Method and device for determining a tissue trephination path, and readable storage medium

Abstract

The application discloses a tissue rotary cutting path determination method and device and a readable storage medium. The tissue rotary cutting path determination method comprises the following steps: specifying a plurality of alternative starting positions at the edge of target tissue; for each alternative starting position, determining rotary cutting cost when reaching the alternative starting position from the skin surface at different angles, wherein the rotary cutting cost is used to represent the rotary cutting force required by the rotary cutter and / or the damage degree of the rotary cutter to the associated tissue when the rotary cutter passes through the associated tissue between the skin surface and the alternative starting position at different angles; and taking the alternative starting position and the angle corresponding to the minimum rotary cutting cost as the rotary cutting starting position and the puncture angle when the target tissue is rotary cut. The rotary cutting efficiency can be improved.

Description

Technical Field

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

[0002] With technological advancements, minimally invasive rotary biopsy can now be used to biopsies or perform minimally invasive treatments on human tissues (such as tumors, nodules, and benign lesions). Also known as vacuum-assisted fully automated minimally invasive rotary biopsy, this procedure involves making a small incision (a few millimeters) in the skin of the tissue's location. Under ultrasound guidance, a rotary biopsy blade is inserted through this incision to the tissue's location. The blade then cuts layer by layer, and negative pressure suction removes the tissue from the body, achieving the purpose of biopsy or minimally invasive treatment. Minimally invasive rotary biopsy offers advantages such as minimal trauma, inconspicuous scarring, and short operation time.

[0003] In minimally invasive rotary excision, a starting point for the excision is usually determined around the tissue, and then the tissue is excised sequentially from that point. Currently, this starting point cannot be automatically planned and must be manually planned by medical personnel during the procedure, which is time-consuming and affects excision efficiency. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, apparatus, device, and computer-readable storage medium for determining the tissue cutting path, which can improve cutting efficiency.

[0005] This invention provides a method for determining the path of tissue cutting, the method comprising:

[0006] Specify multiple alternative starting locations at the edge of the target organization;

[0007] For each candidate starting position, the cutting cost is determined when the blade reaches the candidate starting position from the skin surface at different angles. This cutting cost characterizes the cutting force required by the blade and / or the degree of damage to the associated tissue caused by the blade when it passes through the skin surface and the candidate starting position at various angles.

[0008] The alternative starting position and angle corresponding to the minimum rotary cutting cost are used as the rotary cutting starting position and puncture angle when rotary cutting the target tissue.

[0009] In some embodiments, determining the shearing cost at different angles from the skin surface to each of the candidate starting positions includes:

[0010] For each of the candidate starting positions, for any angle, obtain the softness and hardness distribution information and / or blood supply characteristic distribution information of the associated tissue in that angular direction, and determine the cutting cost when reaching the candidate starting position from the skin surface along that angle based on the softness and hardness distribution information and / or the blood supply characteristic distribution information of the associated tissue.

[0011] In some embodiments, determining the shearing cost from the skin surface along the angle to the alternative starting position based on the hardness distribution information includes:

[0012] Based on the softness and hardness distribution information, determine the required rotary cutting force to reach the alternative starting position from the skin surface along the angle.

[0013] The cost of cutting from the skin surface to the alternative starting position at that angle is determined based on the cutting force required to reach the alternative starting position at that angle.

[0014] In some embodiments, determining the shearing cost from the skin surface along the angle to the alternative starting position based on the blood supply characteristic distribution information includes:

[0015] Based on the blood supply characteristic distribution information, the degree of damage to the associated tissue when reaching the candidate starting position from the skin surface along the angle is determined;

[0016] The cost of rotary cutting when reaching the alternative starting position from the skin surface at that angle is determined based on the degree of damage to the associated tissue when reaching the alternative starting position at that angle.

[0017] In some embodiments, determining the shearing cost from the skin surface along the angle to the candidate starting position based on the hardness distribution information and the blood supply characteristic distribution information includes:

[0018] Based on the softness and hardness distribution information, determine the required rotary cutting force to reach the alternative starting position from the skin surface along the angle.

[0019] Based on the blood supply characteristic distribution information, the degree of damage to the associated tissue when reaching the candidate starting position from the skin surface along the angle is determined;

[0020] The cutting force and the degree of damage are combined and calculated to obtain the cutting cost when the skin surface reaches the alternative starting position along the angle.

[0021] In some embodiments, obtaining the hardness distribution information of associated organizations includes:

[0022] Obtain at least one of the elasticity distribution information, density distribution information, and composition distribution information of the associated tissue, wherein the elasticity distribution information indicates the elasticity of the associated tissue at different locations, the density distribution information indicates the density of the associated tissue at different locations, and the composition distribution information indicates the components and component content contained in the associated tissue at different locations;

[0023] The acquired distribution information is processed to obtain the softness / hardness distribution information.

[0024] In some embodiments, obtaining the elastic distribution information of the associated organization includes:

[0025] Obtain quasi-static elastic distribution information of the associated organization and / or obtain shear wave elastic distribution information of the associated organization, wherein the quasi-static elastic distribution information indicates the relative elasticity of the associated organization at different locations, and the shear wave elastic distribution information indicates the absolute elasticity of the associated organization at different locations;

[0026] The elastic distribution information of the associated tissue is obtained by using the quasi-static elastic distribution information and / or the shear wave elastic distribution information.

[0027] In some embodiments, when multiple identical minimum rotary cutting costs exist, the method further includes:

[0028] Determine the opening size when performing rotary cutting on the target tissue according to the alternative starting positions and angles corresponding to each minimum rotary cutting cost;

[0029] The alternative starting position and angle corresponding to the smallest opening are used as the starting position and puncture angle for rotary cutting of the target tissue.

[0030] In some embodiments, specifying multiple alternative starting locations at the edge of the target tissue includes:

[0031] Detect the edge contour of the target tissue;

[0032] If there is a protruding position on the edge contour, the top position of the protruding position is taken as the alternative starting position.

[0033] In some embodiments, when there are no protruding locations on the edge contour, specifying multiple alternative starting locations at the edge of the target tissue includes:

[0034] A candidate starting position is specified at preset intervals along the edge contour.

[0035] In another aspect, the present invention provides a device for determining the tissue cutting path, the device comprising:

[0036] The alternative location selection module is used to specify multiple alternative starting locations at the edge of the target organization;

[0037] A rotary cutting cost determination module is used to determine, for each candidate starting position, the rotary cutting cost when reaching the candidate starting position from the skin surface at different angles, wherein the rotary cutting cost characterizes the required rotary cutting force of the rotary cutting blade and / or the degree of damage to the associated tissue by the rotary cutting blade when it passes through the skin surface and the associated tissue between the candidate starting position at various angles; and

[0038] The rotary cutting position determination module is used to select the alternative starting position and angle corresponding to the minimum rotary cutting cost as the rotary cutting starting position and puncture angle when rotary cutting the target tissue.

[0039] 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.

[0040] 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.

[0041] In some embodiments of this application, by specifying multiple alternative starting positions at the edge of the target tissue and determining the cutting cost at different angles from the skin surface to each alternative starting position, the cutting starting position and puncture angle can be determined by comparing the cutting costs. Thus, medical personnel performing the cutting procedure no longer need to spend time manually determining the cutting starting position and puncture angle, thereby improving cutting efficiency. Attached Figure Description

[0042] 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:

[0043] Figure 1 A schematic diagram of a rotary cutter provided in one embodiment of this application is shown;

[0044] Figure 2 This illustration shows a puncture diagram of a rotary cutter provided in one embodiment of this application;

[0045] Figure 3 A flowchart illustrating a method for determining the tissue cutting path according to an embodiment of this application is shown.

[0046] Figure 4 A schematic diagram of the edge contour of a target tissue provided in one embodiment of this application is shown;

[0047] Figure 5 This illustration shows a flowchart of obtaining the hardness distribution of associated tissues according to an embodiment of this application;

[0048] Figure 6 A schematic diagram of the functional modules of a tissue cutting path determination device provided in one embodiment of this application is shown;

[0049] Figure 7 A schematic diagram of the structure of an electronic device provided in one embodiment of this application is shown. Detailed Implementation

[0050] 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.

[0051] Before describing the solution of this application, the principle of rotary cutting of the rotary cutter will be explained.

[0052] Please see Figure 1 This is a schematic diagram of a rotary cutter 100 provided in one embodiment of this application. Figure 1 In this design, the rotary cutter 100 includes a cutting groove 11. Under ultrasound guidance, after the rotary cutter 100 is inserted into the location of the target tissue, the target tissue can first be adsorbed into the cutting groove 11 using vacuum suction technology. Then, the target tissue within the cutting groove 11 is rotary-cut, and finally, the cut target tissue is transported outside the body. The target tissue includes, but is not limited to, tumor tissue, nodules, and benign lesions. Typically, because the rotary cutter 100 is relatively small, the cutting groove 11 cannot accommodate all the target tissue at once. Therefore, the cutting of the target tissue can be performed in multiple stages. That is, only a portion of the target tissue can be adsorbed into the cutting groove 11 for cutting each time.

[0053] The width X of the rotary cutting groove 11 can also be called the opening size. This opening size can be adjusted according to the width of the target tissue to be cut each time. For example, if the width of the target tissue to be cut is 1 cm during the first cut, the opening size of the rotary cutting blade 100 can be adjusted to 1 cm; if the width of the target tissue to be cut is 8 mm during the second cut, the opening size of the rotary cutting blade 100 can be adjusted to 8 mm. Of course, it is understandable that the opening size of the rotary cutting blade 100 can have a maximum limit. If the width of the target tissue to be cut exceeds this maximum limit, the cuts will be performed in multiple stages. For example, if the maximum allowable opening size of the rotary cutting blade 100 is 3 cm, and the width of the target tissue to be cut is 4 cm, then the target tissue needs to be cut in multiple stages.

[0054] As can be seen from the cutting principle of the rotary cutter 100, during rotary cutting surgery, the rotary cutter 100 first needs to puncture through the connecting tissue between the skin surface and the target tissue to reach the location of the target tissue. The connecting tissue refers to the tissue that the rotary cutter 100 needs to pass through to reach the target tissue from the skin surface. The connecting tissue punctured by the rotary cutter 100 differs depending on the puncture angle and the starting position of the rotary cut. The puncture angle refers to the puncture direction of the rotary cutter 100. The starting position of the rotary cut refers to the initial position when cutting the target tissue. Please refer to [link to details]. Figure 2 This is a schematic diagram of the puncture of a rotary cutter 100 provided in one embodiment of this application. Figure 2 In this process, when the target tissue 22 is positioned at position Q as the starting point for rotary cutting, the rotary cutting blade 100 can puncture from position C on the skin surface 21 along the CQ direction to reach the starting point Q, or it can puncture from position D on the skin surface 21 along the DQ direction to reach the starting point Q. When the target tissue 22 is positioned at position P as the starting point for rotary cutting, the rotary cutting blade 100 can puncture from position A on the skin surface 21 along the AP direction to reach the starting point P, or it can puncture from position B on the skin surface 21 along the BP direction to reach the starting point P. When puncturing along the CQ direction to reach the starting point Q, the associated tissue m1 is punctured; when puncturing along the DQ direction to reach the starting point Q, the associated tissue m2 is punctured; when puncturing along the AP direction to reach the starting point P, the associated tissue m3 is punctured; and when puncturing along the BP direction to reach the starting point P, the associated tissue m4 is punctured. Therefore, it can be seen that the puncture angle and the starting position of the rotary cutter 100 are different, and the related tissues punctured are different.

[0055] In rotary cutting surgery, the appropriate puncture angle and starting position for rotary cutting are determined by comprehensively considering both the puncture effect and the degree of damage to related tissues, so as to perform rotary cutting on the target tissue.

[0056] Specifically, the puncture effect refers to the cutting force required by the rotary cutter 100 to puncture the associated tissue. The cutting force is related to the power consumption required by the rotary cutter. A greater cutting force indicates a greater power consumption, and a smaller cutting force indicates a smaller power consumption. The hardness of the associated tissue varies, and the cutting force required by the rotary cutter 100 to puncture it differs accordingly. If the associated tissue is too hard, the puncture resistance of the rotary cutter 100 will be greater, and the power consumption will also be higher. Therefore, from the perspective of puncture effect, it is preferable to select associated tissues requiring a smaller cutting force. For example, suppose in… Figure 2 In the process, the hardness of the associated tissues m1, m2, m3, and m4 gradually decreases (i.e., associated tissue m1 is the hardest and associated tissue m4 is the softest). The rotary cutting force required to puncture through associated tissues m1, m2, m3, and m4 gradually decreases. Therefore, from the perspective of puncture effect, it is preferable to puncture through associated tissue m4, that is, to take the BP direction as the puncture angle and the position P as the starting position of rotary cutting.

[0057] The degree of damage to related tissues can be assessed by considering the impact of the damaged tissues on the human body. For example, assuming in Figure 2 In this study, the associated tissues m1, m2, and m4 contain major arteries, while the associated tissue m3 does not. Puncture through tissues m1, m2, and m4 could puncture a major artery, causing excessive blood loss and significant harm to the body. Puncture through tissue m3, however, would not puncture an artery and would have less impact. Therefore, from the perspective of minimizing damage to the associated tissues, puncture through tissue m3 is preferable, using the AP direction as the puncture angle and position P as the starting point for the rotary cutting.

[0058] Currently, in tissue resection surgery, the starting position and puncture angle cannot be automatically determined, requiring medical personnel to spend time making manual judgments, which affects resection efficiency. Therefore, this application provides a method for determining the tissue resection path, which can automatically plan the starting position and puncture angle, eliminating the need for medical personnel to spend time determining these parameters during the resection process, thereby improving resection efficiency. This method for determining the tissue resection path can be applied to electronic devices. The electronic device can be a medical device. Please refer to... Figure 3 This is a flowchart illustrating a method for determining the tissue cutting path according to an embodiment of this application. Figure 3 In this process, the method for determining the tissue cutting path includes the following steps:

[0059] Step S31: Specify multiple alternative starting locations at the edge of the target tissue.

[0060] Here, the alternative starting position can refer to the alternative position to the rotary cutting starting position. From multiple alternative starting positions, at least one rotary cutting starting position can be selected.

[0061] In some embodiments, the edge contour of the target tissue can be detected. If there are protruding locations on the edge contour, the top of the protrusion is used as a candidate starting location. Specifically, the edge contour of the target tissue can be extracted from the ultrasound imaging data of the target tissue. For easier understanding, please refer to... Figure 4 This is a schematic diagram of the edge contour of a target organization provided in one embodiment of this application. Figure 4 In the target tissue, positions A, B, C, D, E, and F are the top positions of the protrusions on the edge contour, and these positions can be used as alternative starting positions.

[0062] In some embodiments, when there are no protruding positions on the edge contour of the target tissue, an alternative starting position can be specified at preset distances on the edge contour. Specifically, the smaller the preset distance, the more alternative starting positions there are, the wider the selection range of the rotary cutting starting position, and the higher the accuracy of the finally selected rotary cutting starting position; while the larger the preset distance, the more effectively the number of alternative starting positions can be controlled, reducing the amount of calculation. Therefore, the preset distance can be specified according to the actual situation.

[0063] Step S32: For each candidate starting position, determine the rotary cutting cost when reaching the candidate starting position from the skin surface at different angles. The rotary cutting cost is used to characterize the rotary cutting force required by the rotary cutting blade and / or the degree of damage to the associated tissue by the rotary cutting blade when it passes through the associated tissue between the skin surface and the candidate starting position at various angles.

[0064] In this embodiment, the cost of rotary cutting can be evaluated based on the cutting force; the greater the required cutting force, the greater the cost. Alternatively, the cost can be evaluated based on the degree of damage; the greater the damage, the greater the cost. A comprehensive evaluation of both cutting force and damage degree can also be used to determine the cutting path. By comprehensively evaluating both factors, the determined cutting path can be more accurate.

[0065] Specifically, with Figure 2For example, assuming positions Q and P are candidate starting positions, determining the shearing cost at position Q when reaching the candidate starting position from the skin surface at different angles can be done by determining a first shearing cost at position Q when reaching the candidate starting position from the skin surface along the CQ direction, and a second shearing cost at position P when reaching the candidate starting position from the skin surface at different angles. Similarly, determining the shearing cost at position P when reaching the candidate starting position from the skin surface at different angles can be done by determining a third shearing cost at position P when reaching the candidate starting position from the skin surface along the AP direction, and a fourth shearing cost at position P when reaching the candidate starting position from the skin surface along the BP direction.

[0066] In some embodiments, since the cost of rotary cutting is comprehensively evaluated from both the cutting force and the degree of damage, the cost of rotary cutting when reaching the candidate starting position from the skin surface at different angles is determined for each candidate starting position, which may include:

[0067] For each candidate starting position, for any angle, the distribution information of the softness / hardness and blood supply characteristics of the associated tissue along that angle direction is acquired. Based on the softness / hardness and blood supply characteristics distribution information, the shearing cost from the skin surface along that angle to the candidate starting position is determined. The softness / hardness distribution information can be used to characterize the softness / hardness at different locations of the associated tissue. The blood supply characteristics distribution information is used to characterize the blood supply information at different locations of the associated tissue, such as vessel size, vessel density, blood flow velocity, and blood flow velocity gradient. The process of acquiring the softness / hardness and blood supply characteristics information will be described in subsequent sections and will not be repeated here.

[0068] Optionally, the shearing cost when reaching the alternative starting position from the skin surface along that angle can be obtained by fusing and calculating the distribution information of softness and hardness and the distribution information of blood supply characteristics obtained at the same angle.

[0069] See Figure 2Taking the acquisition of softness / hardness distribution information and blood supply characteristic distribution information as an example, for position Q, determining the first shearing cost when reaching the candidate starting position from the skin surface along the CQ direction involves acquiring the softness / hardness distribution information and blood supply characteristic distribution information of the associated tissue m1, and fusing these information to obtain the first shearing cost. Similarly, determining the second shearing cost when reaching the candidate starting position from the skin surface along the DQ direction involves acquiring the softness / hardness distribution information and blood supply characteristic distribution information of the associated tissue m2, and fusing these information to obtain the second shearing cost. Following a similar principle, the third shearing cost when reaching position P from the skin surface along the AP direction, and the fourth shearing cost when reaching position P from the skin surface along the BP direction, can be obtained.

[0070] In some embodiments, for each candidate starting position and for any angle, the required shearing force to reach the candidate starting position from the skin surface along that angle can be determined based on the hardness distribution information; the degree of damage to the human body when reaching the candidate starting position from the skin surface along that angle can be determined based on the blood supply characteristic distribution information. Finally, the shearing force and the degree of damage are fused and calculated to obtain the shearing cost when reaching the candidate starting position from the skin surface along that angle.

[0071] Specifically, there can be a correlation between the degree of softness and hardness and the cutting force. Thus, based on the information on the distribution of softness and hardness, the required cutting force to reach the candidate starting position from the skin surface at that angle can be determined. Similarly, there can be a correlation between blood supply characteristics and the degree of damage. Thus, based on the information on the distribution of blood supply characteristics, the degree of damage to the human body when reaching the candidate starting position from the skin surface at that angle can be determined.

[0072] The shearing cost obtained from the fusion calculation can be numerical. For any candidate starting position at any angle, the larger the value of the shearing cost, the less suitable it is to reach the candidate starting position from the skin surface at that angle after comprehensive evaluation from the aspects of shearing force and damage to related tissues. That is, there may be problems of excessive shearing force and excessive damage to related tissues.

[0073] by Figure 2For example, suppose the first shearing cost when reaching position Q from the skin surface along the CQ direction is 3, the second shearing cost when reaching position Q from the skin surface along the DQ direction is 5, the third shearing cost when reaching position P from the skin surface along the AP direction is 7, and the fourth shearing cost when reaching position P from the skin surface along the BP direction is 4. Then, according to the shearing cost, it can be known that when shearing, reaching position Q from the skin surface along the CQ direction is the most suitable, while reaching position P from the skin surface along the AP direction is the least suitable.

[0074] In other embodiments, if the cost of rotary cutting is evaluated using cutting force or damage level, determining the cost of rotary cutting from the skin surface at different angles to each candidate starting position may include:

[0075] For each candidate starting position, for any angle, obtain the softness and hardness distribution information or blood supply characteristic distribution information of the associated tissue in that angle direction, and determine the cutting cost when reaching the candidate starting position from the skin surface along that angle based on the softness and hardness distribution information or blood supply characteristic distribution information of the associated tissue.

[0076] If the shearing force is used to assess the shearing cost, the shearing cost is determined based on the softness and hardness distribution information of the associated tissue. Specifically, based on the softness and hardness distribution information, the shearing force required to reach the candidate starting position from the skin surface at that angle is determined; and based on the shearing force required to reach the candidate starting position at that angle, the shearing cost from the skin surface at that angle is determined. Related explanations can be found in the above descriptions and will not be repeated here.

[0077] In some embodiments, the cutting force can be used as the cutting cost. The greater the cutting force, the greater the cutting cost, and the greater the cutting cost, the more unsuitable it is to select the alternative starting position from the skin surface at that angle for the cutting operation.

[0078] If the degree of damage is used to assess the cost of rotary cutting, the cost is determined based on the blood supply characteristics of the associated tissue. Specifically, based on the blood supply characteristics, the degree of damage to the associated tissue when reaching the candidate starting position from the skin surface at that angle is determined; based on the degree of damage to the associated tissue when reaching the candidate starting position at that angle, the cost of rotary cutting when reaching the candidate starting position from the skin surface at that angle is determined. Related explanations can be found in the above descriptions and will not be repeated here.

[0079] In some embodiments, the degree of damage to the associated tissue can be used as the cost of rotary cutting. The greater the degree of damage, the greater the cost of rotary cutting. The greater the cost of rotary cutting, the more unsuitable it is to select the alternative starting position from the skin surface at that angle for rotary cutting.

[0080] Step S33: The candidate starting position and angle corresponding to the minimum cutting cost are used as the starting position and puncture angle for cutting the target tissue. Specifically, the candidate starting position corresponding to the minimum cutting cost is used as the starting position for cutting the target tissue, and the angle corresponding to the minimum cutting cost is used as the puncture angle for cutting the target tissue.

[0081] In some embodiments, the minimum cutting cost can refer to the minimum cutting cost, that is, the alternative starting position and angle corresponding to the minimum cutting cost are the most suitable for use as the cutting starting position and puncture angle during cutting.

[0082] In summary, in the technical solutions of some embodiments of this application, by specifying multiple alternative starting positions at the edge of the target tissue and determining the cutting cost when reaching each alternative starting position from the skin surface at different angles, the cutting starting position and puncture angle for cutting the target tissue can be determined by comparing the cutting costs. Thus, medical personnel performing the cutting procedure no longer need to spend time manually judging the cutting starting position and puncture angle, thereby improving cutting efficiency. Furthermore, since the determined cutting starting position and puncture angle are appropriate, the quality of the cutting procedure can also be improved.

[0083] Furthermore, in some embodiments, when multiple identical minimum cutting costs exist, the opening size for cutting the target tissue according to the alternative starting positions and angles corresponding to each minimum cutting cost can be determined, and the alternative starting positions and angles corresponding to the minimum openings can be used as the cutting starting positions and puncture angles for cutting the target tissue. That is, the alternative starting positions corresponding to the minimum openings are used as the cutting starting positions for cutting the target tissue, and the angles corresponding to the minimum openings are used as the puncture angles for cutting the target tissue.

[0084] by Figure 2 For example, suppose the cost of the first rotary cutting when reaching position Q from the skin surface along the CQ direction is the same as the cost of the third rotary cutting when reaching position P from the skin surface along the AP direction. However, if the opening size for rotary cutting the target tissue after reaching position Q from the skin surface along the CQ direction is 1.5 cm, and the opening size for rotary cutting the target tissue after reaching position P from the skin surface along the AP direction is 2 cm, then position Q and the CQ direction can be used as the starting position and puncture angle for rotary cutting the target tissue. This can reduce the wound size when rotary cutting the target tissue.

[0085] The following explains how to obtain information on the hardness and softness distribution of related organizations.

[0086] In some embodiments, please refer to Figure 5This is a schematic diagram of a process for obtaining information on the hardness distribution of associated organizations according to an embodiment of this application. Figure 5 In this process, obtaining information on the distribution of hardness and softness of related organizations includes the following steps:

[0087] Step S51: Obtain at least one of the following: elasticity distribution information, density distribution information, and composition distribution information of the associated tissue. The elasticity distribution information indicates the elasticity of the associated tissue at different locations; the density distribution information indicates the density of the associated tissue at different locations; and the composition distribution information indicates the components and their contents contained in the associated tissue at different locations. Further, the components may represent the constituent substances of the associated tissue, and the component content may represent the content of the constituent substances.

[0088] In some embodiments, obtaining the elasticity distribution information of associated organizations includes:

[0089] 1) Obtain quasi-static elastic distribution information and / or shear wave elastic distribution information of the associated structure. The quasi-static elastic distribution information indicates the relative elasticity of the associated structure at different locations, while the shear wave elastic distribution information indicates the absolute elasticity of the associated structure at different locations. Specifically, the relative elasticity of the associated structure at different locations can refer to the elastic characteristics of the associated structure after comparing the elasticity at different locations. For example, the elasticity at location A of the associated structure is better or worse than the elasticity at other locations. The absolute elasticity information of the associated structure at different locations can refer to the elastic modulus at each location of the associated structure. Quasi-static elastic distribution information of the associated structure can be obtained by performing quasi-static elastic imaging, where the quasi-static elastic distribution information can be the distribution information of parameters such as strain, strain rate, and strain ratio; shear wave elastic distribution information of the associated structure can be obtained by performing shear wave elastic imaging, where the shear wave elastic distribution information can be the distribution information of parameters such as shear wave velocity and elastic modulus.

[0090] 2) Obtain the elastic distribution information of the associated tissue by using quasi-static elastic distribution information and / or shear wave elastic distribution information.

[0091] If the elastic distribution information of the associated tissue is obtained based on quasi-static elastic distribution information or shear wave elastic distribution information, it can be directly used as the elastic distribution information of the associated tissue. If the elastic distribution information of the associated tissue is obtained based on both quasi-static elastic distribution information and shear wave elastic distribution information, the static elastic distribution information and shear wave elastic distribution information can be input into a trained elastic model. The elastic model will then fuse and calculate the quasi-static elastic distribution information and shear wave elastic distribution information to output the elastic distribution information of the associated tissue.

[0092] In some embodiments, obtaining density distribution information and composition distribution information of the associated tissue includes: emitting ultrasonic waves to the associated tissue and receiving echo signals of the ultrasonic waves; obtaining density distribution information and composition distribution information of the associated tissue based on the echo signals.

[0093] Step S52: Process the acquired at least one distribution information to obtain softness / hardness distribution information.

[0094] Specifically, when obtaining two or more types of distribution information, the obtained multiple distribution information can be fused and calculated to obtain the softness and hardness distribution information of the associated organization.

[0095] The following example illustrates how to obtain the softness / hardness distribution information of related tissues, using elasticity distribution information, density distribution information, and composition distribution information as examples. The elasticity distribution information, density distribution information, and composition distribution information are input into a trained fusion model. The fusion model then performs calculations to fuse these three information, yielding the softness / hardness distribution information of the related tissues.

[0096] The fusion model can perform fusion calculations on the elasticity distribution information, composition distribution information, and density distribution information according to the respective weights of elasticity, composition, and density, to obtain the softness and hardness distribution information of the related tissues.

[0097] In this embodiment, the fusion model can be trained using machine learning methods. The weights of elasticity, composition, and compactness can be obtained by inputting training data and its annotation information into the fusion model, which will then learn the values.

[0098] In some embodiments of this application, when generating the softness and hardness distribution information of the associated tissue, the elasticity, composition and density of the associated tissue at various locations are comprehensively considered, resulting in more accurate softness and hardness distribution information, which in turn makes the obtained rotary cutting starting position and puncture angle more accurate.

[0099] The following explains how to obtain blood supply characteristics and distribution information of related tissues.

[0100] In some embodiments, the blood supply characteristics and distribution information of the associated tissue can be obtained based on color Doppler ultrasound imaging data of the associated tissue. Those skilled in the art can use various techniques to obtain color Doppler ultrasound imaging data, which will not be elaborated upon here.

[0101] Please see Figure 6 This is a functional module diagram of a tissue cutting path determination device provided in one embodiment of this application. The tissue cutting path determination device includes:

[0102] The alternative location selection module is used to specify multiple alternative starting locations at the edge of the target organization;

[0103] The rotary cutting cost determination module is used to determine, for each candidate starting position, the rotary cutting cost when reaching the candidate starting position from the skin surface at different angles. The rotary cutting cost characterizes the required rotary cutting force of the rotary cutter and / or the degree of damage to the associated tissue by the rotary cutter when it passes through the skin surface and the candidate starting position at various angles.

[0104] The rotary cutting position determination module is used to select the alternative starting position and angle corresponding to the minimum rotary cutting cost as the rotary cutting starting position and puncture angle when rotary cutting the target tissue.

[0105] Please see Figure 7 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 the tissue cutting path.

[0106] The processor can be a central processing unit (CPU). It can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.

[0107] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the embodiments of this invention. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the methods described in the above embodiments.

[0108] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0109] 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 the tissue cutting path.

[0110] 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 the path of tissue rotary cutting, characterized in that, The method includes: Specify multiple alternative starting locations at the edge of the target organization; For each candidate starting position, the cutting cost is determined when the blade reaches the candidate starting position from the skin surface at different angles. This cutting cost characterizes the cutting force required by the blade and the degree of damage to the associated tissue caused by the blade when it passes through the skin surface and the candidate starting position at various angles. The alternative starting position and angle corresponding to the minimum rotary cutting cost are used as the rotary cutting starting position and puncture angle when rotary cutting the target tissue. Specifically, determining the cutting cost at which the skin surface reaches the candidate starting position at different angles for each candidate starting position includes: For each of the candidate starting positions, for any angle, obtain the softness and hardness distribution information and blood supply characteristic distribution information of the associated tissues in that angle direction; Based on the softness and hardness distribution information, determine the required rotary cutting force to reach the alternative starting position from the skin surface along the angle; Based on the blood supply characteristic distribution information, determine the degree of damage to the associated tissue when reaching the alternative starting position from the skin surface at the angle; The cost of cutting from the skin surface to the alternative starting position at that angle is determined based on the cutting force required to reach the alternative starting position along that angle and the degree of damage to the associated tissue.

2. The method as described in claim 1, characterized in that, The step of determining the cutting cost from the skin surface along the angle to the candidate starting position based on the hardness distribution information and the blood supply characteristic distribution information includes: Based on the softness and hardness distribution information, determine the required rotary cutting force to reach the alternative starting position from the skin surface along the angle. Based on the blood supply characteristic distribution information, the degree of damage to the associated tissue when reaching the candidate starting position from the skin surface along the angle is determined; The cutting force and the degree of damage are combined and calculated to obtain the cutting cost when the skin surface reaches the alternative starting position along the angle.

3. The method as described in claim 1, characterized in that, Obtain information on the hardness and softness distribution of related organizations, including: Obtain at least one of the elasticity distribution information, density distribution information, and composition distribution information of the associated tissue, wherein the elasticity distribution information indicates the elasticity of the associated tissue at different locations, the density distribution information indicates the density of the associated tissue at different locations, and the composition distribution information indicates the components and component content contained in the associated tissue at different locations; The acquired distribution information is processed to obtain the softness / hardness distribution information.

4. The method as described in claim 3, characterized in that, Obtaining the elastic distribution information of the associated organizations includes: Obtain quasi-static elastic distribution information of the associated organization and / or obtain shear wave elastic distribution information of the associated organization, wherein the quasi-static elastic distribution information indicates the relative elasticity of the associated organization at different locations, and the shear wave elastic distribution information indicates the absolute elasticity of the associated organization at different locations; The elastic distribution information of the associated tissue is obtained by using the quasi-static elastic distribution information and / or the shear wave elastic distribution information.

5. The method as described in claim 1, characterized in that, In the case where multiple identical minimum rotary cutting costs exist, the method further includes: Determine the opening size when performing rotary cutting on the target tissue according to the alternative starting positions and angles corresponding to each minimum rotary cutting cost; The alternative starting position and angle corresponding to the smallest opening are used as the starting position and puncture angle for rotary cutting of the target tissue.

6. The method as described in claim 1, characterized in that, The specification of multiple alternative starting locations at the edge of the target tissue includes: Detect the edge contour of the target tissue; If there is a protruding position on the edge contour, the top position of the protruding position is taken as the alternative starting position.

7. The method as described in claim 6, characterized in that, In the absence of any protrusions in the edge contour, specifying multiple alternative starting locations at the edge of the target tissue includes: A candidate starting position is specified at preset intervals along the edge contour.

8. A device for determining the path of tissue rotary cutting, characterized in that, The device includes: The alternative location selection module is used to specify multiple alternative starting locations at the edge of the target organization; A rotary cutting cost determination module is used to determine, for each candidate starting position, the rotary cutting cost when reaching the candidate starting position from the skin surface at different angles, wherein the rotary cutting cost characterizes the required rotary cutting force of the rotary cutting blade and / or the degree of damage to the associated tissue by the rotary cutting blade when it passes through the skin surface and the associated tissue between the candidate starting position at various angles; and The rotary cutting position determination module is used to select the candidate starting position and angle corresponding to the minimum rotary cutting cost as the rotary cutting starting position and puncture angle when rotary cutting the target tissue. The rotary cutting cost determination module is specifically used for: For each candidate starting position, for any angle, acquire the softness / hardness distribution information and blood supply characteristic distribution information of the associated tissue in that angular direction; based on the softness / hardness distribution information, determine the required rotary cutting force to reach the candidate starting position from the skin surface along that angle; based on the blood supply characteristic distribution information, determine the degree of damage to the associated tissue when reaching the candidate starting position from the skin surface along that angle; based on the required rotary cutting force and the degree of damage to the associated tissue when reaching the candidate starting position from the skin surface along that angle, determine the rotary cutting cost when reaching the candidate starting position from the skin surface along that angle.

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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