Cerebral hemorrhage puncture three-dimensional positioning system

Abstract

The invention discloses a cerebral hemorrhage puncture three-dimensional positioning system, and particularly relates to the technical field of medical instruments, comprising an information acquisition module used for acquiring a three-dimensional image of the head of a target patient in real time by using a CT technology, collecting puncture device information by using a sensor, and transmitting the three-dimensional image to a three-dimensional image data acquisition module; transmitting the three-dimensional image and puncture device information to a path planning module; the image data acquisition module is used for performing data acquisition on the three-dimensional image obtained by the information acquisition module and transmitting the acquired three-dimensional image data to the image data processing and analyzing module; wherein the three-dimensional image data comprises focus characteristic parameters, vascular structure parameters and brain tissue characteristic parameters; advanced image recognition and three-dimensional reconstruction technologies are combined, the three-dimensional image data of the head of the target patient are detected and analyzed, and image recognition is combined, so that the positioning effect is remarkably improved, the positioning accuracy is enhanced, and errors are greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more specifically to a cerebral hemorrhage puncture stereotactic positioning system. Background Art

[0002] Cerebral hemorrhage is a disease with high morbidity, high mortality and high disability rate. Minimally invasive hematoma drainage is widely used in clinical practice due to its small trauma and fast recovery. Therefore, it is of great significance to develop a puncture stereotactic positioning system that can be precisely adjusted.

[0003] The traditional cerebral hemorrhage puncture system includes an image acquisition module, a puncture path planning module and a puncture execution module. The image acquisition module uses high-resolution CT imaging equipment to perform a head scan on patients with cerebral hemorrhage, obtain three-dimensional image data of the lesion, and thus determine the exact location and shape of the lesion; the puncture path planning module uses a computer algorithm to plan the best puncture path based on the image data and information of the puncture device; the puncture execution module uses the puncture needle guide device to accurately send the puncture needle into the lesion along the planned path during the puncture process to complete the puncture execution.

[0004] However, it still has some shortcomings in actual use, such as poor positioning accuracy. The traditional cerebral hemorrhage puncture system relies on the doctor's experience judgment and the two-dimensional images of CT imaging technology, resulting in insufficient positioning accuracy and relatively large errors; insufficient data breadth. The traditional cerebral hemorrhage puncture system only considers head scans of patients with cerebral hemorrhage to obtain lesion data, and does not consider puncture needle guidance-related data, resulting in insufficient data collection breadth; high surgical risk. The traditional cerebral hemorrhage puncture system only obtains one puncture path, and cannot fully ensure a comprehensive analysis of the puncture path, which increases the surgical risk.

[0005] Therefore, there is an urgent need to provide a stereotactic positioning system for cerebral hemorrhage puncture to solve the problems of the existing cerebral hemorrhage puncture system, insufficient data breadth and high surgical risks. Summary of the invention

[0006] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a stereotactic positioning system for puncturing cerebral hemorrhage, which solves the problems raised in the above-mentioned background technology through the following scheme.

[0007] To achieve the above object, the present invention provides the following technical solution: a cerebral hemorrhage puncture stereotactic system, comprising: Central control module: responsible for coordinating the communication and work between various modules. This module receives data from various sensors and imaging devices in real time, then transmits the data to the modules that need them, and stores key data in the database module. It is also responsible for issuing instructions to various modules to ensure that they can complete their respective tasks according to the predetermined logic and process. Information acquisition module: used to obtain a three-dimensional image of the target patient's head in real time using CT technology, collect puncture device information using sensors, and transmit the three-dimensional image to the stereoscopic image data acquisition module, and transmit the three-dimensional image and puncture device information to the path planning module; Image data acquisition module: used to collect data from the three-dimensional images obtained by the information acquisition module, and transmit the collected three-dimensional image data to the image data processing and analysis module, including the three-dimensional image data lesion characteristic parameters, vascular structure parameters and brain tissue characteristic parameters; Image data processing and analysis module: used to analyze and process the three-dimensional image data collected by the image data acquisition module to obtain the lesion distance influence coefficient, vascular structure influence coefficient and brain tissue characteristic influence coefficient, and transmit them to the puncture path planning rationality index calculation module; Puncture path planning module: used to plan multiple puncture paths according to the three-dimensional image and puncture device information obtained by the information acquisition module, and number them 1, 2, ..., i, ..., n in sequence according to the different results generated, and collect puncture path data at the same time, and transmit it to the puncture path data processing and analysis module, wherein the puncture path data includes the influencing parameters of the puncture device; Puncture path data processing and analysis module: used to analyze and process the puncture path data collected by the puncture path planning module to obtain the puncture device influence coefficient, and transmit it to the puncture path planning rationality index calculation module; Puncture path rationality index calculation module: used to bring the influence coefficient of lesion distance, vascular structure, brain tissue characteristics and puncture device into the puncture path rationality index mathematical model to obtain the puncture path rationality index value; Puncture path judgment module: used to compare the multiple puncture path rationality index values ​​obtained by the puncture path rationality index calculation module with the preset puncture path rationality index, calculate the difference between the puncture path rationality index value and the preset puncture path rationality index, and when the difference value is less than the preset allowable difference range value, select the minimum difference value, and transmit the difference value and the path to the data interaction transmission module; Data interaction and transmission module: used to transmit the calculation results calculated in the positioning result judgment module to the user information terminal, providing reference data for the administrator to make adjustment measures; Database module: includes all data of the puncture stereotactic system and collects information output by each module in real time; User information terminal: an output device for receiving information from the cerebral hemorrhage puncture stereotactic positioning system.

[0008] Preferably, the lesion characteristic parameters include lesion coordinates, denoted as (x, y, z); potential puncture point coordinates, denoted as (a, b, c); vascular structure parameters include the nearest blood vessel distance, denoted as d; the nearest nerve distance, denoted as D; the nearest blood vessel deviation angle, denoted as θ; the nerve avoidance path length, denoted as l; the blood flow velocity, denoted as v; the brain tissue characteristic parameters include skull thickness, denoted as W, the compressed brain tissue volume, denoted as V; the amount of bleeding, denoted as Q; and the amount of brain tissue displacement, denoted as L.

[0009] Preferably, the image data processing and analysis module includes a lesion distance influence coefficient calculation unit, a vascular structure influence coefficient calculation unit and a brain tissue characteristic influence coefficient calculation unit.

[0010] Preferably, the lesion distance influence coefficient calculation unit is used to import the lesion distance influence parameters into the lesion distance influence coefficient mathematical model to obtain the lesion distance influence coefficient value; the vascular structure coefficient calculation unit is used to import the vascular structure parameters into the vascular structure coefficient mathematical model to obtain the vascular structure coefficient value; the brain tissue characteristic influence coefficient calculation unit is used to import the brain tissue characteristic influence parameters into the brain tissue characteristic influence coefficient mathematical model to obtain the brain tissue characteristic influence coefficient value.

[0011] Preferably, the mathematical model of the lesion distance influence coefficient is specifically:

[0012] The specific mathematical model of vascular structure coefficient is:

[0013] The mathematical model of the influence coefficient of brain tissue characteristics is as follows: , Among them l max Represents the maximum allowed nerve avoidance path length.

[0014] Preferably, the influencing parameters of the puncture device include the angle of the puncture needle entering the skull, denoted as , the displacement of the puncture needle, denoted as d c ; The distance between the puncture device and the puncture point is denoted as l c .

[0015] Preferably, the puncture path data processing and analysis module includes a puncture device influence coefficient calculation unit.

[0016] Preferably, the puncture device influence coefficient calculation unit is used to introduce the puncture device influence parameter into the puncture device influence coefficient mathematical model to obtain the puncture device influence coefficient value.

[0017] Preferably, the mathematical model of the influence coefficient of the puncture device is specifically:

[0018] Preferably, the mathematical model of the puncture path rationality index is specifically: , in Represents the influence coefficient of the puncture device of the i-th planned path.

[0019] Technical effects and advantages of the present invention: 1. The present invention combines advanced image recognition and 3D reconstruction technology. By detecting and analyzing the 3D image data of the target patient's head and combining it with image recognition, the positioning effect is significantly improved, the positioning accuracy is enhanced, and the error is greatly reduced. 2. The present invention simultaneously collects the three-dimensional image data of the target patient's head and the information of the puncture device. It is not limited to head scanning to obtain lesion data, but also integrates the data analysis of the puncture needle guidance, thus ensuring the comprehensiveness and breadth of data collection; 3. The present invention can generate and evaluate a variety of puncture paths based on the puncture path planning module, thereby achieving comprehensive analysis and optimization of the puncture paths, greatly reducing the risks during the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 Schematic diagram of the working part structure of the present invention DETAILED DESCRIPTION

[0022] 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.

[0023] As attached Figure 1 The shown cerebral hemorrhage puncture stereotactic system includes a central control module, an information acquisition module, an image data acquisition module, an image data processing and analysis module, a puncture path planning module, a puncture path data processing and analysis module, a puncture path rationality index calculation module, a puncture path judgment module, a data interaction transmission module, a database module, and a user information segment, wherein the image data processing and analysis module includes a lesion distance influence coefficient calculation unit, a vascular structure influence coefficient calculation unit, and a brain tissue characteristic influence coefficient calculation unit; the puncture path data processing and analysis module includes a puncture device influence coefficient calculation unit.

[0024] The output end of the information acquisition module is connected to the input end of the image data acquisition module in telecommunication, the output end of the image data acquisition module is connected to the input end of the image data processing and analysis module in telecommunication, the output end of the image data processing and analysis module is connected to the input end of the puncture path rationality index calculation module in telecommunication, the output end of the information acquisition module is connected to the input end of the puncture path planning module in telecommunication, the output end of the puncture path planning module is connected to the input end of the puncture path data processing and analysis module in telecommunication, the output end of the puncture path data processing and analysis module is connected to the input end of the puncture path rationality index calculation module in telecommunication, the output end of the puncture path rationality index calculation module and analysis module is connected to the input end of the puncture path judgment module in telecommunication, and the output end of the puncture path judgment module and analysis module is connected to the input end of the data interaction transmission module in telecommunication.

[0025] The central control module is responsible for coordinating the communication and work between various modules. This module receives data from various sensors and imaging devices in real time, then transmits the data to the modules that need them, and stores key data in the database module. It is also responsible for issuing instructions to each module to ensure that they can complete their respective tasks according to the predetermined logic and process.

[0026] The information acquisition module is used to use CT technology to obtain a three-dimensional image of the target patient's head in real time, use sensors to collect puncture device information, and transmit the three-dimensional image to the stereoscopic image data acquisition module, and transmit the three-dimensional image and puncture device information to the path planning module.

[0027] The image data acquisition module is used to collect data on the three-dimensional images obtained by the information acquisition module, and transmit the collected three-dimensional image data to the image data processing and analysis module; the three-dimensional image data includes lesion characteristic parameters, vascular structure parameters and brain tissue characteristic parameters.

[0028] In this embodiment, it should be specifically explained that the lesion characteristic parameters include lesion coordinates, denoted as (x, y, z); potential puncture point coordinates, denoted as (a, b, c); vascular structure parameters include the nearest blood vessel distance, denoted as d; the nearest nerve distance, denoted as D; the nearest blood vessel deviation angle, denoted as θ; the nerve avoidance path length, denoted as l; the blood flow velocity, denoted as v; the brain tissue characteristic parameters include the skull thickness, denoted as W, the compressed brain tissue volume, denoted as V; the amount of bleeding, denoted as Q; and the brain tissue displacement, denoted as L.

[0029] The image data processing and analysis module is used to analyze and process the three-dimensional image data collected by the image data acquisition module to obtain the lesion distance influence coefficient, the vascular structure influence coefficient and the brain tissue characteristic influence coefficient, and transmit them to the puncture path planning rationality index calculation module.

[0030] The lesion distance influence coefficient calculation unit is used to import the lesion distance influence parameter into the lesion distance influence coefficient mathematical model to obtain the lesion distance influence coefficient value; the vascular structure coefficient calculation unit is used to import the vascular structure parameter into the vascular structure coefficient mathematical model to obtain the vascular structure coefficient value; the brain tissue characteristic influence coefficient calculation unit is used to import the brain tissue characteristic influence parameter into the brain tissue characteristic influence coefficient mathematical model to obtain the brain tissue characteristic influence coefficient value.

[0031] In this embodiment, it should be specifically explained that the mathematical model of the lesion distance influence coefficient is specifically: , The specific mathematical model of vascular structure coefficient is: , The mathematical model of the influence coefficient of brain tissue characteristics is as follows: , Among them l max Represents the maximum allowed nerve avoidance path length.

[0032] The puncture path planning module is used to plan multiple puncture paths based on the three-dimensional image and puncture device information obtained by the information acquisition module, and number them 1, 2, ..., i, ..., n in sequence according to different results. At the same time, puncture path data is collected and transmitted to the puncture path data processing and analysis module, where the puncture path data includes puncture device influencing parameters.

[0033] In this embodiment, it should be specifically explained that the influencing parameters of the puncture device include the angle of the puncture needle entering the skull, denoted as , the displacement of the puncture needle, denoted as d c ; The distance between the puncture device and the puncture point is denoted as l c .

[0034] The puncture path data processing and analysis module is used to analyze and process the puncture path data collected by the puncture path planning module to obtain the puncture device influence coefficient, and transmit it to the puncture path planning rationality index calculation module.

[0035] The puncture device influence coefficient calculation unit is used to introduce the puncture device influence parameter into the puncture device influence coefficient mathematical model to obtain the puncture device influence coefficient value.

[0036] In this embodiment, it should be specifically explained that the mathematical model of the influence coefficient of the puncture device is specifically: .

[0037] The puncture path rationality index calculation module is used to bring the lesion distance influence coefficient, the vascular structure influence coefficient, the brain tissue characteristic influence coefficient and the puncture device influence coefficient into the puncture path rationality index mathematical model to obtain the puncture path rationality index value.

[0038] In this embodiment, it should be specifically explained that the mathematical model of the puncture path rationality index is specifically: , in Represents the influence coefficient of the puncture device of the i-th planned path.

[0039] The puncture path judgment module is used to compare the multiple puncture path rationality index values ​​obtained by the puncture path rationality index calculation module with the preset puncture path rationality index, calculate the difference between the puncture path rationality index value and the preset puncture path rationality index, and when the difference value is less than the preset allowable difference range value, select the minimum difference value, and transmit the difference value and the path to the data interaction transmission module.

[0040] In this embodiment, it should be specifically explained that the preset puncture path rationality index is the mean of historical puncture path rationality index error values, wherein the mean removes the maximum and minimum values, both of which are detection failure errors, and the preset allowable difference range value is the historical minimum difference value.

[0041] The data interaction transmission module is used to transmit the calculation results calculated in the positioning result judgment module to the user information terminal, providing reference data for the administrator to make adjustment measures.

[0042] The database module includes all data of the puncture stereotactic system and collects information output by each module in real time.

[0043] The user information terminal is an information output device for receiving the cerebral hemorrhage puncture stereotactic positioning system.

[0044] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other; Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A stereotactic system for puncturing cerebral hemorrhage, characterized in that: include: Central control module: responsible for coordinating the communication and work between various modules. This module receives data from various sensors and imaging devices in real time, then transmits the data to the modules that need them, and stores key data in the database module. It is also responsible for issuing instructions to various modules to ensure that they can complete their respective tasks according to the predetermined logic and process. Information acquisition module: used to obtain a three-dimensional image of the target patient's head in real time using CT technology, collect puncture device information using sensors, and transmit the three-dimensional image to the stereoscopic image data acquisition module, and transmit the three-dimensional image and puncture device information to the path planning module; Image data acquisition module: used to collect data from the three-dimensional images obtained by the information acquisition module, and transmit the collected three-dimensional image data to the image data processing and analysis module, including the three-dimensional image data lesion characteristic parameters, vascular structure parameters and brain tissue characteristic parameters; Image data processing and analysis module: used to analyze and process the three-dimensional image data collected by the image data acquisition module to obtain the lesion distance influence coefficient, vascular structure influence coefficient and brain tissue characteristic influence coefficient, and transmit them to the puncture path planning rationality index calculation module; Puncture path planning module: used to plan multiple puncture paths according to the three-dimensional image and puncture device information obtained by the information acquisition module, and number them 1, 2, ..., i, ..., n in sequence according to the different results generated, and collect puncture path data at the same time, and transmit it to the puncture path data processing and analysis module, wherein the puncture path data includes the influencing parameters of the puncture device; Puncture path data processing and analysis module: used to analyze and process the puncture path data collected by the puncture path planning module to obtain the puncture device influence coefficient, and transmit it to the puncture path planning rationality index calculation module; Puncture path rationality index calculation module: used to bring the influence coefficient of lesion distance, vascular structure, brain tissue characteristics and puncture device into the puncture path rationality index mathematical model to obtain the puncture path rationality index value; Puncture path judgment module: used to compare the multiple puncture path rationality index values ​​obtained by the puncture path rationality index calculation module with the preset puncture path rationality index, calculate the difference between the puncture path rationality index value and the preset puncture path rationality index, and when the difference value is less than the preset allowable difference range value, select the minimum difference value, and transmit the difference value and the path to the data interaction transmission module; Data interaction and transmission module: used to transmit the calculation results calculated in the positioning result judgment module to the user information terminal, providing reference data for the administrator to make adjustment measures; Database module: includes all data of the puncture stereotactic system and collects information output by each module in real time; User information terminal: an output device for receiving information from the cerebral hemorrhage puncture stereotactic positioning system.

2. The cerebral hemorrhage puncture stereotactic system according to claim 1, characterized in that: The lesion characteristic parameters include lesion coordinates, denoted as (x, y, z); potential puncture point coordinates, denoted as (a, b, c); vascular structure parameters include the nearest blood vessel distance, denoted as d; the nearest nerve distance, denoted as D; the nearest blood vessel deviation angle, denoted as θ; the nerve avoidance path length, denoted as l; the blood flow velocity, denoted as v; the brain tissue characteristic parameters include skull thickness, denoted as W, the compressed brain tissue volume, denoted as V; the amount of bleeding, denoted as Q; and the amount of brain tissue displacement, denoted as L.

3. The cerebral hemorrhage puncture stereotactic system according to claim 1, characterized in that: The image data processing and analysis module includes a lesion distance influence coefficient calculation unit, a blood vessel structure influence coefficient calculation unit and a brain tissue characteristic influence coefficient calculation unit.

4. The cerebral hemorrhage puncture stereotactic system according to claim 3, characterized in that: The lesion distance influence coefficient calculation unit is used to import the lesion distance influence parameter into the lesion distance influence coefficient mathematical model to obtain the lesion distance influence coefficient value; the vascular structure coefficient calculation unit is used to import the vascular structure parameter into the vascular structure coefficient mathematical model to obtain the vascular structure coefficient value; the brain tissue characteristic influence coefficient calculation unit is used to import the brain tissue characteristic influence parameter into the brain tissue characteristic influence coefficient mathematical model to obtain the brain tissue characteristic influence coefficient value.

5. The cerebral hemorrhage puncture stereotactic system according to claim 4, characterized in that: The mathematical model of the lesion distance influence coefficient is specifically: ， The specific mathematical model of vascular structure coefficient is: ， The mathematical model of the influence coefficient of brain tissue characteristics is as follows: ， Among them l max Represents the maximum allowed nerve avoidance path length.

6. The cerebral hemorrhage puncture stereotactic system according to claim 1, characterized in that: The parameters affecting the puncture device include the angle at which the puncture needle enters the skull, denoted as , the displacement of the puncture needle, denoted as d c ; The distance between the puncture device and the puncture point is denoted as l c .

7. The cerebral hemorrhage puncture stereotactic system according to claim 1, characterized in that: The puncture path data processing and analysis module includes a puncture device influence coefficient calculation unit.

8. The cerebral hemorrhage puncture stereotactic system according to claim 7, characterized in that: The puncture device influence coefficient calculation unit is used to introduce the puncture device influence parameter into the puncture device influence coefficient mathematical model to obtain the puncture device influence coefficient value.

9. The cerebral hemorrhage puncture stereotactic system according to claim 8, characterized in that: The mathematical model of the influence coefficient of the puncture device is specifically: 。 10. The cerebral hemorrhage puncture stereotactic system according to claim 1, characterized in that: The mathematical model of the puncture path rationality index is specifically: ， in Represents the influence coefficient of the puncture device of the i-th planned path.

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