Needle implantation reconstruction method between cervical cancer tissues

Abstract

The invention discloses a method for reconstructing a needle inserted between cervical cancer tissues, and particularly relates to the field of medical instruments, and the method comprises the steps: S1, carrying out the image positioning through CT before an operation, carrying out the automatic recognition and segmentation through a CNN algorithm, and calculating an optimal insertion path through an A * algorithm path planning algorithm; s2, the intelligent cleaning and disinfection process of the planting needle is carried out, and an intelligent ultrasonic cleaner and a high-temperature and high-pressure sterilizer are used; an intelligent ultrasonic cleaner and a high-temperature and high-pressure sterilizer are adopted to carry out sterile treatment on the implanting needle, so that infection is prevented; a surgical robot is used for assisting accurate insertion, the insertion direction and speed of an insertion needle are adjusted in real time through a real-time imaging device and a machine vision technology in combination with a PID control algorithm, a built-in sensor monitors the state of the insertion needle, high precision and stability of the insertion needle in the treatment process are ensured, and therefore the accuracy and safety of cervical cancer treatment are remarkably improved; operation risks are reduced, and treatment effect and success rate are improved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and more specifically, to a method for reconstructing cervical cancer tissue by interstitial needle implantation. Background Art

[0002] Cervical cancer is one of the most common malignant tumors in the female reproductive system, with high morbidity and mortality. Traditional treatment methods such as surgical resection, radiotherapy and chemotherapy have limitations. Surgical resection is more traumatic to patients, and radiotherapy and chemotherapy have strong side effects on normal tissues. Interstitial needle technology implants radioactive isotopes or drugs into the diseased tissue to achieve local and efficient treatment, and is gradually being used in the treatment of cervical cancer.

[0003] However, traditional implantation needle technology has certain difficulties in insertion path planning and positioning. Doctors rely on experience and two-dimensional images to insert the implantation needle, which can easily lead to inaccurate insertion paths and damage normal tissues and organs. In addition, the depth and angle of the implantation needle are difficult to accurately control, affecting the treatment effect and safety. Therefore, a method for interstitial implantation needle reconstruction for cervical cancer is urgently needed to solve the above problems. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a method for reconstructing an interstitial cervical cancer needle, which obtains high-resolution three-dimensional image data by using CT or MRI imaging equipment, accurately identifies the diseased tissue using a convolutional neural network (CNN) algorithm, and generates a three-dimensional model. The optimal insertion path is calculated by an A* path planning algorithm to ensure that the implantation needle accurately avoids important organs and blood vessels and accurately reaches the diseased area; an intelligent ultrasonic cleaner and a high-temperature and high-pressure sterilizer are used to sterilize the implantation needle to prevent infection; a surgical robot is used to assist in precise insertion, and the insertion direction and speed of the implantation needle are adjusted in real time through real-time imaging equipment and machine vision technology combined with a PID control algorithm. A built-in sensor monitors the state of the implantation needle to ensure the high precision and stability of the implantation needle during the treatment process, thereby significantly improving the accuracy and safety of cervical cancer treatment, reducing surgical risks, and improving treatment effects and success rates.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for reconstruction of cervical cancer tissue interstitial needles, the reconstruction method comprising the following steps:

[0006] S1: CT was used for image positioning before surgery, CNN algorithm was used for automatic recognition and segmentation, and A* algorithm path planning algorithm was used to calculate the optimal insertion path;

[0007] S2: Intelligent cleaning and disinfection process of implant needles, using intelligent ultrasonic cleaner and high temperature and high pressure sterilizer;

[0008] S3: Use surgical robot-assisted insertion, combined with machine vision technology and PID control algorithms for real-time monitoring and adjustment;

[0009] S4: Use the surgical robot’s built-in fixation device to fix the implant needle, and the built-in sensor automatically detects the fixation effect;

[0010] S5: Use a syringe pump and microfluidic system to accurately deliver drugs through the hollow channel of the implant needle, use a fuzzy logic control algorithm to adjust the delivery parameters, and control the surgical robot;

[0011] S6: The surgical robot slowly pulls out the implant needle, disinfects and bandages it, and observes the patient's recovery after the operation;

[0012] In a preferred embodiment, the specific steps of preoperative intelligent image positioning are as follows: S101, using a CT device to obtain three-dimensional image data of the patient's cervix: Among them, I(x,y,z) is the three-dimensional image data, f i (x, y, z) is the i-th scan data, and the image data of each position point (x, y, z) is obtained by accumulating multiple scans; S102, using the convolutional neural network CNN algorithm to automatically identify and segment the image and identify the diseased tissue: the convolutional neural network automatic segmentation algorithm is expressed as: y = f(W·x+b), where y is the output result, W is the weight matrix, x is the input data image, b is the bias, and f is the activation function; the diseased tissue in the image is segmented through the CNN model, and then a three-dimensional model of the diseased tissue is generated according to the segmentation result. The three-dimensional reconstruction algorithm is expressed as: V = {(x, y, z) | f(x, y, z) = t}, Wherein, V is an isosurface point set, t is a threshold value, and by setting a threshold value t, the three-dimensional information of the diseased tissue is extracted to generate an isosurface point set, thereby forming a three-dimensional model of the diseased tissue; S103, based on the three-dimensional model, the A* path planning algorithm is used to calculate the optimal insertion path: f(n)=g(n)+e(n), wherein f(n) is the estimated cost of node n, g(n) is the actual cost from the starting point to node n, and e(n) is the estimated cost from node n to the target node. The A* algorithm obtains the optimal path from the starting point to the target by considering the actual cost and the estimated cost at the same time, marks the insertion point on the patient's body surface, and records relevant data, including depth and angle;

[0013] In a preferred embodiment: the specific steps for preparing and sterilizing the implant needle are as follows: S201. According to the intelligent path planning result, the implant needle is selected. The specification is selected according to the size and depth of the diseased tissue. The integrity and function of the implant needle are checked to ensure that there are no defects and damage. The needle head is ensured to have no gaps and deformations through microscopic inspection; S202. The implant needle is placed in an intelligent ultrasonic cleaner for automatic cleaning to remove surface dirt. The ultrasonic cleaner uses high-frequency sound wave vibration to make dirt fall off the surface of the implant needle. The implant needle is automatically sterilized using a high-temperature and high-pressure sterilizer to ensure its sterility. The sterilizer uses high-temperature and high-pressure steam to kill microorganisms and ensure the sterility of the implant needle.

[0014] In a preferred embodiment, the specific operation steps of using a surgical robot to assist insertion are as follows: S301, the surgical robot is installed on the marked point on the patient's body surface, fixed and stable, the surgical robot operates according to the planned position and angle, the implant needle is placed in the surgical robot, and the angle and depth are automatically adjusted by the program so that the implant needle is aligned with the target position through the inverse kinematics algorithm, which is used to calculate the motion angle of each joint of the robot: θ i =f -1 (x,y,z), where θ i is the angle of the ith joint, x, y, z are the target position coordinates, and the inverse kinematics algorithm calculates the motion angles of each joint according to the target position to ensure that the implant needle reaches the target position accurately; S302, use ultrasonic real-time imaging equipment to monitor the insertion process of the implant needle, and the real-time imaging equipment provides the current position and direction of the implant needle: P(t) = {(x(t), y(t), z(t)) | t∈[0, T]}, where P(t) is the position trajectory of the implant needle at time t. By tracking the real-time position of the implant needle, ensure that the implant needle is inserted along the predetermined trajectory. Combined with machine vision technology, the insertion direction and speed of the implant needle are adjusted in real time to ensure that it accurately reaches the diseased tissue. The machine vision algorithm is combined with the PID control algorithm for real-time adjustment: Among them, e(t) is the error between the current position and the target position, K p , K i , K d They are the proportional, integral, and differential coefficients, respectively. The PID control algorithm is adjusted according to the error to ensure that the implant needle accurately tracks the predetermined path.

[0015] In a preferred embodiment: the specific steps of fixing and debugging the implant needle are as follows: S401. After inserting to the predetermined depth, use the fixing device provided by the surgical robot to fix the implant needle on the patient's body surface to prevent it from moving during the treatment process. Use the built-in sensor of the fixing device to automatically detect the fixation effect to ensure the stability of the implant needle. The sensor can detect the slight movement of the implant needle to ensure that it is completely fixed; S402. Use real-time imaging equipment to check the position and stability of the implant needle again to ensure that it is in the optimal treatment position. Verify the accurate position of the implant needle through the feedback provided by the imaging device. If the position and angle of the implant needle need to be adjusted, the surgical robot will automatically perform fine-tuning. The fine-tuning can be performed based on the feedback of the imaging device to make precise angle and depth adjustments.

[0016] In a preferred embodiment: the specific operation steps of drug delivery and treatment are as follows: S501, the drug delivery device is carried out through a precision peristaltic pump and a microfluidic chip, wherein the precision peristaltic pump is a fluid delivery device that controls the flow rate, and the microfluidic chip is a device in which the basic operating unit is integrated into a micron-scale chip, which automatically completes the entire analysis process. The precision peristaltic pump is controlled by a surgical robot, and the motor drives the piston to push the drug at a set rate. A closed-loop control system is used for control: V=A·d, wherein V is the volume of the drug, A is the cross-sectional area of ​​the syringe, and d is the distance the piston moves. The closed-loop control system controls the distance the piston moves, and then To control the amount of drug delivered, the microfluidic chip is then used to control the drug flow rate through a micropump, and precise delivery is achieved through a microchannel. The sensor is used to monitor the flow rate in real time: Q = ΔP·C, where Q is the flow rate, ΔP is the pressure difference, and C is the flow coefficient. The microfluidic system controls the flow rate of the drug by adjusting the pressure difference to achieve precise drug delivery; S502, according to the treatment plan, prepare the required therapeutic drugs, ensure that their dosage and concentration meet the requirements, load the drugs into the injection pump and microfluidic system, ensure that the drug delivery channel is unobstructed, and ensure that there is no blockage and leakage through the system self-check function, S503, accurately deliver the therapeutic drugs to the diseased tissue through the hollow channel of the implant needle: Among them, Q(t) is the amount of drug delivered at time t, and R(τ) is the delivery rate at time τ. By controlling the change of R(τ), the drug delivery rate can be accurately controlled. The surgical robot is used to control the injection pump or microfluidic system to adjust the speed and dosage of drug delivery in real time to ensure that the drug is evenly distributed in the lesion area. The control algorithm based on fuzzy logic is used to dynamically adjust the delivery parameters: Among them, w i is the fuzzy weight, u i For the corresponding control outputs, the fuzzy logic control algorithm achieves dynamic adjustment of drug delivery through weighted combination of different control outputs.

[0017] In a preferred embodiment: the specific operations of postoperative treatment and observation are as follows: S601. After the treatment is completed, the surgical robot slowly pulls out the implant needle to prevent secondary damage to the tissue. During the removal process, use hemostatic gauze to compress the insertion point to prevent bleeding; S602. Disinfect the insertion point of the implant needle to prevent infection. Use sterile disinfectant to thoroughly disinfect it. Use sterile dressings to bandage the insertion point to ensure that it is clean and dry. The dressing is breathable to prevent wound infection; S603. Observe the patient after surgery, record his recovery and treatment effect, regularly check the healing of the insertion point, arrange follow-up and further treatment according to the patient's response, and adjust the subsequent treatment plan according to the recovery.

[0018] Technical effects and advantages of the present invention: The present invention provides an intelligent, efficient and safe method for reconstructing interstitial cervical cancer needles. High-resolution three-dimensional image data is acquired by using CT or MRI imaging equipment, and the diseased tissue is accurately identified and a three-dimensional model is generated by using a convolutional neural network (CNN) algorithm. The optimal insertion path is calculated by an A* path planning algorithm to ensure that the needle avoids important organs and blood vessels and reaches the diseased area accurately. An intelligent ultrasonic cleaner and a high-temperature and high-pressure sterilizer are used to sterilize the needle to prevent infection. A surgical robot is used to assist in precise insertion, and the insertion direction and speed of the needle are adjusted in real time through real-time imaging equipment and machine vision technology combined with a PID control algorithm. A built-in sensor monitors the state of the needle to ensure the high precision and stability of the needle during the treatment process, thereby significantly improving the accuracy and safety of cervical cancer treatment, reducing surgical risks, and improving treatment effects and success rates. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the working steps of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] An example implementation will now be described more fully with reference to the accompanying drawings, a method for reconstructing an interstitial needle for cervical cancer tissues, the reconstruction method comprising the following steps: S1: using CT for image positioning before surgery, using CNN algorithm for automatic identification and segmentation, and using A* algorithm path planning algorithm to calculate the best insertion path; S2: intelligent cleaning and disinfection process of the implant needle, using intelligent ultrasonic cleaner and high-temperature and high-pressure sterilizer; S3: using a surgical robot to assist in insertion, combining machine vision technology and PID control algorithm for real-time monitoring and adjustment; S4: using the surgical robot's own fixing device to fix the implant needle, and the built-in sensor automatically detects the fixation effect; S5: using an injection pump and a microfluidic system to accurately deliver drugs through the hollow channel of the implant needle, using a fuzzy logic control algorithm to adjust the delivery parameters, and the surgical robot controls; S6: the surgical robot slowly pulls out the implant needle and then disinfects and bandages it, and observes the patient's recovery after surgery; the specific steps for preoperative intelligent image positioning are as follows: S101, using CT equipment to obtain three-dimensional image data of the patient's cervix: Among them, I(x,y,z) is the three-dimensional image data, f i(x, y, z) is the i-th scan data, and the image data of each position point (x, y, z) is obtained by accumulating multiple scans; S102, using the convolutional neural network CNN algorithm to automatically identify and segment the image, and identify the diseased tissue: the convolutional neural network automatic segmentation algorithm is expressed as: y = f(W·x+b), where y is the output result, W is the weight matrix, x is the input data image, b is the bias, and f is the activation function; the diseased tissue in the image is segmented by the CNN model, and then a three-dimensional model of the diseased tissue is generated according to the segmentation result. The three-dimensional reconstruction algorithm is expressed as: V = {(x, y, z) | f(x, y, z) = t}, where V is the isosurface point set, t is the threshold, and by setting a threshold t, the three-dimensional information of the diseased tissue is extracted, and an isosurface point set is generated, thereby forming a three-dimensional model of the diseased tissue; S103, based on the three-dimensional model, the A* path planning algorithm is used to calculate the optimal insertion path: f( n)=g(n)+e(n), where f(n) is the estimated cost of node n, g(n) is the actual cost from the starting point to node n, and e(n) is the estimated cost from node n to the target node. The A* algorithm takes into account both the actual cost and the estimated cost to obtain the optimal path from the starting point to the target, marks the insertion point on the patient's body surface, and records relevant data, including depth and angle; in the treatment of cervical cancer, accurately locating the insertion point of the implant needle is a key step to ensure the treatment effect. First, CT or MRI equipment is used to obtain three-dimensional image data of the patient's cervix. CT scans use X-rays to scan the body at different angles, and then reconstruct these image data into three-dimensional images so that doctors can better observe the cervical cancer lesion area. MRI scans use strong magnetic fields and radio frequency pulses to generate high-resolution soft tissue images, which can more clearly show the detailed structure of the lesion tissue. These image data are transmitted to the computer system for further processing.

[0022] After the image data is transmitted, the convolutional neural network (CNN) algorithm is used to automatically identify and segment the image. The CNN algorithm is a deep learning model that is particularly good at image processing and recognition. It processes the input image through multiple convolutional layers, pooling layers, and fully connected layers to extract features from the image and classify these features. For cervical cancer image data, the CNN algorithm can automatically identify the lesion area and distinguish it from normal tissue. This automatic identification and segmentation greatly improves the accuracy and efficiency of lesion tissue identification and reduces the errors of manual labeling.

[0023] Next, based on the results of CNN algorithm recognition and segmentation, a 3D model of the diseased tissue is generated. The generation of the 3D model is based on the isosurface extraction technology. By setting a threshold, the 3D information of the diseased tissue is extracted to form a complete 3D model. This process uses computer graphics technology to convert complex 2D image data into intuitive 3D images, allowing doctors to fully understand the morphology and location of the diseased tissue.

[0024] After the three-dimensional model is generated, the A* path planning algorithm is used to calculate the optimal insertion path. The A* algorithm is a graph search algorithm that is commonly used for path planning and navigation. It finds the optimal path from the starting point to the target node by simultaneously considering the actual cost from the starting point to the current node and the estimated cost from the current node to the target node. In this method, the A* algorithm calculates the optimal path for the implant needle to be inserted from the body surface to the lesion area based on the three-dimensional model of the lesion tissue, ensuring that the implant needle can avoid important organs and blood vessels and accurately reach the target location.

[0025] Finally, the doctor marks the insertion point on the patient's body surface based on the path planning results and records relevant data, including the depth and angle of insertion. To ensure the accuracy of the marking, the doctor can use image-assisted marking tools, such as laser pointers or marking pens. These marking tools can accurately locate the insertion point based on the image data to ensure that the implant needle can be inserted along the predetermined path. The comprehensive application of all these steps ensures the accuracy and safety of the implant needle insertion path and improves the treatment effect of cervical cancer.

[0026] The specific steps for the preparation and disinfection of the implant needle are as follows: S201. According to the results of intelligent path planning, select the implant needle. The specification is selected according to the size and depth of the lesion tissue. Check the integrity and function of the implant needle to ensure that there are no defects and damage. Use a microscope to ensure that the needle has no gaps and deformation; S202. Place the implant needle in an intelligent ultrasonic cleaner for automatic cleaning to remove surface dirt. The ultrasonic cleaner uses high-frequency sound wave vibration to make the dirt fall off the surface of the implant needle. Use a high-temperature and high-pressure sterilizer to automatically disinfect the implant needle to ensure its sterility. The sterilizer uses high-temperature and high-pressure steam to kill microorganisms and ensure the sterility of the implant needle. In the reconstruction method of cervical cancer interstitial implant needles, the preparation and disinfection of the implant needle are key steps to ensure the success of the operation and the safety of the patient. First, according to the results of intelligent path planning, select an implant needle of appropriate specifications. The specification selection of the implant needle needs to consider factors such as the size, depth, and location of the lesion tissue to ensure that the implant needle can accurately reach the lesion area and effectively deliver therapeutic drugs. Doctors can refer to the specification parameter table of the implant needle to select the most suitable implant needle model and prepare spare implant needles to deal with unexpected situations that may arise during the operation.

[0027] After selecting the implant needle, it is essential to check the integrity and function of the implant needle. The doctor needs to carefully check the needle, needle tube, connection parts and other parts of the implant needle to ensure that they are free of defects and damage. Through microscopic examination, it can be found whether there are tiny cracks or deformations in the needle, whether there are foreign objects or blockages in the needle tube, and whether the connection parts are firm. These inspection steps can effectively avoid problems such as breakage and blockage of the implant needle during the operation, and ensure the safety and reliability of the implant needle.

[0028] Cleaning and disinfection of implant needles is an important step to ensure aseptic operation. Placing the implant needle in an intelligent ultrasonic cleaner for automatic cleaning can effectively remove dirt and microorganisms on the surface of the implant needle. The ultrasonic cleaner uses high-frequency sound wave vibrations to remove dirt attached to the surface of the implant needle. At the same time, the ultrasonic wave can enter the tiny pores and gaps of the implant needle for thorough cleaning. During the cleaning process, the doctor needs to check the cleaning effect regularly to ensure that there is no residual dirt on the surface of the implant needle.

[0029] After cleaning, the implant needle is automatically sterilized using an intelligent high-temperature and high-pressure sterilizer to ensure its sterility. The high-temperature and high-pressure sterilizer kills all microorganisms on the implant needle, including bacteria, viruses, fungi, etc., through high-temperature and high-pressure steam. The sterilization process needs to be carried out strictly in accordance with the operating procedures, including setting the appropriate temperature and pressure, controlling the sterilization time, and checking the sealing of the sterilizer. After sterilization, the implant needle needs to be cooled and stored in a sterile environment to prevent re-contamination.

[0030] During the cleaning and disinfection process, doctors need to wear sterile gloves and masks and avoid direct contact with the implant needle during operation to keep the implant needle sterile. At the same time, cleaning and disinfection equipment needs to be regularly maintained and calibrated to ensure that it works properly and achieves the expected cleaning and disinfection effects. Through a series of strict preparation and disinfection steps, the safety and effectiveness of the implant needle during the operation are ensured, providing reliable protection for subsequent treatment.

[0031] The specific operation steps of using a surgical robot to assist insertion are as follows: S301, install the surgical robot on the marked point on the patient's body surface, fix it stably, and operate it according to the planned position and angle. Place the implant needle in the surgical robot, and automatically adjust the angle and depth through the program to align the implant needle with the target position. Use the inverse kinematics algorithm to calculate the motion angle of each joint of the robot: θ i =f -1 (x,y,z), where θ iis the angle of the ith joint, x, y, z are the target position coordinates, and the inverse kinematics algorithm calculates the motion angles of each joint according to the target position to ensure that the implant needle reaches the target position accurately; S302, use ultrasonic real-time imaging equipment to monitor the insertion process of the implant needle, and the real-time imaging equipment provides the current position and direction of the implant needle: P(t) = {(x(t), y(t), z(t)) | t∈[0, T]}, where P(t) is the position trajectory of the implant needle at time t. By tracking the real-time position of the implant needle, ensure that the implant needle is inserted along the predetermined trajectory. Combined with machine vision technology, the insertion direction and speed of the implant needle are adjusted in real time to ensure that it accurately reaches the diseased tissue. The machine vision algorithm is combined with the PID control algorithm for real-time adjustment: Among them, e(t) is the error between the current position and the target position, K p , K i , K d They are proportional, integral, and differential coefficients respectively. The PID control algorithm is adjusted according to the error to ensure that the implant needle accurately tracks the predetermined path; in the interstitial implant needle reconstruction method for cervical cancer, the precise insertion of the implant needle is a key step in achieving efficient treatment. First, the surgical robot is installed on the marked point on the patient's body surface and fixed stably. The surgical robot is a high-precision medical device that can perform precise operations under the control of the doctor. When fixing the robot, it is necessary to ensure that it does not move or vibrate during the operation to ensure the accuracy of the insertion of the implant needle. After fixation, the doctor confirms the correct position and angle of the robot through image guidance to ensure that it is aligned with the predetermined insertion point.

[0032] Next, the implant needle is placed in the surgical robot, and the angle and depth of the implant needle are automatically adjusted through a preset program to align it with the target position. The surgical robot is equipped with a high-precision motion control system that can accurately control the movement of the implant needle according to the preset path and target position. Through the inverse kinematics algorithm, the surgical robot can calculate the movement angle of each joint to ensure that the path of the implant needle conforms to the predetermined insertion trajectory. The doctor can monitor the movement of the implant needle in real time during the operation and make fine adjustments when necessary to ensure that the implant needle can accurately reach the diseased tissue.

[0033] In order to ensure the accuracy of the insertion process of the implant needle, real-time imaging equipment (such as ultrasound) is used for monitoring. The real-time imaging equipment can provide the current position and direction of the implant needle, helping the doctor to understand the insertion status of the implant needle in real time. During the insertion process, the insertion direction and speed of the implant needle are adjusted in real time by combining machine vision technology and PID control algorithm to ensure that it accurately reaches the diseased tissue. Machine vision technology captures the real-time image of the implant needle through the camera and analyzes its position and angle. The PID control algorithm adjusts the movement parameters of the implant needle according to the error between the current position of the implant needle and the target position to achieve the purpose of precise control.

[0034] During the insertion of the implant needle, the surgical robot's built-in position sensor and force sensor can monitor the status of the implant needle in real time. The position sensor can detect the position change of the implant needle to ensure that it moves along the predetermined trajectory; the force sensor can detect the force applied to the implant needle during the insertion process to prevent the implant needle from exerting excessive pressure or damage to the tissue. Through the data feedback from the sensor, the surgical robot can automatically adjust the movement speed and force of the implant needle to ensure the smooth and safe insertion of the implant needle.

[0035] After the implant needle is inserted to the predetermined depth, the surgical robot's built-in fixing device is used to fix the implant needle to the patient's body surface to prevent it from moving during treatment. The built-in sensor of the fixing device can detect the fixation effect in real time to ensure the stability of the implant needle. The position and stability of the implant needle are checked again with real-time imaging equipment to ensure that it is in the best treatment position. If the position or angle of the implant needle needs to be adjusted, the surgical robot can automatically fine-tune it according to the sensor data to achieve the best treatment effect. The combined application of all these steps ensures the accuracy and safety of the implant needle insertion, providing effective protection for the treatment of cervical cancer.

[0036] The specific steps of fixing and debugging the implant needle are as follows: S401. After inserting to the predetermined depth, use the fixing device of the surgical robot to fix the implant needle on the patient's body surface to prevent it from moving during the treatment process. Use the built-in sensor of the fixing device to automatically detect the fixing effect to ensure the stability of the implant needle. The sensor can detect the slight movement of the implant needle to ensure that it is completely fixed; S402. Use real-time imaging equipment to check the position and stability of the implant needle again to ensure that it is in the best treatment position. Verify the accurate position of the implant needle through the feedback provided by the imaging device. If the position and angle of the implant needle need to be adjusted, the surgical robot will automatically make fine adjustments. The fine adjustments can be made according to the feedback of the imaging device to make precise angle and depth adjustments; In the reconstruction method of cervical cancer interstitial implant needle, the fixation and debugging of the implant needle is a key step to ensure the stability and effectiveness of the treatment process. After the implant needle is inserted to the predetermined depth, it is first necessary to use the fixing device of the surgical robot to fix the implant needle on the patient's body surface to prevent it from moving during the treatment process. The fixation device firmly fixes the implant needle to the surgical site through a mechanical clamp or a special fixation ring to ensure that it will not be displaced due to patient movement or other external forces during treatment. During the fixation process, the doctor needs to ensure that the position and angle of the fixation device are correct to avoid unnecessary pressure or discomfort to the patient.

[0037] The position sensor and pressure sensor built into the fixation device can detect the fixation effect of the implant needle in real time. The position sensor determines whether the implant needle has moved during the fixation process by detecting the tiny displacement of the implant needle; the pressure sensor determines whether the fixation effect is as expected by detecting the pressure applied by the fixation device on the implant needle. The data feedback from these sensors can help doctors promptly detect and correct problems in the fixation process and ensure the stability and safety of the implant needle.

[0038] During the fixation process, the doctor needs to check the position and stability of the implant needle again through real-time imaging equipment (such as ultrasound or CT). The real-time image provided by the imaging device can show the specific position and angle of the implant needle, helping the doctor to confirm whether the implant needle is in the best treatment position. By comparing the actual position of the implant needle with the predetermined position, the doctor can determine whether the fixation effect meets the requirements. If the position or angle of the implant needle is found to be deviated, the surgical robot can automatically fine-tune it according to the sensor data. The fine-tuning process includes adjusting the depth, angle and fixation force of the implant needle to ensure that the implant needle can accurately align with the diseased tissue to achieve the best treatment effect.

[0039] During the entire fixation and debugging process, the surgical robot can also perform force feedback control to ensure that the implant needle does not generate excessive pressure or damage the patient's tissue during the fixation process. Force feedback control uses a force sensor to monitor the force applied to the implant needle in real time and automatically adjusts the force of the fixation device to prevent the implant needle from exerting excessive pressure or pulling on the tissue. This can effectively protect the patient's normal tissue and reduce the risk and occurrence of complications of surgery.

[0040] After the fixation and debugging are completed, the doctor needs to make a final confirmation of the fixation effect and record relevant data, including the fixation position, fixation strength, number of adjustments, etc. These data are very important for the monitoring and evaluation of subsequent treatment. Through strict control of the fixation and debugging process, the stability and accuracy of the implant needle during the treatment process are ensured, providing a solid guarantee for the efficient treatment of cervical cancer.

[0041] The specific operation steps of drug delivery and treatment are as follows: S501. The drug delivery device is carried out through a precision peristaltic pump and a microfluidic chip, wherein the precision peristaltic pump is a fluid delivery device that controls the flow rate, and the microfluidic chip is a device in which the basic operating unit is integrated into a micron-scale chip, which automatically completes the entire analysis process. The precision peristaltic pump is controlled by a surgical robot, and the motor drives the piston to push the drug at a set rate. A closed-loop control system is used for control: V=A·d, wherein V is the volume of the drug, A is the cross-sectional area of ​​the syringe, and d is the distance the piston moves. The closed-loop control system controls the distance of the piston's movement, and then controls the drug's Delivery volume, then use the microfluidic chip to control the drug flow rate through the micropump, use the microchannel to achieve precise delivery, and use the sensor to monitor the flow in real time: Q = ΔP·C, where Q is the flow rate, ΔP is the pressure difference, and C is the flow coefficient. The microfluidic system controls the flow rate of the drug by adjusting the pressure difference to achieve precise drug delivery; S502, according to the treatment plan, prepare the required therapeutic drugs, ensure that their dosage and concentration meet the requirements, load the drugs into the injection pump and microfluidic system, ensure that the drug delivery channel is unobstructed, and use the system self-check function to ensure that there is no blockage and leakage. S503, accurately deliver therapeutic drugs to the diseased tissue through the hollow channel of the implant needle: Among them, Q(t) is the amount of drug delivered at time t, and R(τ) is the delivery rate at time τ. By controlling the change of R(τ), the drug delivery rate can be accurately controlled. The surgical robot is used to control the injection pump or microfluidic system to adjust the speed and dosage of drug delivery in real time to ensure that the drug is evenly distributed in the lesion area. The control algorithm based on fuzzy logic is used to dynamically adjust the delivery parameters: Among them, w i is the fuzzy weight, u i For the corresponding control output, the fuzzy logic control algorithm realizes the dynamic adjustment of drug delivery through the weighted combination of different control outputs; in the reconstruction method of cervical cancer interstitial needle, drug delivery and treatment are the core steps to achieve the treatment effect. Using a syringe pump or a microfluidic system to accurately deliver therapeutic drugs to the diseased tissue through the hollow channel of the implant needle is the key to ensuring the effectiveness of the treatment. First, according to the treatment plan, prepare the required therapeutic drugs to ensure that their dosage and concentration meet the requirements. The choice of drugs requires selecting suitable anticancer drugs or radiotherapy drugs based on the patient's specific condition and treatment needs. During the drug preparation process, strictly follow the aseptic operating procedures to prevent drug contamination.

[0042] After the drug is prepared, it is loaded into the syringe pump or microfluidic system to ensure that the drug delivery channel is unobstructed. The syringe pump drives the piston through a motor to push the drug at a set rate, and uses a closed-loop control system for precise control. The microfluidic system controls the drug flow rate through a micropump, uses microchannels to achieve precise delivery, and uses sensors to monitor the flow in real time. The drug delivery device needs to perform a system self-check to ensure that there is no blockage and leakage. At the same time, the delivery rate and pressure are adjusted to ensure that the drug can be delivered stably.

[0043] During the drug delivery process, the therapeutic drug is accurately delivered to the diseased tissue through the hollow channel of the implant needle. The hollow channel design of the implant needle allows the drug to act directly on the diseased area, improving the targeting and effectiveness of the treatment. The injection pump or microfluidic system is controlled by the surgical robot to adjust the speed and dosage of drug delivery in real time to ensure that the drug is evenly distributed in the diseased area. During the delivery process, the surgical robot combines real-time imaging equipment (such as ultrasound or CT) to monitor the progress and effect of drug delivery.

[0044] In order to dynamically adjust the delivery parameters, a control algorithm based on fuzzy logic is used. The fuzzy logic control algorithm achieves dynamic adjustment of drug delivery by weighted combination of different control outputs. The surgical robot automatically adjusts the rate and dosage of drug delivery based on real-time monitoring data to ensure the uniformity of drug distribution and therapeutic effect in the diseased tissue. For example, monitor changes in drug concentration and adjust the delivery speed in time; monitor tissue reactions and adjust drug dosage to avoid overdose or underdose.

[0045] During the entire drug delivery process, force sensors and pressure sensors monitor the state of the implant needle and the pressure changes of drug delivery in real time to ensure a smooth and safe delivery process. The force sensor detects the force applied to the implant needle during delivery to prevent the implant needle from exerting excessive pressure or damage to the tissue; the pressure sensor detects the pressure changes of drug delivery to ensure smooth drug delivery and prevent blockage and leakage.

[0046] After the drug delivery is completed, the doctor needs to evaluate the delivery effect and record relevant data, including the amount of drug delivered, delivery rate, delivery time, tissue reaction, etc. These data are very important for evaluating the treatment effect and adjusting the subsequent treatment plan. By strictly controlling the drug delivery process, it is ensured that the drug can accurately and evenly act on the diseased tissue, improve the effect of cervical cancer treatment, and reduce the occurrence of side effects and complications.

[0047] The specific operations of postoperative treatment and observation are as follows: S601. After the treatment is completed, the surgical robot slowly pulls out the implant needle to prevent secondary damage to the tissue. During the removal process, use hemostatic gauze to compress the insertion point to prevent bleeding; S602. Disinfect the insertion point of the implant needle to prevent infection. Use sterile disinfectant to thoroughly disinfect it. Use sterile dressings to bandage the insertion point to ensure that it is clean and dry. The dressing is breathable to prevent wound infection; S603. Observe the patient after surgery, record his recovery and treatment effect, regularly check the healing of the insertion point, arrange follow-up and further treatment according to the patient's response, and adjust the subsequent treatment plan according to the recovery situation; In the reconstruction method of cervical cancer interstitial implant needles, postoperative treatment and observation are important steps to ensure patient safety and treatment effect. After the treatment is completed, the implant needle needs to be slowly pulled out first to prevent secondary damage to the tissue. In the process of pulling out the implant needle, the surgical robot uses a force sensor to monitor the change of resistance during the removal process to ensure that the removal process is smooth and damage-free. The force sensor detects the resistance encountered by the implant needle when it is being pulled out, and adjusts the speed and force of the withdrawal in real time to avoid excessive pulling or damage to the tissue.

[0048] After removing the implant needle, the doctor needs to disinfect the insertion point of the implant needle to prevent infection. Use a sterile disinfectant to thoroughly disinfect and ensure that the insertion point is sterile. During the disinfection process, the doctor needs to wear sterile gloves and a mask, and use a sterile cotton swab or gauze to disinfect the operation, ensuring that the disinfectant can fully cover the skin and surrounding tissue at the insertion point. After disinfection, use a sterile dressing to bandage the insertion point to ensure it is clean and dry. Sterile dressings are breathable and can prevent wound infection, while keeping the insertion point dry and promoting healing.

[0049] Postoperative observation is an important part of ensuring the patient's recovery and treatment effect. After surgery, the doctor needs to closely observe the patient and record his recovery and treatment effect. The observation content includes the healing of the insertion point, the patient's vital signs such as body temperature, blood pressure, pulse, and the patient's subjective feelings, such as pain and itching. The doctor needs to regularly check the healing of the insertion point and observe whether there are abnormal phenomena such as redness, swelling, exudation, infection, etc. If abnormal conditions are found, take appropriate measures in time to prevent complications.

[0050] During the postoperative observation process, patients also need psychological counseling and care to relieve their tension and anxiety. During the treatment of cervical cancer, patients may experience greater psychological pressure, and the postoperative recovery period is also a period of greater emotional fluctuations for patients. Doctors and nursing staff need to communicate with patients, understand their psychological state, provide necessary psychological support and counseling, and help patients build confidence in overcoming the disease.

[0051] Depending on the patient's recovery, the doctor needs to arrange follow-up and further treatment. If necessary, the doctor can adjust the treatment plan and medication dosage according to the patient's specific situation to ensure the treatment effect. During the follow-up, the doctor needs to re-evaluate the patient's condition, understand the effects and side effects after treatment, and adjust the subsequent treatment plan based on the evaluation results. The frequency and time of follow-up are determined according to the patient's specific situation. Generally, follow-up is once a week for about a month until the patient recovers and stabilizes.

[0052] The purpose of postoperative treatment and observation is to ensure that the patient can find and solve problems in time during the recovery process after treatment, improve the treatment effect and the patient's quality of life. Through a series of strict postoperative treatment and observation measures, the safety and recovery of the patient are ensured, which provides an important guarantee for the efficient treatment of cervical cancer.

[0053] The above embodiments can be implemented in whole or in part by software, hardware, firmware and any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions and computer programs. When the computer instructions and computer programs are loaded and executed on a computer, the processes and functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server and data center to another website site, computer, server and data center by wired (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0054] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0055] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0056] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0057] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0058] If the functions are implemented in the form of software functional units and sold and used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0059] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes and substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for reconstruction of cervical cancer tissue by interstitial needle implantation, characterized in that: The reconstruction method comprises the following steps: S1: CT was used for image positioning before surgery, CNN algorithm was used for automatic recognition and segmentation, and A* algorithm path planning algorithm was used to calculate the optimal insertion path; S2: Intelligent cleaning and disinfection process of implant needles, using intelligent ultrasonic cleaner and high temperature and high pressure sterilizer; S3: Use surgical robot-assisted insertion, combined with machine vision technology and PID control algorithms for real-time monitoring and adjustment; S4: Use the surgical robot’s built-in fixation device to fix the implant needle, and the built-in sensor automatically detects the fixation effect; S5: Use a syringe pump and microfluidic system to accurately deliver drugs through the hollow channel of the implant needle, use a fuzzy logic control algorithm to adjust the delivery parameters, and control the surgical robot; S6: The surgical robot slowly pulls out the implant needle and then disinfects and bandages it, and observes the patient's recovery after the operation.

2. A method for reconstruction of cervical cancer tissue by interstitial needle implantation according to claim 1, characterized in that: The specific steps of preoperative intelligent imaging positioning are as follows: S101, using CT equipment to obtain three-dimensional imaging data of the patient's cervix: Among them, I(x,y,z) is the three-dimensional image data, f i (x, y, z) is the i-th scan data, and the image data of each position point (x, y, z) is obtained by accumulating multiple scans; S102, using the convolutional neural network CNN algorithm to automatically identify and segment the image and identify the diseased tissue: the convolutional neural network automatic segmentation algorithm is expressed as: y = f(W·x+b), where y is the output result, W is the weight matrix, x is the input data image, b is the bias, and f is the activation function; the diseased tissue in the image is segmented through the CNN model, and then a three-dimensional model of the diseased tissue is generated according to the segmentation result. The three-dimensional reconstruction algorithm is expressed as: V = {(x, y, z) | f(x, y, z) = t}, Wherein, V is an isosurface point set, t is a threshold value, and by setting a threshold value t, the three-dimensional information of the diseased tissue is extracted to generate an isosurface point set, thereby forming a three-dimensional model of the diseased tissue; S103, based on the three-dimensional model, the A* path planning algorithm is used to calculate the optimal insertion path: f(n)=g(n)+e(n), wherein f(n) is the estimated cost of node n, g(n) is the actual cost from the starting point to node n, and e(n) is the estimated cost from node n to the target node. The A* algorithm considers both the actual cost and the estimated cost to obtain the optimal path from the starting point to the target, marks the insertion point on the patient's body surface, and records relevant data, including depth and angle.

3. The method for reconstruction of cervical cancer tissue by interstitial needle implantation according to claim 1, characterized in that: The specific steps for preparation and disinfection of the implant needle are as follows: S201. Select the implant needle according to the result of intelligent path planning. The specification is selected according to the size and depth of the diseased tissue. Check the integrity and function of the implant needle to ensure that there are no defects and damage. Ensure that the needle has no gaps and deformation through microscopic inspection; S202. Place the implant needle in an intelligent ultrasonic cleaner for automatic cleaning to remove surface dirt. The ultrasonic cleaner uses high-frequency sound wave vibration to remove dirt from the surface of the implant needle. Use a high-temperature and high-pressure sterilizer to automatically disinfect the implant needle to ensure its sterility. The sterilizer uses high-temperature and high-pressure steam to kill microorganisms and ensure the sterility of the implant needle.

4. The method for reconstruction of cervical cancer tissue by interstitial needle implantation according to claim 1, characterized in that: The specific operation steps of using a surgical robot to assist insertion are as follows: S301, install the surgical robot on the marked point on the patient's body surface, fix it stably, and operate it according to the planned position and angle. Place the implant needle in the surgical robot, and automatically adjust the angle and depth through the program to align the implant needle with the target position. Use the inverse kinematics algorithm to calculate the motion angle of each joint of the robot: θ i =f -1 (x,y,z), where θ i is the angle of the ith joint, x, y, z are the target position coordinates, and the inverse kinematics algorithm calculates the motion angles of each joint according to the target position to ensure that the implant needle reaches the target position accurately; S302, use ultrasonic real-time imaging equipment to monitor the insertion process of the implant needle, and the real-time imaging equipment provides the current position and direction of the implant needle: P(t) = {(x(t), y(t), z(t)) | t∈[0, T]}, where P(t) is the position trajectory of the implant needle at time t. By tracking the real-time position of the implant needle, ensure that the implant needle is inserted along the predetermined trajectory. Combined with machine vision technology, the insertion direction and speed of the implant needle are adjusted in real time to ensure that it accurately reaches the diseased tissue. The machine vision algorithm is combined with the PID control algorithm for real-time adjustment: Among them, e(t) is the error between the current position and the target position, K p , K i , K d They are the proportional, integral, and differential coefficients, respectively. The PID control algorithm is adjusted according to the error to ensure that the implant needle accurately tracks the predetermined path.

5. The method for reconstruction of cervical cancer tissue by interstitial needle implantation according to claim 1, characterized in that: The specific steps for fixing and debugging the implant needle are as follows: S401. After inserting to the predetermined depth, use the fixing device provided by the surgical robot to fix the implant needle to the patient's body surface to prevent it from moving during the treatment. Use the built-in sensor of the fixing device to automatically detect the fixation effect to ensure the stability of the implant needle. The sensor can detect the slight movement of the implant needle to ensure that it is completely fixed. S402. Use real-time imaging equipment to check the position and stability of the implant needle again to ensure that it is in the optimal treatment position. Verify the exact position of the implant needle through the feedback provided by the imaging device. If the position and angle of the implant needle need to be adjusted, the surgical robot will automatically perform fine-tuning. The fine-tuning can be performed based on the feedback from the imaging device to make precise angle and depth adjustments.

6. The method for reconstruction of cervical cancer tissue by interstitial needle implantation according to claim 1, characterized in that: The specific operation steps of drug delivery and treatment are as follows: S501. The drug delivery device is carried out through a precision peristaltic pump and a microfluidic chip, wherein the precision peristaltic pump is a fluid delivery device that controls the flow rate, and the microfluidic chip is a device in which the basic operating unit is integrated into a micron-scale chip, which automatically completes the entire analysis process. The precision peristaltic pump is controlled by a surgical robot, and the motor drives the piston to push the drug at a set rate. A closed-loop control system is used for control: V=A·d, wherein V is the volume of the drug, A is the cross-sectional area of ​​the syringe, and d is the distance the piston moves. The closed-loop control system controls the distance of the piston's movement, and then controls the drug's Delivery volume, then use the microfluidic chip to control the drug flow rate through the micropump, use the microchannel to achieve precise delivery, and use the sensor to monitor the flow in real time: Q = ΔP·C, where Q is the flow rate, ΔP is the pressure difference, and C is the flow coefficient. The microfluidic system controls the flow rate of the drug by adjusting the pressure difference to achieve precise drug delivery; S502, according to the treatment plan, prepare the required therapeutic drugs, ensure that their dosage and concentration meet the requirements, load the drugs into the injection pump and microfluidic system, ensure that the drug delivery channel is unobstructed, and use the system self-check function to ensure that there is no blockage and leakage. S503, accurately deliver therapeutic drugs to the diseased tissue through the hollow channel of the implant needle: Among them, Q(t) is the amount of drug delivered at time t, and R(τ) is the delivery rate at time τ. By controlling the change of R(τ), the drug delivery rate can be accurately controlled. The surgical robot is used to control the injection pump or microfluidic system to adjust the speed and dosage of drug delivery in real time to ensure that the drug is evenly distributed in the lesion area. The control algorithm based on fuzzy logic is used to dynamically adjust the delivery parameters: Among them, w i is the fuzzy weight, u i For the corresponding control output, the fuzzy logic control algorithm achieves dynamic adjustment of drug delivery through weighted combination of different control outputs.

7. The method for reconstruction of cervical cancer tissue by interstitial needle implantation according to claim 1, characterized in that: The specific operations of postoperative treatment and observation are as follows: S601. After the treatment is completed, the surgical robot slowly pulls out the implant needle to prevent secondary damage to the tissue. During the removal process, use hemostatic gauze to compress the insertion point to prevent bleeding; S602. Disinfect the insertion point of the implant needle to prevent infection. Use sterile disinfectant to thoroughly disinfect it. Use sterile dressings to bandage the insertion point to ensure that it is clean and dry. The dressing is breathable to prevent wound infection; S603. Observe the patient after surgery, record his recovery and treatment effect, regularly check the healing of the insertion point, arrange follow-up and further treatment according to the patient's response, and adjust the subsequent treatment plan according to the recovery situation.

Images