue operation parameters based on a detection device, characterized in that, The detection device includes an ultrasound probe, a transmitting module, and a receiving module. The ultrasound probe is connected to both the transmitting module and the receiving module. The ultrasound probe includes a first piezoelectric layer and a second piezoelectric layer. The first piezoelectric layer is used to sense the contact pressure between the skin surface of the area to be operated on and the ultrasound probe. The second piezoelectric layer connects the transmitting module and the receiving module. The method includes: When the contact pressure meets the preset pressure conditions, the transmitting module is controlled to send a first excitation signal to the second piezoelectric layer. The second piezoelectric layer converts the first excitation signal into a first ultrasonic signal and controls the second piezoelectric layer to emit the first ultrasonic signal to the tissue to be operated on and other surrounding tissues to generate shear waves. The transmitting module is controlled to send a second excitation signal to the second piezoelectric layer, which converts the second excitation signal into a second ultrasonic signal. The second piezoelectric layer is then controlled to emit the second ultrasonic signal to the tissue to be operated on and other surrounding tissues to track the shear wave. The receiving module is controlled to receive the echo signal of the second ultrasonic signal, and to obtain ultrasonic imaging data and shear wave elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the second ultrasonic signal; and The operating parameters for manipulating the tissue to be operated on are determined using the ultrasound imaging data and the shear wave elastography data. The operation on the tissue to be operated on includes a rotary cutting operation, and the operation parameters include the rotary cutting start position; the operation parameters for operating on the tissue to be operated on are determined by the ultrasound imaging data and the shear wave elastography data, including: Based on the ultrasound imaging data and the shear wave elastography data, the cutting cost of the rotary cutter at each alternative starting position from the skin surface to the edge of the tissue to be operated is determined, wherein the cutting cost characterizes the force required by the rotary cutter and the degree of damage to the associated tissue by the rotary cutter when the rotary cutter passes through the skin surface and the alternative starting position; Select the candidate starting position with the lowest rotary cutting cost as the starting position for rotary cutting the tissue to be operated on.
2. The method as described in claim 1, characterized in that, The method further includes: During the process of the ultrasound probe contacting the skin surface, the transmitting module is controlled to send a third excitation signal to the second piezoelectric layer, which converts the third excitation signal into a third ultrasound signal and controls the second piezoelectric layer to emit the third ultrasound signal to the tissue to be operated on and other surrounding tissues. The receiving module is controlled to receive the echo signal of the third ultrasonic signal, and quasi-static elastography data of the tissue to be operated on and other surrounding tissues are obtained based on the echo signal of the third ultrasonic signal. Specifically, the operational parameters for manipulating the tissue to be operated on are determined using the ultrasound imaging data and the shear wave elastography data, including: The operating parameters for manipulating the tissue to be operated on are determined using the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data.
3. The method as described in claim 2, characterized in that, The operations performed on the tissue to be operated on include a rotary cutting operation, and the operation parameters include the rotary cutting start position; Using the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, the operating parameters for manipulating the tissue to be operated on are determined, including: Based on the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, the cutting cost of the rotary cutter at each alternative starting position from the skin surface to the edge of the tissue to be operated is determined, wherein the cutting cost characterizes the force required by the rotary cutter and the degree of damage to the associated tissue by the rotary cutter when the rotary cutter passes through the skin surface and the associated tissue between the alternative starting position; Select the candidate starting position with the lowest rotary cutting cost as the starting position for rotary cutting the tissue to be operated on.
4. The method as described in claim 2, characterized in that, The detection device further includes a switching module located between the receiving module and the second piezoelectric layer, and the method further includes: When the transmitting module sends a first excitation signal, a second excitation signal, or a third excitation signal to the second piezoelectric layer, the switching module is controlled to disconnect the receiving module and the second piezoelectric layer. When the receiving module receives the echo signal of the second ultrasonic signal or the echo signal of the third ultrasonic signal, it controls the switching module to disconnect the transmitting module and the second piezoelectric layer.
5. The method as described in claim 1, characterized in that, The first piezoelectric layer includes a strain gauge; the contact pressure is detected by the following method: The resistance of the strain gauge is detected, wherein the resistance of the strain gauge is used to reflect the deformation of the strain gauge; The contact pressure is determined based on the resistance of the strain gauge.
6. A parameter determination device for determining tissue operation parameters based on a detection device, characterized in that, The detection device includes an ultrasound probe, a transmitting module, and a receiving module. The ultrasound probe is connected to both the transmitting module and the receiving module. The ultrasound probe includes a first piezoelectric layer and a second piezoelectric layer. The first piezoelectric layer is used to sense the contact pressure between the skin surface of the area to be operated on and the ultrasound probe. The second piezoelectric layer connects the transmitting module and the receiving module. The device includes: The first signal transmitting module is used to control the transmitting module to send a first excitation signal to the second piezoelectric layer when the contact pressure meets the preset pressure condition. The second piezoelectric layer converts the first excitation signal into a first ultrasonic signal and controls the second piezoelectric layer to transmit the first ultrasonic signal to the tissue to be operated and other surrounding tissues to generate a shear wave. The second signal transmitting module is used to control the transmitting module to send a second excitation signal to the second piezoelectric layer, the second piezoelectric layer converts the second excitation signal into a second ultrasonic signal, and controls the second piezoelectric layer to transmit the second ultrasonic signal to the tissue to be operated on and other surrounding tissues to track the shear wave; A first data processing module is used to control the receiving module to receive the echo signal of the second ultrasonic signal, and to obtain ultrasonic imaging data and shear wave elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the second ultrasonic signal; and A determining module is configured to determine operational parameters for operating on the tissue to be operated on using the ultrasound imaging data and the shear wave elastography data. The operation on the tissue to be operated on includes a rotary cutting operation. The operational parameters include the rotary cutting starting position. Based on the ultrasound imaging data and the shear wave elastography data, the module determines the rotary cutting cost for each alternative starting position from the skin surface to the edge of the tissue to be operated on. The rotary cutting cost characterizes the force required by the rotary cutting blade to pass through the associated tissue between the skin surface and the alternative starting position, and the degree of damage to the associated tissue caused by the rotary cutting blade. The module also selects the alternative starting position with the lowest rotary cutting cost as the rotary cutting starting position for the rotary cutting operation on the tissue to be operated on.
7. The apparatus as claimed in claim 6, characterized in that, The device further includes: The third signal transmitting module is used to control the transmitting module to send a third excitation signal to the second piezoelectric layer during the process of the ultrasound probe contacting the skin surface. The second piezoelectric layer converts the third excitation signal into a third ultrasound signal and controls the second piezoelectric layer to transmit the third ultrasound signal to the tissue to be operated on and other surrounding tissues. The second data processing module is used to control the receiving module to receive the echo signal of the third ultrasonic signal, and to obtain quasi-static elastography data of the tissue to be operated on and other surrounding tissues based on the echo signal of the third ultrasonic signal. The determining module is specifically used to determine the operating parameters when operating on the tissue to be operated on by using the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 5.
9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory being used to store a computer program that, when executed by the processor, implements the method as described in any one of claims 1 to 5.