Puncture template calibration method, device, electronic device and computer-readable storage medium

Abstract

The present invention discloses a puncture template calibration method, device, electronic device and computer-readable storage medium, including: S1, fixing the puncture template with an ultrasonic probe to obtain the position of the puncture needle punctured on the puncture template; S2, obtaining a three-dimensional ultrasonic image through ultrasonic probe scanning, and obtaining the position of the puncture needle in the axial plane image; S3, calculating the rotational transformation and translational transformation between the puncture template and the axial plane image based on S1 and S2, and calculating the offset between the axis of the ultrasonic probe and the assembly center of the puncture template and the deflection angle between the scanning zero plane of the ultrasonic probe and the center line of the puncture template. The present invention can accurately calculate the positional offset between the axis of the ultrasonic probe and the assembly center of the puncture template, as well as the deflection angle between the scanning zero plane of the ultrasonic probe and the center line of the puncture template, thereby correcting the position on the puncture template and improving the puncture accuracy of the puncture device.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic detection technology, and in particular to a puncture template calibration method, device, electronic equipment and computer-readable storage medium. Background Art

[0002] Prostate cancer, a common malignant tumor originating from the prostate, is the most common cause of cancer death in men over 75 years old and has gradually become a major health issue affecting middle-aged and elderly men. Early screening, diagnosis, and treatment of prostate cancer are effective methods for improving survival rates in cancer patients. Prostate biopsy, which involves obtaining a prostate tissue specimen and subsequent pathological examination, is the gold standard for prostate cancer diagnosis and screening.

[0003] Prostate puncture can be divided into two types: transrectal puncture and transperineal puncture according to different puncture methods. Among them, transperineal puncture is increasingly being adopted due to its low risk of infection, few complications, and low missed detection rate. In transperineal puncture surgery, the side-firing rotary rectal scanning ultrasound probe 1 is driven by an axial motor 12 to rotate the ultrasound sensor for scanning. Figure 1 As shown, after obtaining the 2D ultrasound image sequence A, three-dimensional (3D) volume data reconstruction is performed to obtain a three-dimensional (3D) ultrasound image B. Then, the 3D ultrasound image B is combined with the puncture template 2 fixed on the ultrasound probe 1, as shown in FIG. Figure 3 As shown, a transperineal prostate puncture procedure that is convenient, fast, and has a relatively high puncture accuracy can be achieved.

[0004] However, the puncture accuracy of the aforementioned puncture methods is often affected by the following two factors:

[0005] 1. The error between the rotation axis of the motor 12 of the side-firing rotary rectal scanning ultrasound probe 1 and the assembly center O1 of the puncture template 2 (i.e., the center point of the assembly hole 21 on the puncture template 2) in the x and y directions causes the actual puncture hole position on the puncture template 2 to deviate from the theoretically calculated puncture hole position in the x and y directions, as shown in FIG. Figure 4 As shown;

[0006] 2. The side-firing rotary rectal ultrasound probe 1 generally uses the zero position of the motor 12 as the reference point, and the scanning plane here is the scanning zero plane P2. Then, with this as the center, the same degree is extended to the left and right to form a scanning range, such as Figure 5 As shown. During scanning, the scan is performed from the left boundary angle to the right boundary angle, and the 3D ultrasound image is calculated based on this. However, the scanning zero plane P2 of the ultrasound probe 1 often has an angular deviation from the vertical center line P1 of the puncture template 2, causing the reconstructed 3D ultrasound image to have a rotational offset relative to the puncture template 2, as shown in FIG. Figure 6 shown.

[0007] The deviation of the above two effects will cause a deviation between the theoretical position and the actual position of the puncture hole 22 on the puncture template 2, which will eventually lead to a deviation in the accuracy of prostate puncture and affect the detection of the clinical puncture positive rate. Summary of the Invention

[0008] Purpose of the invention: In response to the above-mentioned technical problems, the present invention proposes a simple and easy-to-operate puncture template calibration method, device, electronic device and computer-readable storage medium, which can correct the position on the puncture template and improve the puncture accuracy of the puncture device.

[0009] Technical solution:

[0010] The present invention provides a puncture template calibration method, comprising:

[0011] S1. Fix the puncture template and the ultrasound probe together, insert the puncture needle into at least two puncture holes on the puncture template, and determine the position of the puncture needle on the puncture template;

[0012] S2. Scanning with an ultrasound probe to obtain a three-dimensional ultrasound image and determining the position of the puncture needle in the axial plane image;

[0013] S3. Calculate the rotational transformation and translational transformation between the puncture template and the axial plane image based on S1 and S2, and thereby calculate the offset between the axis of the ultrasound probe and the assembly center of the puncture template and the deflection angle between the scanning zero plane of the ultrasound probe and the center line of the puncture template.

[0014] Specifically, in S3, the rotational transformation and translational transformation between the puncture template and the axial plane image are calculated according to S1 and S2, specifically:

[0015] According to the transformation theory between coordinate systems, the coordinate system of the puncture template and the corresponding coordinate system of the axial plane image are obtained based on the correspondence between the rotation matrix and the translation matrix between the two. The positions of several puncture needles in the corresponding coordinate system obtained by S1 and S2 are substituted into the solution to obtain the rotation transformation and translation transformation between the puncture template and the axial plane image.

[0016] More specifically, according to the positions of several puncture needles in the corresponding coordinate system obtained by S1 and S2, the rotation transformation and translation transformation between the puncture template and the axial plane image are calculated by the least square method.

[0017] More specifically, let the positions of the puncture needle on the puncture template obtained by S1 be (x1, y1), (x2, y2), ..., (x n ,y n), the position of the puncture needle in the axial plane image obtained by S2 is (x1', y1'), (x2', y2'), ..., (x n ',y n ');

[0018] but:

[0019]

[0020] Wherein, Δx and Δy represent the offset between the axis of the ultrasound probe and the assembly center of the puncture template on the corresponding coordinate axis, and Δθ represents the deflection angle between the scanning zero plane of the ultrasound probe and the center line of the puncture template. Indicates the rotational transformation relationship between the puncture template and the axial plane image, Represents the translation transformation relationship between the puncture template and the axial plane image;

[0021] The least square method is used to solve the problem and obtain Δθ, Δx, and Δy.

[0022] Specifically, it also includes a compensation step, using the obtained Δθ, Δx, and Δy to compensate each voxel in the obtained three-dimensional ultrasound image. Through the relationship Correction is performed to achieve deviation compensation between the three-dimensional ultrasound image and the puncture template.

[0023] Specifically, in S1, the selected puncture holes on the puncture template are spaced apart by a set distance, and at least one puncture hole is selected on both sides of the center line of the puncture template.

[0024] The present invention also provides a puncture template calibration device, comprising:

[0025] The first positioning module is used to obtain the position of the puncture needle provided on the puncture template after the puncture template and the ultrasound probe are fixed together;

[0026] A second positioning module is used to obtain the position of the puncture needle in the axial plane image of the three-dimensional ultrasound image;

[0027] The calibration module is used to calculate the rotational transformation and translational transformation between the puncture template and the axial plane image based on the position of the puncture needle on the puncture template and the position of the puncture needle in the axial plane image, and based on this, calculate the offset between the motor axis of the ultrasound probe and the assembly center of the puncture template and the deflection angle between the scanning zero plane of the ultrasound probe and the center line of the puncture template.

[0028] The present invention also provides an electronic device, comprising a memory and a processor, wherein a computer program that can be run on the processor is stored in the memory, and the computer program implements the aforementioned puncture template calibration method when it is run.

[0029] The present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the aforementioned puncture template calibration method when the computer program is executed.

[0030] Beneficial effects: By calculating the position of the puncture needle in the puncture template and the three-dimensional ultrasonic image, the present invention can accurately calculate the positional offset between the axis of the ultrasonic probe and the assembly center of the puncture template, as well as the deviation angle between the scanning zero plane of the ultrasonic probe and the center line of the puncture template, thereby correcting the position on the puncture template and improving the puncture accuracy of the puncture device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 This is an example diagram of the working principle of the ultrasound probe;

[0033] Figure 2 An example diagram of converting a 2D ultrasound image sequence into a 3D ultrasound image;

[0034] Figure 3 This is an example diagram of ultrasound puncture;

[0035] Figure 4 An example diagram showing the positional offset between the assembly center of the puncture template and the motor axis of the ultrasound probe;

[0036] Figure 5 This is an example diagram of the scanning zero plane and scanning range of the ultrasound probe;

[0037] Figure 6 An example diagram of the angle deviation between the scanning zero plane of the ultrasound probe and the center line of the puncture template;

[0038] Figure 7 This is a schematic diagram of the puncture template calibration of the present invention;

[0039] Figure 8 This is a flow chart of the puncture template calibration method of the present invention;

[0040] Figure 9 This is an example diagram of the position of the puncture needle on the puncture template;

[0041] Figure 10 An example diagram of the puncture location in a 3D ultrasound image.

[0042] Among them, 1 is the ultrasound probe, 2 is the puncture template, 3 is the puncture needle, 4 is the ultrasound medium, and 5 is the patient's lesion;

[0043] 11 is the probe housing, 12 is the motor, 21 is the assembly hole, and 22 is the puncture hole;

[0044] A is a 2D ultrasound image sequence, and B is a 3D ultrasound image;

[0045] O1 is the assembly center, O2 is the axis of the ultrasonic probe, P1 is the center line of the puncture template, and P2 is the scanning zero plane. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0047] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of the present invention should have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. "Include" or "comprising" and similar words mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0048] Reference Figure 8 The puncture template calibration method of the present invention comprises the following steps:

[0049] S1, such as Figure 7 As shown, the puncture template 2 is fixed to the ultrasound probe 1 in the manner used in the puncture surgery, the ultrasound probe 1 is placed in the ultrasonic medium 4, and the puncture needle 3 is inserted into at least two puncture holes 22 on the puncture template 2 to obtain the position of the puncture needle 3 punctured on the puncture template 2.

[0050] In the present invention, in order to increase the accuracy of calibration, the distance between the puncture holes 22 of each puncture needle 3 is made as far as possible. Specifically, two puncture holes 22 with a set distance between them can be selected on the puncture template 2 to insert the puncture needle 3;

[0051] Furthermore, among the at least two puncture hole positions 22 , at least one puncture hole position 22 is selected on both sides of the center line P1 of the puncture template 2 .

[0052] In the present invention, the positional relationship between each puncture hole 22 thereon and the puncture template 2 can be obtained based on the design parameters of the puncture template 2, thereby obtaining the positional relationship between the puncture needle 3 punctured thereon and the puncture template 2, that is, obtaining the position of the puncture needle 3 punctured on the puncture template 2.

[0053] Specifically, a puncture template coordinate system can be constructed, and the coordinates of each puncture hole 22 in the puncture template coordinate system are known, and then the coordinates of each puncture needle 3 in the puncture template coordinate system can be obtained, such as Figure 9 shown.

[0054] In the present invention, the ultrasonic medium may be water, an ultrasonic puncture phantom, or the like.

[0055] S2. Scan the patient's lesion 5 with the ultrasound probe 1 to obtain a three-dimensional ultrasound image, and acquire the position of the puncture needle 3 in the axial plane image. In a specific embodiment of the present invention, the patient's lesion 5 is the prostate.

[0056] According to the design parameters of the ultrasound probe 1, the position of the puncture needle 3 in the three-dimensional ultrasound image is obtained, and then the position of each puncture needle 3 in the axial plane image of the three-dimensional ultrasound image is calculated, such as Figure 10 shown.

[0057] S3. Based on the position of the puncture needle 3 punctured on the puncture template 2 obtained in S1 and the position of the puncture needle 3 in the axial plane image obtained in S2, calculate the rotational transformation and translational transformation between the puncture template and the axial plane image, and thereby calculate the offset between the ultrasonic probe axis O2 of the ultrasonic probe 1 and the assembly center O1 of the puncture template 2 and the deflection angle between the scanning zero plane P2 of the ultrasonic probe 1 and the center line P1 of the puncture template 2; wherein the ultrasonic probe axis is the motor axis O2 in the ultrasonic probe, and the scanning zero plane P2 of the ultrasonic probe 1 is the motor zero position in the ultrasonic probe 1.

[0058] Specifically, suppose the positions of the puncture needle 3 punctured on the puncture template 2 obtained by S1 are (x1, y1), (x2, y2), ..., (x n ,y n ), the position of the puncture needle 3 in the axial plane image obtained by S2 is (x1', y1'), (x2', y2'), ..., (x n ',y n ');

[0059] According to the conversion theory between coordinate systems, for two rectangular coordinate systems U and V, the coordinates of a point in the U coordinate system can be obtained by multiplying the coordinates of the V coordinate system by the rotation matrix between the two coordinate systems and adding the translation matrix between the two coordinate systems, that is, P A =R*P B +T, where P A is the coordinate of the point in the coordinate system U, P B is the coordinate of the point in the coordinate system V, R is the rotation matrix between the two coordinate systems, and T is the translation matrix between the two coordinate systems.

[0060] Then we can get:

[0061]

[0062] Wherein, Δx and Δy represent the offset between the axis O2 of the ultrasound probe and the assembly center O1 of the puncture template 2 on the corresponding coordinate axis, and Δθ represents the deflection angle between the scanning zero plane P2 of the ultrasound probe 1 and the center line P1 of the puncture template 2. Represents the rotation matrix between the coordinate system of the puncture template and the coordinate system corresponding to the axial plane image, Represents the translation matrix between the coordinate system of the puncture template and the coordinate system corresponding to the axial plane image.

[0063] By solving the above equation using the least squares method, we can obtain Δθ, Δx, and Δy, that is, the offset between the axis O2 of the ultrasound probe and the assembly center O1 of the puncture template 2, and the deflection angle between the scanning zero plane P2 of the ultrasound probe 1 (that is, the motor zero position of the ultrasound probe 1) and the center line P1 of the puncture template 2.

[0064] In the present invention, the obtained Δθ, Δx, and Δy can be used to correct the obtained three-dimensional ultrasound image, that is, each voxel in the axial plane image of the three-dimensional ultrasound image Through the relationship By performing the correction, the position of each voxel in the puncture template coordinate system can be obtained, thereby achieving deviation compensation between the three-dimensional ultrasound image and the puncture template 2.

[0065] The present invention selects at least two puncture hole positions 22 on the puncture template 2 to insert the puncture needles 3, uses the ultrasonic probe 1 to scan the three-dimensional ultrasonic images of these puncture needles 3, and then measures the position of each puncture needle 3 in the axial plane image of the three-dimensional ultrasonic image in the reconstructed three-dimensional ultrasonic image. In combination with the position of the puncture needle 3 on the puncture template 2, the positional offsets Δx and Δy between the ultrasonic probe axis O2 and the assembly center O1 of the puncture template 2, as well as the deflection angle Δθ between the scanning zero plane P2 of the ultrasonic probe 1 and the center line P1 of the puncture template are calculated, thereby correcting the position on the puncture template and improving the puncture accuracy of the puncture device.

[0066] One embodiment of the present invention further provides a puncture template calibration device comprising:

[0067] The first positioning module is used to obtain the position of the puncture needle provided on the puncture template after the puncture template and the ultrasound probe are fixed together;

[0068] In the present invention, the position of the puncture needle punctured thereon can be calculated according to the design parameters of the puncture template, or can be measured by a three-coordinate measuring machine.

[0069] A second positioning module is used to obtain the position of the puncture needle in the axial plane image of the three-dimensional ultrasound image;

[0070] In the present invention, the position of the puncture needle in the three-dimensional ultrasound image can be obtained according to the design parameters of the ultrasound probe, and then the position of each puncture needle in the axial plane image of the three-dimensional ultrasound image can be calculated.

[0071] The calibration module is used to calculate the rotational transformation and translational transformation between the puncture template and the axial plane image based on the position of the puncture needle on the puncture template and the position of the puncture needle in the axial plane image, and based on this, calculate the offset between the axis of the ultrasound probe and the assembly center of the puncture template and the deflection angle between the scanning zero plane of the ultrasound probe and the center line of the puncture template.

[0072] In the present invention, the coordinate system of the puncture template and the corresponding coordinate system of the axial plane image can be obtained based on the conversion theory between coordinate systems. Based on the correspondence between the rotation matrix and the translation matrix between the two, the position of the puncture needle on the puncture template obtained by the first positioning module and the position of the puncture needle in the axial plane image of the three-dimensional ultrasound image obtained by the second positioning module are substituted into the solution, that is, the rotation transformation and translation transformation between the puncture template and the axial plane image are obtained. Then, according to the conversion theory between coordinate systems, the offset between the axis of the ultrasound probe and the assembly center of the puncture template and the deflection angle between the scanning zero plane of the ultrasound probe and the center line of the puncture template can be calculated.

[0073] Another embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the computer program implements the above-mentioned puncture template calibration method when running.

[0074] Another embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the aforementioned puncture template calibration method when the computer program is executed.

[0075] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Within the scope of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0076] The embodiments of the present invention are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the scope of protection of the present invention.

Claims

1. A puncture template calibration method, characterized in that: include: S1. Fix the puncture template and the ultrasound probe together, insert the puncture needle into at least two puncture holes on the puncture template, and determine the position of the puncture needle on the puncture template; S2. Scanning with an ultrasound probe to obtain a three-dimensional ultrasound image and determining the position of the puncture needle in the axial plane image; S3. Calculate the rotational transformation and translational transformation between the puncture template and the axial plane image based on S1 and S2, and thereby calculate the offset between the axis of the ultrasound probe and the assembly center of the puncture template and the deflection angle between the scanning zero plane of the ultrasound probe and the center line of the puncture template.

2. The puncture template calibration method according to claim 1, characterized in that: In S3, the rotational and translational transformations between the puncture template and the axial plane image are calculated according to S1 and S2, specifically: According to the transformation theory between coordinate systems, the coordinate system of the puncture template and the corresponding coordinate system of the axial plane image are obtained based on the correspondence between the rotation matrix and the translation matrix between the two. The positions of several puncture needles in the corresponding coordinate system obtained by S1 and S2 are substituted into the solution to obtain the rotation transformation and translation transformation between the puncture template and the axial plane image.

3. The puncture template calibration method according to claim 2, characterized in that: According to the positions of several puncture needles in the corresponding coordinate system obtained by S1 and S2, the rotation transformation and translation transformation between the puncture template and the axial plane image are calculated by the least square method.

4. The puncture template calibration method according to claim 2, characterized in that The positions of the puncture needle on the puncture template obtained by S1 are (x1, y1), (x2, y2), ..., (x n ,y n ), the position of the puncture needle in the axial plane image obtained by S2 is (x1', y1'), (x2', y2'), ..., (x n ',y n '); but: Wherein, Δx and Δy represent the offset between the axis of the ultrasound probe and the assembly center of the puncture template on the corresponding coordinate axis, and Δθ represents the deflection angle between the scanning zero plane of the ultrasound probe and the center line of the puncture template. Indicates the rotational transformation relationship between the puncture template and the axial plane image, Represents the translation transformation relationship between the puncture template and the axial plane image; The least square method is used to solve the problem and obtain Δθ, Δx, and Δy.

5. The puncture template calibration method according to claim 1, characterized in that: The method further includes a compensation step, wherein the obtained Δθ, Δx, and Δy are used to compensate each voxel in the obtained three-dimensional ultrasound image. Through the relationship Correction is performed to achieve deviation compensation between the three-dimensional ultrasound image and the puncture template.

6. The puncture template calibration method according to claim 1, characterized in that: In S1, the selected puncture holes on the puncture template are spaced apart by a set distance, and at least one puncture hole is selected on both sides of the center line of the puncture template.

7. A puncture template calibration device, characterized in that: include: The first positioning module is used to obtain the position of the puncture needle provided on the puncture template after the puncture template and the ultrasound probe are fixed together; A second positioning module is used to obtain the position of the puncture needle in the axial plane image of the three-dimensional ultrasound image; The calibration module is used to calculate the rotational transformation and translational transformation between the puncture template and the axial plane image based on the position of the puncture needle on the puncture template and the position of the puncture needle in the axial plane image, and based on this, calculate the offset between the axis of the ultrasound probe and the assembly center of the puncture template and the deflection angle between the scanning zero plane of the ultrasound probe and the center line of the puncture template.

8. An electronic device comprising a memory and a processor, wherein a computer program executable on the processor is stored in the memory, wherein: When the computer program is run, the puncture template calibration method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is run, the puncture template calibration method according to any one of claims 1 to 6 is implemented.

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