A lung puncture positioning path planning system

Abstract

The present invention belongs to the technical field of lung puncture positioning, and particularly relates to a lung puncture positioning path planning system. The invention obtains medical image data of the lung region through an information acquisition module, and extracts key structures and feature information through a preprocessing module. Subsequently, a path planning module generates multiple simulated puncture paths based on this information, and a path evaluation module quantitatively evaluates the paths according to preset evaluation conditions to determine the optimal puncture path and alternative puncture paths. A path output module visually displays the optimal puncture path and provides corresponding puncture parameters, facilitating accurate lung puncture operations by doctors. During the determination of the puncture path, the selection of the puncture path is further optimized through the generation and evaluation of obstacle avoidance paths, reducing the puncture risk, enabling doctors to more accurately and quickly determine the positioning path of lung puncture, reducing the uncertainty during the puncture process, and improving the accuracy and safety of the puncture.

Description

Technical Field

[0001] The present invention belongs to the technical field of lung puncture positioning, and particularly relates to a lung puncture positioning path planning system. Background Art

[0002] With the development of imaging diagnosis technology, the discovery of early lung lesions has become earlier and easier, and the detection rate of pulmonary nodules requiring surgical treatment has also become easier. Generally, preoperative positioning is performed when removing lung lesion tissues less than 1 cm, that is, percutaneous puncture under CT guidance is used to locate pulmonary nodules; a positioning needle is mostly used for preoperative positioning, and a metal wire with a positioning hook at its end is used as a positioning anchor.

[0003] When performing puncture positioning with a lung positioning needle, it needs to be punctured under CT guidance, but CT cannot perform real-time imaging. Therefore, generally, a preoperative image is taken first before surgery, and after planning based on the preoperative image, the puncture is performed. During the puncture process, CT needs to be taken several times to check and correct the puncture direction to ensure that the puncture needle accurately punctures into the lesion tissue. This results in cumbersome operation and long time-consuming for doctors. At the same time, taking CT multiple times also has a certain impact on the patient's physical health. Therefore, a system for lung puncture path planning is developed to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a lung puncture positioning path planning system, which can improve the puncture accuracy, reduce the dependence on clinical experience, ensure the accuracy of preoperative planning for lung puncture, and protect the health of patients.

[0005] The technical solution adopted by the present invention is specifically as follows:

[0006] A lung puncture positioning path planning system includes an information acquisition module, a preprocessing module, a path planning module, a path evaluation module, and a path output module;

[0007] The information acquisition module is used to obtain medical image data at various angles of the lung area to be punctured;

[0008] The preprocessing module is used to preprocess and extract features from the medical image data, identify the lung area, and the key structures of the lung area;

[0009] The path planning module is used to obtain the puncture area, and combine the positions and shapes of the key structures to generate multiple simulated puncture paths, and summarize them into a puncture path set;

[0010] The path evaluation module is used to evaluate the simulated puncture paths according to the evaluation conditions to determine the optimal puncture path and alternative puncture paths, where the evaluation conditions include path length, tissue damage degree, puncture angle, and regulation risk;

[0011] The path output module is used to display the optimal puncture path to the user in a visual manner and synchronously provide the corresponding puncture parameters.

[0012] In a preferred solution, the information acquisition module includes an image acquisition unit and an image quality assessment unit;

[0013] The image acquisition unit is used to acquire medical image data of the lung area to be punctured from multiple angles through medical imaging equipment;

[0014] The image quality assessment unit is used to perform quality inspection on the acquired medical image data according to preset inspection conditions, and remind the user to re-acquire when image quality problems are found. The inspection conditions include image clarity, resolution, and noise level.

[0015] In a preferred solution, the preprocessing module includes an image segmentation unit and a feature recognition unit;

[0016] The image segmentation unit is used to extract the medical image data between the puncture area and the lung area, obtain the image data under the puncture planning area, record it as the reference image data, and then separate the lung area and the organizational structure around the lung from the reference image data;

[0017] The feature recognition unit is used to identify the key structures of the lung area, and the key structures include the lesion area, the area where the pulmonary blood vessels and bronchi are located.

[0018] In a preferred solution, the path planning module includes a path planning unit and a path generation unit;

[0019] The path planning unit is used to determine the puncture positioning area according to the position and shape of the lesion area and the key structures, set multiple puncture positioning points in the positioning area, and extend towards the puncture area based on the puncture positioning points to obtain multiple reference puncture paths, and remove the reference puncture paths that contact blood vessels, bones, interlobar fissures, and mediastinum. The remaining paths are recorded as simulated puncture paths;

[0020] The path generation unit is used to collect the path trajectory, length, and angle information of the simulated puncture path and summarize them to form a puncture path set.

[0021] In a preferred solution, the path evaluation module includes an evaluation condition setting unit and a path selection unit;

[0022] The evaluation condition setting unit is used to set and adjust the evaluation conditions for path evaluation. The evaluation conditions include path length, tissue damage degree, puncture angle, and regulation risk;

[0023] The path selection unit quantifies and evaluates all the simulated puncture paths in the puncture path set according to the evaluation conditions, records the result of the quantitative evaluation as the path score, arranges the simulated puncture paths in the order of the path score, and records the simulated puncture path with the highest ranking as the optimal puncture path;

[0024] When the alternative puncture path is output, the path score under the optimal puncture path is offset, and the offset result is calibrated as the screening score, and the simulated puncture paths corresponding to the path scores greater than or equal to the screening score are recorded as alternative puncture paths.

[0025] In a preferred embodiment, the path length is set according to the length of the puncture needle, and the value of the path length is less than the length of the puncture needle.

[0026] In a preferred embodiment, after the simulated puncture path is output, the obstacles under each simulated puncture path are determined synchronously, and an obstacle avoidance path is generated;

[0027] Obtain the puncture needle adjustment angle corresponding to the obstacle avoidance path under each obstacle, and during the adjustment process, the degree of tissue extrusion by the puncture needle, and determine the corresponding tissue damage degree according to the degree of tissue extrusion by the puncture needle, and record it as the first damage parameter;

[0028] Obtain the tissue damage degree of the puncture needle penetrating the tissue, and record it as the second damage parameter, and then compare the second damage parameter with the first damage parameter;

[0029] If the first damage parameter is greater than the second damage parameter, it indicates that this obstacle avoidance path is invalid, and this obstacle avoidance path is not added to the simulated puncture path;

[0030] If the second damage parameter is less than or equal to the first damage parameter, it indicates that this obstacle avoidance path is valid, and this obstacle avoidance path is added to the simulated puncture path.

[0031] In a preferred embodiment, the puncture angle corresponds to multiple evaluation intervals, and the evaluation intervals include a low-risk interval, a medium-risk interval, and a high-risk interval;

[0032] If the obstacle avoidance path is within the low-risk angle interval, record the obstacle avoidance path as an allowable execution path, otherwise, record the obstacle avoidance path as a risk execution path;

[0033] Among them, under the risk execution path, an alarm signal and an inquiry instruction are synchronously sent, and after the user confirms, the planning of the simulated puncture path continues.

[0034] In a preferred embodiment, the path output module includes a visualization interface unit and a parameter output unit.

[0035] The visualization interface unit is used to display the optimal puncture path on the interface in the form of a three-dimensional image, including the spatial orientation of the optimal puncture path and the positional relationship of key structures.

[0036] The parameter output unit is used to collate and output the puncture parameters corresponding to the optimal puncture path. The puncture parameters include the position coordinates of the puncture point, the specific trajectory of the puncture path, the required puncture depth, and the recommended puncture angle.

[0037] Among them, the parameter output unit outputs the puncture parameters in the form of text or charts.

[0038] The present invention also provides an electronic device, which includes:

[0039] At least one processor;

[0040] And a memory communicatively connected to the at least one processor;

[0041] Among them, the memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the above-mentioned lung puncture positioning path planning system.

[0042] The technical effects achieved by the present invention are as follows:

[0043] The present invention obtains medical image data of the lung region through the information acquisition module, and extracts key structures and feature information through the preprocessing module. Subsequently, the path planning module generates multiple simulated puncture paths based on this information, and the path evaluation module quantitatively evaluates the paths according to preset evaluation conditions to determine the optimal puncture path and alternative puncture paths. Finally, the path output module visually displays the optimal puncture path and provides corresponding puncture parameters, facilitating accurate lung puncture operations by doctors. During the determination of the puncture path, the generation and evaluation of obstacle avoidance paths are also carried out to further optimize the selection of the puncture path, reduce the puncture risk, enable doctors to more accurately and quickly determine the positioning path of lung puncture, reduce the uncertainty during the puncture process, and improve the accuracy and safety of the puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a system module diagram of the present invention;

[0045] Figure 2 is a system execution flowchart of the present invention;

[0046] Figure 3It is a structural diagram of an electronic device of the present invention. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0048] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0049] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0050] See also Figure 1 and Figure 2 As shown, the present invention provides a lung puncture positioning path planning system, including an information acquisition module, a preprocessing module, a path planning module, a path evaluation module and a path output module;

[0051] The information acquisition module is used to obtain medical imaging data of various angles under the lung area to be punctured;

[0052] The preprocessing module is used to preprocess and extract features of medical image data, identify the lung area and key structures in the lung area;

[0053] The path planning module is used to obtain the puncture area and generate multiple simulated puncture paths based on the position and morphology of key structures, and summarize them into a puncture path set;

[0054] The path evaluation module is used to evaluate the simulated puncture path according to the evaluation conditions to determine the optimal puncture path and the alternative puncture paths, wherein the evaluation conditions include path length, tissue damage degree, puncture angle and control risk;

[0055] The path output module is used to display the optimal puncture path to the user in a visual manner and simultaneously provide the corresponding puncture parameters.

[0056] In the present invention, the planning system includes an information acquisition module, a preprocessing module, a path planning module, a path evaluation module, and a path output module. The information acquisition module is responsible for obtaining medical image data at various angles of the lung area to be punctured. These medical image data may include various imaging modalities such as X-ray films, CT scans, or MRI, ensuring the capture of detailed information about the lungs from multiple dimensions. In addition, in order to further improve the accuracy of the information, the information acquisition module may also adopt advanced image processing techniques to enhance and denoise the images for better extraction of key information. The preprocessing module preprocesses the obtained medical image data and extracts features, such as common machine learning techniques, which can automatically identify the lung area and accurately label the key structures within the lungs, such as blood vessels, trachea, and lung lobes. These key structures play a supporting role in subsequent path planning. The path planning module is used to generate multiple simulated puncture paths based on the key structure information of the lungs extracted by the preprocessing module, combined with the specific requirements of the puncture area. These simulated puncture paths consider various factors, such as path length, tissue damage degree, puncture angle, and regulation risk, to ensure that the generated paths are both safe and effective. At the same time, it can also screen out multiple feasible simulated puncture paths and summarize them into a puncture path set for subsequent evaluation. The path evaluation module is responsible for evaluating and comparing the generated simulated puncture paths. According to the preset evaluation conditions, such as the shortest path length, the smallest tissue damage degree, the best puncture angle, and the lowest regulation risk, it analyzes each path in the puncture path set one by one, evaluates the advantages and disadvantages of each path, and determines the optimal puncture path and alternative puncture paths. The path output module visually displays the optimal puncture path to the user. By generating a three-dimensional image or animation, the user can intuitively understand the specific position and shape of the puncture path, as well as related puncture parameters, such as puncture depth and angle, which helps doctors more accurately locate the puncture point during actual operation, improve the success rate and safety of puncture, reduce tissue damage and regulation risk, and provide strong support for the diagnosis and treatment of lung diseases.

[0057] In a preferred embodiment, the information acquisition module includes an image acquisition unit and an image quality evaluation unit;

[0058] The image acquisition unit is used to collect medical image data of the lung area to be punctured from multiple angles through medical imaging equipment;

[0059] The image quality evaluation unit is used to perform quality inspection on the collected medical image data according to preset inspection conditions and remind the user to re-collect when image quality problems are found. The inspection conditions include image clarity, resolution, and noise level.

[0060] In this embodiment, the information acquisition module is a key prerequisite for ensuring diagnostic accuracy and patient safety. In a lung puncture surgery, accurate information acquisition is an important condition for determining the puncture point, avoiding damage to important tissues, and improving the success rate of the surgery. In this embodiment, the information acquisition module includes an image acquisition unit and an image quality assessment unit. The image acquisition unit is the basis of the information acquisition module, and it mainly acquires medical image data of the lung area to be punctured through medical imaging devices. These devices such as CT, MRI, etc., have high sensitivity and precision, and can capture subtle changes in lung tissues from multiple angles and different levels. In actual operation, doctors will select appropriate image acquisition parameters according to the specific conditions of the patient and the surgical requirements to ensure the acquisition of clear and accurate medical image data. The image quality assessment unit is used to strictly check the quality of the acquired medical image data. It comprehensively evaluates the acquired data according to preset inspection conditions, such as image clarity, resolution, and noise level, etc. Once it is found that there are quality problems in the image data, such as blurring, distortion, or excessive noise, etc., the image quality assessment unit will immediately remind the user to re-acquire to ensure that the obtained data can meet the diagnostic requirements.

[0061] In a preferred embodiment, the preprocessing module includes an image segmentation unit and a feature recognition unit;

[0062] The image segmentation unit is used to extract the medical image data between the puncture area and the lung area, obtain the image data under the puncture planning area, record it as the reference image data, and then separate the lung area and the organizational structure around the lung from the reference image data;

[0063] The feature recognition unit is used to identify the key structures of the lung area, and the key structures include the lesion area, the area where the pulmonary blood vessels and bronchi are located.

[0064] In this embodiment, the preprocessing module is responsible for the task of preliminary processing of the medical image data, providing the corresponding basis for subsequent analysis and diagnosis. The preprocessing module is composed of an image segmentation unit and a feature recognition unit. The image segmentation unit is used to extract the area related to the puncture planning from the medical image data, mainly used to identify the image between the puncture area and the lung area, and at the same time will accurately extract the image data under the puncture planning area and record it as the reference image data. The feature recognition unit will identify the key structures of the lung area, and these key structures include the lesion area, the pulmonary blood vessels, and the area where the bronchi are located, ensuring the accurate capture of the key structures.

[0065] In a preferred embodiment, the path planning module includes a path planning unit and a path generation unit;

[0066] The path planning unit is used to determine the puncture positioning area according to the position and shape of the lesion area and key structures, set multiple puncture positioning points within the positioning area, extend towards the puncture area based on the puncture positioning points to obtain multiple reference puncture paths, and remove the reference puncture paths that come into contact with blood vessels, bones, fissures between lobes, and mediastinum, and record the remaining paths as simulated puncture paths;

[0067] The path generation unit is used to collect the path trajectory, length, and angle information of the simulated puncture paths and summarize them to form a puncture path set.

[0068] In this embodiment, the path planning module mainly includes a path planning unit and a path generation unit. The path planning unit will identify the position and shape of the lesion area and surrounding key structures (such as blood vessels, bones, fissures between lobes, mediastinum, etc.) based on medical image data, which can be specifically achieved through image processing technology and CNN algorithms to ensure accurate identification of the lesion and key structures. Then, the path planning unit will determine the puncture positioning area based on this information. Within the positioning area, it will set multiple puncture positioning points, which are determined according to the position and shape of the lesion and the distribution of surrounding key structures. This process requires the doctor's judgment. Then, based on these puncture positioning points, it will extend towards the puncture area to obtain multiple reference puncture paths. During the generation of the reference puncture paths, the path planning unit will conduct strict screening and filtering, and all reference puncture paths that may come into contact with key structures such as blood vessels, bones, fissures between lobes, and mediastinum will be removed to ensure the safety and effectiveness of the puncture operation. The remaining paths are regarded as simulated puncture paths, which have high reliability and feasibility. After completing the path planning, the path generation unit will further process these simulated puncture paths. It will collect detailed information such as the trajectory, length, and angle of each path and summarize this information to form a puncture path set to ensure the accuracy of each path parameter. In this way, during the puncture surgery, it provides doctors with more accurate and reliable puncture path options, which helps to improve the surgical execution effect.

[0069] In a preferred embodiment, the path evaluation module includes an evaluation condition setting unit and a path selection unit;

[0070] The evaluation condition setting unit is used to set and adjust the evaluation conditions for path evaluation, and the evaluation conditions include path length, tissue damage degree, puncture angle, and regulation risk;

[0071] The path selection unit will quantitatively evaluate all the simulated puncture paths in the puncture path set according to the evaluation conditions, record the result of the quantitative evaluation as the path score, arrange the simulated puncture paths according to the size of the path score, and record the simulated puncture path with the highest ranking as the optimal puncture path;

[0072] When the alternative puncture path is output, the path score under the optimal puncture path is offset, and the offset result is calibrated as the screening score, and the simulated puncture paths corresponding to the path scores greater than or equal to the screening score are recorded as alternative puncture paths.

[0073] In this embodiment, the path evaluation module includes an evaluation condition setting unit and a path selection unit, which are used to assist doctors or operators in more accurately and efficiently selecting the best puncture path, so as to ensure the smooth progress of the operation or treatment process and minimize the damage to the patient. The evaluation condition setting unit is responsible for setting and adjusting the evaluation conditions for path evaluation. These evaluation conditions include multiple aspects such as path length, tissue damage degree, puncture angle, and regulation risk. The path length refers to the actual length of the puncture path, which is directly related to the operation time and the patient's comfort. The path length is set according to the length of the puncture needle, and the value of the path length is less than the length of the puncture needle. The tissue damage degree refers to the degree of damage that may be caused to the surrounding tissues during the puncture process, which is one of the key factors that doctors need to consider when selecting a path. The puncture angle refers to the angle at which the puncture needle or instrument enters the tissue. A reasonable angle can reduce the operation difficulty and the patient's pain. The regulation risk refers to the risk associated with the adjustment of the puncture needle during the operation. After setting the evaluation conditions, the path selection unit will quantitatively evaluate all the simulated puncture paths in the puncture path set. This evaluation process is based on the previously set evaluation conditions, and calculates the path score of each simulated puncture path. The calculation formula is: r = aL + bV + cF, where r represents the path score, a, b, and c respectively represent the weight factors of the path length, puncture angle, and regulation risk, L represents the path length, V represents the puncture angle, and F represents the score corresponding to the regulation risk. The path score can objectively reflect the advantages and disadvantages of each path and provide corresponding decision-making basis for doctors. After obtaining the path score, the path selection unit will arrange the simulated puncture paths according to the size of the path score. The simulated puncture path with the highest ranking is recorded as the optimal puncture path, which means it is the path that best meets the doctor's needs and the patient's condition. At the same time, the path score under the optimal puncture path will be offset to obtain the screening score, aiming to consider some special situations and improve the flexibility of the puncture operation. Specifically, the simulated puncture paths corresponding to the path scores greater than or equal to the screening score are recorded as alternative puncture paths. These alternative puncture paths can be used as alternative options in case of emergency or when the optimal puncture path cannot be implemented to ensure the smooth progress of the operation.

[0074] In a preferred embodiment, after the simulated puncture path is output, the obstacles under each simulated puncture path are synchronously determined, and an obstacle avoidance path is generated;

[0075] Obtain the adjustment angles of the puncture needle corresponding to the obstacle avoidance paths under each of the obstacles, and during the adjustment process, the degree of extrusion of the puncture needle on the tissue, and determine the corresponding tissue damage degree according to the degree of extrusion of the puncture needle on the tissue, and record it as the first damage parameter;

[0076] Obtain the tissue damage degree of the puncture needle penetrating the tissue, and record it as the second damage parameter, and then compare the second damage parameter with the first damage parameter;

[0077] If the first damage parameter is greater than the second damage parameter, it indicates that this obstacle avoidance path is invalid, and this obstacle avoidance path is not added to the simulated puncture path;

[0078] If the second damage parameter is less than or equal to the first damage parameter, it indicates that this obstacle avoidance path is valid, and this obstacle avoidance path is added to the simulated puncture path.

[0079] In this embodiment, during the process of simulating the output of the puncture path, it is necessary to synchronously determine the obstacles under each simulated puncture path. These obstacles are mainly soft tissues in the patient's body, such as blood vessels, nerves or other tissues, which will hinder the path of the puncture needle. To ensure the smooth progress of the puncture process, it is necessary to generate an obstacle avoidance path for each obstacle. By determining the specific position, size and shape of the obstacle, an obstacle avoidance path that can bypass the obstacle can be planned. When it is impossible to avoid, these tissues are often directly penetrated. After determining the obstacle avoidance path, the adjustment angle of the puncture needle corresponding to the obstacle avoidance path under each obstacle is further obtained to determine the difficulty of the puncture needle avoiding the obstacle. In addition, after the puncture needle avoids the obstacle, it will return to the preset puncture angle. At this time, it may cause extrusion to the obstacle. Through the change amount of the obstacle, the extrusion degree of the puncture needle to the tissue can be determined. To quantify this kind of injury, this embodiment introduces the concept of tissue injury degree. By measuring the extrusion amount of the puncture needle to the tissue, the corresponding tissue injury degree is mapped (the mapping rule is determined according to different tissues), and it is recorded as the first injury parameter. In addition, the tissue injury degree caused when the puncture needle penetrates the tissue is also collected and recorded as the second injury parameter, which reflects the actual injury condition of the tissue during the process of the puncture needle penetrating the tissue. By comparing the second injury parameter with the first injury parameter, the effectiveness of the obstacle avoidance path can be evaluated. If the first injury parameter is greater than the second injury parameter, it indicates that during the process of adjusting the angle of the puncture needle to avoid the obstacle and recover, the extrusion degree to it is larger, resulting in more serious tissue injury. Therefore, this obstacle avoidance path is considered invalid and will not be added to the simulated puncture path. On the contrary, if the second injury parameter is less than or equal to the first injury parameter, it indicates that this obstacle avoidance path is effective, indicating that during the process of adjusting the angle of the puncture needle to avoid the obstacle and recover, the extrusion degree to it is smaller, reducing the tissue injury. At this time, this obstacle avoidance path will be added to the simulated puncture path to supplement the puncture plan accordingly, which not only helps to reduce the tissue injury during the puncture process, but also provides more choices and references for doctors, making the surgical operation more flexible and reliable.

[0080] In a preferred embodiment, the puncture angle corresponds to multiple evaluation intervals, and the evaluation intervals include a low-risk interval, a medium-risk interval and a high-risk interval;

[0081] If the obstacle avoidance path is within the low-risk angle interval, the obstacle avoidance path is recorded as an allowable execution path; otherwise, the obstacle avoidance path is recorded as a risk execution path;

[0082] Among them, under the risk execution path, an alarm signal and an inquiry instruction are synchronously sent, and after the user confirms, the planning of the simulated puncture path continues to be executed.

[0083] In this embodiment, during the puncture surgery, the selection of the puncture angle is particularly important. The puncture angle corresponds to multiple evaluation intervals, which are divided into a low-risk interval, a medium-risk interval, and a high-risk interval. Each interval corresponds to different puncture difficulties. When the doctor is planning the obstacle avoidance path, they will first determine the angle interval where the obstacle avoidance path is located. If the obstacle avoidance path is within the low-risk angle interval, then this path will be recorded as an allowable execution path, meaning that performing the puncture operation at this angle has a high level of safety and feasibility. However, if the obstacle avoidance path is within the medium-risk or high-risk angle interval, it will be recorded as a risk execution path, and an alarm signal will be sent out simultaneously to remind the doctor to handle it with caution. At the same time, an inquiry instruction will also be sent out to ask the doctor whether to continue executing this risk path. After ensuring that the doctor makes a corresponding decision with full knowledge of the risks, after the user (i.e., the doctor) determines to continue executing the risk path, the simulation puncture path planning will continue, so as to provide a more accurate and safe puncture plan for the doctor.

[0084] In a preferred embodiment, the path output module includes a visualization interface unit and a parameter output unit.

[0085] The visualization interface unit is used to display the optimal puncture path on the interface in the form of a three-dimensional image, including the spatial orientation of the optimal puncture path and the positional relationship of key structures;

[0086] The parameter output unit is used to sort out and output the puncture parameters corresponding to the optimal puncture path. The puncture parameters include the position coordinates of the puncture point, the specific trajectory of the puncture path, the required puncture depth, and the recommended puncture angle;

[0087] Among them, the parameter output unit outputs the puncture parameters in the form of text or charts.

[0088] In the above, the path output module mainly includes two components: a visualization interface unit and a parameter output unit. The visualization interface unit displays the optimal puncture path in the form of a 3D image on the interface. In this way, doctors can intuitively see the spatial orientation of the puncture path and the positional relationships of key structures such as blood vessels and nerves. This intuitive display method helps doctors better understand and grasp the risks during the puncture process, thereby avoiding damage to key structures. The parameter output unit mainly organizes and outputs the puncture parameters corresponding to the calculated optimal puncture path. These puncture parameters include the position coordinates of the puncture point, the specific trajectory of the puncture path, the required puncture depth, and the recommended puncture angle. In the parameter output unit, these puncture parameters can be output in text or chart form. The text form of output allows doctors to clearly see the specific values of each parameter, facilitating recording and reference. The chart form of output is more intuitive and can help doctors better understand the orientation of the puncture path and the positional relationships of key structures. Of course, the parameter output unit can also perform customized output according to the actual needs of doctors. For example, doctors can choose to only output key parameters or choose to output the parameters to a specific device or software for subsequent analysis and processing. This flexibility makes the path output module more in line with the usage habits and needs of doctors.

[0089] Please refer to Figure 3 , an electronic device, characterized in that: the electronic device includes:

[0090] At least one processor;

[0091] And a memory communicatively connected to the at least one processor;

[0092] Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the above-mentioned lung puncture positioning path planning system.

[0093] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, device, article or method. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, device, article or method including that element.

[0094] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. The structures, devices, and operation methods not specifically described and explained in the present invention are implemented according to the conventional means in the art without special explanation and limitation.

Claims

1. A lung puncture positioning path planning system, comprising an information collection module, a preprocessing module, a path planning module, a path evaluation module and a path output module, characterized in that: The information acquisition module is used to obtain medical imaging data at various angles of the lung area to be punctured; The preprocessing module is used to preprocess and extract features of medical image data, and identify the lung area and key structures of the lung area; The path planning module is used to obtain the puncture area, and generate multiple simulated puncture paths in combination with the position and shape of the key structure, and summarize them into a puncture path set; The path evaluation module is used to evaluate the simulated puncture path according to the evaluation conditions, and determine the optimal puncture path and the alternative puncture paths; The path output module is used to display the optimal puncture path to the user in a visual manner and simultaneously provide corresponding puncture parameters; The path evaluation module includes an evaluation condition setting unit and a path selection unit; The evaluation condition setting unit is used to set and adjust the evaluation conditions of the path evaluation, and the evaluation conditions include path length, tissue damage degree, puncture angle and regulation risk; The path selection unit performs quantitative evaluation on all simulated puncture paths in the puncture path set according to the evaluation conditions, and records the results of the quantitative evaluation as path scores, and then arranges the simulated puncture paths according to the size of the path scores, and records the simulated puncture path with the highest ranking as the optimal puncture path; When the candidate puncture paths are output, the path score under the optimal puncture path is offset, and the offset result is calibrated as the screening score, and the simulated puncture paths corresponding to the path scores greater than or equal to the screening score are recorded as the candidate puncture paths; The path length is set according to the length of the puncture needle, and the value of the path length is smaller than the length of the puncture needle; After the simulated puncture path is output, obstacles under each simulated puncture path will be synchronously determined, and an obstacle avoidance path will be generated; Obtaining the puncture needle adjustment angle corresponding to the obstacle avoidance path under each obstacle, and the squeezing degree of the puncture needle on the tissue during the adjustment process, and determining the corresponding tissue damage degree according to the squeezing degree of the puncture needle on the tissue, and recording it as the first damage parameter; Obtaining the degree of tissue damage caused by the puncture needle penetrating the tissue and recording it as a second damage parameter, and then comparing the second damage parameter with the first damage parameter; If the first damage parameter is greater than the second damage parameter, it indicates that the obstacle avoidance path is invalid, and the obstacle avoidance path is not added to the simulated puncture path; If the second damage parameter is less than or equal to the first damage parameter, it indicates that the obstacle avoidance path is valid, and the obstacle avoidance path is added to the simulated puncture path.

2. A lung puncture positioning path planning system according to claim 1, characterized in that: The information acquisition module includes an image acquisition unit and an image quality assessment unit; The image acquisition unit is used to acquire medical image data of the lung area to be punctured from multiple angles through medical imaging equipment; The image quality assessment unit is used to perform quality inspection on the collected medical image data according to preset inspection conditions, and remind the user to re-collect when image quality problems are found. The inspection conditions include image clarity, resolution and noise level.

3. A lung puncture positioning path planning system according to claim 1, characterized in that: The preprocessing module includes an image segmentation unit and a feature recognition unit; The image segmentation unit is used to extract medical image data between the puncture area and the lung area, obtain image data under the puncture planning area, and record it as reference image data, and then separate the lung area and the tissue structure around the lung from the reference image data; The feature recognition unit is used to recognize key structures in the lung region, and the key structures include the lesion region, the pulmonary blood vessels, and the region where the bronchus is located.

4. A lung puncture positioning path planning system according to claim 1, characterized in that: The path planning module includes a path planning unit and a path generating unit; The path planning unit is used to determine the puncture positioning area according to the position and morphology of the lesion area and the key structure, and set multiple puncture positioning points in the positioning area, and extend to the puncture area based on the puncture positioning points to obtain multiple reference puncture paths, and remove the reference puncture paths that touch blood vessels, bones, interlobular spaces, and mediastinum, and the remaining paths are recorded as simulated puncture paths; The path generation unit is used to collect the path trajectory, length and angle information of the simulated puncture path, and summarize them to form a puncture path set.

5. A lung puncture positioning path planning system according to claim 1, characterized in that: The puncture angle corresponds to a plurality of evaluation intervals, and the evaluation intervals include a low-risk interval, a medium-risk interval, and a high-risk interval; If the obstacle avoidance path is within the low-risk angle interval, the obstacle avoidance path is recorded as an allowable execution path; otherwise, the obstacle avoidance path is recorded as a risky execution path; Among them, under the risk execution path, an alarm signal and an inquiry instruction are issued synchronously, and after the user confirms, the planning of the simulated puncture path continues.

6. A lung puncture positioning path planning system according to claim 1, characterized in that: The path output module includes a visual interface unit and a parameter output unit; The visualization interface unit is used to display the optimal puncture path on the interface in the form of a three-dimensional image, including the spatial direction of the optimal puncture path and the positional relationship of the key structures; The parameter output unit is used to organize and output the puncture parameters corresponding to the optimal puncture path, wherein the puncture parameters include the position coordinates of the puncture point, the specific trajectory of the puncture path, the required puncture depth, and the recommended puncture angle; The parameter output unit outputs the puncture parameters in the form of text or chart.

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