Control method, evaluation method, device, and electronic device for tissue resection

Abstract

The application discloses a tissue resection control method and device, an evaluation method and device, and electronic equipment. The method comprises the following steps: controlling an ultrasonic detection probe to acquire ultrasonic detection information of target tissue, wherein the ultrasonic detection information comprises one or more of the position, size, shape and distribution information of a foreign body in the target tissue; controlling an elasticity detection probe to apply pressure to the target tissue, performing quasi-static elasticity imaging on the target tissue during the application of the pressure, and acquiring relative elasticity information of the foreign body in the target tissue; triggering shear wave excitation when the applied pressure meets a preset pressure condition, and tracking the propagation of the shear wave in the target tissue to perform shear wave elasticity imaging and acquire absolute elasticity information of the foreign body in the target tissue; controlling a color Doppler detection probe to detect blood supply information of the foreign body in the target tissue; generating rotary cutting operation information of a rotary cutter according to the ultrasonic detection information, the relative elasticity information, the absolute elasticity information and the blood supply information; wherein the rotary cutting operation information comprises rotary cutting strength and a rotary cutting path; and controlling the rotary cutter to resect the foreign body in the target tissue according to the rotary cutting operation information. The application solves the problem of low tissue resection accuracy in the related art, which may easily lead to recurrence.

Description

Technical Field

[0001] This application relates to the field of medical assistance, and more specifically, to a method, apparatus, storage medium, and electronic device for controlling tissue resection. Background Technology

[0002] Tissue biopsy is a minimally invasive treatment or biopsy of breast lumps (tumors) performed under ultrasound or mammography stereotactic guidance using a computer-controlled, vacuum-assisted, high-speed rotating breast excision device. Because it allows for minimally invasive breast resection under image guidance, it can remove breast abnormalities that are clinically impalpable or difficult to surgically remove, significantly improving the diagnostic accuracy of early breast cancer.

[0003] However, current image-guided techniques rely on traditional medical imaging methods such as ultrasound, magnetic resonance imaging (MRI), and computed tomography (CT), which often suffer from low accuracy. Furthermore, the manual control and manipulation during resection based on the imaging results in low accuracy and a high risk of recurrence if the resection is incomplete.

[0004] There is an urgent need to provide an effective solution to the problems of low tissue resection accuracy and easy recurrence in related technologies. Summary of the Invention

[0005] The main objective of this application is to provide a method, device, storage medium, and electronic device for controlling tissue resection, so as to solve the problems of low tissue resection accuracy and easy recurrence in related technologies.

[0006] To achieve the above objectives, according to one aspect of this application, a method for controlling tissue resection is provided, comprising: controlling an ultrasound detection probe to acquire ultrasound detection information of a target tissue, the ultrasound detection information including one or more of the location, size, shape, and distribution information of a foreign object in the target tissue; controlling an elasticity detection probe to apply pressure to the target tissue, and performing quasi-static elastic imaging on the target tissue during the pressure application process to obtain relative elasticity information of the foreign object in the target tissue; triggering shear wave excitation when the applied pressure meets a preset pressure condition, and tracking the propagation of the shear wave in the target tissue to perform shear wave elastic imaging to obtain absolute elasticity information of the foreign object in the target tissue; controlling a color Doppler detection probe to detect the blood supply information of the foreign object in the target tissue; generating rotary cutting operation information of a rotary cutter based on the ultrasound detection information, the relative elasticity information, the absolute elasticity information, and the blood supply information; wherein the rotary cutting operation information includes rotary cutting force and rotary cutting path; and controlling the rotary cutter to resection the foreign object in the target tissue based on the rotary cutting operation information.

[0007] Optionally, it also includes: after the excision is completed, controlling the confocal microscope head to detect the cutting edge of the target tissue to confirm whether the foreign body has been completely removed.

[0008] Optionally, before the controlled ultrasound detection probe acquires ultrasound detection information of the target tissue, the method further includes: determining the cutting type information of the target tissue, wherein the cutting type information includes the organ where the tissue is located and the purpose of the resection; and determining cutting parameters based on the cutting type information, wherein the cutting parameters include the diameter of the cutting blade and the working distance.

[0009] Optionally, after the ultrasonic detection probe acquires the ultrasonic detection information of the target tissue, the method further includes: controlling the confocal microscope head to perform confocal imaging at the location of the foreign object to determine the boundary information of the foreign object; and when generating the rotary cutting operation information of the rotary cutter, the boundary information of the foreign object is also used to determine the rotary cutting path.

[0010] Optionally, the step of performing quasi-static elastography on the target tissue during the application of pressure to obtain the relative elasticity information of the foreign body in the target tissue includes: controlling the elastic detection probe to emit ultrasonic signals and collecting ultrasonic echo signals while controlling the elastic detection probe to perform downward and / or upward movements, thereby generating one or more quasi-static elastography images of the target tissue; and calculating the relative elasticity information of the foreign body in the target tissue based on the quasi-static elastography images.

[0011] To achieve the above objectives, according to another aspect of this application, a method for evaluating tissue resection is provided, characterized by comprising: fixing the resected excised tissue in a transparent gel-like material and maintaining the preservation temperature within a first temperature range; controlling an ultrasonic testing probe to acquire ultrasonic testing information of the excised tissue; controlling an elasticity testing probe to apply pressure to the excised tissue, performing quasi-static elastic imaging on the excised tissue during the pressure application process to obtain relative elasticity information of the excised tissue; and triggering shear wave excitation when the applied pressure meets a preset pressure condition, and tracking the propagation of the shear wave in the excised tissue to perform shear wave elastic imaging to obtain absolute elasticity information of the excised tissue; and evaluating the characteristics of the excised tissue based on the ultrasonic testing information, the relative elasticity information, and the absolute elasticity information.

[0012] Optionally, the step of evaluating the characteristics of the isolated tissue based on ultrasonic detection information, relative elasticity information, and absolute elasticity information includes: determining regions in the isolated tissue whose hardness exceeds a preset condition based on the relative elasticity information and the absolute elasticity information; determining the texture feature distribution of regions in the isolated tissue whose hardness exceeds the preset condition based on the ultrasonic detection information, thereby evaluating the calcification status of the isolated tissue.

[0013] To achieve the above objectives, according to another aspect of this application, a control device for tissue resection is provided, comprising: an ultrasound detection module for acquiring ultrasound detection information of a target tissue, the ultrasound detection information including one or more of the location, size, shape, and distribution information of a foreign object in the target tissue; an elasticity detection module for applying pressure to the target tissue, performing quasi-static elastic imaging on the target tissue during the pressure application process to obtain relative elasticity information of the foreign object in the target tissue; and triggering shear wave excitation when the applied pressure meets a preset pressure condition, and tracking the propagation of the shear wave in the target tissue to perform shear wave elastic imaging to obtain absolute elasticity information of the foreign object in the target tissue; a blood supply detection module for acquiring color Doppler detection information in the target tissue to detect the blood supply information of the foreign object; a setting module for generating rotary cutting operation information of a rotary cutter based on the ultrasound detection information, the relative elasticity information, the absolute elasticity information, and the blood supply information; wherein the rotary cutting operation information includes rotary cutting force and rotary cutting path; and a resection module for controlling the rotary cutter to resection the foreign object in the target tissue according to the rotary cutting operation information.

[0014] To achieve the above objectives, according to another aspect of this application, a tissue resection evaluation device is provided, comprising: a preservation module for fixing the resected excised tissue in a transparent gel, maintaining the preservation temperature within a first temperature range; an ultrasound detection module for acquiring ultrasound detection information of the excised tissue; an elasticity detection module for applying pressure to the excised tissue, performing quasi-static elastic imaging on the excised tissue during the pressure application process to obtain relative elasticity information of the excised tissue; and triggering shear wave excitation when the applied pressure meets a preset pressure condition, and tracking the propagation of the shear wave in the excised tissue to perform shear wave elastic imaging to obtain absolute elasticity information of the excised tissue; and an evaluation module for evaluating the characteristics of the excised tissue based on the ultrasound detection information, the relative elasticity information, and the absolute elasticity information.

[0015] To achieve the above objectives, according to another aspect of this application, a computer-readable storage medium is provided for storing a program, wherein the program executes the tissue resection control method or the tissue resection evaluation method described in any one of the preceding claims.

[0016] To achieve the above objectives, according to another aspect of this application, an electronic device is provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the tissue resection control method or the tissue resection evaluation method described in any one of the above-described methods.

[0017] This application acquires ultrasound information of the target tissue by controlling an ultrasound detection probe, applies pressure to the target tissue by controlling an elasticity detection probe, performs quasi-static elastic imaging on the target tissue during pressure application to obtain the relative elasticity information of the foreign body in the target tissue, and triggers shear wave excitation when the applied pressure meets a preset pressure condition, and tracks the propagation of the shear wave in the target tissue to perform shear wave elastic imaging to obtain the absolute elasticity information of the foreign body in the target tissue. Then, it controls a color Doppler detection probe to detect the blood supply information of the foreign body in the target tissue, and generates rotary cutting operation information for a rotary cutter based on the ultrasound detection information, relative elasticity information, absolute elasticity information, and blood supply information, and controls the rotary cutter to remove the foreign body in the target tissue according to the rotary cutting operation information. This achieves accurate identification of the target tissue using ultrasound detection information, relative elasticity information, absolute elasticity information, and blood supply information, and controls the rotary cutter to remove it, thereby improving the accuracy of target tissue removal and solving the problems of low tissue removal accuracy and easy recurrence in related technologies. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a flowchart of a tissue resection control method provided according to an embodiment of this application;

[0020] Figure 2 This is a flowchart of an evaluation method for tissue resection provided according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of a tissue resection control device according to an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of an evaluation device for tissue resection provided according to an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] The present invention will now be described in conjunction with preferred implementation steps. Figure 1 This is a flowchart of a tissue resection control method provided according to an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps:

[0028] Step S101: Control the ultrasonic detection probe to acquire ultrasonic detection information of the target tissue. The ultrasonic detection information includes one or more of the location, size, shape, and distribution information of the foreign object in the target tissue.

[0029] Step S102: Control the elasticity detection probe to apply pressure to the target tissue, perform quasi-static elastic imaging on the target tissue during the pressure application process to obtain the relative elasticity information of the foreign body in the target tissue; and trigger shear wave excitation when the applied pressure meets the preset pressure condition, and track the propagation of the shear wave in the target tissue to perform shear wave elastic imaging to obtain the absolute elasticity information of the foreign body in the target tissue.

[0030] Step S103: Control the color Doppler detection probe to detect the blood supply information of foreign objects in the target tissue;

[0031] Step S104: Generate rotary cutting operation information for the rotary cutter based on ultrasound detection information, relative elasticity information, absolute elasticity information, and blood supply information; wherein, the rotary cutting operation information includes rotary cutting force and rotary cutting path;

[0032] Step S105: Control the rotary cutting blade to remove foreign objects from the target tissue according to the rotary cutting operation information.

[0033] The above steps involve controlling an ultrasound probe to acquire ultrasound information of the target tissue, controlling an elasticity probe to apply pressure to the target tissue, performing quasi-static elastic imaging during pressure application to obtain the relative elasticity information of the foreign body in the target tissue, and triggering shear wave excitation when the applied pressure meets a preset pressure condition, and tracking the propagation of the shear wave in the target tissue to perform shear wave elastic imaging to obtain the absolute elasticity information of the foreign body in the target tissue. Then, a color Doppler probe is controlled to detect the blood supply information of the foreign body in the target tissue. Based on the ultrasound information, relative elasticity information, absolute elasticity information, and blood supply information, rotary cutting operation information is generated, and the rotary cutting blade is controlled to remove the foreign body from the target tissue according to the rotary cutting operation information. This achieves accurate identification of the target tissue using ultrasound information, relative elasticity information, absolute elasticity information, and blood supply information, and controls the rotary cutting blade to remove it, thereby improving the accuracy of target tissue removal and solving the problems of low tissue removal accuracy and easy recurrence in related technologies.

[0034] The entity performing the above steps can be a tissue resection system, which may include a computer terminal. The computer terminal includes data processing devices such as processors, calculators, or controllers to perform data processing operations in the above steps, such as steps S101-S105.

[0035] Ultrasound imaging of target tissue can be performed using ultrasound equipment. By recognizing the ultrasound images, the target area containing foreign objects within the tissue can be determined, along with information such as location, size, shape, and distribution. Specifically, a trained recognition model can be used to identify the ultrasound images. The model outputs whether a foreign object exists in the ultrasound image, and if so, the target area containing the foreign object, along with its location, size, shape, and distribution information.

[0036] However, ultrasound images often only reveal structural differences between tissues and cannot provide other information about foreign objects. In some cases, they may not even be able to effectively and accurately detect the presence of foreign objects. Therefore, this embodiment uses a shear wave probe to acquire shear wave imaging images of the target tissue, thereby obtaining the absolute elastic information of the foreign object. Specifically, during operation, while controlling the elasticity detection probe to apply pressure to the target tissue and adjusting the pressure, quasi-static elastic imaging can also be performed on the target tissue to obtain the relative elastic information of the foreign object. When the applied pressure meets a preset pressure condition, shear wave excitation is triggered, and the propagation of the shear wave in the target tissue is tracked to perform shear wave elastic imaging and obtain the absolute elastic information of the foreign object in the target tissue. Thus, in a single shear wave imaging process, both absolute and relative elastic information can be obtained, enabling a more accurate assessment of the elasticity of the foreign object.

[0037] To more accurately guide surgical procedures, a color Doppler ultrasound probe is used to detect the blood supply information of the foreign body in the target tissue, resulting in Doppler blood supply imaging images. Based on these images, the location, contours, and blood flow velocity of blood vessels within the target tissue can be analyzed.

[0038] The rotary cutting operation information is generated based on ultrasound detection information, relative elasticity information, absolute elasticity information, and blood supply information. This information includes cutting force and cutting path. The ultrasound detection information obtains morphological information of the foreign body in the target tissue; the relative and absolute elasticity information determine the hardness of the foreign body; and the blood supply information determines the location, contour, and blood flow velocity of blood vessels at the foreign body site. This information is then used to determine the cutting path and cutting force, ensuring the efficiency and accuracy of the rotary cutting operation.

[0039] Then, based on the determined rotary cutting parameters, the rotary cutter is controlled to extend into the target tissue at the location where resection is required. After the rotary cutter reaches the aforementioned position, the resection operation is performed along the boundary of the area to be removed.

[0040] Optionally, after the excision is completed, the confocal microscope head is controlled to inspect the cut edge of the target tissue to confirm whether the foreign body has been completely removed.

[0041] During and after the excision process using a rotary cutter, the cutting edge of the target tissue can be detected using a confocal microscope. Specifically, the confocal microscope can be positioned to the area of ​​the target tissue that needs to be excised, and confocal microscopic imaging can be performed. The confocal microscopic images are then analyzed and identified to determine whether the area of ​​the target tissue that needs to be excised has been completely removed.

[0042] Once the area requiring removal has been completely excised, confirm that the target tissue has been completely removed. If the area requiring removal has not been completely removed, control the rotary cutter to re-excise the remaining areas until the target tissue is completely removed.

[0043] Optionally, before controlling the ultrasound detection probe to acquire ultrasound detection information of the target tissue, the method further includes: determining the cutting type information of the target tissue, wherein the cutting type information includes the organ where the tissue is located and the purpose of the resection; and determining the cutting parameters based on the cutting type information, wherein the cutting parameters include the diameter of the cutting blade and the working distance.

[0044] For example, in breast tumor resection, the diameter of the rotary cutting blade is 8 mm ± 5 mm; the maximum working distance can be up to 50 mm; in breast tumor biopsy, the diameter of the rotary cutting blade is 6 mm ± 5 mm; the maximum working distance can be up to 40 mm; in thyroid tumor biopsy, the diameter of the rotary cutting blade is 5 mm ± 3 mm; the maximum working distance can be up to 40 mm; and in lymph node biopsy, the diameter of the rotary cutting blade is 4 mm ± 4 mm; the maximum working distance can be up to 30 mm.

[0045] Optionally, after controlling the ultrasonic testing probe to acquire the ultrasonic testing information of the target tissue, the method further includes: controlling the confocal microscope head to perform confocal microscopic imaging at the position of the foreign object to determine the boundary information of the foreign object; and when generating the rotary cutting operation information of the rotary cutter, the boundary information of the foreign object is also used to determine the rotary cutting path.

[0046] The aforementioned foreign body can be a lesion, that is, the site within the target tissue that needs to be removed. When determining the boundary of the foreign body, employing high-precision confocal microscopy helps to further improve the positioning accuracy. Specifically, the confocal microscope head is controlled to perform confocal microscopy imaging at the location of the foreign body, thereby determining more precise foreign body boundary information. Simultaneously, the aforementioned ultrasound detection information, relative elasticity information, absolute elasticity information, and blood supply information are integrated to generate rotary cutting operation information for the rotary cutter. This further enhances the precision of the rotary cutting operation information, thereby improving the accuracy of the rotary cutting.

[0047] Optionally, quasi-static elastography is performed on the target tissue during the application of pressure to obtain the relative elasticity information of the foreign body in the target tissue, including: controlling the elastic detection probe to emit ultrasonic signals and collecting ultrasonic echo signals when controlling the elastic detection probe to perform downward and / or upward movements, thereby generating one or more quasi-static elastography images of the target tissue; and calculating the relative elasticity information of the foreign body in the target tissue based on the quasi-static elastography images.

[0048] In shear wave imaging, the shear wave probe is controlled to press down or lift the tissue or organ, measuring the strain distribution at various locations. This allows for quasi-static imaging, generating a quasi-static elastography image for that location. Based on one or more quasi-static elastography images from various locations, a three-dimensional quasi-static elastography image is generated. This is used to subsequently determine the elasticity information of each tissue or organ.

[0049] When the shear wave probe contacts the tissue or organ, pressure data is continuously collected by a pressure sensor; when the pressure data reaches a certain position corresponding to a preset pressure, the strain distribution information at that position is collected; by moving the shear wave probe to press down or lift the tissue or organ, the strain distribution information of the tissue or organ at each position is determined.

[0050] During the process of pressing down or raising a shear wave probe to detect the strain distribution information of tissues and organs at various locations, it is necessary to constantly monitor the pressure information through a pressure sensor on the shear wave probe. This is to adapt to appropriate pressure for different tissues and organs, preventing pressure injury to normal tissues and avoiding severe pain in the subject being tested. Furthermore, only under a certain pressure will tissues and organs exhibit strain distribution, thus allowing for the effective acquisition of strain distribution information and the generation of corresponding static elastography images.

[0051] Figure 2 This is a flowchart of an evaluation method for tissue resection according to an embodiment of this application, such as... Figure 2 As shown, in order to achieve the above objectives, according to another aspect of this application, a method for evaluating tissue resection is provided, comprising the following steps:

[0052] Step S201: Fix the excised tissue in a transparent gel and maintain the preservation temperature within a first temperature range.

[0053] Step S202: Control the ultrasonic testing probe to acquire ultrasonic testing information of the ex vivo tissue;

[0054] Step S203: Control the elasticity detection probe to apply pressure to the isolated tissue, perform quasi-static elastic imaging on the isolated tissue during the pressure application process to obtain the relative elasticity information of the isolated tissue; and trigger shear wave excitation when the applied pressure meets the preset pressure condition, and track the propagation of shear wave in the isolated tissue to perform shear wave elastic imaging to obtain the absolute elasticity information of the isolated tissue.

[0055] Step S204: Evaluate the properties of the isolated tissue based on ultrasound detection information, relative elasticity information, and absolute elasticity information.

[0056] The above steps involve fixing the excised tissue in a transparent gel-like material, maintaining the preservation temperature within a first temperature range, controlling an ultrasonic testing probe to acquire ultrasonic information of the excised tissue, controlling an elasticity testing probe to apply pressure to the excised tissue, performing quasi-static elastic imaging during pressure application to obtain relative elasticity information of the excised tissue, and triggering shear wave excitation when the applied pressure meets a preset pressure condition, tracking the propagation of the shear wave in the excised tissue to perform shear wave elastic imaging to obtain absolute elasticity information of the excised tissue. The characteristics of the excised tissue are then evaluated based on the ultrasonic testing information, relative elasticity information, and absolute elasticity information. This achieves the goal of using ultrasonic testing information, relative elasticity information, and absolute elasticity information to detect excised tissue, assess whether the excised tissue is a foreign body that needs to be removed, thereby improving the accuracy of target tissue resection and solving the problems of low tissue resection accuracy and easy recurrence in related technologies.

[0057] The entity performing the above steps can be a tissue resection system, which may include a computer terminal. The computer terminal includes data processing devices such as processors, calculators, or controllers to perform data processing operations in the above steps, such as steps S201-S204.

[0058] The aforementioned transparent gelatinous material can be agar or gelatin. The aforementioned ultrasound detection information can be ultrasound images, such as B-mode ultrasound images, and may also include quantitative parameters based on B-mode ultrasound and / or its raw radiofrequency data. The ultrasound detection information includes the location, size, shape, and distribution information of the foreign body in the target tissue.

[0059] The aforementioned characteristics of the ex vivo tissue are also known as the property information of the ex vivo tissue, including whether the ex vivo tissue has calcification, the hardness information of the ex vivo tissue, and the distribution of tissues with different hardness.

[0060] Optionally, assessing the characteristics of the ex vivo tissue based on ultrasound detection information, relative elasticity information, and absolute elasticity information includes: identifying regions in the ex vivo tissue whose hardness exceeds a preset condition based on the relative elasticity information and absolute elasticity information; and determining the texture feature distribution of these regions based on ultrasound detection information to assess the calcification status of the ex vivo tissue. For example, if the texture feature distribution of regions in the ex vivo tissue whose hardness exceeds a preset range meets the criteria of a banded distribution, then the region is determined to be a region where significant calcifications or nodules or other serious lesions may occur.

[0061] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0062] It should be noted that this application also provides an optional implementation method, which will be described in detail below.

[0063] This embodiment provides a targeted tissue resection system that can accurately guide surgical procedures and assess surgical outcomes. It is suitable for pathological diagnosis and treatment assistance, helping operators understand the patient's condition and prevent postoperative recurrence. It solves the problems of conventional rotary resection, which relies mainly on ultrasound-guided puncture, making it difficult to judge the resection force and whether the tissue has been completely removed. Postoperative assessment is virtually nonexistent, and intraoperative and postoperative biopsies are required for confirmation, which is time-consuming and affects clinical treatment efficiency.

[0064] The aforementioned rotary cutting system can be designed with different rotary cutting blade diameters and working distances according to different application scenarios. For example, when used for breast tumor resection, the rotary cutting blade diameter is 8 mm ± 5 mm, and the maximum working distance can be up to 50 mm; when used for breast tumor biopsy, the rotary cutting blade diameter is 6 mm ± 5 mm, and the maximum working distance can be up to 40 mm; when used for thyroid tumor biopsy, the rotary cutting blade diameter is 5 mm ± 3 mm, and the maximum working distance can be up to 40 mm; when used for lymph node biopsy, the rotary cutting blade diameter is 4 mm ± 4 mm, and the maximum working distance can be up to 30 mm.

[0065] Based on ultrasound guidance, shear wave elastography assessment is added; shear wave elastography can also perform quasi-static elastography during pressure adjustment and positioning; the above imaging can be three-dimensional; the above three-dimensional imaging can be achieved by probe movement or by a two-dimensional array; when achieved by probe movement, the movement scanning range needs to be set according to the spatial location and size of the breast.

[0066] When the probe is moved, the movement interval should not exceed 1 cm. The aforementioned quasi-static elastography is achieved by obtaining data from the downward or upward pressure of the probe during the adjustment of pressure, thus obtaining information on tissue strain distribution. This information is used to determine the relative softness or hardness of the tissue. The aforementioned shear wave elastography is used to determine the absolute softness or hardness of the tissue. Based on the location, size, shape, and distribution of foreign objects in the tissue as seen by ultrasound imaging, the relative and absolute elasticity information of foreign objects in the tissue is determined by quasi-static elastography and shear wave elastography. The surgical location is then determined using the above information.

[0067] During the excision procedure: ultrasound imaging is used to view the location, size, shape, and distribution of the foreign body in the tissue; color Doppler ultrasound is used to view the blood supply information of the foreign body in the tissue; quasi-static elastography and shear wave elastography are used to determine the relative and absolute elasticity of the foreign body in the tissue; and the above information is used to comprehensively determine the required excision force and path, making the excision procedure more efficient.

[0068] During the excision procedure, the excised tissue can be further assessed by fixing it in agar or gelatin. The temperature during fixation should not exceed 50°C. After fixation, the isolated tissue can be subjected to ultrasound, quasi-static elastography, and static elastography at room temperature to determine its characteristics, which is helpful for clinical evaluation.

[0069] After the excision procedure, a marker clip is inserted to mark the surgical site (for immediate, short-term, or long-term follow-up). For each excision site, ultrasound imaging is used to view tissue information, and color Doppler ultrasound is used to view blood supply information. Quasi-static elastography and shear wave elastography are used to determine the relative and absolute elasticity of the site. All of this information is used to comprehensively assess whether edema, inflammation, residual lesions, or recurrence have occurred in the tissue at that site, making follow-up more efficient.

[0070] Pressure quality control issues: In shear wave elastography applications, measurement instability and susceptibility to operator interference are problems. Analysis shows that this influence is primarily due to pressure, leading to measurement instability and poor repeatability. To address these issues, this invention proposes the following solution:

[0071] During shear wave tracing, radio frequency (RF) data can be obtained directly or indirectly. The direct method involves directly acquiring the data, while the indirect method involves obtaining RF data after sampling using other data types (such as quadrature demodulation IQ or envelope).

[0072] This system employs a pressure feedback probe for pressure quality control, providing real-time feedback on the operator's pressure and limiting the operating pressure at different locations through prompts (indicator bars, indicator lights, beeping sounds, etc.). For example, the pressure range for the thyroid gland is 0N-2N; for the breast, it is 0.002N-5N; for the liver, it is 0.005N-15N; for the spleen, it is 0.01N-20N; and for muscles or other body surface areas, it is 0.001N-20N, etc.

[0073] It is compatible with automatic pressure adjustment and measurement systems, allowing for preset pressure settings based on the location. These preset pressures fall within the aforementioned pressure range and can be specifically set based on experience and actual needs. An automatic depressurization and repressurization device is included, with a high-sensitivity pressure sensor positioned at the contact surface with or behind the body. This sensor converts pressure into an electrical signal. Feedback from this signal indicates that depressurization or repressurization occurs before the preset pressure is reached, and stops when the preset pressure is reached ±0.01N. Shear wave elastography is then performed at this location. This shear wave elastography can be one-dimensional, two-dimensional, or three-dimensional.

[0074] Figure 3 This is a schematic diagram of a tissue resection control device according to an embodiment of this application, such as... Figure 3As shown, in order to achieve the above objectives, according to another aspect of this application, a tissue resection control device is provided, comprising: an ultrasound detection module 31, an elasticity detection module 32, a blood supply detection module 33, a setting module 34, and a resection module 35. The device will be described in detail below.

[0075] The ultrasonic testing module 31 is used to control the ultrasonic testing probe to acquire ultrasonic testing information of the target tissue. The ultrasonic testing information includes one or more of the location, size, shape, and distribution information of foreign objects in the target tissue. The elasticity testing module 32 is connected to the ultrasonic testing module 31 and is used to control the elasticity testing probe to apply pressure to the target tissue. During the pressure application process, quasi-static elastic imaging is performed on the target tissue to obtain the relative elasticity information of foreign objects in the target tissue. When the applied pressure meets the preset pressure condition, shear wave excitation is triggered, and the propagation of shear waves in the target tissue is tracked to perform shear wave elastic imaging. The system obtains the absolute elasticity information of the foreign body in the target tissue; the blood supply detection module 33, connected to the elasticity detection module 32, is used to control the color Doppler detection probe to detect the blood supply information of the foreign body in the target tissue; the setting module 34, connected to the blood supply detection module 33, is used to generate the rotary cutting operation information of the rotary cutting blade based on the ultrasound detection information, relative elasticity information, absolute elasticity information and blood supply information; wherein, the rotary cutting operation information includes the rotary cutting force and the rotary cutting path; the resection module 35, connected to the setting module 34, is used to control the rotary cutting blade to resection the foreign body in the target tissue based on the rotary cutting operation information.

[0076] The aforementioned tissue resection control device acquires ultrasound information of the target tissue by controlling an ultrasound detection probe, applies pressure to the target tissue by controlling an elasticity detection probe, performs quasi-static elastic imaging of the target tissue during pressure application to obtain the relative elasticity information of the foreign body in the target tissue, and triggers shear wave excitation when the applied pressure meets a preset pressure condition, and tracks the propagation of the shear wave in the target tissue to perform shear wave elastic imaging to obtain the absolute elasticity information of the foreign body in the target tissue. Then, it controls a color Doppler detection probe to detect the blood supply information of the foreign body in the target tissue, and generates rotary cutting operation information for the rotary cutter based on the ultrasound detection information, relative elasticity information, absolute elasticity information, and blood supply information. Based on the rotary cutting operation information, it controls the rotary cutter to remove the foreign body in the target tissue. This achieves accurate identification of the target tissue using ultrasound detection information, relative elasticity information, absolute elasticity information, and blood supply information, and controls the rotary cutter to remove it, thereby improving the accuracy of target tissue resection and solving the problems of low tissue resection accuracy and easy recurrence in existing technologies.

[0077] The tissue resection control device includes a processor and a memory. The ultrasound detection module 31, elasticity detection module 32, blood supply detection module 33, setting module 34, resection module 35, etc. are all stored in the memory as program units. The processor executes the program units stored in the memory to realize the corresponding functions.

[0078] Figure 4 This is a schematic diagram of an evaluation device for tissue resection according to an embodiment of this application, as shown below. Figure 4 As shown, in order to achieve the above objectives, according to another aspect of this application, a tissue resection assessment device is provided, comprising: a preservation module 41, an ultrasound detection module 42, an elasticity detection module 43, and an assessment module 44. The device will be described in detail below.

[0079] The storage module 41 is used to fix the excised tissue in a transparent gel, maintaining the storage temperature within a first temperature range; the ultrasound detection module 42, connected to the storage module 41, is used to control the ultrasound detection probe to acquire ultrasound detection information of the excised tissue; the elasticity detection module 43, connected to the ultrasound detection module 42, is used to control the elasticity detection probe to apply pressure to the excised tissue, perform quasi-static elastic imaging on the excised tissue during the pressure application process to obtain the relative elasticity information of the excised tissue; and trigger shear wave excitation when the applied pressure meets the preset pressure condition, and track the propagation of the shear wave in the excised tissue to perform shear wave elastic imaging to obtain the absolute elasticity information of the excised tissue; the evaluation module 44, connected to the elasticity detection module 43, is used to evaluate the characteristics of the excised tissue based on the ultrasound detection information, relative elasticity information, and absolute elasticity information.

[0080] The aforementioned tissue resection assessment device fixes the excised tissue in a transparent gel, maintaining it at a first temperature range. It controls an ultrasound probe to acquire ultrasound information from the excised tissue, and controls an elasticity probe to apply pressure to the excised tissue. During pressure application, quasi-static elastic imaging is performed to obtain the relative elasticity information of the excised tissue. Furthermore, when the applied pressure meets a preset pressure condition, shear wave excitation is triggered, and the propagation of the shear wave in the excised tissue is tracked to perform shear wave elastic imaging, obtaining the absolute elasticity information of the excised tissue. The characteristics of the excised tissue are assessed based on the ultrasound information, relative elasticity information, and absolute elasticity information. This device utilizes ultrasound information, relative elasticity information, absolute elasticity information, and blood supply information to detect excised tissue, assess whether the excised tissue is a foreign body requiring removal, thereby improving the accuracy of target tissue resection and solving the problems of low tissue resection accuracy and recurrence in related technologies.

[0081] The tissue resection assessment device includes a processor and a memory. The aforementioned storage module 41, ultrasound detection module 42, elasticity detection module 43, assessment module 44, etc., are all stored in the memory as program units. The processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0082] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured. By adjusting the kernel parameters, the problem of users being unable to determine compatibility with non-capacitive screen original capacitive pens in related technologies can be solved.

[0083] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0084] This invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the control method for tissue resection, or the tissue resection assessment method described above.

[0085] This invention provides a processor for running a program, wherein the program executes the control method for tissue resection or the tissue resection assessment method described above.

[0086] Figure 5 This is a schematic diagram of an electronic device provided according to an embodiment of this application, such as... Figure 5 As shown, this application embodiment provides an electronic device 50, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the above-described tissue resection control method:

[0087] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0088] This application also provides a computer program product that, when executed on a tissue resection control device, is adapted to execute a program that initializes any of the above-described method steps.

[0089] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable tissue resection control device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable tissue resection control device, generate instructions for implementing the process... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0091] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable tissue resection control device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable tissue resection control device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0093] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0094] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0095] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0096] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0097] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control device for tissue resection, characterized by, include: An ultrasonic testing module is used to acquire ultrasonic testing information of a target tissue, wherein the ultrasonic testing information includes one or more of the location, size, shape, and distribution information of foreign objects in the target tissue; The elasticity detection module is used to control the elasticity detection probe during shear wave elastic imaging. First, it controls the probe to apply pressure to the target tissue and provides real-time feedback on the applied pressure. Based on preset pressures for different target tissues, it limits the pressure range for each target tissue through prompts. When the applied pressure does not reach the preset pressure, it controls the probe to depress or lift to adjust. During the pressure application process, quasi-static elastic imaging is performed on the target tissue to obtain the relative elasticity information of the foreign object within the target tissue. This includes: controlling the probe to emit ultra-high-frequency waves at various positions while performing depressing and / or lifting actions. The system acquires ultrasonic echo signals to measure the strain distribution information of the target tissue at various locations, thereby performing quasi-static imaging to generate quasi-static elastic imaging images at each location. Based on one or more quasi-static elastic imaging images at each location, a three-dimensional quasi-static elastic imaging image is generated. The relative elastic information of the foreign object in the target tissue is calculated based on the three-dimensional quasi-static elastic imaging image. When the applied pressure meets a preset pressure condition, the elasticity detection probe is controlled to stop pressing down or lift up for adjustment, triggering shear wave excitation and tracking the propagation of the shear wave in the target tissue to perform shear wave elastic imaging and obtain the absolute elastic information of the foreign object in the target tissue. The blood supply detection module is used to acquire color Doppler detection information in the target tissue to detect the blood supply information of the foreign object. The setting module is used to generate rotary cutting operation information for the rotary cutter based on the ultrasound detection information, the relative elasticity information, the absolute elasticity information, and the blood supply information; wherein, the rotary cutting operation information includes rotary cutting force and rotary cutting path; The excision module is used to control the rotary cutter to remove foreign objects from the target tissue according to the rotary cutting operation information.

2. The apparatus of claim 1, wherein, Also used for: After the excision is completed, the confocal microscope head is controlled to inspect the cutting edge of the target tissue to confirm whether the foreign body has been completely removed.

3. The apparatus of claim 1, wherein, The device is also used for: Determine the cutting type information of the target tissue, wherein the cutting type information includes the organ where the tissue is located and the purpose of the resection; The rotary cutting parameters are determined based on the rotary cutting type information, wherein the rotary cutting parameters include the rotary cutting blade diameter and the working distance.

4. The apparatus of claim 2, wherein, The device is also used for: The confocal microscope head is controlled to perform confocal imaging at the location of the foreign object to determine the boundary information of the foreign object; When generating the rotary cutting operation information of the rotary cutter, the boundary information of the foreign object is also taken into account to determine the rotary cutting path.

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