Phantoms and training methods for image fusion-guided prostate biopsy

Abstract

This invention discloses a phantom for image fusion-guided prostate biopsy, relating to the field of medical device technology. It can be used for repeated biopsy training, thereby saving on training costs. It includes: an outer shell with at least one puncture port; the interior of the shell is filled with a human model simulating the acoustic and mechanical properties of human tissue; the human model contains at least one rectal tube model and multiple lesion point cavities, with the positions of two lesion point cavities arranged so that they do not obstruct each other in any puncture direction; each lesion point cavity contains a lesion point model. This invention is applicable to prostate biopsy surgical training.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a phantom and training method for image fusion-guided prostate puncture. Background Technology

[0002] With the increasing incidence of prostate cancer, the demand for prostate cancer diagnosis and treatment is growing. Currently, prostate diagnosis mainly includes PSA-specific testing, imaging examinations, and biopsy, among which fine-needle aspiration biopsy is the current gold standard in clinical practice. Prostate fine-needle aspiration biopsy is the gold standard for diagnosing prostate cancer. It is generally performed under transrectal ultrasound guidance, using a fine-needle aspiration biopsy to obtain samples from suspicious areas of the prostate, and then using pathological analysis to make a diagnosis.

[0003] To improve the accuracy of puncture targeting, medical staff undergo prostate puncture training beforehand, and a phantom used to guide this training is essential. Currently, the phantoms used for guiding prostate puncture training have few implanted lesion models. Because these lesion models leave needle marks after puncture, affecting ultrasound imaging, they are generally discarded after the first puncture and cannot be used for multiple puncture training sessions. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a phantom and training method for image fusion-guided prostate puncture, which can be used for multiple puncture training sessions, thereby saving puncture training costs.

[0005] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0006] In a first aspect, embodiments of the present invention provide a phantom for image fusion-guided prostate puncture, comprising: an outer shell, wherein the outer shell is provided with at least one puncture port, and the interior of the outer shell is filled with a human model for simulating the acoustic and mechanical properties of human tissue. The human model is pre-set with at least one rectal tube model and multiple lesion point accommodating cavities, wherein the positions of two lesion point accommodating cavities are arranged without obstructing each other in any puncture direction, and each lesion point accommodating cavity is provided with a lesion point model.

[0007] Optionally, in the phantom for image fusion-guided prostate puncture, the outer shell is a cuboid structure, and puncture ports are provided on at least two surfaces of the outer shell. The lesion accommodating cavity is provided with multiple puncture ports corresponding to any one of the at least two surfaces.

[0008] Optionally, in the phantom for image fusion-guided prostate puncture, the outer shell has puncture ports on its six surfaces, and each puncture port has multiple lesion accommodating cavities.

[0009] Optionally, in the phantom for image fusion-guided prostate puncture, the rectal tube model is provided with multiple segments spaced vertically, which are staggered from the lesion accommodating cavity.

[0010] Optionally, in the phantom for image fusion-guided prostate puncture, at least one rectal tube model is arranged in a cross-shaped or T-shape, located on a surface inside the human model near the outer shell, and the cross-section of the at least one rectal tube model is parallel to the surface.

[0011] Optionally, in the phantom used for image fusion-guided prostate puncture, the lesion model is a spheroidal body.

[0012] Optionally, the phantom for image fusion-guided prostate puncture is mainly formed by the solidification of agar filled in a shell, and the acoustic and mechanical properties of the agar are similar to those of human tissue.

[0013] Optionally, the phantom used for image fusion-guided prostate puncture may have a lesion model primarily composed of silicone.

[0014] Optionally, the phantom for image fusion-guided prostate puncture has multiple size specifications for simulating lesions of different sizes in the human body.

[0015] Optionally, in the phantom for image fusion-guided prostate puncture, at least one surface of the outer shell is a structure that can switch between transparent, semi-transparent, and opaque states.

[0016] Optionally, the phantom for image fusion-guided prostate puncture, which can switch between transparent, semi-transparent and opaque states, includes a transparent plate with a light-shielding plate that can be partially or fully opened and closed on the surface of the transparent plate.

[0017] Optionally, in the phantom for image fusion-guided prostate puncture, at least two surfaces of the outer shell are openable and closable covers, which are disposed opposite to each other.

[0018] Secondly, embodiments of the present invention provide a training method for image fusion-guided prostate biopsy, comprising: providing a phantom, a puncture needle, a puncture template, and an ultrasound device; the phantom being a phantom for image fusion-guided prostate biopsy; fixing the phantom; and inserting the ultrasound probe of the ultrasound device into the human model by aligning it with one end of the rectal canal model; obtaining ultrasound images of the area within the human model where the lesion point model is located using the ultrasound probe; fusing the ultrasound images with previously acquired CT and / or MRI images of the phantom to obtain a composite image, the composite image containing the area within the human model where the lesion point model is located. The specific location coordinates are determined; based on the specific location coordinates of the lesion point model within the human body model contained in the synthetic image and the lesion point model in the first direction specified in the phantom for puncture training, a puncture navigation planning path is generated; the puncture template is installed on a puncture port on the outer shell of the phantom, and according to the puncture navigation planning path, a puncture needle is inserted through the corresponding puncture hole on the puncture template and inserted into the specified lesion point model within the human body model from the puncture port; after the puncture training of the lesion point model in the first direction is completed, the fixed orientation of the phantom is adjusted, and the above steps are repeated to perform puncture training based on the lesion point model in the second direction.

[0019] The phantom and training method for image fusion-guided prostate biopsy provided in this invention include a shell with at least one puncture port. The shell is filled with a human model simulating the acoustic and mechanical properties of human tissue. The human model contains at least one rectal tube model and multiple lesion point cavities. The positions of two lesion point cavities are mutually independent in any puncture direction, and each lesion point cavity contains a lesion point model. Because the positions of two lesion point cavities are mutually independent in any puncture direction, after training in one puncture direction is completed, training can continue in another puncture direction, allowing for multiple puncture training sessions and thus saving on puncture training costs. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of an architecture for an image fusion-guided prostate puncture provided as an embodiment of the present invention;

[0022] Figure 2A schematic diagram of a phantom for image fusion-guided prostate puncture provided as an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of an end view of a phantom for image fusion-guided prostate puncture provided as an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a phantom for image fusion-guided prostate puncture provided as an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of ultrasound images collected from a phantom for image fusion-guided prostate puncture, provided as an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of a phantom for image fusion-guided prostate biopsy using a live magnetic resonance t2 image obtained as an embodiment of the present invention;

[0027] Figure 7 A schematic diagram illustrating partial light-blocking of the outer shell of a phantom for image fusion-guided prostate puncture, provided as an embodiment of the present invention;

[0028] Figure 8 This is a schematic flowchart of a training method for image fusion-guided prostate biopsy provided as an embodiment of the present invention. Detailed Implementation

[0029] The following is a detailed description of a phantom and training method for image fusion-guided prostate puncture provided by the present invention, with reference to the accompanying drawings.

[0030] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] Example 1

[0032] See Figures 1 to 8 As shown, the phantom for image fusion-guided prostate puncture provided in this embodiment of the invention is mainly used in prostate puncture surgery and can be used for multiple puncture training, thereby saving puncture training costs.

[0033] like Figure 1 As shown, Figure 1This is a schematic diagram of an architecture for a phantom used for image fusion-guided prostate puncture, provided as an embodiment of the present invention. The phantom for image fusion-guided prostate puncture may include an outer shell 1, on which at least one puncture port is provided. The interior of the outer shell is filled with a human model for simulating the acoustic and mechanical properties of human tissue. The human model contains at least one rectal tube model 2 and multiple lesion point accommodating cavities. The positions of two lesion point accommodating cavities are arranged so as not to obstruct each other in any puncture direction. Each lesion point accommodating cavity contains a lesion point model 3.

[0034] The phantom for image fusion-guided prostate biopsy provided in this invention features a design where the cavities for the two lesion points are positioned so that they do not obstruct each other in any puncture direction. After training in one puncture direction is completed, training can continue in another direction, allowing for multiple puncture training sessions and thus saving on training costs. Furthermore, since multiple puncture training sessions can be performed on a single phantom without needing to change phantoms, puncture efficiency can be improved.

[0035] Understandably, this phantom can be used for medical teaching activities such as prostate biopsy and particle implantation. It allows beginners to more vividly understand the puncture location, needle direction, puncture depth, and puncture principles. By practicing multiple punctures on the model using different rectal directions and target balls, beginners gain practical experience for subsequent punctures, enabling them to transition to clinical procedures more quickly, economically, and effectively.

[0036] Furthermore, this phantom meets the accuracy and practicality requirements for human body model simulation, fusion-guided prostate targeted puncture imaging, and positioning navigation. It is an ideal phantom for verifying fusion-guided prostate targeted puncture guided surgery, chemotherapy particle implantation, and puncture biopsy. This invention features a self-designed scheme, optimized test materials and proportions, measured acoustic and mechanical parameters, and researched and prepared a human body model. Its sound velocity, sound attenuation, Young's modulus, Poisson's ratio, and ultrasound and MRI imaging quality basically meet practical requirements, and greatly improves the model's efficiency and extends its service life.

[0037] In some embodiments, the outer shell 1 has a cuboid structure, and at least two surfaces of the outer shell 1 are provided with puncture ports. The lesion point receiving cavity is provided with a plurality of puncture ports corresponding to any one of the at least two surfaces.

[0038] Specifically, the shape of the outer shell 1 is not limited; it can be a cuboid or a cube, or other shapes. The outer shell 1 can be made of transparent colorless acrylic plexiglass, the chemical name of which is polymethyl methacrylate.

[0039] In some embodiments, puncture ports are provided on six surfaces of the outer shell 1 respectively, and a plurality of lesion point accommodating cavities are correspondingly arranged for each puncture port. Among them, a lesion point model 3 is arranged in each lesion point accommodating cavity, and a plurality of spherical lesion point models 3 made of silicone are placed at designated positions in a shell filled with agar material, and the plurality of lesion point models 3 are visible by ultrasound, nuclear magnetic resonance imaging, and vision on six sides (and the rectum).

[0040] Exemplarily, the top cover plate and the bottom cover plate can be opened, each forming a puncture port. The outer shell 1 can be of a cuboid structure, with one to six side surfaces having rectangular windows, and these rectangular windows are the puncture ports. Among them, there is a puncture port opposite to the puncture port 11, and there is a puncture port opposite to the puncture port 12. In addition, there is also a puncture port opposite to the top puncture port.

[0041] In some embodiments, in order to increase the number of times the phantom is used, a plurality of rectal tube models 2 are provided at intervals up and down, and they are arranged错开 with the lesion point accommodating cavities.

[0042] Since the phantom material has unhealable damage after puncture practice and is a consumable. In this embodiment, by arranging the rectal tube models 2 at different positions and directions to simulate the rectum, in this way, the complete imaging of the target ball can be ensured from multiple directions. For example, 6 directions, 8 directions, or even more according to the number of set rectal tube models or the number of set puncture ports, so that the number of punctures of the phantom is increased by several times, and multiple repeated trainings can be carried out, saving costs and improving efficiency.

[0043] In some embodiments, at least one rectal tube model 2 is in a cross shape or a艹 shape structure, is arranged on a surface of the human body model close to the outer shell 1, and the cross section of the at least one rectal tube model 2 is parallel to this surface. Using different ultrasonic probes, ultrasonic data can be collected from four side windows, the top surface, and one group or multiple groups of艹 shaped or cross-shaped simulated rectums from top and bottom. Transrectal ultrasound imaging and puncture surgery training can be carried out from 4 side surfaces, such as Figure 2 and Figure 3 shown Figure 2 is a schematic side view of a phantom for image fusion-guided prostate puncture provided by an embodiment of the present invention. Figure 3 is a schematic end view of a phantom for image fusion-guided prostate puncture provided by an embodiment of the present invention.

[0044] Furthermore, as Figure 4 shown Figure 4This is a schematic diagram of a top view of a phantom for image fusion-guided prostate biopsy provided in an embodiment of the present invention. With the top and bottom covers opened, ultrasound imaging and biopsy training of the superficial thyroid and thymus can also be performed on the six sides of the cuboid. On the ultrasound and MRI images of the phantom, the lesion model 3 is clearly visible and does not obscure each other, which can be used for biopsy training. Figure 5 and Figure 6 As shown, Figure 5 This is a schematic diagram of an ultrasound image collected from a phantom for image fusion-guided prostate biopsy, provided as an embodiment of the present invention. Figure 6 This is a schematic diagram of a phantom for image fusion-guided prostate biopsy, provided as an embodiment of the present invention, of a MRI T2 image collected.

[0045] In some embodiments, the lesion model 3 is a spheroid.

[0046] In some embodiments, the human model is primarily formed by the solidification of agar filled in a shell, the acoustic and mechanical properties of which are similar to those of human tissue.

[0047] Specifically, compared to human soft tissue, agar gel exhibits slightly lower sound attenuation. Agar models are simple to fabricate, easy to shape, and possess mechanical and acoustic parameters similar to human tissue, making them suitable for creating simulated human tissue. The simulated human tissue material is formed by mixing, heating, stirring, degassing, and solidifying a water-based solid material. Through extensive experimental testing and comparison, the main acoustic parameters for developing the simulated human tissue material were determined. The agar model was created using a heating-dissolving method, with density and sound velocity adjusted by the amounts of water, glycerol, and agar. A stable alloy powder was used to adjust the attenuation coefficient, n-propanol was added to increase the sound velocity, and formaldehyde was added to raise the melting point. In this study, pale yellow powdered agar was dissolved in pure water at a predetermined mass ratio, with approximately 1% n-propanol solution added. After complete dissolution of the agar, the solution was removed for observation, allowed to stand for a period, and after the bubbles disappeared, the solution was poured into a mold. Simultaneously, pre-made silicone target spheres were placed in the designed positions. After the solution solidified, it was stored watertight in a 4°C refrigerator.

[0048] In some embodiments, the lesion model 3 is a spheroid mainly formed of silicone.

[0049] Specifically, compared to human soft tissue, silicone has a slightly higher sound velocity. Silicone models offer highly controllable shape, stable properties, and are easy to store, making them suitable for creating lesion models. The main components of a silicone model are silicone base and a crosslinking agent. The silicone base is pale yellow and can be dyed blue. The crosslinking agent is a colorless, transparent, and flowable liquid. These components are mixed in the required proportions, thoroughly stirred, and then poured into the lesion model mold. The lesion model is placed in a vacuum device to remove air bubbles and then allowed to solidify at room temperature. Silicone models are stable, easy to demold, and can be stored at room temperature.

[0050] In some embodiments, the lesion model 3 has multiple size specifications to simulate lesions of different sizes and shapes in the human body. During puncture training, punctures can be performed on different lesions. Furthermore, after puncture training in one puncture direction is completed, another puncture direction can be selected to continue puncture training, thus allowing for multiple puncture training sessions and saving puncture training costs.

[0051] In order to observe and test puncture training for different purposes, in some embodiments, the outer shell 1 has at least one surface that is a structure that can switch between transparent, semi-transparent and opaque states.

[0052] In some embodiments, a structure capable of switching between transparent, translucent, and opaque states includes: a transparent plate with a light-blocking plate that can be partially or fully opened on its surface. The presence of a partially or fully openable, opaque, watertight, or airtight shield outside the model can be used for observing and verifying puncture training for different purposes, such as... Figure 7 As shown, Figure 7 This is a schematic diagram illustrating a partial light-shielding mechanism for a phantom shell used for image fusion-guided prostate puncture, provided as an embodiment of the present invention.

[0053] In some embodiments, at least two surfaces of the housing are openable covers, which are disposed opposite to each other.

[0054] The phantom and training method for image fusion-guided prostate biopsy provided in this invention include a shell with at least one puncture port. The shell is filled with a human model simulating the acoustic and mechanical properties of human tissue. The human model contains at least one rectal tube model and multiple lesion point cavities. The positions of two lesion point cavities are mutually independent in any puncture direction, and each lesion point cavity contains a lesion point model. Because the positions of two lesion point cavities are mutually independent in any puncture direction, after training in one puncture direction is completed, training can continue in another puncture direction, allowing for multiple puncture training sessions and thus saving on puncture training costs.

[0055] Example 2

[0056] To highlight the innovative nature of this application, details will not be provided on technologies that are identical or similar to existing technologies. Instead, only the innovative aspects of this application or related technical features will be described in detail. Figure 8 A schematic flowchart of a training method for image fusion-guided prostate biopsy provided as an embodiment of the present invention is shown below. Figure 8 As shown, the method includes the ability to:

[0057] S01. Provide a phantom, a puncture needle, a puncture template, and a set of ultrasound equipment, wherein the phantom is a phantom for image fusion-guided prostate puncture;

[0058] S02. Fix the phantom and align the ultrasound probe of the ultrasound device with one end of the rectal tube model and insert it into the human body model.

[0059] S03. Ultrasound images of the internal region of the human body model where the lesion point model of the ultrasound probe is located;

[0060] S04. The ultrasound image is fused with the previously acquired CT (Computed Tomography) and / or MRI (Magnetic Resonance Imaging) images of the phantom to obtain a composite image, wherein the composite image contains the specific location coordinates of the lesion point model within the human model.

[0061] S05. Based on the specific location coordinates of the lesion point model within the human body model contained in the synthetic image and the lesion point model in the first direction of the phantom specified for puncture training, generate a puncture navigation planning path.

[0062] S06. The puncture template is installed on a puncture port on the outer shell of the human model. According to the puncture navigation planning path, the puncture needle is passed through the corresponding puncture hole on the puncture template and inserted into the designated lesion point model inside the human model from the puncture port.

[0063] S07. After the puncture training of the lesion point model in the first direction is completed, adjust the fixed orientation of the phantom and repeat the above steps to perform puncture training based on the lesion point model in the second direction. Multiple directions can be selected, so it can be used for multiple puncture training sessions, thereby saving puncture training costs.

[0064] The training method for image fusion-guided prostate puncture provided in this invention provides a phantom, a puncture needle, a puncture template, and an ultrasound device. The phantom is used for image fusion-guided prostate puncture. The method involves fixing the phantom, aligning the ultrasound probe of the ultrasound device with one end of the rectal canal model, and inserting it into the human model. Ultrasound images of the region within the human model containing the lesion point model are obtained using the ultrasound probe. These ultrasound images are then fused with previously acquired CT and / or MRI images of the phantom to obtain a composite image. The composite image contains the specific location coordinates of the lesion point model within the human model. The method is then used to train the prostate puncture based on the location coordinates of the lesion point model within the composite image. The specific location coordinates of the model within the human body model and the lesion point model in the first direction of the phantom designated for puncture training are used to generate a puncture navigation planning path. The puncture template is installed on a puncture port on the outer shell of the phantom. According to the puncture navigation planning path, the puncture needle is inserted through the corresponding puncture hole on the puncture template and punctured into the designated lesion point model within the human body model. Since the fixed orientation of the phantom is adjusted after the puncture training of the lesion point model in the first direction is completed, and the above steps are repeated, puncture training can also be performed based on the lesion point model in the second direction. Multiple directions can be selected, so it can be used for multiple puncture training, thereby saving puncture training costs.

[0065] It should be noted that the embodiments described in this paper have different focuses, but there is a certain interrelationship between the embodiments. When understanding the present invention, the embodiments can be referred to each other. In addition, in the embodiments of this application, when it is stated that a technical feature element is fixed on another technical feature element, it can be in direct contact with the surface of the other technical feature element, or it can be in indirect contact with another technical feature element in the middle.

[0066] Furthermore, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, 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 a process, method, article, or apparatus. Without further limitation, 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 said element.

[0067] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A phantom for image fusion-guided prostate puncture, characterized in that, include: The outer shell has at least one puncture port. The interior of the outer shell is filled with a human model for simulating the acoustic and mechanical properties of human tissue. The human model contains at least one rectal tube model and multiple lesion point cavities. The positions of two lesion point cavities are set so that they do not obstruct each other in any puncture direction. This is to allow for the selection of other puncture directions to continue puncture training after the puncture training in one puncture direction is completed. Each lesion point cavity contains a lesion point model. The human model is mainly formed by the solidification of agar filled in a shell, and the acoustic and mechanical properties of the agar are similar to those of human tissue. The rectal tube model is provided with multiple tubes spaced apart vertically, and is staggered from the lesion point accommodating cavity; The outer shell has puncture ports on at least two surfaces, and the lesion accommodating cavity is provided with multiple puncture ports on each of the at least two surfaces; at least one rectal tube model is in the shape of a cross or a grass-shaped structure, located inside the human body model near one surface of the outer shell, and the cross-section of the at least one rectal tube model is parallel to the surface.

2. The phantom for image fusion-guided prostate puncture according to claim 1, characterized in that, The shell has puncture ports on its six surfaces, and each puncture port corresponds to multiple lesion cavities.

3. The phantom for image fusion-guided prostate puncture according to claim 1, characterized in that, The lesion model is a spheroidal body.

4. The phantom for image fusion-guided prostate puncture according to claim 1, characterized in that, The lesion model is a spherical body mainly formed of silicone.

5. The phantom for image fusion-guided prostate puncture according to claim 4, characterized in that, The lesion model has multiple size specifications to simulate lesions of different sizes in the human body.

6. The phantom for image fusion-guided prostate puncture according to claim 1, characterized in that, The outer shell has at least one surface that can switch between transparent, semi-transparent and opaque states.

7. The phantom for image fusion-guided prostate puncture according to claim 6, characterized in that, The structure that can switch between transparent, semi-transparent and opaque states includes: a transparent plate, on the surface of which a light-shielding plate that can be partially or fully opened and closed is provided.

8. The phantom for image fusion-guided prostate puncture according to claim 1, characterized in that, The outer casing has at least two surfaces that are openable and closable covers, which are disposed opposite to each other.

9. A training method for image fusion-guided prostate biopsy, characterized in that, include: S01. Provide a phantom, a puncture needle, a puncture template, and a set of ultrasound equipment, wherein the phantom is the phantom for image fusion-guided prostate puncture as described in any one of claims 1 to 8; S02. Fix the phantom and align the ultrasound probe of the ultrasound device with one end of the rectal tube model and insert it into the human body model. S03. Ultrasound images of the internal region of the human body model where the lesion point model of the ultrasound probe is located; S04. The ultrasound image is fused with the previously acquired CT and / or MRI images of the phantom to obtain a composite image, wherein the composite image contains the specific location coordinates of the lesion point model within the human model. S05. Based on the specific location coordinates of the lesion point model within the human body model contained in the synthetic image and the lesion point model in the first direction of the phantom specified for puncture training, generate a puncture navigation planning path. S06. The puncture template is installed on a puncture port on the outer shell of the human model. According to the puncture navigation planning path, the puncture needle is passed through the corresponding puncture hole on the puncture template and inserted into the designated lesion point model inside the human model from the puncture port. S07. After the puncture training of the lesion point model in the first direction is completed, adjust the fixed position of the phantom and repeat the above steps S02 to S06 to perform puncture training based on the lesion point model in the second direction.

Images