Method, apparatus, and storage medium for determining tissue operating parameters based on a detection probe

Abstract

The application discloses a kind of based on detection probe determines the method, device and storage medium of tissue operating parameter, detection probe includes acoustic head, transmission shaft and pressure sensor, acoustic head and pressure sensor are connected by transmission shaft, method includes when acoustic head presses the skin surface of the region where the tissue to be operated is located, the pressure that transmission shaft transmits to pressure sensor is detected, obtains pressing pressure;In the case where pressing pressure and the preset pressure range corresponding to the tissue to be operated match range, the ultrasonic imaging data and / or elastography data of the tissue to be operated and other tissues around it are collected using detection probe, and the operating parameter when operating the tissue to be operated is determined according to the data collected. The accuracy of the determined operating parameter is high, and the operating accuracy can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of biological medicine, and in particular to a method and device for determining tissue operation parameters based on a detection probe, and a storage medium. BACKGROUND

[0002] Different methods can be adopted for treatment according to the properties of tissue (such as tumor tissue, benign lesion tissue, etc.). For example, resection treatment can be adopted for malignant tissue, and drug conservative treatment can be adopted for benign human tissue. However, no matter what method is adopted for treatment of human tissue, the operation precision for human tissue needs to be ensured. For example, when resection treatment is adopted for human tissue, it is necessary to ensure that the human tissue is completely resected.

[0003] At present, when human tissue is operated, the parameters required for operation are usually determined by manual means. This method is more dependent on the experience of the operator, and therefore has the problem of inaccuracy, and the operation precision for human tissue needs to be improved. SUMMARY

[0004] Therefore, the embodiments of the present application provide a method and device for determining tissue operation parameters based on a detection probe, and an electronic device and a computer readable storage medium, which have high operation parameter precision and can improve the operation precision.

[0005] In one aspect, the present application provides a method for determining tissue operation parameters based on a detection probe,

[0006] The detection probe comprises a sound head, a transmission shaft and a pressure sensor, the sound head and the pressure sensor are connected through the transmission shaft, and the method comprises the following steps:

[0007] When the sound head presses the skin surface of the region where the tissue to be operated is located, the pressure transmitted by the transmission shaft to the pressure sensor is detected to obtain a pressing pressure;

[0008] When the pressing pressure matches the preset pressure range corresponding to the tissue to be operated, the detection probe is used to collect ultrasonic imaging data and / or shear wave elastography data of the tissue to be operated and other tissues around the tissue to be operated, and operation parameters for operation of the tissue to be operated are determined according to the collected data.

[0009] In some embodiments, the method further comprises: during the process that the sound head presses the skin surface, collecting quasi-static elastography data of the tissue to be operated by using the detection probe;

[0010] Based on the collected data, the operation parameters for operating on the tissue to be operated on include: determining the operation parameters for operating on the tissue to be operated on based on at least one of the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data.

[0011] 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 force;

[0012] Based on at least one of the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, determine the operating parameters for operating on the tissue to be manipulated, including:

[0013] Based on at least one of the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, determine the softness / hardness distribution data of the tissue to be operated on, wherein the softness / hardness distribution data represents the softness / hardness of the tissue to be operated on at different locations.

[0014] Based on the softness and hardness distribution data, the rotary cutting force is determined when rotary cutting the tissue at different locations of the tissue to be operated on.

[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 force;

[0016] Based on the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, the hardness distribution data of the tissue to be operated on is determined, including:

[0017] Based on the ultrasound imaging data, density distribution information and / or material composition distribution information of the tissue to be operated on are obtained, wherein the density distribution information is used to represent the density at different locations of the tissue to be operated on, and the material composition distribution information is used to represent the material composition at different locations of the tissue to be operated on.

[0018] Based on the shear wave elastography data and the quasi-static elastography data, the elastic distribution information of the tissue to be operated on is obtained, wherein the elastic distribution information is used to represent the elasticity of the tissue at different locations.

[0019] The hardness distribution data is determined based on at least one of the density distribution information, the material composition distribution information, and the elasticity distribution information.

[0020] In some embodiments, the detection probe further includes an orientation sensor for detecting the rotation angle of the detection probe;

[0021] After obtaining the pressing pressure, the method further includes:

[0022] The pressing pressure is corrected based on the rotation angle detected by the orientation sensor.

[0023] In some embodiments, the method further includes:

[0024] If the pressing pressure does not match the preset pressure range corresponding to the tissue to be operated on, the detection probe is controlled to lift or press down to change the degree of contact between the probe and the skin surface, so that the pressing pressure matches the preset pressure range.

[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 force;

[0026] Based on the collected data, determine the operational parameters for performing operations on the tissue to be operated on, including:

[0027] Based on the ultrasound imaging data and / or the shear wave elastography data, determine the softness / hardness distribution data of the tissue to be operated on, wherein the softness / hardness distribution data represents the softness / hardness of the tissue to be operated on at different locations;

[0028] Based on the softness and hardness distribution data, the rotary cutting force is determined when rotary cutting the tissue at different locations of the tissue to be operated on.

[0029] In some embodiments, determining the hardness distribution data of the tissue to be manipulated based on the ultrasound imaging data and / or the shear wave elastography data includes:

[0030] Based on the ultrasound imaging data, density distribution information and / or material composition distribution information of the tissue to be operated on are obtained, wherein the density distribution information is used to represent the density at different locations of the tissue to be operated on, and the material composition distribution information is used to represent the material composition at different locations of the tissue to be operated on.

[0031] Based on the shear wave elastography data, the absolute elastic distribution information of the tissue to be operated on is obtained, wherein the absolute elastic distribution information is used to represent the absolute elasticity at different locations of the tissue to be operated on.

[0032] The hardness distribution data is determined based on at least one of the density distribution information, the material composition distribution information, and the absolute elasticity distribution information.

[0033] Another aspect of the present invention provides a parameter determination device for determining tissue operation parameters based on a detection probe, wherein the detection probe includes a sound head, a drive shaft, and a pressure sensor, the sound head and the pressure sensor being connected via the drive shaft, and the device includes:

[0034] The pressure detection module is used to detect the pressure transmitted to the pressure sensor by the drive shaft when the pressure head presses on the skin surface of the area where the tissue to be operated is located, and to obtain the pressing pressure; and

[0035] The operation module is used to acquire ultrasound imaging data and / or shear wave elastography data of the tissue to be operated and other surrounding tissues using the detection probe when the pressing pressure matches the preset pressure range corresponding to the tissue to be operated, and to determine the operation parameters when operating on the tissue to be operated based on the acquired data.

[0036] 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.

[0037] 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.

[0038] In some embodiments of this application, when the pressure head is pressed against the skin surface of the area where the tissue to be operated is located, and the pressing pressure transmitted by the drive shaft matches a preset pressure range, ultrasound imaging data and / or shear wave elastography data of the tissue to be operated and other surrounding tissues are collected by a detection probe to determine the operating parameters for operating on the tissue to be operated. In this application, compared with related technologies that rely on manual methods to determine operating parameters, the operating parameters determined based on ultrasound imaging data and / or shear wave elastography data are more accurate, thereby improving the accuracy of operations on the tissue to be operated. Furthermore, when the pressing pressure is within the preset pressure range, the collection of ultrasound imaging data and / or shear wave elastography data achieves data acquisition under the same standard, ensuring data consistency and guaranteeing the accuracy and stability of the obtained operating parameters even when different personnel are performing the operation. Attached Figure Description

[0039] 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:

[0040] Figure 1A cross-sectional view of a detection probe provided in one embodiment of this application is shown;

[0041] Figure 2 A flowchart illustrating a method for determining tissue operation parameters based on a detection probe, according to an embodiment of this application, is shown.

[0042] Figure 3 A flowchart illustrating a method for determining rotary cutting force according to an embodiment of this application is shown;

[0043] Figure 4 A schematic diagram of the functional modules of a parameter determination device for determining tissue operation parameters based on a detection probe, according to an embodiment of this application, is shown.

[0044] Figure 5 A schematic diagram of the structure of an electronic device provided in one embodiment of this application is shown. Detailed Implementation

[0045] 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.

[0046] The tissue to be treated in this application can be tumor tissue, nodules, benign lesions, etc. When treating the tissue to be treated, it is necessary to perform operations such as cutting and marking on the tissue to be treated and other surrounding tissues. Taking tumor tissue as an example, tumor tissue includes, but is not limited to, breast tumors, liver tumors, and thyroid tumors. Tumor tissue and surrounding tissues refer to the tumor tissue and the muscle tissue surrounding it, specifically depending on the location and size of the tumor. Taking liver tumors as an example, the tissue to be treated and surrounding tissues refer to the liver tumor and the muscle tissue surrounding it.

[0047] This application provides a method for determining tissue operation parameters based on a detection probe. Before introducing the method of this application, the detection probe will be described first.

[0048] Please see Figure 1 This is a cross-sectional view of a detection probe 100 provided in one embodiment of this application. Figure 1In this device, the detection probe 100 includes an acoustic head 11, a drive shaft 12, and a pressure sensor 14. The acoustic head 11 and the pressure sensor 14 are connected via the drive shaft 12. When detecting the tissue to be operated on, the detection device controls the acoustic head 11 to first emit a first ultrasonic signal towards the tissue to be operated on and surrounding tissues, focusing to generate acoustic radiation force, thereby generating shear waves within the tissue to be operated on and surrounding tissues. Then, the acoustic head 11 is controlled to emit a second ultrasonic signal towards the tissue to be operated on and surrounding tissues to track the shear waves, and the reflected ultrasonic echo signal is received. Based on the ultrasonic echo signal, ultrasonic imaging data and shear wave elastic imaging data of the tissue to be operated on and surrounding tissues can be obtained. If only ultrasonic imaging data needs to be acquired, the acoustic head can be controlled to emit a second ultrasonic signal towards the tissue to be operated on and surrounding tissues, and the reflected echo signal can be received. Ultrasonic imaging data can be obtained from this echo signal.

[0049] The sound head may include an ultrasonic transducer, which transmits and receives relevant signals.

[0050] When the sound head 11 comes into contact with the skin surface, it deforms. The magnitude of this deformation varies with the pressure between the sound head 11 and the skin surface. Specifically, the greater the pressure applied between the sound head 11 and the skin surface, the greater the deformation. The deformation of the sound head 11 applies a force to the drive shaft 12 in the direction of the pressure sensor 14. The deformation of the sound head 11 is positively correlated with the magnitude of the force applied to the drive shaft 12; that is, the greater the deformation of the sound head 11, the greater the force applied to the drive shaft 12. The drive shaft 12 transmits this force to the pressure sensor 14 so that the pressure sensor 14 can sense the magnitude of the force. Thus, the magnitude of the force sensed by the pressure sensor 14 can reflect the pressure between the sound head 11 and the skin surface. By detecting the magnitude of the force sensed by the pressure sensor 14, the pressure between the sound head 11 and the skin surface can be determined.

[0051] In some embodiments, the detection probe 100 specifically includes a first pre-compression spring 131 and a second pre-compression spring 132. The drive shaft 12 also includes a first locking portion 121 and a second locking portion 122. There is a gap between the first pre-compression spring 131 and the second pre-compression spring 132, and the drive shaft 12 passes through this gap to connect with the pressure sensor 14. The first locking portion 121 is located on the side of the first pre-compression spring 131 facing the sound head 11, and the second locking portion 122 is located on the side of the second pre-compression spring 132 facing the sound head 11. The first locking portion 121 is connected to the first pre-compression spring 131, and the second locking portion 122 is connected to the second pre-compression spring 132. When the sound head 11 deforms and applies force to the drive shaft 12, the drive shaft 12 transmits the force to the first pre-pressure spring 131 and the second pre-pressure spring 132 through the first locking part 121 and the second locking part 122. This causes the first pre-pressure spring 131 and the second pre-pressure spring 132 to deform towards the pressure sensor 14, thereby displacing the drive shaft 12 in the direction towards the pressure sensor 14, causing the pressure sensor 14 to deform. The greater the deformation of the sound head 11, the greater the force applied to the drive shaft 12, the greater the deformation of the first pre-pressure spring 131 and the second pre-pressure spring 132, the greater the displacement of the drive shaft 12, and consequently the greater the deformation of the pressure sensor 14. Different deformations of the pressure sensor 14 correspond to different characteristic values ​​of the pressure sensor 14 (such as resistance, resistivity, and capacitance). Thus, by detecting the characteristic values ​​of the pressure sensor 14, the pressure between the sound head 11 and the skin surface can be detected.

[0052] In some embodiments, the detection device includes a detection probe 100, a control motor, a device body, and a robotic arm. One end of the robotic arm is mounted on the device body, and the other end is connected to the detection probe. The control motor is mounted on the robotic arm. When the device body determines that the pressing pressure does not meet the preset pressure range, it sends a corresponding control signal to the control motor. The control motor rotates in the corresponding direction according to the received control signal, thereby causing the robotic arm to lift or press the detection probe up or down, thereby changing the pressure between the detection probe 100 and the skin surface.

[0053] In some embodiments, the detection probe 100 further includes a sensor holder 15. The sensor holder 15 is located on at least one side of the pressure sensor 14 and is used to support the pressure sensor 14.

[0054] In some embodiments, the detection probe 100 further includes an orientation sensor 18. The orientation sensor 18 is used to sense the rotation angle of the detection probe 100. The relevant principles can be found in the description of the method, and will not be repeated here.

[0055] Please see Figure 2 The following is a flowchart illustrating a method for determining tissue operation parameters based on a detection probe, as provided in one embodiment of this application. Figure 2The method shown can be applied to electronic devices. Electronic devices include, but are not limited to, detection devices. Figure 2 In this context, the method for operating on the organization to be operated on may include the following steps:

[0056] Step S21: When the pressure head presses on the skin surface of the area where the tissue to be operated is located, the pressure transmitted to the pressure sensor by the drive shaft is detected to obtain the pressing pressure.

[0057] As can be seen from the above description of the detection probe, the pressing pressure transmitted from the drive shaft to the pressure sensor is the actual pressure between the sound head and the skin surface.

[0058] In this embodiment, the pressure sensor is a strain gauge pressure sensor. Different pressing pressures transmitted to the pressure sensor by the drive shaft result in different deformations in the pressure sensor, and the resistance value of the pressure sensor is related to the magnitude of the deformation. Therefore, by detecting the change in the resistance value of the pressure sensor, the pressing pressure can be detected.

[0059] In some embodiments, the weight of the detection probe itself may cause errors between the pressure sensor's detection result and the actual pressure. Furthermore, the accuracy of the detected pressing pressure can be affected by the different rotation angles of the detection probe. For example, the pressure applied to the pressure sensor by the detection probe is different when it is in a vertical position versus an inclined position. Therefore, after detecting the pressing pressure, it can be corrected based on the rotation angle detected by the orientation sensor to obtain a more accurate pressing pressure.

[0060] In this embodiment, the rotation angle of the detection probe is defined as follows:

[0061] The X-axis is horizontal, the Y-axis is vertical, and the Z-axis is perpendicular to the XY plane. θ x This represents the rotation angle of the detection probe along the Z-axis in the XY plane, also known as the first rotation angle. This angle ranges from 0° upwards to 180° downwards and 90° left and right. θ y This represents the rotation angle of the detection probe along the X-axis in the YZ plane, also known as the second rotation angle. The range of this angle is 0° upwards and downwards, and ±90° to the left and right.

[0062] In some embodiments, the pressing force can be corrected based on any of the following formulas:

[0063]

[0064]

[0065] Where V is the actual detected pressing pressure, V dThe corrected pressing pressure is V0, which is the no-load value when the detection probe is placed vertically downwards and naturally; V1 is the no-load value - V0 when the detection probe is placed vertically upwards and naturally. V1 and V0 can be obtained by the pressure sensor.

[0066] Based on the above description, a relatively accurate pressing pressure can be obtained.

[0067] Furthermore, in some embodiments, after obtaining the pressing pressure (or the corrected pressing pressure), it can be determined whether the pressing pressure matches the preset pressure range corresponding to the tissue to be operated.

[0068] The preset pressure range can be the same for different tissues to be operated on. However, since different parts of the human body have different fat thicknesses and skin density, it is preferable that the preset pressure ranges for different tissues to be operated on be different, which is more conducive to data collection. For example, if the tissue to be operated on is the liver, its corresponding preset pressure range can be 0–4 N; if the tissue to be operated on is the breast, its corresponding preset pressure range can be 0.002–3 N.

[0069] In some embodiments, the preset pressure range may be input by the operator or obtained from pre-stored data, or obtained through other means. This embodiment does not limit the way the preset pressure range is obtained.

[0070] If the pressing pressure is within the preset pressure range, it means that the pressing pressure matches the preset pressure range. If the pressing pressure is not within the preset pressure range, it means that the pressing pressure does not match the preset pressure range.

[0071] If the pressing pressure does not match the preset pressure range corresponding to the tissue being treated, the detection probe can be controlled to move up or down to change the degree of contact between the probe and the skin surface, thus matching the pressing pressure with the preset pressure range. Specifically, the motor can be controlled to rotate in a first direction to lift the detection probe via a robotic arm; or the motor can be controlled to rotate in a second direction to press the detection probe down via a robotic arm. The first direction can be forward rotation of the motor, and the second direction can be reverse rotation. By moving the detection probe up or down, the pressing pressure between the probe and the skin surface can be adjusted to match the preset pressure range.

[0072] Step S22: When the pressing pressure matches the preset pressure range corresponding to the tissue to be operated on, use the detection probe to collect ultrasound imaging data and / or shear wave elastography data of the tissue to be operated on and other surrounding tissues, and determine the operating parameters when operating on the tissue to be operated on based on the collected data.

[0073] Specifically, ultrasound imaging data may include B-mode ultrasound imaging data and color Doppler ultrasound imaging data. Those skilled in the art can acquire ultrasound imaging data and / or shear wave elastography data based on the foregoing, which will not be elaborated upon here.

[0074] This embodiment achieves pressure quality control by collecting data only when the actual pressure is within a stable range. This means that data collection is based on the same standard, resulting in good consistency of the collected data. Consequently, the operating parameters obtained are stable and accurate, avoiding significant differences in operating parameters due to different operators.

[0075] In some embodiments, the method further includes: during the pressing of the ultrasound head onto the skin surface, acquiring quasi-static elastography data of the tissue to be manipulated using a detection probe. Determining the operating parameters for manipulating the tissue based on the acquired data includes: determining the operating parameters for manipulating the tissue based on at least one of ultrasound imaging data, shear wave elastography data, and quasi-static elastography data.

[0076] Specifically, when the ultrasound probe is pressed against the skin surface corresponding to the tissue to be manipulated, a pressure sensor detects the pressure. If the pressure does not match a preset pressure range, the probe is controlled to press down or lift up to adjust the pressure to match the preset range. During the pressing or lifting motion, the probe emits an ultrasound signal and receives the corresponding echo signal. Based on the received echo signal, at least one quasi-static elastography image of the tissue to be manipulated and surrounding tissues can be generated. Because the quasi-static elastography image contains information about quasi-static elastography parameters, quasi-static elastography data of the tissue to be manipulated and surrounding tissues can be obtained from it.

[0077] In this embodiment, taking into account the imaging characteristics of quasi-static elastography, quasi-static elastography data is collected simultaneously with pressure adjustment during the pressure adjustment stage of shear wave elastography. This ingenious design allows for the collection of multiple types of elastography data in a single detection process. On the one hand, it achieves efficient data acquisition; on the other hand, one or more of the collected imaging data can be used to determine the operational parameters of the tissue to be operated on, thus providing a more multi-dimensional way to determine operational parameters and further improving the accuracy of the determined operational parameters.

[0078] In some embodiments, the operation on the tissue to be operated includes a rotary cutting operation, and the operation parameters may include the rotary cutting force and / or the rotary cutting start position when performing the rotary cutting operation on the tissue to be operated.

[0079] In some embodiments, the operation on the organization to be operated on includes a marking operation, and the operation parameters may include the target location for marking the organization to be operated on and / or the number of tag clips required when marking the organization to be operated on.

[0080] Next, taking the determination of the shearing force as an example, we will explain in detail how to determine the operating parameters when operating on the tissue to be operated on based on the ultrasound imaging data and / or shear wave elastography data of the tissue to be operated on and other tissues around the tissue to be operated on.

[0081] Please see Figure 3 When determining the rotary cutting force for performing a rotary cutting operation on the tissue to be operated on based on the collected data, the following steps may be included:

[0082] Step S31: Determine the softness / hardness distribution data of the tissue to be operated on based on ultrasound imaging data and / or shear wave elastography data, wherein the softness / hardness distribution data characterizes the softness / hardness at different locations of the tissue to be operated on.

[0083] Optionally, the density distribution information and / or material composition distribution information of the tissue to be operated on can be determined based on ultrasound imaging data. The material composition distribution information indicates the constituent substances and their content at different locations within the tissue to be operated on; these constituent substances can be proteins, water, etc. The density distribution information indicates the density at different locations within the tissue to be operated on. Those skilled in the art can obtain the density distribution information and / or material composition distribution information of the tissue to be operated on based on ultrasound imaging data using existing methods, which will not be elaborated upon here.

[0084] Optionally, based on shear wave elastography data, the absolute elastic distribution information of the tissue to be operated on can be obtained. This absolute elastic distribution information represents the absolute elasticity at different locations within the tissue. Absolute elasticity is a type of elasticity, which can be represented by the elastic modulus, shear wave velocity, or other parameters obtainable from shear wave elastography data; no specific limitation is imposed.

[0085] Optionally, the hardness distribution data can be determined based on at least one of density distribution information, material composition distribution information, and absolute elasticity distribution information.

[0086] Elasticity, material composition, and density can all reflect or affect the softness or hardness of a tissue. Therefore, the softness or hardness distribution data of the tissue to be operated on can be determined based on at least one of density distribution information, material composition distribution information, and absolute elasticity distribution information.

[0087] When determining the hardness distribution data based on multiple pieces of information, including density distribution, material composition distribution, and absolute elasticity distribution, in some embodiments, the hardness at the same location of the tissue to be operated on is fused and calculated to obtain the hardness at that location. This method can be used to obtain the hardness at different locations of the tissue to be operated on, thus yielding the hardness distribution data. There are various methods for fusion calculation, such as weighted summation of multiple pieces of information at the same location. In some embodiments, multiple pieces of information, including density distribution, material composition distribution, and absolute elasticity distribution, can be input into a trained model, which then calculates and outputs the hardness distribution data of the tissue to be operated on.

[0088] Alternatively, shear wave elastography data and ultrasound imaging data can be directly input into the trained model, which will then calculate and output the softness and hardness distribution data of the tissue to be operated on.

[0089] In some embodiments, when the hardness distribution data of the tissue to be operated on is determined solely based on shear wave elastography data, the result of absolute elasticity distribution information is used as the hardness distribution data of the tissue to be operated on; when the hardness distribution data of the tissue to be operated on is determined solely based on ultrasound imaging data, the density distribution information or the material composition distribution information is used as the hardness distribution data of the tissue to be operated on.

[0090] Step S32: Based on the hardness distribution data, determine the rotary cutting force when rotary cutting the tissue at different locations of the tissue to be operated.

[0091] Specifically, different cutting forces can be applied to different degrees of tissue hardness. That is, when cutting tissue at different locations, the cutting force can be determined based on the hardness of that location. The specific cutting force can be obtained from a preset correspondence between hardness and cutting force. The cutting force corresponding to different degrees of hardness can be set manually.

[0092] This embodiment enables the obtaining of more precise rotary cutting force, thereby improving the reliability of rotary cutting operations.

[0093] In some embodiments, determining the rotary cutting force when performing a rotary cutting operation on the tissue to be manipulated based on at least one of ultrasound imaging data, shear wave elastography data, and quasi-static elastography data may include the following steps:

[0094] Step S41: Determine the softness / hardness distribution data of the tissue to be operated on based on at least one of ultrasound imaging data, shear wave elastography data, and quasi-static elastography data, wherein the softness / hardness distribution data represents the softness / hardness of the tissue to be operated on at different locations.

[0095] Specifically, based on quasi-static elastography data, the relative elasticity at different locations of the tissue under operation can be obtained. This relative elasticity can be represented by strain, strain ratio, strain rate, or other parameters obtainable from quasi-static elastography data, without any specific limitation. Relative elasticity characterizes the elastic properties of the tissue at different locations when compared. For example, it indicates whether the elasticity at a certain location of the tissue is better or worse than that at other locations. Quasi-static elastography data assesses tissue elasticity from another dimension, and therefore can also be used to evaluate the stiffness or softness of the tissue.

[0096] In some embodiments, determining the hardness distribution data of the tissue to be manipulated based on ultrasound imaging data, shear wave elastography data, and quasi-static elastography data includes:

[0097] 1) Based on ultrasound imaging data, obtain density distribution information and / or material composition distribution information of the tissue to be operated on, wherein the density distribution information is used to represent the density at different locations of the tissue to be operated on, and the material composition distribution information is used to represent the material composition at different locations of the tissue to be operated on.

[0098] 2) Based on shear wave elastography data and quasi-static elastography data, the elastic distribution information of the tissue to be operated on is obtained, wherein the elastic distribution information is used to represent the elasticity at different locations of the tissue to be operated on.

[0099] Alternatively, the elasticity distribution information of the organization to be operated on can be obtained in the following two ways:

[0100] Method 1: Using shear wave elastography data, the absolute elasticity at different locations of the tissue to be operated on can be obtained. Using quasi-static elastography data, the relative elasticity at different locations of the tissue to be operated on can be obtained. By fusing the relative elasticity and absolute elasticity at the same location of the tissue to be operated on, the elasticity at that location can be obtained. In turn, the elasticity at each location of the tissue to be operated on can be obtained, thus obtaining the elasticity distribution information of the tissue to be operated on.

[0101] Method 2 involves inputting shear wave elastography data and quasi-static elastography data into a trained model, which then outputs the elastic distribution information of the tissue to be operated on.

[0102] 3) Determine the hardness distribution data based on at least one of the density distribution information, material composition distribution information, and elasticity distribution information.

[0103] The distribution data of softness and hardness can be determined by referring to the method described above, which will not be repeated here.

[0104] Step S42: Based on the hardness distribution data, determine the rotary cutting force when rotary cutting the tissue at different locations of the tissue to be operated.

[0105] In summary, in some embodiments of this application, when the sound head presses on the skin surface of the area where the tissue to be operated is located, and the pressing pressure transmitted by the drive shaft matches the preset pressure range, the ultrasound imaging data and / or shear wave elastography data of the tissue to be operated and other surrounding tissues are collected by the detection probe to determine the operating parameters when operating on the tissue to be operated.

[0106] In this application, compared to related technologies that rely on manual methods to determine operating parameters, the operating parameters determined based on ultrasound imaging data and / or shear wave elastography data are more accurate, thereby improving the accuracy of operations on the tissue to be operated on. Furthermore, by acquiring ultrasound imaging data and / or shear wave elastography data when the pressing pressure is within a preset pressure range, data acquisition is performed under the same standard, ensuring data consistency and guaranteeing the accuracy and stability of the obtained operating parameters even when different personnel are performing the operation.

[0107] Please see Figure 4 This is a schematic diagram of the functional modules of a parameter determination device based on a detection probe for determining tissue operation parameters, provided in one embodiment of this application. The parameter determination device includes:

[0108] The pressure detection module is used to detect the pressure transmitted to the pressure sensor by the drive shaft when the pressure head presses on the skin surface of the area where the tissue to be operated is located, and to obtain the pressing pressure; and

[0109] The operation module is used to acquire ultrasound imaging data and / or shear wave elastography data of the tissue to be operated and other surrounding tissues using a detection probe when the pressing pressure matches the preset pressure range corresponding to the tissue to be operated on, and to determine the operation parameters when operating on the tissue to be operated on based on the acquired data.

[0110] In some embodiments, the detection probe further includes an orientation sensor for detecting the rotation angle of the detection probe; the device further includes a pressure correction module for correcting the pressing pressure based on the rotation angle detected by the orientation sensor after the pressure detection module detects the pressing pressure.

[0111] In some embodiments, the device further includes a pressure adjustment module;

[0112] The pressure adjustment module is specifically used to: control the detection probe to lift or press down when the pressing pressure does not match the preset pressure range corresponding to the tissue to be operated on, so as to change the degree of contact between the probe and the skin surface and make the pressing pressure match the preset pressure range.

[0113] Please see Figure 5 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.

[0114] 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.

[0115] 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 probe, characterized in that, The detection probe includes a sound head, a drive shaft, a direction sensor, and a pressure sensor. The sound head and the pressure sensor are connected via the drive shaft. The direction sensor is used to detect the rotation angle of the detection probe. The method includes: When the pressure head presses against the skin surface of the area where the tissue to be operated is located, the pressure transmitted to the pressure sensor by the drive shaft is detected to obtain the pressing pressure. The pressing pressure is corrected based on the rotation angle detected by the orientation sensor. The rotation angle includes a first rotation angle and a second rotation angle. The first rotation angle represents the rotation angle of the detection probe along the Z-axis in the XY plane, and the second rotation angle represents the rotation angle of the detection probe along the X-axis in the YZ plane. The X-axis is the horizontal direction, the Y-axis is the vertical direction, and the Z-axis is the direction perpendicular to the XY plane. When the corrected pressing pressure matches the preset pressure range corresponding to the tissue to be operated on, the detection probe is used to collect ultrasound imaging data and / or shear wave elastography data of the tissue to be operated on and other surrounding tissues, and the operating parameters for operating on the tissue to be operated on are determined based on the collected data.

2. The method as described in claim 1, characterized in that, The method further includes: during the process of the sound head pressing on the skin surface, using the detection probe to collect quasi-static elastography data of the tissue to be operated on; Based on the collected data, the operation parameters for operating on the tissue to be operated on include: determining the operation parameters for operating on the tissue to be operated on based on at least one of 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 force; Based on at least one of the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, determine the operating parameters for operating on the tissue to be manipulated, including: Based on at least one of the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, determine the softness / hardness distribution data of the tissue to be operated on, wherein the softness / hardness distribution data represents the softness / hardness of the tissue to be operated on at different locations. Based on the softness and hardness distribution data, the rotary cutting force is determined when rotary cutting the tissue at different locations of the tissue to be operated on.

4. The method as described in claim 3, 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 force; Based on the ultrasound imaging data, the shear wave elastography data, and the quasi-static elastography data, the hardness distribution data of the tissue to be operated on is determined, including: Based on the ultrasound imaging data, density distribution information and / or material composition distribution information of the tissue to be operated on are obtained, wherein the density distribution information is used to represent the density at different locations of the tissue to be operated on, and the material composition distribution information is used to represent the material composition at different locations of the tissue to be operated on. Based on the shear wave elastography data and the quasi-static elastography data, the elastic distribution information of the tissue to be operated on is obtained, wherein the elastic distribution information is used to represent the elasticity of the tissue at different locations. The hardness distribution data is determined based on at least one of the density distribution information, the material composition distribution information, and the elasticity distribution information.

5. The method as described in claim 1, characterized in that, The method further includes: If the pressing pressure does not match the preset pressure range corresponding to the tissue to be operated on, the detection probe is controlled to lift or press down to change the degree of contact between the probe and the skin surface, so that the pressing pressure matches the preset pressure range.

6. The method as described in claim 1, 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 force; Based on the collected data, determine the operational parameters for performing operations on the tissue to be operated on, including: Based on the ultrasound imaging data and / or the shear wave elastography data, determine the softness / hardness distribution data of the tissue to be operated on, wherein the softness / hardness distribution data represents the softness / hardness of the tissue to be operated on at different locations; Based on the softness and hardness distribution data, the rotary cutting force is determined when rotary cutting the tissue at different locations of the tissue to be operated on.

7. The method as described in claim 6, characterized in that, Based on the ultrasound imaging data and / or the shear wave elastography data, determine the hardness distribution data of the tissue to be operated on, including: Based on the ultrasound imaging data, density distribution information and / or material composition distribution information of the tissue to be operated on are obtained, wherein the density distribution information is used to represent the density at different locations of the tissue to be operated on, and the material composition distribution information is used to represent the material composition at different locations of the tissue to be operated on. Based on the shear wave elastography data, the absolute elastic distribution information of the tissue to be operated on is obtained, wherein the absolute elastic distribution information is used to represent the absolute elasticity at different locations of the tissue to be operated on. The hardness distribution data is determined based on at least one of the density distribution information, the material composition distribution information, and the absolute elasticity distribution information.

8. A parameter determination device for determining tissue operation parameters based on a detection probe, characterized in that, The detection probe includes a sound head, a drive shaft, a direction sensor, and a pressure sensor. The sound head and the pressure sensor are connected via the drive shaft. The direction sensor is used to detect the rotation angle of the detection probe. The device includes: The pressure detection module is used to detect the pressure transmitted to the pressure sensor by the drive shaft when the sound head presses on the skin surface of the area where the tissue to be operated is located, and to obtain the pressing pressure. The pressing pressure is corrected based on the rotation angle detected by the orientation sensor. The rotation angle includes a first rotation angle and a second rotation angle. The first rotation angle represents the rotation angle of the detection probe along the Z-axis in the XY plane, and the second rotation angle represents the rotation angle of the detection probe along the X-axis in the YZ plane. The X-axis is the horizontal direction, the Y-axis is the vertical direction, and the Z-axis is the direction perpendicular to the XY plane. The operation module is used to acquire ultrasound imaging data and / or shear wave elastography data of the tissue to be operated and other surrounding tissues using the detection probe when the calibrated pressing pressure matches the preset pressure range corresponding to the tissue to be operated on, and to determine the operation parameters for operating on the tissue to be operated on based on the acquired data.

9. 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 7.

10. 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 7.

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