Puncture guidance system, device and method

Abstract

The invention relates to the technical field of puncture guiding based on position prediction, and provides a puncture guiding system, device and method, which can enable the guiding direction of a needle point to be gradually restrained to be towards the direction of a puncture target spot or the direction of the position near the puncture target spot. The method comprises the following steps: obtaining an observation position of an initial puncture reference point according to geometric features of a puncture target position concentrated distribution region corresponding to a puncture target position set; the method comprises the following steps: on the basis of continuous detection on the positions of puncture target spots, when a puncture target spot position set is updated, acquiring an observation position of a current puncture reference point corresponding to update, and on the basis of the difference between the observation position of the current puncture reference point and a predicted position of the current puncture reference point, determining the position of the current puncture reference point; and correcting a prediction result obtained according to the prediction position of the current puncture reference point to obtain the prediction position of the next puncture reference point so as to guide the needle tip.

Description

Technical Field

[0001] The present application relates to the technical field of puncture guidance based on position prediction, and in particular to a puncture guidance system, a puncture guidance device, a puncture guidance method, a storage medium and a computer program product. Background Art

[0002] The puncture guidance technology can guide the needle tip of the puncture needle to the puncture target point of the punctured object; then, through the puncture needle, the tissue at the puncture target point is removed for diagnosis or drugs are infused into the tissue at the puncture target point for treatment.

[0003] In current puncture guidance technology, before the needle tip is inserted into the body of the punctured object, a guidance direction is determined based on the observed puncture target point position, and the needle tip is guided according to the guidance direction to continue to penetrate deeper after being inserted into the body of the punctured object.

[0004] However, when the needle tip is about to reach the previously observed puncture target position along the guiding direction, if it is found that the position of the puncture target has changed significantly, the guiding direction of the needle tip needs to be significantly adjusted, which will cause greater damage to the tissue of the punctured object. Summary of the invention

[0005] Based on this, it is necessary to provide a puncture guidance system, a puncture guidance device, a puncture guidance method, a storage medium and a computer program product to address the above technical problems.

[0006] The present application provides a puncture guidance system, the system comprising a prediction device, the prediction device performing the following steps:

[0007] Acquiring a set of puncture target point positions obtained by collecting the positions of the puncture target points when the punctured subject is in a breath-holding stage before the puncture is performed;

[0008] Obtaining an observed position of an initial puncture reference point according to geometric features of a concentrated distribution area of ​​puncture target point positions corresponding to the puncture target point position set;

[0009] Based on continuous detection of the position of the puncture target point, each time the puncture target point position set is updated, the observed position of the current puncture reference point corresponding to the update is obtained, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, the prediction result obtained according to the predicted position of the current puncture reference point is corrected to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next reference point is used to guide the needle tip.

[0010] The present application provides a puncture guide device, the device comprising:

[0011] A target point position acquisition module is used to acquire a set of puncture target point positions obtained by collecting the positions of the puncture target points when the punctured subject is in a breath-holding stage before the puncture is performed;

[0012] A reference point determination module, used to obtain the observed position of the initial puncture reference point according to the geometric features of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set;

[0013] A prediction module is used to continuously detect the position of the puncture target point, and whenever the puncture target point position set is updated, obtain the observed position of the current puncture reference point corresponding to the update, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, correct the prediction result obtained according to the predicted position of the current puncture reference point to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next reference point is used to guide the needle tip.

[0014] The present application provides a puncture guidance method, the method comprising steps performed by a prediction device, the method comprising the following steps:

[0015] Acquiring a set of puncture target point positions obtained by collecting the positions of the puncture target points when the punctured subject is in a breath-holding stage before the puncture is performed;

[0016] Obtaining an observed position of an initial puncture reference point according to geometric features of a concentrated distribution area of ​​puncture target point positions corresponding to the puncture target point position set;

[0017] Based on continuous detection of the position of the puncture target point, each time the puncture target point position set is updated, the observed position of the current puncture reference point corresponding to the update is obtained, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, the prediction result obtained according to the predicted position of the current puncture reference point is corrected to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next reference point is used to guide the needle tip.

[0018] The present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to execute the above method.

[0019] The present application provides a computer program product, on which a computer program is stored, and the computer program is executed by a processor to perform the above method.

[0020] In the above-mentioned puncture guidance system, puncture guidance device, puncture guidance method, storage medium and computer program product, whenever the puncture target point position set is updated, the observed position of the current puncture reference point can be obtained based on the geometric characteristics of the puncture target point position concentrated distribution area corresponding to the puncture target point position set, and the prediction result obtained based on the predicted position of the current puncture reference point is corrected based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point. The predicted position of the next puncture reference point obtained by the correction processing can be used as the guiding direction of the needle tip. The correction processing can gradually constrain the guiding direction of the needle tip to the direction toward the puncture target point or the direction of the position near the puncture target point. In the case that the position of the puncture target point changes significantly during the puncture process, it is also possible to avoid significantly adjusting the guiding direction of the needle tip, thereby reducing damage to the tissue. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG. 1( a ) is a schematic diagram of the architecture of a puncture guidance system in one embodiment;

[0022] FIG1( b ) is a schematic flow chart of a puncture guidance method in one embodiment;

[0023] Figure 2 A schematic diagram of a prediction process in an embodiment;

[0024] Figure 3 is a schematic flow chart of a puncture guidance method based on preoperative and intraoperative images in one embodiment;

[0025] Figure 4 A schematic diagram of a process for determining a puncture reference point in one embodiment;

[0026] Figure 5 is a schematic flow chart of a puncture guidance method based on intraoperative images in one embodiment;

[0027] Figure 6 is a schematic flow chart of a puncture guidance method based on intraoperative images in another embodiment;

[0028] Figure 7 A schematic diagram of a particle filter algorithm in one embodiment;

[0029] Figure 8 is a structural block diagram of a puncture guide device in one embodiment;

[0030] Fig. 9 FIG. 4 is a diagram showing the internal structure of a prediction device in one embodiment. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0033] The puncture guidance system provided by the present application can be applied to the real-time puncture scenario guided by CT in interventional surgery. The puncture guidance system may include a prediction device, which can obtain the predicted position of the next puncture reference point and output the predicted position of the next puncture reference point as the current guidance result to the puncture needle operating end for reference, so that the puncture needle operating end guides the needle tip to move to the next puncture reference point; the puncture needle operating end includes but is not limited to a robotic arm and a doctor.

[0034] In some scenarios, the robotic arm can also be considered as part of the puncture guidance system, as shown in Figure 1(a).

[0035] When the prediction device obtains the predicted position of the next puncture reference point, the steps shown in FIG. 1( b ) may be performed:

[0036] Step S101, the prediction device obtains a set of puncture target point positions obtained by collecting the positions of the puncture target points when the punctured subject is in a breath-holding stage before the puncture is performed.

[0037] In the tumor puncture scenario, the prediction device can set the tumor centroid as the puncture target. In the embodiment of the present application, before the puncture is performed, the prediction device can detect the breathing amplitude of the punctured object through respiratory gating and other equipment, and prompt the punctured object to hold its breath within the specified breathing amplitude. At this time, the prediction device can determine that the punctured object is in the breath-holding stage; when the punctured object is in the breath-holding stage, the prediction device can collect the position of the puncture target point, obtain several positions, and form a puncture target point position set. Each position in the puncture target point position set is observed and belongs to the observation position.

[0038] Furthermore, the prediction device collects the position of the puncture target point in a manner that specifically includes: before the puncture is performed, the prediction device scans the punctured object in the breath-holding stage to obtain multiple frames of pre-puncture scan images; the prediction device unifies the position of the puncture target point on each frame of the pre-puncture scan image into the same coordinate system to obtain a set of puncture target point positions.

[0039] In this embodiment, before the puncture is performed, when the punctured object is in the breath-holding stage, the prediction device can scan the punctured object through a scanning imaging device such as CT to obtain multiple frames of images, which can be called multiple frames of pre-puncture scan images; when the scan is for the puncture target point of the punctured object, each frame of the pre-puncture scan image may include the puncture target point.

[0040] After obtaining multiple frames of pre-puncture scanning images, the prediction device can perform puncture target detection on each frame of the pre-puncture scanning image to determine whether the pre-puncture scanning image contains the puncture target; if contained, the prediction device can obtain the position of the puncture target on the frame of the pre-puncture scanning image.

[0041] If each of the multiple frames of pre-puncture scanned images contains a puncture target point, the prediction device can obtain the position of the puncture target point on the multiple frames of pre-puncture scanned images. The position of the puncture target point on the pre-puncture scanned image is described based on the coordinate system corresponding to the pre-puncture scanned image, and thus, the position of the puncture target point on each frame of the pre-puncture image is described based on different coordinate systems. After obtaining the position of the puncture target point on each frame of the pre-puncture image, the prediction device can unify the position of the puncture target point on each frame of the pre-puncture image into the same coordinate system, and describe the position of the puncture target point on each frame of the pre-puncture image based on the same coordinate system, thereby obtaining a set of puncture target point positions.

[0042] The above-mentioned pre-puncture images can be collected in the preoperative stage corresponding to before the start of the puncture surgery, or can be collected in the intraoperative stage corresponding to after the start of the puncture surgery and before the puncture is performed. Accordingly, the pre-puncture images collected in the preoperative stage can be called pre-operative pre-puncture images, and the pre-puncture images collected in the intraoperative stage can be called intra-operative pre-puncture images.

[0043] In some embodiments, when constructing a puncture target position set, the pre-puncture images used may include two types, namely, pre-operative pre-puncture images and intra-operative pre-puncture images. The positions of the puncture targets on the pre-operative pre-puncture images and the intra-operative pre-puncture images are unified into the same coordinate system to obtain the puncture target position set, which will be described below.

[0044] In other embodiments, when constructing the puncture target point position set, the pre-puncture images used may include a single category, such as only pre-operative pre-puncture images, or only intra-operative pre-puncture images.

[0045] Among them, the puncture target position set obtained based on the intraoperative pre-puncture image is more in line with the current actual situation and has a better prediction effect. In this case, the prediction device unifies the position of the puncture target on each frame of the intraoperative pre-puncture image into the same coordinate system to obtain the puncture target position set, which may include: using one of the frames of the intraoperative pre-puncture scan image as a reference image, and aligning the other frames of the intraoperative pre-puncture scan image to the reference image; through the alignment, the position of the puncture target on the other frames of the intraoperative pre-puncture scan image is mapped to the coordinate system corresponding to the reference image to obtain the puncture target position set.

[0046] The prediction device unifies the position of the puncture target point on each frame of the intraoperative pre-puncture image into the same coordinate system, which may also include: setting a coordinate system and mapping the position of the puncture target point on each frame of the intraoperative pre-puncture scan image into the set coordinate system.

[0047] The above method can be applied to unify the positions of the puncture target points on each frame of preoperative puncture image into the same coordinate system.

[0048] Step S102, the prediction device obtains the observed position of the initial puncture reference point according to the geometric features of the puncture target point location concentrated distribution area corresponding to the puncture target point location set.

[0049] Based on the puncture target point positions in the puncture target point position set, the formed area can be called the puncture target point position distribution area. In the puncture target point position distribution area, there are some areas where the puncture target point positions are concentratedly distributed, and this area can be called the puncture target point position concentrated distribution area.

[0050] The concentrated distribution area of ​​the puncture target position can be an area with a geometric shape in three-dimensional space, and the geometric shape can be specifically a cuboid. The prediction device can analyze the geometric features of the concentrated distribution area of ​​the puncture target position, and the geometric features are related to the geometric shape of the area, and specifically can be the corner points of the area, the center point of the area, and the points near the center point of the area; after analysis, the prediction device can use the positions corresponding to the corner points of the concentrated distribution area of ​​the puncture target position, the positions corresponding to the center points, or the positions corresponding to the points near the center points as the positions of the initial puncture reference points; in the case where the positions included in the puncture target position set are based on observations, the position of the initial puncture reference point is also obtained through observations, and can be called the observed position of the initial puncture reference point. The observed position of the initial puncture reference point is described based on the above-mentioned unified coordinate system.

[0051] Step S103, the prediction device continuously detects the position of the puncture target point, and whenever the puncture target point position set is updated, obtains the observed position of the current puncture reference point corresponding to the update, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, corrects the prediction result obtained according to the predicted position of the current puncture reference point to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next puncture reference point is used to guide the needle tip.

[0052] In the puncture guidance process, the prediction device can monitor in real time the distance between the needle tip and the position of the puncture reference point currently used for guidance; when the monitored distance is less than a threshold, the prediction device can update the puncture target point position set based on the real-time position of the puncture target point.

[0053] If it has not been predicted, the position of the puncture reference point used for the current guidance may be the observed position of the initial puncture reference point; if it has been predicted, the position of the puncture reference point used for the current guidance may be the predicted position of the next puncture reference point.

[0054] Specifically:

[0055] After obtaining the observation position of the initial puncture reference point (which can be recorded as ) after the puncture, the respiratory amplitude of the punctured subject can be detected by respiratory gating and other equipment, prompting the punctured subject to adjust the current respiratory amplitude so that the current respiratory amplitude is consistent with the respiratory amplitude when the puncture target point position is collected before the puncture.

[0056] Next, the puncture is started. At this time, no prediction has been made. Overlay on the real-time monitoring screen, press the puncture needle operation end The needle tip of the puncture needle is guided into the object to be punctured and continues to penetrate deeper. During this process, the prediction device can monitor the needle tip and When the prediction device detects the distance between the needle tip and When the distance between the two is greater than the threshold, the puncture needle operating end continues to press Guide the needle tip; when at a certain moment (denoted as t m ) monitors the needle tip and When the distance between the two positions is less than or equal to a threshold, the first prediction is started to change the position of the guide needle tip from the observed position to the predicted position; the threshold can be determined based on experience.

[0057] During the first prediction, the prediction device can obtain the predicted position of the next puncture reference point through the pre-set parameters, which is recorded as Then from tm At the beginning of the moment, press the operating end of the puncture needle Guide the needle tip.

[0058] according to Guide the needle tip process Figure 2 :The prediction device can Overlay on the real-time monitoring screen, press the puncture needle operation end Guide the needle tip, during which the prediction device monitors the needle tip and When the prediction device detects the distance between the needle tip and When the distance between the two is greater than the threshold, the puncture needle operating end continues to press Guide the needle tip; when at a certain moment (denoted as t n ) monitors the needle tip and When the distance between the two is less than or equal to the threshold, the prediction device starts to make non-first predictions. The prediction device is based on the puncture target at t n The observed position at the moment, updates the puncture target position set and obtains the predicted position of the next puncture reference point based on the update Then from t n At the beginning of the moment, press the operating end of the puncture needle Guide the needle tip.

[0059] Specifically, the prediction device is based on the puncture target at t n After updating the puncture target point position set, the observation position of the current puncture reference point corresponding to the update can be obtained in the manner described in step S102 (which can be recorded as ); predict the device based on A prediction result can be obtained, which represents the possible location of the next puncture reference point; in order to improve the accuracy, the prediction device can and The difference between the two is corrected, and the corrected result is used as the predicted position of the next puncture reference point.

[0060] The prediction device can obtain the predicted position of the next puncture reference point in the above manner, so that the puncture needle operating end can adjust the guiding direction of the needle tip, and the end condition of the guidance can be determined according to the actual situation.

[0061] In the present application, whenever the puncture target point position set is updated, the observed position of the current puncture reference point can be obtained based on the geometric characteristics of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set. Based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, the prediction result obtained according to the predicted position of the current puncture reference point is corrected. The predicted position of the next puncture reference point obtained by the correction process can be used as the guide direction of the needle tip. The correction process can gradually constrain the guide direction of the needle tip to the direction of the puncture target point or the direction of the position near the puncture target point. In the case that the position of the puncture target point changes significantly during the puncture process, it is also possible to avoid significantly adjusting the guide direction of the needle tip, thereby reducing damage to the tissue.

[0062] In one embodiment, when the prediction device detects that the distance is less than a threshold value, the puncture target point position set is updated based on the real-time position of the puncture target point. Specifically, the following steps can be performed: directly adding the real-time position of the puncture target point to the puncture target point position set to complete the update process.

[0063] In one embodiment, when the prediction device detects that the distance is less than a threshold value, the following steps may be further performed when the puncture target point position set is updated based on the real-time position of the puncture target point: when it is detected that the distance is less than a threshold value, the puncture target point target position is removed from the puncture target point position set, and the real-time position of the puncture target point is added to the puncture target point position set; the puncture target point target position is determined in chronological order according to the acquisition time corresponding to the puncture target point position.

[0064] The puncture target position set includes multiple positions of the puncture target, which can be obtained by observing the puncture target at different times, and each position has a corresponding observation time. The prediction device can determine the puncture target position according to the order of the observation times corresponding to each position, and specifically, the position with the earliest observation time can be used as the puncture target position; then, the prediction device can remove the puncture target position from the puncture target position set.

[0065] With t n For example, the prediction device can obtain the puncture target at t based on the CT scanning method. n The observed position at time t, after removing the puncture target position from the puncture target position set, the puncture target can be n The observation position at the moment is added to the puncture target position set.

[0066] In one embodiment, when the prediction device determines the concentrated distribution area of ​​the puncture target point positions, the following steps can be specifically performed: clustering the puncture target point position set according to the distance between the puncture target point positions; and determining the concentrated distribution area of ​​the puncture target point positions according to the clustering result.

[0067] This embodiment uses a clustering method to determine the concentrated distribution area of ​​the puncture target point positions. The clustering algorithm is, for example, k-means or hierarchical clustering or other similar clustering algorithms.

[0068] In one embodiment, when the prediction device determines the concentrated distribution area of ​​the puncture target point positions, the following steps can be specifically performed: based on the puncture target point position set, a puncture target point position matrix is ​​obtained; principal component analysis is performed on the puncture target point position matrix to determine multiple positions as principal components; based on the multiple positions, a concentrated distribution area of ​​the puncture target point positions is determined.

[0069] This embodiment uses the principal component analysis method to determine the concentrated distribution area of ​​the puncture target point positions.

[0070] Specifically, each position of the puncture target point can be represented by a three-dimensional coordinate. According to each three-dimensional coordinate in the puncture target point position set, a matrix can be formed, which can be called a puncture target point position matrix and can be denoted as M. The row vector of the puncture target point position matrix M can represent the three-dimensional coordinate of the puncture target point. The puncture target point position matrix M is subjected to principal component analysis, and k positions (k is less than the number of positions included in the puncture target point position set) are selected as principal components. Based on the k positions, the concentrated distribution area of ​​the puncture target point positions is determined.

[0071] In one embodiment, when the prediction device obtains the observation position of the initial puncture reference point based on the geometric characteristics of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set, the following steps can be specifically performed: obtaining the center point of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set; and obtaining the observation position of the initial puncture reference point based on the center point.

[0072] In this embodiment, the prediction device can use the center point of the concentrated distribution area of ​​the puncture target points as the initial puncture reference point, and accordingly, the position of the center point is the observed position of the initial puncture reference point. This processing method can be applied to the updated puncture target point position set. After the puncture target point position set is updated based on the real-time position of the puncture target point, the concentrated distribution area of ​​the puncture target points can be determined again, and the center point of the concentrated distribution area of ​​the puncture target points can be used as the current puncture reference point, and accordingly, the position of the center point is the observed position of the current puncture reference point.

[0073] In one embodiment provided in the present application, the positions of the puncture target points on the preoperative puncture image and the intraoperative puncture image are unified into the same coordinate system, and the process of obtaining the puncture target point position set is referred to as follows: Figure 3 Before the puncture operation, when the punctured object is in a specified breathing amplitude (which can be recorded as A), the prediction device can scan the punctured object to obtain multiple frames of preoperative pre-puncture scan images, and obtain the position of the puncture target on the preoperative pre-puncture scan image. When performing the puncture operation, when the punctured object is in a specified breathing amplitude A, the prediction device can scan the punctured object to obtain multiple frames of intraoperative pre-puncture scan images, and obtain the position of the puncture target on the intraoperative pre-puncture scan image; based on the registration processing between the preoperative pre-puncture scan image and the intraoperative pre-puncture scan image, a deformation field is obtained, and the prediction device can use the deformation field to map the position of the puncture target on the preoperative pre-puncture scan image to the intraoperative pre-puncture scan image, thereby obtaining a set of puncture target positions.

[0074] After the prediction device obtains the puncture target location set, it can refer to Figure 4 The clustering method is used to process the data to obtain a cluster area, and the cluster area is used as the concentrated distribution area of ​​the puncture target points. The center point of the concentrated distribution area of ​​the puncture target points is used as the puncture reference point. Before the prediction is made, the observed position of the puncture reference point is overlaid on the real-time monitoring screen to guide the needle tip. After the prediction is made, the predicted position of the puncture reference point is overlaid on the real-time monitoring screen for the puncture needle operating end to guide the needle tip.

[0075] During the process of the puncture needle operating end guiding the needle tip, the prediction device can monitor in real time the distance between the needle tip and the position of the puncture reference point currently used for guidance, and determine whether the distance is less than or equal to a threshold value. If the distance is greater than the threshold value, the puncture needle operating end continues to guide the needle tip according to the position of the puncture reference point currently used for guidance; if the distance is less than or equal to the threshold value, the prediction device updates the puncture target point position set based on the current position of the puncture target point, and predicts the next puncture reference point. The puncture needle operating end guides the needle tip according to the predicted position of the next puncture reference point.

[0076] Reference Figure 5 ,and Figure 4 The difference is, Figure 5 In the example shown, the puncture target point set is formed based on the position of the puncture target point on the intraoperative pre-puncture scan image. Specifically, during the puncture operation, before the puncture is performed, when the punctured object is in a breathing amplitude A, the prediction device scans the punctured object to obtain multiple frames of intraoperative pre-puncture scan images. Then, the first frame of the intraoperative pre-puncture scan image is used as a reference image for alignment, and the position of the puncture target point on other frames of the intraoperative pre-puncture scan image is mapped to the first frame of the intraoperative pre-puncture scan image, thereby unifying the multiple positions of the puncture target points into the same coordinate system. Figure 5 For other processing steps, refer to Figure 4 The introduction content is not repeated here.

[0077] Reference Figure 6 ,and Figure 5 The difference is, Figure 6 The example shown does not perform registration, and the prediction device can directly unify the position of the puncture target point on each frame of the intraoperative pre-puncture scan image into a coordinate system. Figure 6 For other processing steps, refer to Figure 4 The introduction content is not repeated here.

[0078] In one embodiment, the prediction device corrects the prediction result obtained according to the predicted position of the current puncture reference point based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point to obtain the predicted position of the next puncture reference point, specifically including the following steps: obtaining a correction degree based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point; the greater the difference, the greater the correction degree; obtaining a prediction result using the predicted position of the current puncture reference point and a reference point position prediction algorithm; and correcting the prediction result according to the correction degree to obtain the predicted position of the next puncture reference point.

[0079] For example, the observation position of the current puncture reference point is Take this as an example:

[0080] Press the needle operating end During the process of guiding the needle tip, the prediction device monitors the needle tip and When the distance between the needle tip and When the distance between the two is greater than the threshold, the puncture needle operating end continues to press Guide the needle tip; when at a certain moment (denoted as t n ) monitors the needle tip and When the distance between the two is less than or equal to the threshold, the prediction device will predict the target point based on the puncture point at t n The observation position at the moment updates the puncture target position set to obtain the observation position of the current puncture reference point Prediction equipment can Input the reference point position prediction algorithm to obtain the prediction result; then, the prediction device and The difference between them is used to obtain the degree of correction. The greater the difference, the greater the degree of correction. The prediction device is based on the degree of correction. The predicted result is used to get the predicted position of the next puncture reference point.

[0081] Furthermore, the predicted position of the current puncture reference point is obtained by weighting each particle in the current particle set, for example: Among them, {y 11 ,y 12 , ..., y 1N} is a particle set, {w 11 ,w 12 ,...,w 1N} represents the weight assigned to each particle.

[0082] The reference point position prediction algorithm can be a particle filter algorithm, which includes a state transfer equation. Figure 7 , the prediction device can input the predicted position of the current puncture reference point into the state transfer equation to obtain the prediction result, and input the observed position of the current puncture reference point into the observation equation to update the weight; in addition, the prediction device can also perform particle resampling.

[0083] When the prediction device obtains the correction degree based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, the following steps can be specifically performed: based on the distance between the observed position of the current puncture reference point and each particle of the current particle set, the weight of each particle of the current particle set is updated to obtain an updated weight set representing the correction degree; wherein, the greater the distance, the smaller the corresponding weight after the update.

[0084] For example, after obtaining the observation position of the current puncture reference point After that, the prediction device can obtain With the particle set {y 11 ,y 12 , ..., y 1N}, the distance between each particle and The larger the distance between the particles, the smaller the weight corresponding to the particle after the update, thus obtaining the updated weight set {w 21 ,w 22 ,...,w 2N}.

[0085] In addition, when the prediction device uses the predicted position of the current puncture reference point and the reference point movement prediction algorithm to obtain the prediction result, the following steps can be specifically performed: obtaining the current particle set corresponding to the predicted position of the current puncture reference point; using the state transfer equation of the reference point movement prediction algorithm to change the particle distribution state of the current particle set, and obtaining the next particle set that represents the prediction result.

[0086] For example, {y 11 ,y 12 , ..., y 1NEach particle in} is input into the state transfer equation, and the result of the state transfer equation is obtained, thereby obtaining the next particle set representing the prediction result: {y 21 ,y 22 , ..., y 2N}.

[0087] In addition, when the prediction device corrects the prediction result according to the correction degree and obtains the predicted position of the next puncture reference point, the following steps can be specifically performed: using the updated weight set, weighting each particle of the next particle set to obtain the predicted position of the next puncture reference point.

[0088] For example, the weight set {w 21 ,w 22 ,...,w 2N The weights in} are assigned to the particle set {y 21 ,y 22 , ..., y 2N}, perform weighted processing to obtain the predicted position of the next puncture reference point

[0089]

[0090] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0091] In one embodiment, Figure 8 As shown, a puncture guide device is provided, comprising:

[0092] The target point position acquisition module 801 is used to acquire a set of puncture target point positions obtained by collecting the positions of the puncture target points when the punctured subject is in a breath-holding stage before the puncture is performed;

[0093] A reference point determination module 802 is used to obtain an observed position of an initial puncture reference point according to geometric features of a concentrated distribution area of ​​puncture target point positions corresponding to the puncture target point position set;

[0094] The prediction module 803 is used to continuously detect the position of the puncture target point, and whenever the puncture target point position set is updated, obtain the observed position of the current puncture reference point corresponding to the update, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, correct the prediction result obtained according to the predicted position of the current puncture reference point to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next puncture reference point is used to guide the needle tip.

[0095] In one embodiment, the target position acquisition module 801 is also used to scan the punctured object in the breath-holding stage before the puncture is performed to obtain multiple frames of pre-puncture scan images; the positions of the puncture target points on each frame of the pre-puncture scan image are unified into the same coordinate system to obtain a set of puncture target point positions.

[0096] In one embodiment, the period before puncture is the period between the start of surgery and before puncture, and the obtained pre-puncture scan image is the intraoperative pre-puncture scan image; the target position acquisition module 801 is also used to use one of the frames of the intraoperative pre-puncture scan image as a reference image, and to align the other frames of the intraoperative pre-puncture scan image to the reference image; through the alignment, the position of the puncture target on the other frames of the intraoperative pre-puncture scan image is mapped to the reference coordinate system.

[0097] In one embodiment, the device further comprises a clustering module for clustering the set of puncture target point positions according to the distances between the puncture target point positions; and determining the concentrated distribution area of ​​the puncture target point positions according to the clustering result.

[0098] In one embodiment, the device further includes a principal component analysis module, which is used to obtain a puncture target point position matrix based on the puncture target point position set; perform principal component analysis on the puncture target point position matrix to determine multiple positions as principal components; and determine a concentrated distribution area of ​​puncture target point positions based on the multiple positions.

[0099] In one embodiment, the reference point determination module 802 is used to obtain the center point of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set; based on the center point, obtain the observed position of the initial puncture reference point.

[0100] In one embodiment, the device also includes an updating module for monitoring in real time the distance between the needle tip and the position of the puncture reference point currently used for guidance; when it is monitored that the distance is less than a threshold, the puncture target point position set is updated based on the real-time position of the puncture target point.

[0101] In one embodiment, the device also includes an update processing module, which is also used to eliminate the puncture target point target position from the puncture target point position set and add the real-time position of the puncture target point to the puncture target point position set when it is monitored that the distance is less than a threshold value; the puncture target point target position is determined in chronological order according to the observation times corresponding to the puncture target point positions.

[0102] In one embodiment, the prediction module is also used to obtain a correction degree based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point; the greater the difference, the greater the correction degree; using the predicted position of the current puncture reference point and the reference point position prediction algorithm to obtain a prediction result; according to the correction degree, the prediction result is corrected to obtain the predicted position of the next puncture reference point.

[0103] In one embodiment, the predicted position of the current puncture reference point is obtained by weighting each particle of the current particle set, and the reference point position prediction algorithm includes a state transfer equation;

[0104] The prediction module is also used to update the weight of each particle in the current particle set based on the distance between the observed position of the current puncture reference point and each particle in the current particle set, so as to obtain an updated weight set representing the degree of correction; wherein, the larger the distance, the smaller the corresponding weight after the update; obtain the current particle set corresponding to the predicted position of the current puncture reference point; use the state transfer equation of the reference point movement prediction algorithm to change the particle distribution state of the current particle set to obtain the next particle set representing the prediction result; use the updated weight set to weight each particle in the next particle set to obtain the predicted position of the next puncture reference point.

[0105] For the specific definition of the puncture guide device, please refer to the definition of the puncture guide system above, which will not be repeated here. Each module in the above puncture guide device can be implemented in whole or in part by software, hardware and their combination. Each of the above modules can be embedded in or independent of the processor in the puncture guide system in the form of hardware, or can be stored in the memory of the puncture guide system in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0106] In one embodiment, a puncture guidance method is provided, wherein the method includes steps performed by a prediction device. The internal structure diagram of the prediction device can be as follows: Fig. 9As shown. The prediction device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the prediction device is used to provide computing and control capabilities. The memory of the prediction device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the prediction device is used to store puncture guidance data. The network interface of the prediction device is used to communicate with an external terminal through a network connection. The prediction device also includes an input and output interface, which is a connection circuit for exchanging information between the processor and the external device, and they are connected to the processor through a bus, referred to as an I / O interface. When the computer program is executed by the processor, a puncture guidance method is implemented.

[0107] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the prediction device to which the scheme of the present application is applied. The specific prediction device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0108] The method comprises the following steps: obtaining a puncture target point position set obtained by collecting the position of the puncture target point when the punctured object is in a breath-holding stage before the puncture is performed; obtaining the observed position of the initial puncture reference point according to the geometric features of the concentrated distribution area of ​​the puncture target point position corresponding to the puncture target point position set; based on continuous detection of the position of the puncture target point, whenever the puncture target point position set is updated, obtaining the observed position of the current puncture reference point corresponding to the update, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, correcting the prediction result obtained according to the predicted position of the current puncture reference point to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next reference point is used to guide the needle tip.

[0109] In one embodiment, when the prediction device obtains the puncture target point position set obtained by collecting the position of the puncture target point when the punctured object is in the breath-holding stage before the puncture is performed, the following steps are specifically included: before the puncture is performed, the punctured object is in the breath-holding stage to obtain multiple frames of pre-puncture scan images; the positions of the puncture target points on each frame of the pre-puncture scan image are unified into the same coordinate system to obtain the puncture target point position set.

[0110] In one embodiment, the period before puncture is the period between the start of surgery and before puncture, and the scan image before puncture obtained is the scan image before puncture during surgery;

[0111] The prediction device unifies the positions of the puncture target points on each frame of the pre-puncture scan image into the same coordinate system to obtain a set of puncture target point positions, specifically including the following steps: using one frame of the intraoperative pre-puncture scan image as a reference image, and registering the other frames of the intraoperative pre-puncture scan images to the reference image; through the registration, mapping the positions of the puncture target points on the other frames of the intraoperative pre-puncture scan images to the coordinate system corresponding to the reference image to obtain a set of puncture target point positions.

[0112] In one embodiment, before obtaining the observed position of the initial puncture reference point based on the geometric features of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set, the prediction device further performs the following steps: clustering the puncture target point position set according to the distance between the puncture target point positions; and determining the concentrated distribution area of ​​the puncture target point positions based on the clustering results.

[0113] In one embodiment, before obtaining the observed position of the initial puncture reference point based on the geometric features of the puncture target point position concentrated distribution area corresponding to the puncture target point position set, the prediction device further performs the following steps: obtaining a puncture target point position matrix based on the puncture target point position set; performing principal component analysis on the puncture target point position matrix to determine multiple positions as principal components; and determining the puncture target point position concentrated distribution area based on the multiple positions.

[0114] In one embodiment, when the prediction device executes the geometric features of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set to obtain the observation position of the initial puncture reference point, the method specifically includes the following steps: obtaining the center point of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set; and obtaining the observation position of the initial puncture reference point based on the center point.

[0115] In one embodiment, the prediction device further performs the following steps: real-time monitoring of the distance between the needle tip and the position of the puncture reference point currently used for guidance; when the distance is detected to be less than a threshold, updating the puncture target point position set based on the real-time position of the puncture target point.

[0116] In one embodiment, when the prediction device detects that the distance is less than a threshold value, the puncture target point position set is updated based on the real-time position of the puncture target point, specifically including the following steps: when it is detected that the distance is less than the threshold value, the puncture target point target position is eliminated from the puncture target point position set, and the real-time position of the puncture target point is added to the puncture target point position set; the puncture target point target position is determined according to the chronological order of the observation times corresponding to the puncture target point positions.

[0117] In one embodiment, the prediction device corrects the prediction result obtained according to the predicted position of the current puncture reference point based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point to obtain the predicted position of the next puncture reference point, specifically including the following steps: obtaining a correction degree based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point; the greater the difference, the greater the correction degree; obtaining a prediction result using the predicted position of the current puncture reference point and a reference point position prediction algorithm; and correcting the prediction result according to the correction degree to obtain the predicted position of the next puncture reference point.

[0118] In one embodiment, the predicted position of the current puncture reference point is obtained by weighting each particle of the current particle set, and the reference point position prediction algorithm includes a state transfer equation;

[0119] When the prediction device obtains the correction degree based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, the prediction device specifically includes the following steps: based on the distance between the observed position of the current puncture reference point and each particle of the current particle set, the weight of each particle of the current particle set is updated to obtain an updated weight set representing the correction degree; wherein, the greater the distance, the smaller the corresponding weight after the update;

[0120] When the prediction device obtains the prediction result by using the predicted position of the current puncture reference point and the reference point movement prediction algorithm, the steps specifically include: obtaining the current particle set corresponding to the predicted position of the current puncture reference point; using the state transfer equation of the reference point movement prediction algorithm to change the particle distribution state of the current particle set, and obtaining the next particle set representing the prediction result;

[0121] According to the correction degree, the prediction result is corrected to obtain the predicted position of the next puncture reference point, including: using the updated weight set to weight each particle of the next particle set to obtain the predicted position of the next puncture reference point.

[0122] For the specific definition of the puncture guidance method, please refer to the definition of the puncture guidance system above, which will not be repeated here.

[0123] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0124] In one embodiment, a computer program product is provided, on which a computer program is stored, and the computer program is used by a processor to execute the steps in the above-mentioned various method embodiments.

[0125] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0126] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the above-mentioned computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0127] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A puncture guide system, characterized in that: The system includes a prediction device, which performs the following steps: Acquiring a set of puncture target point positions obtained by collecting the positions of the puncture target points when the punctured subject is in a breath-holding stage before the puncture is performed; Obtaining an observed position of an initial puncture reference point according to geometric features of a concentrated distribution area of ​​puncture target point positions corresponding to the puncture target point position set; Based on continuous detection of the position of the puncture target point, each time the puncture target point position set is updated, the observed position of the current puncture reference point corresponding to the update is obtained, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, the prediction result obtained according to the predicted position of the current puncture reference point is corrected to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next reference point is used to guide the needle tip.

2. The system according to claim 1, characterized in that When the prediction device acquires the puncture target point position set obtained by collecting the positions of the puncture target points when the punctured subject is in the breath-holding stage before the puncture is performed, the following steps are specifically included: Before the puncture is performed, the punctured subject is scanned while the subject is in the breath-holding stage to obtain multiple frames of pre-puncture scanning images; The positions of the puncture target points on each frame of the scanned image before puncture are unified into the same coordinate system to obtain a set of puncture target point positions.

3. The system according to claim 2, characterized in that The pre-puncture stage is the stage between the start of the operation and before the puncture, and the pre-puncture scan image obtained is the intraoperative pre-puncture scan image; The prediction device unifies the positions of the puncture target points on each frame of the pre-puncture scanned image into the same coordinate system to obtain the puncture target point position set, specifically including the following steps: One frame of the intraoperative pre-puncture scan image is used as a reference image, and the other frames of the intraoperative pre-puncture scan images are registered to the reference image; Through the registration, the position of the puncture target point on the pre-puncture scan image in other frames is mapped to the coordinate system corresponding to the reference image to obtain a puncture target point position set.

4. The system according to claim 1, characterized in that Before obtaining the observed position of the initial puncture reference point according to the geometric features of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set, the prediction device further performs the following steps: Clustering the puncture target point location set according to the distances between the puncture target point locations; According to the clustering result, the concentrated distribution area of ​​the puncture target positions is determined.

5. The system according to claim 1, characterized in that Before obtaining the observed position of the initial puncture reference point according to the geometric features of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set, the prediction device further performs the following steps: Based on the puncture target point position set, a puncture target point position matrix is ​​obtained; Performing principal component analysis on the puncture target position matrix to determine a plurality of positions as principal components; Based on the multiple positions, a concentrated distribution area of ​​puncture target positions is determined.

6. The system according to claim 1, characterized in that When the prediction device obtains the observed position of the initial puncture reference point according to the geometric features of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set, the method specifically includes the following steps: Obtaining the center point of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set; Based on the center point, the observed position of the initial puncture reference point is obtained.

7. The system according to claim 1, characterized in that The prediction device also performs the following steps: Real-time monitoring of the distance between the needle tip and the position of the puncture reference point currently used for guidance; When it is monitored that the distance is less than a threshold, the puncture target point position set is updated based on the real-time position of the puncture target point.

8. The system according to claim 7, characterized in that When the prediction device detects that the distance is less than a threshold, the puncture target point position set is updated based on the real-time position of the puncture target point, specifically including the following steps: When it is detected that the distance is less than a threshold value, the puncture target point target position is removed from the puncture target point position set, and the real-time position of the puncture target point is added to the puncture target point position set; The target position of the puncture target point is determined according to the order of observation time corresponding to the puncture target point position.

9. The system according to claim 1, characterized in that The prediction device corrects the prediction result obtained according to the predicted position of the current puncture reference point based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point to obtain the predicted position of the next puncture reference point, specifically including the following steps: Based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, a correction degree is obtained; the greater the difference, the greater the correction degree; Obtaining a prediction result using the predicted position of the current puncture reference point and a reference point position prediction algorithm; According to the correction degree, the prediction result is corrected to obtain the predicted position of the next puncture reference point.

10. The system according to claim 9, characterized in that The predicted position of the current puncture reference point is obtained by weighting each particle of the current particle set, and the reference point position prediction algorithm includes a state transfer equation; When the prediction device obtains the correction degree based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, the method specifically includes the following steps: Based on the distance between the observed position of the current puncture reference point and each particle of the current particle set, the weight of each particle of the current particle set is updated to obtain an updated weight set representing the degree of correction; wherein, the greater the distance, the smaller the corresponding weight after the update; When the prediction device obtains the prediction result by using the predicted position of the current puncture reference point and the reference point movement prediction algorithm, the steps specifically include the following: Obtaining a current particle set corresponding to the predicted position of the current puncture reference point; Using the state transfer equation of the reference point moving prediction algorithm, the particle distribution state of the current particle set is changed to obtain the next particle set representing the prediction result; Correcting the prediction result according to the correction degree to obtain the predicted position of the next puncture reference point includes: The updated weight set is used to weight each particle in the next particle set to obtain a predicted position of the next puncture reference point.

11. A puncture guide device, characterized in that: The device comprises: A target point position acquisition module is used to acquire a set of puncture target point positions obtained by collecting the positions of the puncture target points when the punctured subject is in a breath-holding stage before the puncture is performed; A reference point determination module, used to obtain the observed position of the initial puncture reference point according to the geometric features of the concentrated distribution area of ​​the puncture target point positions corresponding to the puncture target point position set; A prediction module is used to continuously detect the position of the puncture target point, and whenever the puncture target point position set is updated, obtain the observed position of the current puncture reference point corresponding to the update, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, correct the prediction result obtained according to the predicted position of the current puncture reference point to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next puncture reference point is used to guide the needle tip.

12. A puncture guidance method, characterized in that: The method includes steps performed by a prediction device, and the method includes the following steps: Acquiring a set of puncture target point positions obtained by collecting the positions of the puncture target points when the punctured subject is in a breath-holding stage before the puncture is performed; Obtaining an observed position of an initial puncture reference point according to geometric features of a concentrated distribution area of ​​puncture target point positions corresponding to the puncture target point position set; Based on continuous detection of the position of the puncture target point, each time the puncture target point position set is updated, the observed position of the current puncture reference point corresponding to the update is obtained, and based on the difference between the observed position of the current puncture reference point and the predicted position of the current puncture reference point, the prediction result obtained according to the predicted position of the current puncture reference point is corrected to obtain the predicted position of the next puncture reference point; when the update is the first update, the current puncture reference point is the initial puncture reference point; the predicted position of the next reference point is used to guide the needle tip.

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