Automatic planning method and system for particle implantation template

Abstract

The embodiment of the invention discloses an automatic planning method and system for a particle implantation template. The automatic planning method comprises the following steps: acquiring image data of a target object; based on the image data, obtaining at least one candidate body surface needle entry point of the target object; a target needle entry point is determined in the at least one candidate body surface needle entry point, the center position of the target template and the normal vector of the space plane where the target template is located are determined based on the target needle entry point, and the target needle entry point is the body surface needle entry point of a target template center needle; and determining the placement orientation of the target template on the space plane, wherein the placement orientation refers to the placement orientation of the target template on the plane by taking the central position of the target template as the center.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a method and system for automatically planning a particle implantation template. Background Art

[0002] Particle implantation (full name: "radioactive particle implantation therapy technology") is a close-range radiotherapy technology that is suitable for the treatment of various tumors. During particle implantation, radioactive particles are delivered to the target area through a puncture needle to kill tumor cells from the inside. Among them, puncture technology is one of the key factors that determine the efficacy of particle implantation. In order to ensure accurate puncture during surgery, templates are often used to limit the position and direction of the puncture needle, among which coplanar templates are more widely used.

[0003] Before particle implantation, physicians usually need to formulate a corresponding particle implantation plan based on the particle implantation treatment plan in order to smoothly implement particle implantation, including puncture needle placement simulation and radioactive particle source placement simulation. Before performing needle placement simulation, physicians usually determine the position of the template based on the location and morphology of the tumor and organ, and then perform needle placement based on the template. How to determine the appropriate position of the template is still an open technical problem. In current clinical practice, physicians can manually drag the template to a suitable position based on clinical experience, and then perform needle and source placement simulation. If satisfactory simulation results cannot be obtained, the template position needs to be adjusted. This process is highly dependent on the subjective experience of clinicians and is inefficient.

[0004] Therefore, a method and system for automatic planning of a particle implantation template are provided to more efficiently obtain a suitable template position and alleviate the deficiencies of the existing system. Summary of the invention

[0005] One of the embodiments of the present specification provides an automatic planning method for a particle implantation template, the planning method comprising: acquiring image data of a target object; acquiring at least one candidate surface needle entry point of the target object based on the image data; determining a target needle entry point from the at least one candidate surface needle entry point, and determining a center position of a target template and a normal vector of a spatial plane where the target template is located based on the target needle entry point, the target needle entry point being the surface needle entry point of the center needle of the target template; and determining a placement orientation of the target template on the spatial plane, the placement orientation referring to a placement orientation of the target template on the plane with the center position of the target template as the center.

[0006] In some embodiments, acquiring at least one candidate body surface needle entry point of the target object includes: acquiring at least one body surface slice of the target object based on the image data, and acquiring the corresponding at least one candidate body surface needle entry point based on the at least one body surface slice.

[0007] In some embodiments, determining a target needle entry point from the at least one candidate body surface needle entry point further comprises: preprocessing the at least one candidate body surface needle entry point to eliminate candidate body surface needle entry points whose needle entry depths do not meet depth conditions.

[0008] In some embodiments, determining the target needle entry point among the at least one candidate body surface needle entry point includes: based on the target area effective template projection information corresponding to the candidate body surface needle entry point, determining a candidate body surface needle entry point that meets a first preset condition among the at least one candidate body surface needle entry point as the target needle entry point; wherein the target area effective template projection information refers to: area information of the target area projected on the spatial plane that is not obscured by non-penetrable tissue; the first preset condition includes that the target area effective template projection information satisfies the first optimization goal, or the first preset condition includes: the target area effective template projection information satisfies the first optimization goal, and the needle entry depth corresponding to the candidate body surface needle entry point meets the needle entry preset condition.

[0009] In some embodiments, the target area effective template projection information is obtained by counting the target area effective projection points, and the method for determining the target area effective projection points includes: for any target area projection point: if there is any impenetrable tissue projection point, so that the relationship between the target area projection point and the impenetrable tissue projection point satisfies a second preset condition, then the target area projection point is the target area effective projection point; the second preset condition includes: the distance between the target area projection point and the impenetrable tissue projection point in the spatial plane satisfies a threshold condition and the impenetrable tissue point is farther from the spatial plane than the target area point.

[0010] In some embodiments, determining the target needle entry point among at least one candidate body surface needle entry point further comprises: determining the target needle entry point among the at least one candidate body surface needle entry point by using a first solution algorithm aimed at maximizing the effective template projection information of the target area.

[0011] In some embodiments, determining the placement orientation of the target template on the spatial plane includes: based on the number of valid template holes corresponding to the template placement orientation, in at least one template placement orientation on the spatial plane, determining the template placement orientation whose number of valid template holes satisfies the second optimization goal as the placement orientation of the target template; wherein, the number of valid template holes refers to: when the target template is placed according to the template placement orientation, the number of holes corresponding to the puncture needle on the target template that meets the stepping condition; the stepping condition includes: in the stepping direction of the puncture needle, before the puncture needle contacts the target area, the puncture needle does not contact the non-penetrable tissue; and the insertion depth of the puncture needle does not exceed the preset needle length.

[0012] In some embodiments, determining the placement orientation of the target template on the spatial plane further includes: determining the placement orientation of the target template in the at least one template placement orientation by a second solution algorithm aimed at maximizing the number of effective template holes.

[0013] One of the embodiments of the present specification provides an automatic planning method for a particle implantation template, the planning method comprising: acquiring image data of a target object; based on the image data, acquiring at least one candidate body surface needle entry point of the target object; based on the effective target template projection information corresponding to the candidate body surface needle entry point, determining a candidate body surface needle entry point that meets a first preset condition as a target needle entry point among the at least one candidate body surface needle entry point, the target needle entry point being the body surface needle entry point of the center needle of the target template; wherein the effective target template projection information refers to: information about the area of ​​the target area projected on the plane that is not blocked by non-penetrable tissue; the first preset condition comprises that the effective target template projection information satisfies a first optimization target; or, the first preset condition comprises that the effective target template projection information satisfies a first optimization target, and the needle entry depth corresponding to the candidate body surface needle entry point satisfies a preset needle entry condition; based on the target needle entry point, determining the center position of the target template and the normal vector of the spatial plane where the target template is located.

[0014] One of the embodiments of the present specification provides an automatic planning method for a particle implantation template, the planning method comprising: acquiring image data of a target object; acquiring the center position of a target template associated with the image data and the normal vector of a spatial plane where the target template is located; based on the number of valid template holes corresponding to the template placement orientation, in at least one template placement orientation on the spatial plane, determining a template placement orientation in which the number of valid template holes meets a second optimization goal as a target template placement orientation; wherein the template placement orientation refers to: the placement orientation of the template on the plane with the center position of the target template as the center; the number of valid template holes refers to: when the template is placed according to the template placement orientation, the number of holes corresponding to the puncture needle on the template that meets a stepping condition; the stepping condition comprises: in the stepping direction of the puncture needle, before the puncture needle contacts the target area, the puncture needle does not contact non-penetrable tissue; and the insertion depth of the puncture needle does not exceed a preset needle length.

[0015] One of the embodiments of the present specification provides an automatic planning system for a particle implantation template, the planning system comprising: a first acquisition module, used to acquire image data of a target object; a second acquisition module, used to acquire at least one candidate surface needle entry point of the target object based on the image data; a first determination module, used to determine a target needle entry point from the at least one candidate surface needle entry point, and determine the center position of a target template and the normal vector of a spatial plane where the target template is located based on the target needle entry point, the target needle entry point being the surface needle entry point of the center needle of the target template; and a second determination module, used to determine a placement orientation of the target template on the spatial plane, the placement orientation referring to the placement orientation of the target template on the plane with the center position of the target template as the center.

[0016] One of the embodiments of the present specification provides an automatic planning device for a particle implantation template, comprising a processor, wherein the processor is used to execute the automatic planning method for the particle implantation template.

[0017] Some embodiments of the present application automatically plan appropriate coplanar template positions according to instrument parameters of interest in the seed implantation procedure and the morphology and position of the target area and organ. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0019] Figure 1 is a schematic diagram of an application scenario of an exemplary particle implantation template automatic planning system according to some embodiments of this specification;

[0020] Figure 2 is an exemplary schematic diagram of modules of a particle implantation template automatic planning system according to some embodiments of this specification;

[0021] Figure 3 is an exemplary flow chart of a method for automatically planning a particle implantation template according to some embodiments of this specification;

[0022] Figure 4a-4b is a schematic diagram of an exemplary needle insertion depth calculation method according to some embodiments of this specification;

[0023] Figure 4c is an exemplary schematic diagram of a target particle implantation plan of a particle implantation technique according to some embodiments of the present specification;

[0024] Figure 5a-Figure 5b is an exemplary schematic diagram of effective template hole distribution according to some embodiments of this specification;

[0025] Figure 6a-6b is an exemplary schematic diagram of another effective template hole distribution according to some embodiments of this specification;

[0026] Figure 7 is an exemplary schematic diagram of a template plane according to some embodiments of this specification;

[0027] Figure 8 is an exemplary schematic diagram of another template plane according to some embodiments of this specification;

[0028] Fig. 9 is an exemplary flow chart of another automatic planning method for a particle implantation template according to some embodiments of this specification;

[0029] Fig.10 is an exemplary flow chart of another automatic planning method for a particle implantation template according to some embodiments of this specification;

[0030] Fig.11 It is an exemplary flow chart of the template automatic positioning method shown in some embodiments of this specification. DETAILED DESCRIPTION

[0031] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0032] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0033] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0034] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0035] Figure 1 It is a schematic diagram of an application scenario of an exemplary particle implantation template automatic planning system shown in some embodiments of this specification.

[0036] like Figure 1 As shown, the application scenario 100 of the particle implantation template automatic planning system includes a medical scanning device 110 (exemplarily, Figure 1 CT scanner), network 120, terminal 130, processing device 140 and storage device 150. The components in application scenario 100 can be connected in various ways. For example, Figure 1 As shown in FIG. 1 , the medical scanning device 110 can be connected to the processing device 140 via the network 120. The medical scanning device 110 can be directly connected to the processing device 140 (as shown by the double-headed arrow in the dashed line connecting the medical scanning device 110 and the processing device 140). The storage device 150 is connected to the processing device 140 directly or via the network 120.

[0037] The medical scanning device 110 can scan a scanned object and / or generate a plurality of data about the scanned object. In this specification, the scanned object is also referred to as a scanning object, a target object, a target, or a detected object. In some embodiments, the scanned object is a patient, an animal, etc. When the target object needs to be scanned, after the target object enters the scanning area 115, the medical scanning device 110 can perform tube anode exposure based on a preset scanning protocol to emit radiation (e.g., an X-ray beam), and the radiation is irradiated on the target object to obtain corresponding image data. In some embodiments, the image data includes information such as the contour of the target area, the organ or tissue area around the target area, etc.

[0038] The network 120 includes any suitable network that facilitates information and / or data exchange of the application scenario 100. In some embodiments, one or more components of the application scenario 100 (e.g., the medical scanning device 110, the terminal 130, the processing device 140, or the storage device 150) can transmit information and / or data with one or more other components of the application scenario 100 via the network 120. For example, the processing device 140 can obtain image data of a target object from the medical scanning device 110 via the network 120. In some embodiments, the network 120 is any one or more of a wired network or a wireless network. In some embodiments, the network is a point-to-point, shared, centralized, or other topological structure or a combination of multiple topological structures.

[0039] The terminal 130 includes a mobile device 130-1, a tablet computer 130-2, a laptop computer 130-3, etc., or any combination thereof. In some embodiments, the terminal 130 can interact with other components in the application scenario 100 through the network 120. For example, the terminal 130 can receive image data and other data sent by the medical scanning device 110. In some embodiments, the terminal 130 can receive information and / or instructions input by a user (e.g., a user of the medical scanning device 110, such as a doctor), and send the received information and / or instructions to the medical scanning device 110 or the processing device 140 via the network 120. For example, a doctor can input operating instructions for the medical scanning device 110 through the terminal 130. In some embodiments, the terminal device 130 can display the planning of the template for the user to view and / or select.

[0040] The processing device 140 can process data and / or information obtained from the medical scanning device 110, the terminal 130 and / or the storage device 150. For example, the processing device 140 can acquire image data of a target object.

[0041] In some embodiments, the processing device 140 can be a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processing device 140 can be local or remote. The processing device 140 can be directly connected to the medical scanning device 110, the terminal 130 and the storage device 150 to access the stored or acquired information and / or data. In some embodiments, the processing device 140 can be implemented on a cloud platform. By way of example only, the cloud platform includes a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, etc. or any combination thereof.

[0042] The storage device 150 can store data and / or instructions. In some embodiments, the storage device 150 can store data obtained from the medical scanning device 110, the terminal 130 and / or the processing device 140. For example, the storage device 150 can store image data obtained by the user scanning device, the planning of the template, etc. In some embodiments, the storage device 150 can store data and / or instructions executed by the processing device 140 or used to execute the exemplary methods described in this specification. For example, the storage device 150 can store instructions for the processing device 140 to execute the methods shown in each flowchart. In some embodiments, the storage device 150 includes a large-capacity storage device, a removable storage device, a volatile read-write memory, a read-only memory (ROM), etc., or any combination thereof. In some embodiments, the storage device 150 can be implemented on a cloud platform.

[0043] In some embodiments, the storage device 150 can be connected to the network 120 to communicate with one or more components of the application scenario 100 (e.g., the medical scanning device 110, the terminal 130, the processing device 140, etc.). One or more components of the application scenario 100 can access data or instructions stored in the storage device 150 via the network 120. In some embodiments, the storage device 150 can be directly connected to or communicate with one or more components of the application scenario 100. In some embodiments, the storage device 150 is part of the processing device 140.

[0044] The above description is for illustrative purposes only, and actual application scenarios may vary.

[0045] It should be noted that the application scenario 100 is provided for illustrative purposes only and is not intended to limit the scope of the present application. For those of ordinary skill in the art, various modifications or variations can be made according to the description of this specification. For example, the application scenario 100 also includes a display device. However, these variations and modifications will not deviate from the scope of the present application.

[0046] Figure 2 is a module diagram of an exemplary particle implantation template automatic planning system according to some embodiments of the present specification.

[0047] like Figure 2 As shown, in some embodiments, a particle implantation template automatic planning system 200 (hereinafter referred to as the planning system 200 ) includes a first acquisition module 210 , a second acquisition module 220 , a first determination module 230 , and a second determination module 240 .

[0048] The first acquisition module 210 is used to acquire image data of the target object. For more information about the acquisition of the image data of the target object, refer to step 310 and its related description.

[0049] The second acquisition module 220 is used to acquire at least one candidate body surface needle entry point of the target object based on the image data. For more information about acquiring at least one candidate body surface needle entry point of the target object, refer to step 320 and its related description.

[0050] The first determination module 230 is used to determine a target needle entry point from at least one candidate body surface needle entry point, and determine the center position of the target template and the normal vector of the space plane where the target template is located based on the target needle entry point, wherein the target needle entry point is the body surface needle entry point of the center needle of the target template. For more information about the determination of the target needle entry point, the center position of the target template, and the normal vector of the space plane where the target template is located, refer to step 330 and its related description.

[0051] The second determination module 240 is used to determine the placement orientation of the target template on the spatial plane, and the placement orientation refers to the placement orientation of the target template on the spatial plane when the center position of the target template is the center. For more information about the determination of the placement orientation of the target template, refer to step 340 and its related description.

[0052] In some embodiments, the particle implantation template automatic planning system 200 further includes an output module 250. The output module 250 is used to output the template planning.

[0053] It should be noted that the above description of the particle implantation template automatic planning system 200 and its modules is for convenience of description only and does not limit this specification to the scope of the embodiments cited. It is understandable that for those skilled in the art, after understanding the principle of the system, it is possible to arbitrarily combine the various modules, or form a subsystem connected to other modules without deviating from this principle. The various modules can be different modules in a system, or a module can implement the functions of two or more of the above-mentioned modules. For example, the various modules can share a storage device, and each component can also have its own storage device. Such variations are all within the scope of protection of this specification.

[0054] Figure 3 is an exemplary flow chart of a method for automatically planning a particle implantation template according to some embodiments of the present specification.

[0055] In some embodiments, process 300 is performed by a processing device (eg, processing device 140). In some embodiments, process 300 is implemented by planning system 200 deployed on a processing device.

[0056] In some embodiments, the template for particle implantation includes a coplanar template. Some embodiments of this specification mainly use the coplanar template as an example to illustrate the template automatic planning method.

[0057] Step 310 , acquiring image data of the target object. In some embodiments, step 310 is performed by the first acquisition module 210 .

[0058] The target object refers to an individual who needs to undergo particle implantation, for example, the target object is a person, a patient, an animal, etc.

[0059] The target area refers to the area of ​​the body where the seed implantation is to be performed. For example, the target area includes the area where abnormal lesions occur in the body, such as the tumor area in the chest cavity.

[0060] The tissue region refers to the body region related to the target region. For example, the tissue region includes organs (such as the heart), skin, bones, blood vessels, etc. around the target region.

[0061] In some embodiments, when performing a particle implantation surgery, different target areas require different implantation doses, and the relevant tissue areas also need to meet certain dose restrictions.

[0062] The image data includes but is not limited to medical image data such as CT images and ultrasound images, which can be one or more pictures, or one or more frames of images in video data. In some embodiments, the image data is obtained by scanning the target object with a medical scanning device (such as a CT device).

[0063] In some embodiments, the image data contains information about the target area and / or tissue area. For example, the image data may include information about the location (such as the chest, neck, abdomen, etc.), shape, outline, size, etc. of the target area in the target object. It may also include information about whether there are important organs or body tissues (such as the heart, carotid artery, lungs, etc.) around the target area and their shapes, outlines, etc.

[0064] In some embodiments, the automatic planning system 200 can process the acquired image data to outline the contours of the target area and tissue area, extract the features of the target area and / or tissue area in the image (such as the name and type of tissue), and then obtain the processed image data of the segmented target area and tissue area.

[0065] It can be understood that the segmentation of the target area and tissue area in the image can be achieved through various feasible methods, such as manual segmentation, semi-automatic segmentation and automatic segmentation. The manual segmentation method uses interactive software (such as ITK-SNAP) to outline the area. The semi-automatic segmentation method uses traditional image processing algorithms to segment the target area by manually setting parameters. The specific algorithms used in the semi-automatic segmentation method include but are not limited to threshold method, region growing method, level set, etc. The automatic segmentation method uses a trained machine learning or deep learning model to segment the foreground and background. The specific algorithm is not limited to a segmentation model based on U-Net.

[0066] In some embodiments of the present specification, by segmenting the target area and tissue area, the contours of the target area and surrounding important tissues or organs can be identified and obtained, which helps the puncture needle of the particle implantation surgery avoid important organs and reduce the negative impact of the dose.

[0067] In some embodiments, the first acquisition module 210 can acquire the image data of the target part from the storage device 150, the storage unit of the processing device 140, etc. In some embodiments, the first acquisition module 210 can acquire the image data of the target part by reading from the storage device, the database, calling the data interface, etc.

[0068] Step 320 , based on the image data, obtain at least one candidate body surface needle entry point of the target object. In some embodiments, step 320 is performed by the second acquisition module 220 .

[0069] Candidate body surface needle entry points refer to points on the skin surface that may be selected as needle entry locations.

[0070] In some embodiments, the second acquisition module 220 can acquire candidate body surface needle entry points by extracting body surface voxels, dividing body surface regions, and the like.

[0071] In some embodiments, the second acquisition module 220 can acquire at least one body surface slice of the target object based on the image data. In some embodiments, the second acquisition module 220 divides the surface of the target object into a plurality of small areas, each of which is referred to as a body surface slice. In some embodiments, the second acquisition module 220 divides the surface of the target object into at least one body surface slice evenly or unevenly.

[0072] In some embodiments, the second acquisition module 220 can acquire at least one corresponding candidate body surface needle entry point based on at least one body surface slice. For example, for each body surface slice in at least one body surface slice, the second acquisition module 220 uses the center of the body surface slice as the candidate body surface needle entry point.

[0073] In some embodiments, the second acquisition module 220 can acquire at least one candidate body surface needle entry point by other methods, such as generating discretized candidate body surface needle entry points by a grid algorithm, wherein the grid algorithm includes but is not limited to a marching cube algorithm and a dividing cube algorithm.

[0074] Step 330, determine a target needle entry point from at least one candidate body surface needle entry point, determine the center position of the target template and the normal vector of the spatial plane where the target template is located based on the target needle entry point, and the target needle entry point is the body surface needle entry point of the center needle of the target template. In some embodiments, step 330 is performed by the first determination module 230.

[0075] In some embodiments, the first determination module 230 can pre-process at least one candidate body surface needle entry point to eliminate the candidate body surface needle entry point whose needle entry depth does not meet the depth condition when puncturing the target area.

[0076] Needle insertion depth refers to the distance that the needle tip of the puncture needle enters from the surface of the target object into the interior of the target object during particle implantation, for example, the distance from the skin surface into the human body. Figure 4a-4b and its description provide an example of calculation of needle insertion depth.

[0077] The depth condition includes that the needle insertion depth is less than the length of the puncture needle or the needle insertion depth is less than a preset depth, etc. In some embodiments, the depth condition is determined based on experience and / or demand.

[0078] By eliminating candidate surface needle entry points whose needle insertion depths do not meet the depth conditions, it can be ensured that the needle tip can reach the corresponding planned target point during the subsequent puncture process. In addition, it can also narrow the search range of the needle entry point and improve the efficiency of the subsequent process of determining the target needle entry point (such as the iterative optimization process and other solution algorithms).

[0079] In some embodiments, the first determination module 230 can also eliminate candidate body surface needle insertion points whose needle insertion angle (angle between the needle and the skin surface tangent plane) does not meet the angle condition. The angle condition includes the needle insertion angle range, for example, greater than 60°, etc. The angle condition is determined based on experience and / or demand.

[0080] The target needle entry point is the body surface needle entry point of the central needle of the target template. In some embodiments, the target needle entry point is the optimal needle entry point selected from the candidate body surface needle entry points, so that when the template is located on the template plane corresponding to the optimal needle entry point, the puncture needle pierced into the human body through the template is blocked by the vital organs as little as possible. The target needle entry point can be determined by various feasible solution methods.

[0081] In some embodiments, the first determination module 230 can determine a candidate body surface needle entry point that meets a first preset condition as a target needle entry point from at least one candidate body surface needle entry point based on the target area effective template projection information corresponding to the candidate body surface needle entry point.

[0082] The effective template projection information of the target area refers to the area information of the target area projected on the plane that is not blocked by the impermeable tissue. In other words, the effective template projection information of the target area refers to the area information of the target area that is not blocked by the impermeable tissue when it is projected on the template plane. Impermeable tissue refers to tissues or organs that are not suitable or allowed to be punctured or penetrated due to their special structure or function during medical operations or treatments. Impermeable tissues include some high-risk areas, such as large blood vessels, lungs, etc. Puncture of these tissues may cause serious complications, such as bleeding, pneumothorax, etc. Impermeable tissue also includes areas that are difficult to puncture, such as bones. In some embodiments, the effective template projection information of the target area includes the effective projection area of ​​the target area, the ratio of the effective projection area of ​​the target area, etc. The effective projection area of ​​the target area refers to the projection area of ​​the target area that is not blocked by the impermeable tissue. The ratio of the effective projection area of ​​the target area refers to the ratio of the effective projection area of ​​the target area to the total projection area of ​​the target area (this ratio can eliminate the influence of tumor anisotropy).

[0083] In some embodiments, the first preset condition includes that the effective template projection information of the target area satisfies the first optimization goal. The first optimization goal refers to the goal or expected result pursued in the automatic planning problem of the particle implantation template. For example, the first optimization goal is to maximize the effective projection area of ​​the target area, maximize the effective projection area ratio of the target area, minimize the occlusion volume of the target area, etc.

[0084] By finding the surface needle entry point that can minimize the target area occlusion volume, a sufficiently large feasible solution space can be provided for subsequent particle implantation planning.

[0085] In some embodiments, the first preset condition includes: the effective template projection information of the target area meets the first optimization goal, and the needle insertion depth corresponding to the candidate body surface needle insertion point meets the needle insertion preset condition. In some embodiments, the needle insertion preset condition includes that the target needle insertion point is the one with the smallest corresponding needle insertion depth among the candidate needle insertion points.

[0086] In some embodiments, the effective template projection information of the target area is obtained by counting the effective projection points of the target area. In some embodiments, the first determination module 230 can determine the effective projection point by the following method: for any target projection point, if there is any non-penetrable tissue projection point, so that the relationship between the target projection point and the non-penetrable tissue projection point satisfies the second preset condition, then the target projection point is a valid target projection point.

[0087] The second preset condition includes: the distance (such as Euclidean distance, etc.) between the target area projection point and the non-penetrable tissue projection point in the plane meets the threshold condition and the non-penetrable tissue point is farther from the plane than the target area point.

[0088] For example, there is a target point A and an impenetrable tissue point B, and the projection point A' of point A on the template plane and the projection point B' of point B on the template plane are very close (almost overlapping). It is understood that if the puncture needle is infinitely long, then the puncture needle that passes through the target point A will definitely pass through the impenetrable tissue point B. During the puncture process, the puncture starting point of the puncture path is the projection point A' on the template, and the end point of the puncture path is the target point A. For the above two points AB, if it is necessary to pass through the impenetrable tissue point B to reach the target point A (the impenetrable tissue point is closer to the template plane), then this path is invalid, and the projection point A' on the template is also invalid. On the contrary, if the impenetrable tissue point B is farther away, the target point A can be reached without passing through the tissue, and the projection point A is the effective projection point of the target area.

[0089] For example, the first determination module 230 can traverse the target projection points to determine the valid projection points. target (ρ t ,θ t ,z t ), if there is a tissue projection point P OAR (ρ,θ,z), so that the Euclidean distance between the two in the projection plane is close enough (the calculation formula is as follows):

[0090]

[0091] In the above formula (1), (ρ t ,θ t ) represents the target projection point P target Polar coordinates of the projection point in the space plane where the template is located, z t express Projection on the normal vector of the template plane, (ρ,θ) represents the tissue projection point P oAR The polar coordinates of the projection point in the template plane, z represents Projection onto the normal vector of the template plane.

[0092] If the tissue voxel is closer to the template (i.e., z <z t ), the target projection point is considered invalid; if the target voxel is closer to the template (i.e. z>z t ), then the target projection point is considered to be a valid projection point.

[0093] In some embodiments, first, the first determination module 230 determines the target needle entry point from at least one candidate body surface needle entry point through a first solution algorithm. In some embodiments, the goal (or optimization goal) of the first solution algorithm includes maximizing the effective template projection information of the target area. Secondly, the first determination module 230 calculates the normal vector of the template based on the target needle entry point and the center point of the target area, and the center of the template is located on the extension line from the center point of the target area to the target needle entry point.

[0094] As described above, at least one body surface slice is obtained in step 320, and the set consisting of the at least one body surface slice is denoted as F. Each of the at least one body surface slice corresponds to a candidate body surface needle entry point, and each candidate body surface needle entry point connected to the center of the target area can form a direction, based on which an effective projection area ratio can be calculated. The number of candidate body surface needle entry points is equal to the number of effective projection area ratios that can be calculated, and the set consisting of the effective projection area ratios is denoted as SR.

[0095] As an example only, in some embodiments, the first solution algorithm includes: the first determination module 230 determines the target needle entry point using the set F and the set SR, and the specific steps are as follows:

[0096] Step 1: Initialize the set of effective projection area ratios of the target area to an empty set, that is, let SR = φ.

[0097] Step 2: Select a patch f from the volume surface patch set F and calculate the patch center point C. The selection method can be sequential or random.

[0098] Step 3: To ensure the uniformity of the projection points, the target area and tissue masks are resampled to a resolution of 1 mm × 1 mm × 1 mm using the nearest neighbor interpolation method.

[0099] Step 4: To reduce the number of subsequent iterations, the surface voxels of the target area and tissue are calculated separately.

[0100] Step 5: Represent voxels in the template plane. Assume that the template center position is C and the template plane normal vector is Where, O is the center of the target area, is a vector with point C as the starting point and point O as the end point. The surface voxels of the target area and tissue are projected onto the template plane respectively. A voxel A is represented by (ρ, θ, z), where (ρ, θ) represents the polar coordinates of the projection point of voxel A in the template plane, and z represents In the normal vector Projection on.

[0101] Step 6: Traverse the target area projection points and determine the effective projection points. The method for determining the effective projection points can be found in other parts of this specification.

[0102] Step 7: Count the current effective target projection area S, the target projection area is V, calculate the target effective projection area ratio, and add it to the set of effective projection area ratios, that is, SR = SR ∪ {S / V}.

[0103] Step 8: Eliminate f from the set F, and return to step 2 and repeat until all the face patches in the set F are calculated and eliminated from the set F, that is, F = φ.

[0104] Step 9: Sort the elements (each effective projection area ratio) in the set SR of effective projection area ratios in descending order, select the body surface slices corresponding to the first k effective projection area ratios, and use the center of each body surface slice as a candidate needle entry point. k is a positive integer, and k is determined based on experience and / or demand.

[0105] Step 10: For each candidate needle insertion point, calculate the corresponding needle insertion depth, and select the candidate needle insertion point with the smallest needle insertion depth as the final target needle insertion point. The method for calculating the needle insertion depth can be described in other parts of this specification (e.g., Figure 4a-4b )turn up.

[0106] In some embodiments, the first determination module 230 determines the normal vector of the space plane where the target template is located according to the target needle entry point and the target area center point. Figure 4a As shown, the straight line between the target needle entry point S and the target area center O is used as the normal vector of the spatial plane where the target template is located.

[0107] In some embodiments, the first determination module 230 can determine the center position of the target template according to the target needle entry point and the target area center point. Figure 4a As shown, point M located on the extension line from the target area center point O to the target needle entry point S is used as the center position of the target template 410.

[0108] In some embodiments, the target template is used to guide a user (eg, a medical professional) to perform particle implantation on a target object. Figure 4c , Figure 4c is an exemplary schematic diagram of a target particle implantation plan for particle implantation according to some embodiments of the present specification.

[0109] like Figure 4c As shown, the cylinder represents the target area 420 in the target object (organs, tissues, etc. around the target area are not shown). For a certain target particle implantation plan, the user can determine the multiple recommended puncture needles 431 (represented by vertical lines perpendicular to the target template 410 in the figure, such as 5 recommended puncture needles) that are actually inserted into the target area 420 based on the multiple recommended puncture needle positions in the target template 410, and determine the placement of particles based on the particle distribution information on each puncture needle in the target particle implantation plan. For example only, for the recommended puncture needle 431, among the 5 potential particle positions corresponding to the 5 scales on the needle (shown as black solid dots and hollow dots), each black solid dot 432-1 indicates that the position needs to be placed with particles, and the hollow dot 433-1 indicates that particles are not placed. The same is true for other recommended puncture needles, so as to achieve treatment of the target object.

[0110] In some embodiments, if multiple templates are required in the particle implantation, the first determination module 230 plans the positions of the multiple templates. For example, when determining the target needle entry point, the positions of the multiple templates are scored based on the effective projection area ratio of the target area, and the candidate needle entry points corresponding to the positions of the top-scoring templates are used as the target needle entry points, and then the normal vectors and center positions of the spatial planes where the target templates are located are calculated based on each target needle entry point.

[0111] In some embodiments, when the normal vector and the center position of the spatial plane where the target template is located are determined, step 340 can be skipped, and the template placement orientation determined or preset by other methods (which can be called the initial template placement orientation) can be directly used. For example, the initial template orientation is an angle specified by the user, an angle set according to experience and / or requirements, a system default angle, etc.

[0112] Step 340 , determining the placement orientation of the target template on the spatial plane, where the placement orientation refers to the placement orientation of the target template on the spatial plane with the center position of the target template as the center. In some embodiments, step 340 is performed by the second determination module 240 .

[0113] The placement orientation of the target template refers to the optimal template placement orientation (e.g., x-axis and y-axis directions) selected based on the center position of the target template as the template center on the spatial plane where the target template is located. In some embodiments, the optimal template placement orientation is such that when the target template is located at the optimal template placement orientation, the number of needles that can puncture the human body through the target template and avoid important organs and puncture the target area is as large as possible.

[0114] In some embodiments, in addition to determining the center position of the target template and the normal vector of the spatial plane where the target template is located, the placement orientation of the target template can also be determined. For example, the coplanar template used in particle implantation can be rectangular. In addition to determining the center position of the target template and the normal vector of the spatial plane where the target template is located, the direction vectors (x-axis and y-axis directions) on both sides of the rectangle in the target template plane can also be determined. It can be understood that when the center position of the target template and the normal vector of the spatial plane where the target template is located are known, the different directions of the x-axis and y-axis in the target template plane will also lead to a large difference in the number of available puncture needles.

[0115] Figure 5a-Figure 5b is an exemplary schematic diagram of effective template hole distribution according to some embodiments of the present specification.

[0116] like Figure 5a and Figure 5b As shown, the number of available puncture needles in template (a) and template (b) with different x-axis and y-axis directions in the target template plane are 19 and 22, respectively.

[0117] Figure 6a-6b is an exemplary schematic diagram of another effective template hole distribution according to some embodiments of the present specification.

[0118] for Figure 6a If the template is not placed properly, the small tumor in Figure 6b As shown, there is only one effective template hole, which leads to insufficient dose in the target area, and supplementary dose needs to be supplemented by puncture outside the target area, which causes great damage to the organs around the target area. Therefore, determining the preferred x-axis and y-axis directions of the target template is of great help in the implementation of particle implantation. It should be noted that the shape of the target template can also be other shapes such as an ellipse, and there is no restriction on its shape. For the convenience of explanation only, some embodiments of this specification are mainly described using a rectangle as an example. For target templates of other shapes, those skilled in the art will understand that their placement orientation can be determined similarly to that of a rectangular target template.

[0119] In some embodiments, the second determination module 240 can determine the placement of the target template (i.e., the optimal template placement) through various feasible solution methods, including but not limited to traversal solution and solution through various optimization algorithms (e.g., simulated annealing, genetic algorithm, etc.).

[0120] In some embodiments, the second determination module 240 can determine, based on the number of valid template holes corresponding to the template placement orientation, a template placement orientation whose number of valid template holes meets the second optimization goal in at least one template placement orientation on the plane as the placement orientation of the target template.

[0121] The second optimization goal refers to the goal or expected result of template placement. For example, the second optimization goal is to maximize the number of effective template holes.

[0122] The number of effective template holes refers to the number of holes on the target template whose corresponding needle entry points meet the stepping conditions when the target template is placed according to the template placement orientation. The stepping conditions include: first touching the target area in the stepping direction of the needle entry point and the needle entry depth of the needle entry point does not exceed the preset needle length.

[0123] For example, the second determination module 240 traverses all holes on the template under a certain template position and counts the number of valid holes. For hole P(i,j) (the hole in the i-th row and j-th column), first calculate the body surface needle entry point S' corresponding to hole P(i,j). Starting from point S', step along the normal vector of the spatial plane where the target template is located:

[0124] 1) If the needle tip first hits a vital organ and / or tissue, the hole is considered an invalid hole. In some embodiments, the second determination module 240 expands the boundary of the vital organ and / or tissue and sets a certain safety distance for the vital organ and / or tissue. For example, the boundary of the vital organ and / or tissue is extended by 1-2 mm, and if the needle tip hits the extended boundary, it is considered to have hit the vital organ and / or tissue.

[0125] 2) If the needle tip hits the target area first, continue to step until the needle tip passes through the target area, and the exit point is recorded as T. If |S′T| (the distance between S′ and T) exceeds the needle length, the hole is considered an invalid hole, otherwise it is a valid hole.

[0126] In some embodiments, the second determination module 240 can eliminate holes whose needle insertion angle (angle between the needle and the skin surface) does not meet the angle condition. The angle condition includes the needle insertion angle range, for example, more than 60 degrees, etc. The angle condition is determined based on experience and / or demand.

[0127] In some embodiments, the second determination module 240 can determine the placement position of the target template in at least one template placement position through a second solution algorithm. In some embodiments, the goal (or optimization goal) of the second solution algorithm includes: maximizing the number of effective template holes.

[0128] As an example, in some embodiments, the second solution algorithm includes: taking the normal vector of the spatial plane where the target template is located as the axis, rotating the template to traverse, that is, calculating the number of effective template holes of all templates on the spatial plane where the target template is located, and finding the x-axis and y-axis directions that make the number of available needles the largest (the number of effective template holes the largest). The specific steps are as follows:

[0129] Step 1: Randomly initialize the orthogonal x-axis and y-axis in the template plane, denoted as and The origin is the template center M.

[0130] Step 2: Calculate the coordinates of each hole on the template.

[0131] Figure 7 is an exemplary schematic diagram of a template plane according to some embodiments of the present specification.

[0132] like Figure 7 As shown, the coordinates of the hole in the i-th row and j-th column are:

[0133]

[0134] In the above formula (2), I x is the line spacing, L x is the length of the template in the x-axis direction, I y is the column distance, L yis the length of the template in the y-axis direction.

[0135] Step 3: Traverse all holes on the template and count the number of valid holes. The method for counting the number of valid holes can be found in other parts of this manual.

[0136] Step 4: With M as the center, rotate the template counterclockwise to an angle of θ0, and repeat step 3 until the total rotation angle θ>90 ° .

[0137] Figure 8 is an exemplary schematic diagram of another template plane shown in some embodiments of the present specification.

[0138] When the total rotation angle θ is Figure 8 As shown, it is equivalent to the origin, and the coordinates of the hole in the i-th row and j-th column are:

[0139]

[0140] Step 5: Select the angle θ with the largest number of effective holes, and similarly transform the x-axis and y-axis directions of the template.

[0141] For the planned template position, if it meets the user's needs, it can be directly used for template placement, otherwise the user is allowed to perform interactive fine-tuning.

[0142] In some embodiments, the output module 250 can output the center position coordinates of the target template, the normal vector of the spatial plane where the target template is located, the rotation angle θ, etc.

[0143] Figure 4a-4b is a schematic diagram of an exemplary needle insertion depth calculation method according to some embodiments of the present specification. In some embodiments, the needle insertion depth calculation process is performed by a processing device (e.g., processing device 140). In some embodiments, the needle insertion depth calculation process is implemented by a planning system 200 deployed on the processing device.

[0144] In some embodiments, the prerequisite for automatic particle implantation of the template is: assuming that the puncture needle passing through the center of the template passes through the center of the target area (the center is the center of the target area under a certain standard preset according to the requirements, such as the centroid of the target area). In some embodiments, the needle insertion depth L (referring to the actual needle insertion depth) at any needle insertion point (such as a candidate needle insertion point) can be obtained by formula (4).

[0145] L = l so +l OT (4)

[0146] Among them, Figure 4a As shown, SO is the distance from the needle insertion point to the center of the target area, l OTIt is the stepping distance that the needle tip needs to continue to step along the needle direction starting from the target area center position O (needs to step to the corresponding planned target point, for example, the planned target point is the target area boundary or a certain range near the target area boundary).

[0147] In some embodiments, the centroid of the target region (ROI, i.e., region of interest) is taken as the center of the target region, and the centroid of the target region (ROI) is obtained by calculating the average coordinate value of the voxels in the target region (ROI). Furthermore, the distance l from the needle entry point to the center of the target region can be calculated. SO .

[0148] Since in a large number of iterations, the calculation of l OT In some embodiments, in order to improve the efficiency of needle insertion depth calculation, it is necessary to use the equivalent radius of the target area. To approximate l OT For example, Figure 4b Shown, approximate posterior needle insertion depth In some embodiments, the equivalent radius The calculation formula is as follows:

[0149]

[0150] Where V represents the volume of the target area, which can be obtained by counting the number of voxels in the target area and multiplying it by the corresponding voxel resolution.

[0151] In some embodiments, the center of the target area is a point other than the centroid. For example, the center of the target area can be obtained by other calculation forms, or can be a point in the target area (ROI) specified by the user.

[0152] Fig. 9 is an exemplary flow chart of another automatic planning method for a particle implantation template according to some embodiments of the present specification.

[0153] In some embodiments, process 900 is performed by planning system 200. Fig. 9 As shown, process 900 includes the following steps:

[0154] Step 910: Acquire image data of the target object.

[0155] For details about step 910, see Figure 3 Step 310 and its description.

[0156] Step 920: Acquire at least one candidate needle entry point on the body surface of the target object based on the image data.

[0157] For details about step 920, see Figure 3 . Step 320 and its description in .

[0158] Step 930, based on the target area effective template projection information corresponding to the candidate body surface needle entry point, determine the candidate body surface needle entry point that meets the first preset condition among at least one candidate body surface needle entry point as the target needle entry point; wherein the target area effective template projection information refers to: the area information of the target area projected on the plane that is not blocked by non-penetrable tissue; the first preset condition includes that the target area effective template projection information meets the first optimization goal; or, the first preset condition includes: the target area effective template projection information meets the first optimization goal, and the needle entry depth corresponding to the candidate body surface needle entry point meets the needle entry preset condition.

[0159] For details about step 930, effective template projection information, first preset condition, first optimization target, and needle insertion preset condition, see Figure 3 Step 330 and its description in .

[0160] Step 940, determining the center position of the target template and the normal vector of the spatial plane where the target template is located based on the target needle entry point.

[0161] For details about step 940, see Figure 3 Step 330 and its description in .

[0162] In some embodiments of the present specification, after the normal vector and the center position of the spatial plane where the target template is located are determined, the template placement orientation (which may be referred to as the initial template placement orientation) determined or preset by other methods may be directly used. For example, the initial template orientation is an angle specified by the user, an angle set according to experience and / or requirements, an angle defaulted by the system, etc., without having to determine the placement orientation of the target template in the spatial plane where the target template is located, which can reduce calculation costs and time costs.

[0163] Fig.10 is an exemplary flow chart of another automatic planning method for a particle implantation template according to some embodiments of the present specification.

[0164] In some embodiments, process 1000 is performed by planning system 200. Fig.10 As shown, process 1000 includes the following steps:

[0165] Step 1010: Acquire image data of the target object.

[0166] For details about step 1010, see Figure 3 Step 310 and its description.

[0167] Step 1020: Acquire at least one candidate needle entry point on the surface of the target object based on the image data.

[0168] For details about step 1020, see Figure 3 . Step 320 and its description in .

[0169] Step 1030, based on the number of valid template holes corresponding to the template placement orientation, determine the template placement orientation whose number of valid template holes meets the second optimization goal in at least one template placement orientation on the spatial plane where the target template is located as the target template placement orientation; wherein the template placement orientation refers to: the placement orientation of the template on the plane with the target template center position as the center; the number of valid template holes refers to: when the template is placed according to the template placement orientation, the number of holes corresponding to the needle entry points on the template that meet the stepping conditions; the stepping conditions include one or more of the following: first encountering the target area in the stepping direction of the needle entry point, and the needle entry depth not exceeding the needle length.

[0170] In some embodiments, the center position of the target template and the normal vector of the spatial plane where the target template is located are set manually, or are set by the method of automatically determining the center position of the template in step 330.

[0171] For more information about the number of effective template holes and the second optimization goal, see Figure 3 Step 340 and its description in .

[0172] Fig.11 It is an exemplary flow chart of the template automatic positioning method shown in some embodiments of this specification.

[0173] In some embodiments, process 1100 is performed by planning system 200. Figure 1 As shown, process 1100 includes the following steps:

[0174] Step 1110, acquiring image data of the target object.

[0175] For details about step 1110, see Figure 3 Step 310 and its description.

[0176] Step 1120, obtaining the template placement position associated with the image data, where the template placement position includes one or more of the following position information: the center position of the target template, and the placement orientation of the target template.

[0177] In some embodiments, the planning system 200 can obtain the template placement position associated with the image data from the storage device 150, the storage unit of the processing device 140, etc. In some embodiments, the planning system 200 can obtain the template placement position associated with the image data by reading from a storage device, a database, calling a data interface, etc.

[0178] Step 1130: guide the template positioning based on the template positioning position and the image data, or automatically position the template based on the template positioning position and the image data.

[0179] In some embodiments, the result output by the output module 250 can guide the user to place the template. For example, the output result can include emitting a laser at a specific angle according to the center position coordinates of the target template, the normal vector of the space plane where the target template is located, the rotation angle θ, etc., and the laser can guide the user to place the template. In some embodiments, the result output by the output module 250 can also include the motion parameters of the robot arm converted from the center position coordinates of the target template, the normal vector of the space plane where the target template is located, the rotation angle θ, etc., and the robot arm can realize automatic positioning of the template based on the motion parameters.

[0180] It is worth noting that the technical solution of the present application has high universality and is applicable to different types of coplanar templates, puncture needles and particles. Different types of coplanar templates may have slight differences in hole spacing and distribution, but these differences will not affect the use of the first optimization goal in this application. The first optimization goal involves the effective projection area of ​​the target area and the effective number of holes in the template, and these goals can be achieved on coplanar templates of different models. Different types of puncture needles may have different lengths and apertures. However, the limitation of puncture depth has been mentioned in this application, so the needle length is adjusted as required. As for the aperture, as long as the aperture of the puncture needle can adapt to the template hole, different types of puncture needles can be used. Different types of particles are applicable as long as they can meet the basic delivery requirements. An embodiment of the present specification provides an automatic planning system for a particle implantation template, characterized in that it includes a processor, the processor is used to obtain image data of a target object; based on the image data, obtain at least one candidate surface needle entry point of the target object; determine a target needle entry point from at least one candidate surface needle entry point, determine the center position of a target template and the normal vector of a spatial plane where the target template is located based on the target needle entry point, the target needle entry point is the surface needle entry point of the center needle of the target template; determine the placement orientation of the target template on the spatial plane, the placement orientation refers to the placement orientation of the target template when the center position of the target template is the center on the spatial plane.

[0181] In some embodiments, the processor is used to: acquire at least one body surface slice of the target object based on the image data, and acquire at least one corresponding candidate body surface needle entry point based on the at least one body surface slice.

[0182] In some embodiments, the processor is used to: pre-process at least one candidate body surface needle entry point to eliminate the candidate body surface needle entry point whose needle insertion depth does not meet the depth condition.

[0183] In some embodiments, the processor is used to: determine, based on the target area effective template projection information corresponding to the candidate body surface needle entry point, a candidate body surface needle entry point that meets a first preset condition among at least one candidate body surface needle entry point as the target needle entry point; wherein the target area effective template projection information refers to: the area information of the target area projected on the spatial plane that is not blocked by non-penetrable tissue; the first preset condition includes that the target area effective template projection information meets the first optimization goal, or the first preset condition includes: the target area effective template projection information meets the first optimization goal, and the needle entry depth corresponding to the candidate body surface needle entry point meets the needle entry preset condition.

[0184] In some embodiments, the processor is used to: for any target projection point: if there is any impenetrable tissue projection point such that the relationship between the target projection point and the impenetrable tissue projection point satisfies a second preset condition, then the target projection point is a valid target projection point; the second preset condition includes: the distance between the target projection point and the impenetrable tissue projection point in the spatial plane satisfies a threshold condition and the impenetrable tissue point is farther from the spatial plane than the target point.

[0185] In some embodiments, the processor is configured to: determine a target needle entry point from at least one candidate body surface needle entry point by using a first solution algorithm aimed at maximizing effective template projection information of the target area.

[0186] In some embodiments, the processor is used to: based on the number of valid template holes corresponding to the template placement orientation, determine, in at least one template placement orientation on the spatial plane, a template placement orientation in which the number of valid template holes meets the second optimization goal as the placement orientation of the target template; wherein the number of valid template holes refers to: when the target template is placed according to the template placement orientation, the number of holes corresponding to the puncture needle on the target template that meets the stepping condition; the stepping condition includes: in the stepping direction of the puncture needle, before the puncture needle contacts the target area, the puncture needle does not contact the non-penetrable tissue; and the insertion depth of the puncture needle does not exceed the preset needle length.

[0187] In some embodiments, the processor is used to: determine the placement orientation of the target template in at least one template placement orientation by using a second solution algorithm aimed at maximizing the number of effective template holes.

[0188] An embodiment of the present specification provides an automatic planning system for a particle implantation template, characterized in that it includes a processor, the processor is used to obtain image data of a target object; based on the image data, at least one candidate body surface needle entry point of the target object is obtained; based on the target area effective template projection information corresponding to the candidate body surface needle entry point, a candidate body surface needle entry point that meets a first preset condition is determined as a target needle entry point from at least one candidate body surface needle entry point, and the target needle entry point is the body surface needle entry point of the center needle of the target template; wherein the target area effective template projection information refers to: information about the area of ​​the target area projected on the plane that is not blocked by non-penetrable tissue; the first preset condition includes that the target area effective template projection information meets the first optimization target; or, the first preset condition includes: the target area effective template projection information meets the first optimization target, and the needle entry depth corresponding to the candidate body surface needle entry point meets the needle entry preset condition; based on the target needle entry point, the center position of the target template and the normal vector of the spatial plane where the target template is located are determined.

[0189] The embodiment of the present specification provides an automatic planning system for a particle implantation template, characterized in that it includes a processor, the processor is used to obtain image data of a target object; obtain the center position of a target template associated with the image data and the normal vector of a spatial plane where the target template is located; based on the number of valid template holes corresponding to the template placement orientation, in at least one template placement orientation on the spatial plane, determine the template placement orientation in which the number of valid template holes meets the second optimization goal as the target template placement orientation; wherein the template placement orientation refers to: the placement orientation of the template on the plane with the center position of the target template as the center; the number of valid template holes refers to: when the template is placed according to the template placement orientation, the number of holes corresponding to the puncture needle on the template that meets the stepping condition; the stepping condition includes: in the stepping direction of the puncture needle, before the puncture needle contacts the target area, the puncture needle does not contact the non-penetrable tissue; and the insertion depth of the puncture needle does not exceed the preset needle length.

[0190] An embodiment of the present specification provides a particle implantation template automatic positioning system, characterized in that it includes a processor, the processor is used to obtain image data of the target object; obtain a template positioning position associated with the image data, the template positioning position includes one or more of the following position information: the center position of the target template, the placement orientation of the target template; based on the template positioning position and the image data, the template positioning guidance is implemented, or based on the template positioning position and the image data, the template is automatically positioned.

[0191] Some embodiments of the present application can automatically plan the appropriate coplanar template position and perform template positioning according to the instrument parameters of interest in the particle implantation procedure and the morphology and position of the target area and organ. Some embodiments of the present application can (1) automatically determine the center position and direction of the template, reducing the workload of the user, and have low requirements for clinical experience, which can reduce training costs and expand the applicable population; (2) be applicable to particle implantation surgeries of tumors of different locations, sizes, and morphologies, and have a wider range of application value; (3) provide more potential puncture needle paths for subsequent particle implantation planning, making it possible to search for high-quality particle implantation plans; (4) the solution of the present application is highly universal, which is conducive to equipment compatibility and reduces equipment costs.

[0192] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0193] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0194] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this specification, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0195] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0196] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0197] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this specification are hereby incorporated by reference in their entirety. Except for application history documents that are inconsistent with or conflicting with the contents of this specification, documents that limit the broadest scope of the claims of this specification (currently or later attached to this specification) are also excluded. It should be noted that if the descriptions, definitions, and / or use of terms in the materials attached to this specification are inconsistent or conflicting with the contents described in this specification, the descriptions, definitions, and / or use of terms in this specification shall prevail.

[0198] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A method for automatic planning of particle implantation templates. It is characterized in that The method comprises: Acquire image data of the target object; Based on the image data, acquiring at least one candidate body surface needle entry point of the target object; Determine a target needle entry point from the at least one candidate body surface needle entry point, and determine the center position of a target template and a normal vector of a spatial plane where the target template is located based on the target needle entry point, wherein the target needle entry point is the body surface needle entry point of the center needle of the target template; The placement orientation of the target template is determined on the spatial plane, where the placement orientation refers to the placement orientation of the target template on the spatial plane when the center position of the target template is taken as the center.

2. The method according to claim 1, It is characterized in that The step of acquiring at least one candidate body surface needle entry point of the target object comprises: Based on the image data, at least one body surface slice of the target object is acquired, and based on the at least one body surface slice, the corresponding at least one candidate body surface needle entry point is acquired.

3. The method according to claim 1, It is characterized in that The step of determining a target needle entry point from the at least one candidate body surface needle entry point further comprises: The at least one candidate body surface needle entry point is preprocessed to eliminate the candidate body surface needle entry point whose needle entry depth does not meet the depth condition.

4. The method according to claim 1, It is characterized in that Determining a target needle entry point from the at least one candidate body surface needle entry point comprises: Based on the effective template projection information of the target area corresponding to the candidate body surface needle entry point, a candidate body surface needle entry point that meets the first preset condition is determined as the target needle entry point among the at least one candidate body surface needle entry point; wherein, The target area effective template projection information refers to: the area information of the target area projected on the spatial plane that is not blocked by the non-penetrable tissue; The first preset condition includes that the effective template projection information of the target area meets the first optimization goal, or The first preset condition includes: the effective template projection information of the target area meets the first optimization goal, and the needle insertion depth corresponding to the candidate body surface needle entry point meets the needle insertion preset condition.

5. The method according to claim 4, It is characterized in that The target area effective template projection information is obtained by counting the effective projection points of the target area, and the method for determining the effective projection points of the target area includes: For any target projection point: if there is any impenetrable tissue projection point such that the relationship between the target projection point and the impenetrable tissue projection point satisfies the second preset condition, then the target projection point is the target effective projection point; The second preset condition includes: the distance between the target area projection point and the non-penetrable tissue projection point in the space plane meets a threshold condition and the non-penetrable tissue point is farther from the space plane than the target area point.

6. The method according to claim 4, It is characterized in that The step of determining a target needle entry point from at least one candidate body surface needle entry point further comprises: The target needle entry point is determined from among the at least one candidate body surface needle entry point by using a first solution algorithm aimed at maximizing the effective template projection information of the target area.

7. The method according to claim 4, It is characterized in that Determining the placement orientation of the target template on the spatial plane includes: Based on the number of effective template holes corresponding to the template placement orientation, in at least one template placement orientation on the spatial plane, the template placement orientation whose number of effective template holes meets the second optimization goal is determined as the placement orientation of the target template; wherein, The number of effective template holes refers to: when the target template is placed according to the template placement orientation, the number of holes on the target template corresponding to the puncture needle that meet the stepping conditions; the stepping conditions include: In the stepping direction of the puncture needle, before the puncture needle contacts the target area, the puncture needle does not contact the non-penetrable tissue; Furthermore, the insertion depth of the puncture needle does not exceed the preset needle length.

8. The method according to claim 7, It is characterized in that Determining the placement orientation of the target template on the spatial plane further includes: The placement orientation of the target template is determined in the at least one template placement orientation by a second solution algorithm aimed at maximizing the number of effective template holes.

9. A method for automatic planning of particle implantation templates. It is characterized in that The method comprises: Acquire image data of the target object; Based on the image data, acquiring at least one candidate body surface needle entry point of the target object; Based on the effective target template projection information corresponding to the candidate body surface needle entry point, a candidate body surface needle entry point that meets the first preset condition is determined as the target needle entry point among the at least one candidate body surface needle entry point, and the target needle entry point is the body surface needle entry point of the central needle of the target template; wherein, The target area effective template projection information refers to: the area information of the target area projected on the plane that is not blocked by the non-penetrable tissue; The first preset condition includes that the effective template projection information of the target area meets the first optimization goal; or, The first preset condition includes: the effective template projection information of the target area meets the first optimization goal, and the needle insertion depth corresponding to the candidate body surface needle insertion point meets the needle insertion preset condition; The center position of the target template and the normal vector of the spatial plane where the target template is located are determined based on the target needle entry point.

10. A method for automatic planning of particle implantation templates. include: Acquire image data of the target object; Acquire the center position of the target template associated with the image data and the normal vector of the spatial plane where the target template is located; Based on the number of effective template holes corresponding to the template placement orientation, in at least one template placement orientation on the spatial plane, a template placement orientation whose number of effective template holes meets the second optimization goal is determined as the target template placement orientation; wherein, The template placement orientation refers to: the placement orientation of the template on the plane with the center position of the target template as the center; The effective number of template holes refers to: when the template is placed according to the template placement orientation, the number of holes on the template corresponding to the puncture needle that meet the stepping conditions; The stepping conditions include: In the stepping direction of the puncture needle, before the puncture needle contacts the target area, the puncture needle does not contact the non-penetrable tissue; Furthermore, the insertion depth of the puncture needle does not exceed the preset needle length.

11. An automatic planning system for particle implantation templates, It is characterized in that The system comprises: A first acquisition module, used to acquire image data of a target object; A second acquisition module, configured to acquire at least one candidate body surface needle entry point of the target object based on the image data; A first determination module is used to determine a target needle entry point from the at least one candidate body surface needle entry point, and determine the center position of a target template and a normal vector of a spatial plane where the target template is located based on the target needle entry point, wherein the target needle entry point is the body surface needle entry point of the center needle of the target template; The second determination module is used to determine the placement orientation of the target template on the spatial plane, where the placement orientation refers to the placement orientation of the target template on the spatial plane when the center position of the target template is taken as the center.

12. A particle implantation template automatic planning device, It is characterized in that The method comprises a processor, wherein the processor is used to execute the automatic planning method for particle implantation template according to any one of claims 1 to 10.

13. A method for automatically positioning a template for particle implantation. include: Acquire image data of the target object; Acquire a template placement position associated with the image data, wherein the template placement position includes one or more of the following position information: The center position of the target template and the placement orientation of the target template; Template positioning guidance is implemented based on the template positioning position and the image data, or template automatic positioning is implemented based on the template positioning position and the image data.

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