3D printing implantation guide plate puncture channel design method

Abstract

The invention discloses a 3D printing implantation guide plate puncture channel design method, and relates to the technical field of tumor adjuvant therapy. The method comprises the following steps: S10, constructing a three-dimensional model of a patient; s20, constructing a puncture path set N based on the three-dimensional model; s30, according to the shortest path element i in the total N of the puncture paths and the puncture target, the direction of the puncture channel of the insertion needle is determined; according to the method, the puncture channel is allowed to be freely arranged in any direction of a three-dimensional space, and algorithm logic is designed based on the puncture channel which is short in puncture path and far in distance endangering the organ, so that the aims of reducing puncture injury, avoiding injury endangering the organ and reducing operation difficulty and risk are fulfilled.

Description

Technical Field

[0001] The present invention relates to the technical field of tumor auxiliary treatment, and in particular to a 3D printed implant guide puncture channel design method. Background Art

[0002] Implant radiotherapy uses an implant needle to introduce the radiation source into the tumor target area, so that the tumor tissue itself receives a high dose of radiation, while the surrounding normal tissue receives a smaller dose. It is becoming more and more widely used in clinical tumor treatment. In recent years, with the maturity of 3D printing technology, it has become a reality to customize implant guides according to the virtual puncture path pre-planned by radiotherapy planning software, further improving the accuracy of implant needle puncture.

[0003] However, due to the lack of flexibility of radiotherapy planning software, there are still some shortcomings in designing the 3D printed implant guide puncture channel based on the pre-planned virtual puncture path: 1) Radiotherapy planning software only allows the virtual puncture path to be arranged in the transverse, coronal and sagittal planes, which is less flexible. On the one hand, it may cause the selected puncture path to be longer, causing greater damage to human tissue. On the other hand, the puncture path may be closer to the endangered organ, which may lead to greater risks during the puncture process.

[0004] 2) For tumors in certain parts, arranging puncture paths only in the cross section, coronal plane, and sagittal plane cannot meet clinical needs. At this time, the design of the implantation guide needs to arrange a large number of spare puncture channels based on clinical experience, and select relatively reasonable puncture channels through repeated attempts during treatment. The process of repeated attempts increases the puncture damage to the patient's tissues, and the scientific nature of the puncture path is also sacrificed. Summary of the invention

[0005] The purpose of the present invention is to provide a 3D printed implant guide puncture channel design method to achieve the purpose of reducing puncture damage, avoiding damage to endangered organs, and reducing surgical difficulty and risk.

[0006] In order to achieve the above object, the present invention adopts the following technical means: A 3D printed implant guide puncture channel design method, comprising: S10. Construct a three-dimensional model of the patient; S20. constructing a puncture path collection N based on the three-dimensional model; S30. Determine the direction of the puncture channel of the implant needle according to the shortest path element i in the total puncture path N and the puncture target point.

[0007] Preferably, in step S10, three-dimensional reconstruction of the skin, tumor target area and critical organs is completed based on the patient's CT imaging data.

[0008] Furthermore, the step S20 includes: S21. Determine the organ-at-risk expansion region R based on the safety threshold; S22. Determine the tumor target puncture target point O, reference puncture direction V and puncture channel range factor θ; S23. Determine the puncture channel density factor ρ, take the puncture target point O as the starting point, and determine the simulated puncture path set N'(O, V, θ, ρ); S24. Remove the organ-at-risk expansion region R from the simulated puncture path collection N′ to determine the puncture path collection N.

[0009] Furthermore, the safety threshold is 2~10mm.

[0010] Furthermore, the step S30 includes: S31. Calculate the intersection of the puncture path set N and the patient's skin, and determine the length of each puncture path in the puncture path set N; S32. Determine the shortest path element i in the puncture path set N, and determine the coordinates of the intersection of the element i and the patient's skin; S33. Based on the coordinates of the intersection of element i and the skin and the coordinates of the puncture target point O, the insertion direction of the puncture channel of the implant needle is used.

[0011] Furthermore, steps S10 to S30 are repeated to determine that multiple puncture channels correspond to multiple tumor puncture target points.

[0012] During use, the present invention has the following beneficial effects: The puncture channel can be freely arranged in any direction in three-dimensional space. The puncture channel design algorithm logic is based on "short puncture path and long distance to endangered organs", so as to achieve the purpose of reducing puncture damage, avoiding damage to endangered organs, and reducing the difficulty and risk of surgery.

[0013] Even if the distribution of organs at risk near the tumor target area is relatively complex, it is possible to ensure that a puncture channel that meets clinical needs is effectively obtained; and when the distribution of organs at risk near the tumor target area is simple, it is possible to have a small amount of computing workload and improve the efficiency of the puncture operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The present invention is designed as a flow chart. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0016] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0018] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0019] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0020] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] Example 1 Combination Figure 1 As shown, a 3D printed implant guide puncture channel design method includes: S10. Construct a three-dimensional model of the patient; S20. constructing a puncture path collection N based on the three-dimensional model; S30. Determine the direction of the puncture channel of the implant needle according to the shortest path element i in the total puncture path N and the puncture target point.

[0022] Specifically, in step S10, three-dimensional reconstruction of the skin, tumor target area and critical organs is completed based on the patient's CT imaging data.

[0023] Furthermore, step S20 includes: S21. Determine the organ-at-risk expansion region R based on the safety threshold; S22. Determine the tumor target puncture target point O, reference puncture direction V and puncture channel range factor θ; S23. Determine the puncture channel density factor ρ, take the puncture target point O as the starting point, and determine the simulated puncture path set N'(O, V, θ, ρ); S24. Remove the organ-at-risk expansion region R from the simulated puncture path collection N′ to determine the puncture path collection N.

[0024] Wherein, the safety threshold is 2mm.

[0025] In addition, step S30 includes: S31. Calculate the intersection of the puncture path set N and the patient's skin, and determine the length of each puncture path in the puncture path set N; S32. Determine the shortest path element i in the puncture path set N, and determine the coordinates of the intersection of the element i and the patient's skin; S33. Based on the coordinates of the intersection of element i and the skin and the coordinates of the puncture target point O, the insertion direction of the puncture channel of the implant needle is used.

[0026] Meanwhile, steps S10 to S30 may be repeated to determine that multiple puncture channels correspond to multiple tumor puncture target points.

[0027] Example 2 Combination Figure 1 As shown, a 3D printed implant guide puncture channel design method includes: S10. Construct a three-dimensional model of the patient; S20. constructing a puncture path collection N based on the three-dimensional model; S30. Determine the direction of the puncture channel of the implant needle according to the shortest path element i in the total puncture path N and the puncture target point.

[0028] Specifically, in step S10, three-dimensional reconstruction of the skin, tumor target area and critical organs is completed based on the patient's CT imaging data.

[0029] Furthermore, step S20 includes: S21. Determine the organ-at-risk expansion region R based on the safety threshold; S22. Determine the tumor target puncture target point O, reference puncture direction V and puncture channel range factor θ; S23. Determine the puncture channel density factor ρ, take the puncture target point O as the starting point, and determine the simulated puncture path set N'(O, V, θ, ρ); S24. Remove the organ-at-risk expansion region R from the simulated puncture path collection N′ to determine the puncture path collection N.

[0030] Wherein, the safety threshold is 6mm.

[0031] In addition, step S30 includes: S31. Calculate the intersection of the puncture path set N and the patient's skin, and determine the length of each puncture path in the puncture path set N; S32. Determine the shortest path element i in the puncture path set N, and determine the coordinates of the intersection of the element i and the patient's skin; S33. Based on the coordinates of the intersection of element i and the skin and the coordinates of the puncture target point O, the insertion direction of the puncture channel of the implant needle is used.

[0032] Meanwhile, steps S10 to S30 may be repeated to determine that multiple puncture channels correspond to multiple tumor puncture target points.

[0033] Example 3 Combination Figure 1 As shown, a 3D printed implant guide puncture channel design method includes: S10. Construct a three-dimensional model of the patient; S20. constructing a puncture path collection N based on the three-dimensional model; S30. Determine the direction of the puncture channel of the implant needle according to the shortest path element i in the total puncture path N and the puncture target point.

[0034] Specifically, in step S10, three-dimensional reconstruction of the skin, tumor target area and critical organs is completed based on the patient's CT imaging data.

[0035] Furthermore, step S20 includes: S21. Determine the organ-at-risk expansion region R based on the safety threshold; S22. Determine the tumor target puncture target point O, reference puncture direction V and puncture channel range factor θ; S23. Determine the puncture channel density factor ρ, take the puncture target point O as the starting point, and determine the simulated puncture path set N'(O, V, θ, ρ); S24. Remove the organ-at-risk expansion region R from the simulated puncture path collection N′ to determine the puncture path collection N.

[0036] Wherein, the safety threshold is 10mm.

[0037] In addition, step S30 includes: S31. Calculate the intersection of the puncture path set N and the patient's skin, and determine the length of each puncture path in the puncture path set N; S32. Determine the shortest path element i in the puncture path set N, and determine the coordinates of the intersection of the element i and the patient's skin; S33. Based on the coordinates of the intersection of element i and the skin and the coordinates of the puncture target point O, the insertion direction of the puncture channel of the implant needle is used.

[0038] Meanwhile, steps S10 to S30 may be repeated to determine that multiple puncture channels correspond to multiple tumor puncture target points.

[0039] Example 4 Combination Figure 1 As shown, a 3D printed implant guide puncture channel design method includes: Step S10: Based on the patient's CT imaging data, complete the three-dimensional reconstruction of the patient's skin, tumor target area, and organs at risk.

[0040] Step S21: Based on the safe puncture threshold d, the endangered organ is expanded outward by a distance d to generate a region R.

[0041] The setting of the safe puncture threshold d should take into account factors such as the minimum distance between the puncture needle and the endangered organ, the puncture needle diameter, and the positioning error, and the value of the safe threshold is 2-10 mm. At the same time, different safe puncture thresholds are allowed for different endangered organs.

[0042] Step S22: define the tumor target puncture target point O (the location where the puncture needle is expected to reach), the reference puncture direction V, and the puncture channel range factor θ.

[0043] The reference puncture direction V can be roughly determined according to the distribution of the tumor target area and the organs at risk. The puncture channel range factor θ expresses the area where the puncture channel may appear, and its value can be defined by the angle with the reference puncture direction V.

[0044] Among them, if the distribution of organs at risk near the tumor target area is more complex, a larger puncture channel range factor can be selected to ensure that a puncture channel that meets clinical needs can be effectively obtained; if the distribution of organs at risk near the tumor target area is simple, a smaller puncture channel range factor can be selected to reduce the calculation workload.

[0045] Step S23: define the puncture channel density factor ρ, take the target puncture point O as the starting point, and generate a simulated puncture path set N'(O, V, θ, ρ) according to the requirements of the reference puncture direction V and the puncture channel range factor θ.

[0046] The density factor ρ represents the number of puncture paths generated within the puncture channel.

[0047] Furthermore, if the calculation workload is to be reduced, a smaller density factor may be selected; if a better puncture channel is to be obtained, a larger density factor may be selected.

[0048] Step S24: removing elements intersecting with the extended region R of the organ at risk from the simulated puncture path set N' (O, V, θ, ρ), thereby determining the puncture path set N.

[0049] Step S31: Calculate the intersection points between each element of the puncture path set N (O, V, θ, ρ) and the patient's skin, and calculate the length of each puncture path in the set N (O, V, θ, ρ).

[0050] Step S32: Determine the element i with the shortest puncture path in the set N (O, V, θ, ρ), and output the coordinates of the intersection of the element and the patient's skin.

[0051] Step S33: Based on the coordinates of the element i and the puncture target point O, the direction of the puncture channel of the 3D printed implant guide is defined, and the puncture channel is designed according to the diameter and tolerance requirements of the puncture needle.

[0052] At the same time, if there are multiple tumor puncture targets, the above steps can be repeated to complete the design of the corresponding puncture channels.

[0053] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A 3D printed implant guide puncture channel design method, characterized in that: include: S10. Construct a three-dimensional model of the patient; S20. constructing a puncture path collection N based on the three-dimensional model; S30. Determine the direction of the puncture channel of the implant needle according to the shortest path element i in the total puncture path N and the puncture target point.

2. A 3D printed planting guide puncture channel design method according to claim 1, characterized in that: In step S10, three-dimensional reconstruction of the skin, tumor target area and critical organs is completed based on the patient's CT imaging data.

3. A 3D printed planting guide puncture channel design method according to claim 1, characterized in that: The step S20 comprises: S21. Determine the organ-at-risk expansion region R based on the safety threshold; S22. Determine the tumor target puncture target point O, reference puncture direction V and puncture channel range factor θ; S23. Determine the puncture channel density factor ρ, take the puncture target point O as the starting point, and determine the simulated puncture path set N'(O, V, θ, ρ); S24. Remove the organ-at-risk expansion region R from the simulated puncture path collection N′ to determine the puncture path collection N.

4. A 3D printed implant guide puncture channel design method according to claim 3, characterized in that: The safety threshold is 2~10mm.

5. A 3D printed implant guide puncture channel design method according to claim 1, characterized in that: The step S30 comprises: S31. Calculate the intersection of the puncture path set N and the patient's skin, and determine the length of each puncture path in the puncture path set N; S32. Determine the shortest path element i in the puncture path set N, and determine the coordinates of the intersection of the element i and the patient's skin; S33. Based on the coordinates of the intersection of element i and the skin and the coordinates of the puncture target point O, the insertion direction of the puncture channel of the implant needle is used.

6. A 3D printed planting guide puncture channel design method according to any one of claims 1 to 5, characterized in that: Repeat steps S10 to S30 to determine that multiple puncture channels correspond to multiple tumor puncture target points.

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