Method, apparatus and readable storage medium for determining operation parameters

Abstract

The application discloses an operation parameter determination method, device and equipment and a readable storage medium, wherein the operation parameter determination method comprises the following steps: acquiring an actual pressure applied to a skin surface by a detection probe when the detection probe applies pressure to the skin surface of an area where target tissue is located; collecting ultrasonic imaging data and / or shear wave elastography data of the target tissue and other tissue around the target tissue by the detection probe in the case that the actual pressure matches a target pressure range corresponding to the target tissue; and determining an operation parameter when the target tissue is operated based on the ultrasonic imaging data and / or the shear wave elastography data. The determined operation parameter has high accuracy, and thus the operation precision can be improved.

Description

Technical Field

[0001] This invention relates to the field of biomedicine, and more specifically to a method, apparatus, device, and readable storage medium for determining operating parameters. Background Technology

[0002] Depending on the nature of the human tissue (such as tumors, nodules, benign lesions, etc.), different treatment methods can be used. For example, malignant human tissue can be treated by resection; benign human tissue can be treated conservatively with medication. However, regardless of the method used to treat the human tissue, it is necessary to ensure the precision of the procedure. For example, when performing resection, it is necessary to ensure that the human tissue is completely removed.

[0003] Currently, when manipulating human tissues, parameters for operations such as rotary cutting are usually determined manually, which means that the precision of manipulating human tissues still needs to be improved. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, apparatus, device, and computer-readable storage medium for determining operating parameters, which determine operating parameters with high accuracy, thereby improving operational precision.

[0005] This invention provides a method for determining operating parameters, the method comprising:

[0006] When the detection probe applies pressure to the skin surface of the target tissue area, the actual pressure applied by the detection probe to the skin surface is obtained;

[0007] When the actual pressure matches the target pressure range corresponding to the target tissue, ultrasound imaging data and / or shear wave elastography data of the target tissue and other surrounding tissues are acquired through the detection probe; and

[0008] Based on the ultrasound imaging data and / or the shear wave elastography data, determine the operating parameters when manipulating the target tissue.

[0009] In some embodiments, the method further includes: during the process of the detection probe applying pressure to the skin surface, using the detection probe to acquire quasi-static elastography data of the target tissue and other surrounding tissues;

[0010] Specifically, determining the operating parameters for manipulating the target tissue based on the ultrasound imaging data and / or the shear wave elastography data includes: determining the operating parameters for manipulating the target tissue based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data.

[0011] In some embodiments, during the acquisition of the ultrasound imaging data and / or the shear wave elastography data, the method further includes:

[0012] The actual pressure applied to the skin surface by the detection probe is continuously monitored, and data acquisition is stopped when the actual pressure does not match the target pressure range.

[0013] In some embodiments, the operating parameters include one or more of the following:

[0014] The rotary cutting force when performing a rotary cutting operation on the target tissue;

[0015] The starting position of the rotary cutting operation when performing a rotary cutting on the target tissue;

[0016] The target location for marking the target tissue;

[0017] The number of tag clips required when performing a tagging operation on the target tissue.

[0018] In some embodiments, the operation on the target tissue includes a rotary cutting operation, and the operation parameters include the rotary cutting force when performing the rotary cutting operation on the target tissue;

[0019] Based on the ultrasound imaging data and / or the shear wave elastography data, determine the operating parameters for manipulating the target tissue, including:

[0020] Based on the ultrasound imaging data and / or the shear wave elastography data, the hardness or softness of the target tissue at different locations is determined.

[0021] Based on the correspondence between softness / hardness and cutting force, the cutting force is determined when performing a cutting operation on tissue at different locations of the target tissue.

[0022] In some embodiments, the operation on the target tissue includes a rotary cutting operation, and the operation parameters include the rotary cutting start position when performing the rotary cutting operation on the target tissue;

[0023] Based on the ultrasound imaging data and / or the shear wave elastography data, determine the operating parameters for manipulating the target tissue, including:

[0024] Based on the ultrasound imaging data and / or the shear wave elastography data, the cutting force of the rotary cutter at each alternative starting position from the skin surface to the edge of the target tissue is determined, wherein the cutting force is the force required for the rotary cutter to pass through the associated tissue between the skin surface and the alternative starting position;

[0025] Based on the ultrasound imaging data, the degree of damage at each candidate starting position of the rotary cutter from the skin surface to the edge of the target tissue is determined, wherein the degree of damage is the degree of damage to the associated tissue when the rotary cutter passes through the associated tissue between the skin surface and the candidate starting position;

[0026] The cutting cost of each candidate starting position is determined based on the cutting force and / or damage degree of each candidate starting position.

[0027] The candidate starting position with the lowest slicing cost is selected as the starting position for slicing the target tissue.

[0028] In some embodiments, the operation on the target tissue includes a marking operation on the target tissue, wherein the operation parameters include the target location of the marking operation on the target tissue;

[0029] Based on the ultrasound imaging data and / or the shear wave elastography data, determine the operating parameters for manipulating the target tissue, including:

[0030] Based on the ultrasound imaging data and / or the shear wave elastography data, the hardness of the target tissue at different locations is determined, and the locations where the hardness exceeds a threshold are identified as the first candidate locations in the area where the target tissue is located to be marked.

[0031] Based on the ultrasound imaging data and / or the shear wave elastography data, the shape features of the target tissue edge contour are determined, and based on the shape features of the target tissue edge contour, a second alternative location for marking operations is determined in the area where the target tissue is located.

[0032] The target location is determined based on the first alternative location and the second alternative location.

[0033] In some embodiments, determining the hardness or softness of the target tissue at different locations based on the ultrasound imaging data and / or the shear wave elastography data includes:

[0034] Based on the ultrasound imaging data, the material composition and / or density at different locations of the target tissue are obtained;

[0035] Based on the shear wave elastography data, the absolute elasticity at different locations of the target tissue is obtained;

[0036] Based on at least one of the absolute elasticity, material composition, and density at each location of the target tissue, the softness or hardness of the target tissue at that location is determined to obtain the softness or hardness at different locations of the target.

[0037] In some embodiments, the operation on the target tissue includes a rotary cutting operation, and the operation parameters include the rotary cutting force when performing the rotary cutting operation on the target tissue;

[0038] The determination of operational parameters for manipulating the target tissue based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data includes:

[0039] Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the hardness or softness of the target tissue at different locations is determined.

[0040] Based on the correspondence between softness / hardness and cutting force, the cutting force is determined when performing a cutting operation on tissue at different locations of the target tissue.

[0041] In some embodiments, the operation on the target tissue includes a rotary cutting operation, and the operation parameters include the rotary cutting start position when performing the rotary cutting operation on the target tissue;

[0042] Based on the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the operating parameters for manipulating the target tissue are determined, including:

[0043] Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the cutting force of the rotary cutter at each alternative starting position from the skin surface to the edge of the target tissue is determined, wherein the cutting force is the force required for the rotary cutter to pass through the associated tissue between the skin surface and the alternative starting position;

[0044] Based on the ultrasound imaging data, the degree of damage at each of the candidate starting positions where the rotary cutter reaches the edge of the target tissue from the skin surface is determined, wherein the degree of damage is the degree of damage to the associated tissue when the rotary cutter passes through the associated tissue between the skin surface and the candidate starting position;

[0045] The cutting cost of each candidate starting position is determined based on the cutting force and / or damage degree of each candidate starting position.

[0046] The candidate starting position with the lowest slicing cost is selected as the starting position for slicing the target tissue.

[0047] In some embodiments, the operation on the target tissue includes a marking operation on the target tissue, wherein the operation parameters include the target location of the marking operation on the target tissue;

[0048] Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, determine the operational parameters for manipulating the target tissue, including:

[0049] Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the hardness of the target tissue at different locations is determined, and the locations where the hardness exceeds a threshold are identified as the first candidate locations in the area where the target tissue is located to be marked.

[0050] Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the shape features of the target tissue edge contour are determined, and a second alternative location for marking the area where the target tissue is located is determined according to the shape features of the target tissue edge contour.

[0051] The target location is determined based on the first alternative location and the second alternative location.

[0052] In some embodiments, determining the hardness or softness of the target tissue at different locations based on the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data includes:

[0053] Based on the quasi-static elastography data and the shear wave elastography data, elastic distribution data of the target tissue is obtained, wherein the elastic distribution data characterizes the elasticity of the target tissue at different locations;

[0054] Based on the ultrasound imaging data, density distribution data and / or material composition distribution data of the target tissue are obtained;

[0055] Based on one or more of the elasticity distribution data, the material composition data, and the density distribution data, the softness and hardness at different locations of the target tissue are determined.

[0056] In another aspect, the present invention provides an operating parameter determining device, the device comprising:

[0057] The acquisition module is used to acquire the actual pressure applied to the skin surface by the detection probe when the detection probe is located on the skin surface of the target tissue area;

[0058] The acquisition module is used to acquire the actual pressure applied to the skin surface by the detection probe when the detection probe applies pressure to the skin surface of the target tissue area;

[0059] The acquisition module is used to acquire ultrasound imaging data and / or shear wave elastography data of the target tissue and other surrounding tissues through the detection probe, provided that the actual pressure matches the target pressure range corresponding to the target tissue; and

[0060] The determination module is used to determine the operating parameters for manipulating the target tissue based on the ultrasound imaging data and / or the shear wave elastography data.

[0061] 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.

[0062] 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.

[0063] In some embodiments of this application, when operating on a target tissue, the actual pressure applied to the skin surface by the detection probe is matched with the target pressure range corresponding to the target tissue. When the actual pressure matches the target pressure range, ultrasound imaging data and / or shear wave elastography data of the target tissue and surrounding tissues are collected by the detection probe. Based on the ultrasound imaging data and / or shear wave elastography data, the operating parameters for operating on the target tissue are determined. This application achieves two advantages: First, ultrasound imaging data and / or shear wave elastography data are collected only when the pressure between the detection probe and the skin surface is within a stable range, enabling data acquisition based on a unified standard. Therefore, the collected data has high consistency and stability. Consequently, the operating parameters determined based on the ultrasound imaging data and / or shear wave elastography data are more accurate, resulting in high precision in the operation on the target tissue. Second, compared to the prior art's reliance on manual judgment to determine tissue operating parameters, this application determines the operating parameters based on ultrasound imaging data and / or shear wave elastography data, thus achieving higher accuracy in the operating parameters. Attached Figure Description

[0064] 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:

[0065] Figure 1 A flowchart illustrating an embodiment of the method for determining operating parameters provided in this application is shown.

[0066] Figure 2A flowchart illustrating a method for determining rotary cutting force according to an embodiment of this application is shown;

[0067] Figure 3 A flowchart illustrating a method for determining rotary cutting force according to another embodiment of this application is shown;

[0068] Figure 4 A flowchart illustrating a method for determining the starting position of rotary cutting according to an embodiment of this application is shown;

[0069] Figure 5 This illustration shows a puncture diagram of a rotary cutter provided in one embodiment of this application;

[0070] Figure 6 A flowchart illustrating a method for determining the starting position of rotary cutting according to another embodiment of this application is shown;

[0071] Figure 7 A flowchart illustrating a target location determination method provided in one embodiment of this application is shown;

[0072] Figure 8 A flowchart illustrating a target location determination method provided in another embodiment of this application is shown;

[0073] Figure 9 A schematic diagram of the functional modules of an operating parameter determination device provided in one embodiment of this application is shown;

[0074] Figure 10 A schematic diagram of the structure of an electronic device provided in one embodiment of this application is shown. Detailed Implementation

[0075] 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.

[0076] This application provides a method for determining operating parameters, which can improve operational accuracy. This method can be applied to electronic devices. Electronic devices may include medical devices. Please refer to [link to relevant documentation]. Figure 1 This is a flowchart illustrating an embodiment of the method for determining operating parameters provided in this application. Figure 1 In this context, the method for determining operating parameters includes the following steps:

[0077] Step S11: When the detection probe applies pressure to the skin surface of the target tissue area, obtain the actual pressure applied to the skin surface by the detection probe.

[0078] The target tissue is the tissue to be treated, which includes, but is not limited to, tumor tissue, nodules, and benign lesions. Treatment of the target tissue typically involves procedures such as excision and labeling of the target tissue and surrounding tissues. Taking tumor tissue as an example: tumor tissue can refer to tumors of the breast, liver, thyroid, etc. The tumor tissue and surrounding tissues refer to the tumor tissue and the surrounding muscle tissue, depending on the location and size of the tumor. For example, in the case of breast tumors, the target tissue and surrounding tissues refer to the breast tumor and the surrounding muscle tissue.

[0079] Actual pressure refers to the actual pressure applied when the probe is pressed against the skin surface. This actual pressure between the probe and the skin surface can be sensed by a pressure sensor. Pressure sensors can include, but are not limited to, strain gauge pressure sensors, piezoresistive pressure sensors, and piezoelectric pressure sensors. The pressure sensor can be located inside the probe or between the probe and the skin surface.

[0080] Step S12: When the actual pressure matches the target pressure range corresponding to the target tissue, ultrasound imaging data and / or shear wave elastography data of the target tissue and other tissues around the target tissue are acquired by the detection probe.

[0081] Specifically, ultrasound imaging data can include B-mode ultrasound imaging data, color Doppler ultrasound imaging data, etc.

[0082] In some embodiments, the process of the detection probe acquiring ultrasound imaging data and / or shear wave elastography data of the target tissue and other surrounding tissues is as follows: First, the detection probe is controlled to emit a first ultrasonic signal at a first frequency to the target tissue and other surrounding tissues. The first ultrasonic signal is focused to generate acoustic radiation force, thereby generating shear waves within the target tissue and other surrounding tissues, which then propagate. Then, the detection probe is controlled to emit a second ultrasonic signal at a second frequency to the target tissue and other surrounding tissues. The second ultrasonic signal can track the shear waves, and the detection probe receives the corresponding ultrasonic echo signal. Based on the received ultrasonic echo signal, ultrasound imaging data and shear wave elastography data of the target tissue and other surrounding tissues can be acquired. If only ultrasound imaging data needs to be acquired, the detection probe can also be controlled to emit a second ultrasonic signal at a second frequency to the target tissue and other surrounding tissues and receive the corresponding ultrasonic echo signal. Ultrasonic imaging data can then be acquired based on this ultrasonic echo signal. The first ultrasonic signal is a high-intensity ultrasonic signal, and the first and second frequencies can be the same or different.

[0083] Optionally, ultrasound imaging data and / or shear wave elastography data of the target tissue and surrounding tissues can be acquired through the following process: The detection probe is controlled to apply low-frequency vibrations to the target tissue and surrounding tissues via a vibrator installed within it, thereby generating and propagating shear waves within the target tissue and surrounding tissues; then, the detection probe is controlled to emit ultrasound signals at a certain frequency to the target tissue and surrounding tissues, these ultrasound signals tracking the shear waves, and the detection probe receives the echo signals corresponding to the ultrasound signals. Based on the received echo signals, ultrasound imaging data and shear wave elastography data of the target tissue and surrounding tissues can be acquired. If only ultrasound imaging data needs to be acquired, the detection probe can also be controlled to emit ultrasound signals at a certain frequency to the target tissue and surrounding tissues, and receive the corresponding echo signals, based on which ultrasound imaging data can be acquired.

[0084] The pressure applied between the detection probe and the skin surface can be unstable due to variations in the pressure applied by different operators, or even if the pressure applied by the same operator is inconsistent. This can lead to inconsistent timing of image data acquisition, resulting in inconsistencies in the image data collected by different operators. This embodiment achieves pressure quality control by only collecting data when the actual pressure is within a stable range. This ensures data acquisition based on a unified standard, resulting in high data consistency. Consequently, the obtained operating parameters are stable and consistent, preventing significant differences in operating parameters due to different operators.

[0085] In some embodiments, the method further includes: during the process of applying pressure to the skin surface using the detection probe, acquiring quasi-static elastography data of the target tissue and other surrounding tissues using the detection probe; at this time, determining the operation parameters for manipulating the target tissue based on ultrasound imaging data and / or shear wave elastography data, including: determining the operation parameters for manipulating the target tissue based on one or more of the quasi-static elastography data, shear wave elastography data, and ultrasound imaging data.

[0086] Specifically, quasi-static elastography data is acquired before step S12, that is, before determining whether the actual pressure matches the preset target pressure range, during the process of the detection probe applying pressure to the skin surface. When the detection probe applies pressure to the skin surface corresponding to the target tissue, the applied pressure is detected to obtain the actual pressure. If the actual pressure does not meet the preset pressure range, the detection probe is controlled to perform a downward or upward movement to adjust the actual pressure to match the target pressure range. When the detection probe performs the downward or upward movement, the detection probe is controlled to emit ultrasound signals and acquire corresponding echo signals. Based on the acquired echo signals, one or more quasi-static elastography images of the target tissue and other tissues surrounding the target tissue are generated. Since the quasi-static elastography images carry information about the quasi-static elastography parameters, quasi-static elastography data of the target tissue and other tissues surrounding the target tissue can be obtained through the quasi-static elastography images.

[0087] In this embodiment, based on the imaging characteristics of quasi-static elastography, during the shear wave elastography process, quasi-static elastography data is simultaneously acquired during the pressure adjustment phase. This ingenious design allows for the acquisition of multiple elastography data in a single detection process without extending the detection application. This achieves efficient data acquisition on the one hand, and the acquired one or more imaging data can be used to determine the operational parameters of the target tissue. This not only broadens the methods for determining operational parameters but also further improves the accuracy of the determined operational parameters.

[0088] In some embodiments, target tissues in different locations have their own corresponding target pressure ranges, or at least some target tissues in different locations correspond to the same target pressure range.

[0089] The target pressure range refers to the range of pressure applied by the detection probe to the skin surface corresponding to the target tissue. Because the thickness of fat and the density of the dermis vary in different parts of the body, the optimal pressure range applied by the detection probe to the skin surface corresponding to different tissues may differ. Therefore, applying different pressures to the skin surface corresponding to different tissues is more conducive to data acquisition.

[0090] In some embodiments, the target pressure range can be manually selected or entered by the operator performing the target tissue detection. Specifically, multiple alternative pressures can be displayed to the operator, and the alternative pressure selected by the operator can be used as the target pressure range corresponding to the target tissue. Alternatively, a pressure input area can be displayed to the operator, and the pressure entered by the operator in the pressure input area can be used as the target pressure range corresponding to the target tissue.

[0091] In some other embodiments, the correspondence between target tissues and target pressure ranges for each part can be preset. When operating on the target tissue, the corresponding target pressure range is obtained based on the target part where the target tissue is located.

[0092] In some embodiments, during the acquisition of ultrasound imaging data and / or shear wave elastography data, the actual pressure applied to the skin surface by the detection probe can be continuously acquired. Data acquisition is stopped if the actual pressure does not match the target pressure range. This prevents changes in the pressure between the detection probe and the skin surface during data acquisition (e.g., changes in the operator's force), which could lead to inconsistent and unstable imaging data acquired by different operators.

[0093] In some embodiments, after data acquisition is stopped, an alarm message indicating a mismatch between the actual pressure and the target pressure range can be generated to alert the operator. Specifically, an alarm notification component (such as an alarm light or alarm display screen) can be installed on the detection probe to alert the operator.

[0094] Step S13: Based on ultrasound imaging data and / or shear wave elastography data, determine the operating parameters when operating on the target tissue.

[0095] In some embodiments, the operating parameters include one or more of the following:

[0096] The rotary cutting force when performing a rotary cutting operation on the target tissue;

[0097] The starting position of the rotary cutting operation when performing a rotary cutting on the target tissue;

[0098] The target location for marking the target organization;

[0099] The number of tag folders required when performing tagging operations on the target tissue.

[0100] The following example, using the determination of the above-mentioned cutting force, cutting start position, and target position, illustrates how to determine the operating parameters when operating on the target tissue based on ultrasound imaging data and / or shear wave elastography data.

[0101] Please see Figure 2 Determining the rotary cutting force when performing a rotary cutting operation on the target tissue based on ultrasound imaging data and / or shear wave elastography data may include the following steps:

[0102] Step S21: Based on ultrasound imaging data and / or shear wave elastography data, determine the softness and hardness of different locations in the target tissue.

[0103] In some embodiments, the absolute elasticity at different locations of the target tissue can be obtained based on shear wave elastography data. Absolute elasticity is a type of elasticity and can therefore be used to characterize the elasticity of the target tissue, specifically including but not limited to elastic modulus, shear wave velocity, and elastic modulus distribution characteristics.

[0104] In some embodiments, the material composition and / or density of the target tissue at different locations are obtained based on ultrasound imaging data. Specifically, the ultrasound imaging data may include B-mode ultrasound imaging data and / or color Doppler ultrasound imaging data. Based on B-mode ultrasound imaging data, the material composition (including the constituent components of the target tissue and the content of these components) at different locations of the target tissue can be obtained. Based on color Doppler ultrasound imaging data, the density of the target tissue at different locations can be obtained. The material composition may refer to substances such as fat, protein, and water.

[0105] Elasticity, material composition, and density can all reflect the hardness or softness of a tissue. Therefore, the hardness or softness of a target tissue at a given location can be determined based on at least one of its absolute elasticity, material composition, and density, thus obtaining the hardness or softness at different locations within the target tissue. In other words, the hardness or softness at different locations within a target tissue can be determined based on ultrasound imaging data and / or shear wave elastography data.

[0106] When determining the degree of softness or hardness based on multiple parameters including absolute elasticity, composition, and density, in some embodiments, multiple parameters at the same location of the target tissue are fused for calculation to obtain the degree of softness or hardness at that location, thereby determining the degree of softness or hardness at different locations of the target tissue. There are various methods of fusion calculation, and different parameters have different effects on the degree of tissue softness or hardness. Therefore, a corresponding weight can be assigned to each parameter, and the degree of softness or hardness at that location can be obtained by weighted summation of multiple parameters at the same location. This method can be used to obtain the degree of softness or hardness at different locations of the target tissue. In other embodiments, absolute elasticity data, composition data, and density data can be input into a trained model, which then calculates and outputs the degree of softness or hardness at different locations of the target tissue.

[0107] In some embodiments, shear wave elastography data and ultrasound imaging data can be directly input into a trained model, which then calculates and outputs the hardness and softness of different locations in the target tissue.

[0108] In some embodiments, when the stiffness of a tissue is determined solely based on shear wave elastography data, the absolute elasticity result is used as the tissue stiffness result; when the stiffness of a tissue is determined solely based on ultrasound imaging data, the density result or the composition result is used as the tissue stiffness result.

[0109] Step S22: Determine the rotary cutting force when performing rotary cutting operations on tissues at different locations of the target tissue, based on the correspondence between softness / hardness and rotary cutting force.

[0110] In some embodiments, different degrees of hardness can correspond to different vortexing forces. Thus, when vortexing target tissue at different locations, the vortexing force corresponding to the hardness can be used by referring to the relationship between hardness and vortexing force. This relationship can be obtained in advance through experiments or simulation analysis.

[0111] Please see Figure 3 In some embodiments, determining the rotational cutting force when performing a rotational cutting operation on the target tissue based on one or more of quasi-static elastography data, shear wave elastography data, and ultrasound imaging data may include the following steps:

[0112] Step S31: Determine the softness or hardness of different locations in the target tissue based on one or more of the quasi-static elastography data, shear wave elastography data, and ultrasound imaging data.

[0113] Specifically, the relative elasticity at different locations within a target tissue can be obtained from quasi-static elastography data. Relative elasticity characterizes the elastic properties of the target tissue when compared across different locations. For example, the elasticity at location A of the target tissue may be better or worse than that at other locations. Quasi-static elastography data provides another dimension for assessing tissue elasticity. Since relative elasticity is also a type of elasticity, and its magnitude is related to the degree of softness or stiffness, quasi-static elastography data can also be used to assess the degree of softness or stiffness of a tissue.

[0114] In some embodiments, the hardness or softness of target tissue at different locations is determined based on quasi-static elastography data, shear wave elastography data, and ultrasound imaging data, including:

[0115] 1) Based on quasi-static elastography data and shear wave elastography data, elastic distribution data of the target tissue is obtained, wherein the elastic distribution data characterizes the elasticity at different locations of the target tissue.

[0116] Specifically, the absolute elasticity at different locations of the target tissue can be obtained from shear wave elastography data, while the relative elasticity at different locations of the target tissue can be obtained from quasi-static elastography data. This relative elasticity can include, but is not limited to, strain, strain rate, strain ratio, and strain distribution characteristics. Optionally, the relative and absolute elasticities at the same location of the target tissue can be fused to obtain the elasticity at that location, and thus the elasticity at all locations of the target tissue, resulting in the elasticity distribution data of the target tissue. For example, fusing the relative and absolute elasticities at location A of the target tissue yields the elasticity at location A. Optionally, shear wave elastography data and quasi-static elastography data can also be input into a trained model, which outputs the elasticity distribution data of the target tissue.

[0117] 2) Based on ultrasound imaging data, obtain density distribution data and / or material composition distribution data of the target tissue, wherein the density distribution data characterizes the density at different locations of the target tissue; and the material composition distribution data characterizes the material composition and content at different locations of the target tissue.

[0118] The specific process for obtaining density distribution data and material composition distribution data can be found in the aforementioned content, and will not be repeated here.

[0119] 3) Based on one or more of the elasticity distribution data, material composition distribution data, and density distribution data, the softness and hardness of different locations in the target tissue can be obtained.

[0120] As mentioned earlier, elasticity, material composition, and density can all reflect the softness or hardness of a tissue. Therefore, the softness or hardness of different locations in a target tissue can be determined based on at least one of the elasticity distribution data, material composition distribution data, and density distribution data of the target tissue.

[0121] The process of determining the degree of softness and hardness based on multiple data from elasticity distribution data, material composition distribution data, and density distribution data can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0122] In some embodiments, based on quasi-static elastography data, shear wave elastography data, and ultrasound imaging data, the hardness of different locations of the target tissue can also be determined by inputting the quasi-static elastography data, shear wave elastography data, and ultrasound imaging data into a trained hardness model, which then calculates and outputs the hardness of different locations of the target tissue.

[0123] Step S32: Determine the cutting force when performing a rotary cutting operation on tissues at different locations of the target tissue, based on the correspondence between softness / hardness and cutting force.

[0124] This step is the same as step S22 mentioned above, and will not be repeated here.

[0125] Please see Figure 4 Determining the starting position of the rotary cutting operation on the target tissue based on ultrasound imaging data and / or shear wave elastography data may include the following steps:

[0126] Step S41: Based on ultrasound imaging data and / or shear wave elastography data, determine the cutting force of the rotary cutter at each candidate starting position from the skin surface to the edge of the target tissue, wherein the cutting force is the force required by the rotary cutter when it passes through the associated tissue between the skin surface and the candidate starting position.

[0127] In some embodiments, the tissue between the skin surface at the spin-cutting needle insertion point and the candidate starting point is considered as associated tissue. The spin-cutting cost can be determined based on ultrasound imaging data and / or shear wave elastography data of the associated tissue. Each candidate starting point corresponds to a spin-cutting cost between different spin-cutting needle insertion points, and the magnitude of the spin-cutting cost is related to the spin-cutting force and / or degree of damage to the associated tissue. For example... Figure 5 In the target tissue 22, there are candidate starting positions Q and P at the edge, and there are rotary cutting needle insertion positions A, B, C, and D on the skin surface 21. Between the candidate starting position Q and the rotary cutting needle insertion position C, the rotary cutting cost 1 can be determined based on the ultrasound imaging data and / or shear wave elastography data of the associated tissue m1. Between the candidate starting position Q and the rotary cutting needle insertion position C, the rotary cutting cost 2 can be determined based on the ultrasound imaging data and / or shear wave elastography data of the associated tissue 2.

[0128] Based on the shear wave elastography data and / or ultrasound imaging data described above, the hardness or softness of different locations in the associated tissue m1 can be determined using a method similar to step S21. Based on the hardness or softness of different locations in the associated tissue m1, the force required for the rotary cutter to penetrate the associated tissue m1 can be determined.

[0129] Step S42: Based on ultrasound imaging data, determine the degree of damage at each candidate starting position of the rotary cutter from the skin surface to the edge of the target tissue, wherein the degree of damage is the degree of damage to the associated tissue when the rotary cutter passes through the skin surface and the associated tissue between the candidate starting positions.

[0130] Taking the aforementioned rotary cutting cost 1 as an example, the blood supply information (such as blood vessel size, density, and blood flow velocity) of the associated tissue m1 can be obtained based on ultrasound imaging data of the associated tissue m1. Based on the blood supply information, the degree of damage to the target tissue can be determined. In this embodiment, the larger and denser the blood vessels in the associated tissue m1, the greater the degree of damage to the associated tissue m1 when the rotary cutting blade passes through it.

[0131] Step S43: Determine the cutting cost of each candidate starting position based on the cutting force and / or damage level of each candidate starting position.

[0132] In some embodiments, the force required by the rotary cutter when it passes through the associated tissue m1, or the degree of damage caused by the rotary cutter to the associated tissue m1, can be directly used as the rotary cutting cost 1. The greater the required force, the greater the rotary cutting cost; the greater the degree of damage, the greater the rotary cutting cost.

[0133] In some embodiments, the force required by the rotary cutter to pass through the associated tissue m1 and the degree of damage to the associated tissue m1 are combined to obtain a value representing the rotary cutting cost. This value can be used as the rotary cutting cost 1. The larger the value, the greater the rotary cutting cost.

[0134] Thus, following a similar principle to the spin cutting cost 1, the spin cutting cost corresponding to different spin cutting needle positions for each alternative starting position can be determined.

[0135] Step S44: Select the candidate starting position with the lowest rotary cutting cost as the starting position for rotary cutting operation on the target tissue.

[0136] As described above, each alternative starting position corresponds to a different cutting needle insertion position, resulting in different cutting costs. The alternative starting position with the lowest cutting cost is the one corresponding to the lowest cutting cost. For example, alternative starting position 1 corresponds to different cutting needle insertion positions, with a first cutting cost of 5 and a second cutting cost of 8. Alternative starting position 2 corresponds to different cutting needle insertion positions, with a third cutting cost of 2 and a fourth cutting cost of 9. Among alternative starting positions 1 and 2, the alternative starting position with the lowest cutting cost is alternative starting position 2. Therefore, alternative starting position 2 can be used as the starting position for cutting the target tissue.

[0137] Please see Figure 6 In some embodiments, determining the starting position for rotary cutting of the target tissue based on quasi-static elastography data, shear wave elastography data, and ultrasound imaging data may include the following steps:

[0138] Step S61: Based on one or more of the quasi-static elastography data, shear wave elastography data, and ultrasound imaging data, determine the cutting force of the rotary cutter at each of the candidate starting positions from the skin surface to the edge of the target tissue, wherein the cutting force is the force required for the rotary cutter to pass through the associated tissue between the skin surface and the candidate starting position.

[0139] Specifically, the cutting force is related to the degree of hardness. How to obtain the degree of hardness has been explained in detail above and will not be repeated here.

[0140] Step S62: Based on ultrasound imaging data, determine the degree of damage at each candidate starting position of the rotary cutter from the skin surface to the edge of the target tissue, wherein the degree of damage is the degree of damage to the associated tissue when the rotary cutter passes through the skin surface and the associated tissue between the candidate starting positions.

[0141] Step S63: Determine the cutting cost of each candidate starting position based on the cutting force and / or damage degree of each candidate starting position.

[0142] Step S64: Select the candidate starting position with the lowest rotary cutting cost as the starting position for rotary cutting operation on the target tissue.

[0143] Please see Figure 7 Determining the target location for marking target tissue based on ultrasound imaging data and / or shear wave elastography data may include the following steps:

[0144] Step S71: Based on ultrasound imaging data and / or shear wave elastography data, determine the hardness of different locations in the target tissue, and identify the locations where the hardness exceeds a threshold as the first candidate locations in the target tissue area to be marked.

[0145] Specifically, please refer to the relevant descriptions above to determine the hardness or softness of different locations within the target tissue; these details will not be repeated here. The threshold can be set according to requirements; the thresholds for different target tissues can be the same or different.

[0146] Step S72: Determine the shape characteristics of the target tissue edge contour based on ultrasound imaging data and / or shear wave elastography data, and determine the second alternative location for marking operation in the area where the target tissue is located based on the shape characteristics of the target tissue edge contour.

[0147] Specifically, a designated location on the edge contour of the target tissue can be used as a second alternative location. For example, a protruding area of ​​the target tissue can be used as a second alternative location. The shape characteristics of the target tissue's edge contour can be determined using ultrasound imaging data of the target tissue.

[0148] Step S73: Determine the target location based on the first alternative location and the second alternative location.

[0149] Optionally, one of the locations on the line connecting the first and second alternative locations can be used as the target location. For example, the midpoint of the line connecting the first and second alternative locations can also be used as the target location. Alternatively, a location on the line connecting the first and second alternative locations that is three-quarters of the distance from the first alternative location can also be used as the target location.

[0150] Please see Figure 8 In some embodiments, determining the target location for marking target tissue based on one or more of quasi-static elastography data, shear wave elastography data, and ultrasound imaging data may include the following steps:

[0151] Step S81: Based on one or more of the quasi-static elastography data, shear wave elastography data, and ultrasound imaging data, determine the softness and hardness at different locations of the target tissue, and determine the locations where the softness and hardness exceed the threshold as the first candidate locations in the area where the target tissue is located for marking operations.

[0152] Step S82: Based on one or more of the quasi-static elastography data, shear wave elastography data, and ultrasound imaging data, determine the shape features of the target tissue edge contour, and determine the second alternative location of the target tissue region to be marked based on the shape features of the target tissue edge contour.

[0153] Step S83: Determine the target location based on the first alternative location and the second alternative location.

[0154] In some embodiments, a marker clip can be used to mark the target location for long-term tracking of the target tissue. The surface of the marker clip may be specially treated. Special treatments include, but are not limited to, smoothing or coating the surface of the marker clip, encapsulating the marker clip with a biocompatible material, sterilizing the marker clip, and designing the marker clip into a specific shape. Specifically, a smoothed or coated marker clip can reflect more ultrasound waves than the target tissue. Thus, the marker clip and the target tissue can be distinguished based on the echo signal of the ultrasound waves, thereby determining the location of the marker clip. Treating the marker clip with a biocompatible material makes it compatible with the target tissue; specifically, the marker clip can be encapsulated with a biocompatible material, and / or a biocompatible material can be placed inside the marker clip. Sterilizing the marker clip prevents infection of the target tissue at the marked location (i.e., the target location mentioned above). Designing the marker clip into a specific shape allows for better differentiation between the marker clip and the target tissue.

[0155] In summary, in some embodiments of this application, when operating on the target tissue, the actual pressure applied to the skin surface by the detection probe is matched with the target pressure range corresponding to the target tissue. When the actual pressure matches the target pressure range, ultrasound imaging data and / or elastography data of the target tissue and other surrounding tissues are collected by the detection probe. Based on the ultrasound imaging data and / or shear wave elastography data, the operating parameters for operating on the target tissue are determined. Through the solution of this application, on the one hand, ultrasound imaging data and / or shear wave elastography data are collected only when the pressure between the detection probe and the skin surface is within a stable range, achieving data acquisition based on a unified standard. Therefore, the collected data has high consistency and good stability. Consequently, the operating parameters determined based on the ultrasound imaging data and / or shear wave elastography data can be more accurate, resulting in high precision in the operation on the target tissue. On the other hand, compared to the prior art that relies solely on manual judgment to determine the operating parameters of the tissue, this application determines the operating parameters for operating on the target tissue based on ultrasound imaging data and / or shear wave elastography data, thus achieving higher accuracy of the operating parameters.

[0156] Please see Figure 9 This is a functional block diagram of an operation parameter determination device provided in one embodiment of this application. The operation parameter determination device includes:

[0157] The acquisition module is used to acquire the actual pressure applied to the skin surface by the detection probe when the detection probe applies pressure to the skin surface of the target tissue area;

[0158] The acquisition module is used to acquire ultrasound imaging data and / or shear wave elastography data of the target tissue and other tissues surrounding the target tissue through the detection probe, provided that the actual pressure matches the target pressure range corresponding to the target tissue; and

[0159] The determination module is used to determine the operating parameters for manipulating the target tissue based on the ultrasound imaging data and / or the shear wave elastography data.

[0160] Please see Figure 10 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 method for determining operating parameters.

[0161] The processor can be a central processing unit (CPU). It can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.

[0162] 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.

[0163] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0164] 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 method for determining operating parameters.

[0165] 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 operating parameters, characterized in that, The method includes: When the detection probe applies pressure to the skin surface of the target tissue area, the actual pressure applied by the detection probe to the skin surface is obtained; When the actual pressure matches the target pressure range corresponding to the target tissue, ultrasound imaging data and shear wave elastography data of the target tissue and other surrounding tissues are acquired through the detection probe; and Based on the ultrasound imaging data and the shear wave elastography data, determine the operating parameters when manipulating the target tissue; The operation on the target tissue includes a rotary cutting operation, and the operation parameters include the rotary cutting start position when performing the rotary cutting operation on the target tissue; Based on the ultrasound imaging data and the shear wave elastography data, the operating parameters for manipulating the target tissue are determined, including: Based on the ultrasound imaging data and the shear wave elastography data, the cutting force of the rotary cutter at each candidate starting position from the skin surface to the edge of the target tissue is determined, wherein the cutting force is the force required for the rotary cutter to pass through the associated tissue between the skin surface and the candidate starting position; Based on the ultrasound imaging data, the degree of damage at each candidate starting position of the rotary cutter from the skin surface to the edge of the target tissue is determined, wherein the degree of damage is the degree of damage to the associated tissue when the rotary cutter passes through the associated tissue between the skin surface and the candidate starting position; Based on the cutting force and damage degree of each candidate starting position, the cutting cost of each candidate starting position is determined. The candidate starting position with the lowest slicing cost is selected as the starting position for slicing the target tissue.

2. The method as described in claim 1, characterized in that, The method further includes: during the process of the detection probe applying pressure to the skin surface, using the detection probe to acquire quasi-static elastography data of the target tissue and other surrounding tissues; Specifically, determining the operating parameters for manipulating the target tissue based on the ultrasound imaging data and the shear wave elastography data includes: determining the operating parameters for manipulating the target tissue based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data.

3. The method as described in claim 1, characterized in that, The method further includes the following steps during the acquisition of the ultrasound imaging data and the shear wave elastography data: The actual pressure applied to the skin surface by the detection probe is continuously monitored, and data acquisition is stopped when the actual pressure does not match the target pressure range.

4. The method according to any one of claims 1 to 3, characterized in that, The operating parameters include: The rotary cutting force when performing a rotary cutting operation on the target tissue; The starting position of the rotary cutting operation when performing a rotary cutting on the target tissue; The target location for marking the target tissue; The number of tag clips required when performing a tagging operation on the target tissue.

5. The method as described in claim 1, characterized in that, The operation on the target tissue includes a rotary cutting operation, and the operation parameters include the rotary cutting force when performing the rotary cutting operation on the target tissue; Based on the ultrasound imaging data and the shear wave elastography data, the operating parameters for manipulating the target tissue are determined, including: Based on the ultrasound imaging data and the shear wave elastography data, the hardness and softness of the target tissue at different locations are determined. Based on the correspondence between softness / hardness and cutting force, the cutting force is determined when performing a cutting operation on tissue at different locations of the target tissue.

6. The method as described in claim 1, characterized in that, The operation on the target tissue includes marking the target tissue, and the operation parameters include the target location of the target tissue to be marked; Based on the ultrasound imaging data and the shear wave elastography data, the operating parameters for manipulating the target tissue are determined, including: Based on the ultrasound imaging data and the shear wave elastography data, the hardness of the target tissue at different locations is determined, and the locations where the hardness exceeds the threshold are identified as the first candidate locations in the area of ​​the target tissue to be marked. Based on the ultrasound imaging data and the shear wave elastography data, the shape features of the target tissue edge contour are determined, and based on the shape features of the target tissue edge contour, a second alternative location for marking operations is determined in the area where the target tissue is located. The target location is determined based on the first alternative location and the second alternative location.

7. The method as described in claim 5 or 6, characterized in that, Based on the ultrasound imaging data and the shear wave elastography data, the hardness and softness of the target tissue at different locations are determined, including: Based on the ultrasound imaging data, the material composition and / or density at different locations of the target tissue are obtained; Based on the shear wave elastography data, the absolute elasticity at different locations of the target tissue is obtained; Based on at least one of the absolute elasticity, material composition, and density at each location of the target tissue, the softness or hardness of the target tissue at that location is determined to obtain the softness or hardness at different locations of the target.

8. The method as described in claim 2, characterized in that, The operation on the target tissue includes a rotary cutting operation, and the operation parameters include the rotary cutting force when performing the rotary cutting operation on the target tissue; The determination of operational parameters for manipulating the target tissue based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data includes: Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the hardness or softness of the target tissue at different locations is determined. Based on the correspondence between softness / hardness and cutting force, the cutting force is determined when performing a cutting operation on tissue at different locations of the target tissue.

9. The method as described in claim 2, characterized in that, The operation on the target tissue includes marking the target tissue, and the operation parameters include the target location of the target tissue to be marked; Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, determine the operational parameters for manipulating the target tissue, including: Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the hardness of the target tissue at different locations is determined, and the locations where the hardness exceeds a threshold are identified as the first candidate locations in the area where the target tissue is located to be marked. Based on one or more of the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the shape features of the target tissue edge contour are determined, and a second alternative location for marking the area where the target tissue is located is determined according to the shape features of the target tissue edge contour. The target location is determined based on the first alternative location and the second alternative location.

10. The method as described in claim 8 or 9, characterized in that, Based on the quasi-static elastography data, the shear wave elastography data, and the ultrasound imaging data, the hardness and softness of the target tissue at different locations are determined, including: Based on the quasi-static elastography data and the shear wave elastography data, elastic distribution data of the target tissue is obtained, wherein the elastic distribution data characterizes the elasticity of the target tissue at different locations; Based on the ultrasound imaging data, density distribution data and / or material composition distribution data of the target tissue are obtained; Based on one or more of the elasticity distribution data, the material composition data, and the density distribution data, the softness and hardness at different locations of the target tissue are determined.

11. An operating parameter determining device, characterized in that, The device includes: The acquisition module is used to acquire the actual pressure applied to the skin surface by the detection probe when the detection probe applies pressure to the skin surface of the target tissue area; The acquisition module is used to acquire ultrasound imaging data and shear wave elastography data of the target tissue and other surrounding tissues through the detection probe, provided that the actual pressure matches the target pressure range corresponding to the target tissue; and The determination module is used to determine the operating parameters for manipulating the target tissue based on the ultrasound imaging data and the shear wave elastography data. The operation on the target tissue includes a rotary cutting operation. The operation parameters include the starting position of the rotary cutting operation on the target tissue. The determining module is specifically used for: determining the rotary cutting force of each candidate starting position from the skin surface to the edge of the target tissue based on the ultrasound imaging data and the shear wave elastography data, wherein the rotary cutting force is the force required when the rotary cutting blade passes through the associated tissue between the skin surface and the candidate starting position; determining the degree of damage of each candidate starting position from the skin surface to the edge of the target tissue based on the ultrasound imaging data, wherein the degree of damage is the degree of damage to the associated tissue when the rotary cutting blade passes through the associated tissue between the skin surface and the candidate starting position; determining the rotary cutting cost of each candidate starting position according to the rotary cutting force and the degree of damage; and selecting the candidate starting position with the minimum rotary cutting cost as the starting position for the rotary cutting operation on the target tissue.

12. 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 10.

13. 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 10.

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