Treatment path planning method and system for noninvasive energy focusing surgery

Abstract

The invention provides a treatment path planning method and system for a noninvasive energy focusing surgery, and the method comprises the steps: firstly, determining the appearance characteristics of a human body part to which a to-be-treated region belongs, and selecting a preset treatment mode according to the appearance characteristics; then, acquiring a medical image map of each treatment surface in the treatment mode, a projection boundary of a to-be-treated area in the image map and a contour line of a human body part, dividing the contour line into two parts, setting a circle point based on a curvature radius and drawing a plurality of concentric circles for the contour line of each part, determining target spots corresponding to the treatment surface according to intersection points of all concentric circles and the projection boundary of the to-be-treated area; and finally, setting a treatment path for connecting all the target spots in each treatment surface by adopting a preset sorting mode, and setting a mechanical path of the energy focusing equipment according to the treatment path. The method is suitable for human body parts with various curvatures, and the energy refraction angle is smaller, so that the difficulty of electronic correction is reduced, and the complexity of treatment path planning is effectively reduced.

Description

Technical Field

[0001] The present invention belongs to the medical field, and specifically relates to a treatment path planning method and system for non-invasive energy focusing surgery. Background Art

[0002] With the growing demand for precision medicine, treatment path planning systems have gradually become an important technical support for improving treatment effects and minimizing treatment risks, and are widely used in medical procedures that require highly precise operations, such as surgery, radiotherapy, and interventional therapy. By optimizing the treatment path, it can ensure that surgical instruments or treatment energy act accurately on the target area while protecting the surrounding normal tissues as much as possible, thereby improving treatment efficiency and patient safety.

[0003] The development of treatment path planning technology has benefited from breakthroughs in medical imaging technology and improvements in computing power. It is suitable for surgeries such as neurosurgery and orthopedics that require extremely high precision. It uses computer-aided design (CAD) and computer-assisted surgery (CAS) systems to integrate real-time imaging of the lesion site with pre-simulated paths, guide doctors to accurately identify the lesion area, and provide clear operational guidance to avoid critical structures and reach the lesion site safely and accurately.

[0004] With the development of intelligent medical equipment, the introduction of energy therapy equipment and robotic surgery has made the functions of the path planning system more diversified. The path planning system can automatically plan the treatment dose and treatment path, and cooperate with the robot to complete high-precision and high-efficiency surgical treatment.

[0005] During energy therapy, in addition to locating the treatment area, the path planning system must also comprehensively consider the attenuation characteristics of energy passing through different tissues in order to optimize the path of the robot carrying the energy transmitter, thereby maximizing the treatment effect and reducing potential risks.

[0006] However, existing treatment path planning technologies still have certain limitations in practical applications. For example, most current path planning methods are based on simple geometric models and fail to fully consider the complex curvature of the tissue surface where the lesion is located. Especially for curved structures such as the breast, the straight line or simple curved surface path planning methods used in existing technologies often lead to large deviations in the treatment target area, making it difficult to accurately cover the lesion, increasing the subsequent electronic correction work, and resulting in reduced treatment efficiency and increased system complexity.

[0007] In existing path planning systems, the energy transfer path often does not take into account the differences in energy refraction and attenuation of different tissue types, resulting in the energy not being evenly focused on the lesion area. Especially in energy treatments such as high-intensity focused ultrasound (HIFU), when energy reaches the target from different paths, phase inconsistencies may occur due to differences in path length and refraction, which in turn affects the focusing effect, resulting in a weakened treatment effect, and even energy anti-phase cancellation.

[0008] For some complex three-dimensional lesions, most existing path planning methods use simple points, lines, and surfaces to construct coverage areas. This method is prone to omissions when the lesions are complex in shape and require high precision, and cannot achieve full coverage, which in turn affects the treatment effect. At the same time, the path planning in the prior art has not fully solved the problem of interference of the treated area with the energy pathway of the area to be treated, which also increases the complexity and time cost of treatment.

[0009] In energy therapy equipment, it is necessary not only to plan the energy target path, but also to consider the mechanical movement path of the energy emitting device. In the existing technology, only one aspect is often optimized, ignoring the coordinated optimization of the mechanical path and the treatment target path, thus limiting the efficiency and accuracy of the operation. Summary of the invention

[0010] The present invention provides a treatment path planning method and system for non-invasive energy focusing surgery to solve the problems that, when the prior art treats tissue surfaces with large curvatures, positioning deviations are prone to occur or the complexity of path planning is increased; and, in energy treatment applications, the energy focusing may not reach the target area at the same time due to the difference in energy attenuation of different tissues.

[0011] In order to solve the above technical problems, the embodiments of the present invention disclose the following technical solutions: One aspect of the present invention provides a treatment path planning method for non-invasive energy focusing surgery, comprising: Determine the appearance characteristics of the human body part to which the area to be treated belongs; A preset treatment mode is selected according to the appearance characteristics, each treatment mode has multiple treatment surfaces covering the area to be treated, and the arrangement of the treatment surfaces in different treatment modes is different; Obtaining medical imaging images of each treatment surface in the treatment mode; Determine the target for each treatment surface based on medical imaging, including: Obtaining the projection boundary of the area to be treated in the medical image and the contour line of the human body part; dividing the contour line into two parts; for each part of the contour line, setting a point based on the curvature radius and drawing multiple concentric circles; determining the target point of the corresponding treatment surface according to the intersection of all the concentric circles and the projection boundary of the area to be treated; A treatment path connecting all targets in each treatment plane is set using a preset sorting method; The mechanical path of the energy focusing device is set according to the treatment path, so that when the energy focusing device treats each target area, the angle between the central axis and the radius of the concentric circle where the target is located is minimized.

[0012] Optionally, the appearance features of the human body part include a semi-cylinder and a hemisphere, and selecting a preset treatment mode according to the appearance features includes: When the appearance feature of the human body part to be treated is a semi-cylinder, the first treatment mode is adopted; when the appearance feature of the human body part to be treated is a hemisphere, the second treatment mode is adopted; wherein, The first treatment mode is: the area to be treated is divided by using a plurality of mutually parallel treatment planes; The second treatment mode is: the area to be treated is divided by using a plurality of treatment planes intersecting each other on a treatment axis, wherein the treatment axis is a straight line passing through a midpoint of the area to be treated.

[0013] Optionally, the step of obtaining the projection boundary of the area to be treated in the medical image and the contour line of the human body part includes: Determining the projection boundary of the area to be treated in the medical image according to the boundary data input by the user; Establish an image coordinate system for the medical image, wherein the y-axis of the image coordinate system coincides with the shooting center axis of the image shooting device, the positive direction of the y-axis is the shooting direction of the image shooting device, the x-axis is perpendicular to the shooting center axis, and the origin o is the shooting center point of the image shooting device; Obtain the coordinates and grayscale value of each pixel in the medical image in the image coordinate system; Calculate the average gray value of pixels in non-human body areas in medical images ; Traverse the medical image at preset x-axis intervals parallel to the positive direction of the y-axis and find the contour points ( ), where the contour point is the i-th traversal, when the gray value is greater than the average gray value Among all the points in , the point with the smallest y value is is the x value corresponding to the i-th traversal, is the y value of the contour point; Perform secondary discrimination on all contour points, delete contour points that are not adjacent to other contour points, and connect all contour points after secondary discrimination as the contour line of the human body part.

[0014] Optionally, dividing the contour line into two parts includes: Determine the contour point with the smallest y value; Setting a segmentation line that includes the contour point and is parallel to the y-axis; The segmentation line is used to divide the contour line and the medical image into two parts, a left part and a right part.

[0015] Optionally, for each portion of the contour line, a point is set based on the curvature radius and a plurality of concentric circles are drawn, including: For each part of the outline, the points are set in the following way: Get the average curvature of the contour , Where f(x) is the curve function fitted to all contour points in the contour line; is the curvature of f(x); a and b represent the starting point and end point of the contour line respectively; Calculate the average curvature radius R of the contour line, The least square method is used to determine the center of the arc that best fits the contour line using the average curvature radius R, and the center is set as the point of the contour line; Draw a plurality of equally spaced concentric circles with the dots, wherein the spacing is determined according to the effective energy zone of the energy focusing device; each concentric circle contains a portion or all of the projection of the area to be treated in the medical image, wherein the concentric circle with the largest diameter contains all of the projection of the area to be treated.

[0016] Optionally, mark the dots corresponding to the left part of the contour as , and record the dot corresponding to the right part of the contour line as ; The step of determining the target point corresponding to the treatment surface according to the intersection points of all concentric circles and the projected boundary of the area to be treated includes: In the medical image, obtain the projection boundary and dots of the area to be treated in the left part The intersection of the corresponding concentric circles, and obtain the projection boundary of the area to be treated in the right part and the dot The intersection of the corresponding concentric circles; All of the above intersection points are used as target points of the treatment surface corresponding to the medical image.

[0017] Optionally, the method of setting a treatment path connecting all the targets in each treatment plane in a preset sorting manner includes: Among all the target points corresponding to the treatment surface, the order of the target points is arranged in descending order according to the y value, and all the target points are connected in the order to obtain the treatment path.

[0018] Optionally, setting a mechanical path of the energy focusing device according to the treatment path includes: For each target, the mechanical path of the energy focusing device is set up in the following way: Determine the point of the concentric circle where the target point is located, and draw the radius between the target point and the point; The center of the effective energy zone of the energy focusing device is made to coincide with the target point, and the angle between the central axis and the radius is minimized.

[0019] Optionally, before executing the step of determining the appearance feature of the human body part to which the area to be treated belongs, the method further includes: Based on the medical image, the relative position and boundary of the area to be treated in the human body are obtained using a preset three-dimensional reconstruction method.

[0020] Optionally, the method of setting a treatment path connecting all the targets in each treatment plane in a preset sorting manner includes: Among all the target points corresponding to the treatment surface, the order of the target points is arranged in ascending order according to the y value, and all the target points are connected in the order to obtain the treatment path.

[0021] Optionally, before executing the step of setting a treatment path connecting all the targets in each treatment plane in a preset sorting manner, the method further includes: Dividing the area to be treated into multiple sub-areas according to preset unit volumes; Determine whether there is a sub-region where the number of targets is less than the preset threshold, If so, a treatment surface passing through the sub-region is added and a target point of the treatment surface is determined.

[0022] Optionally, the medical images include but are not limited to B-ultrasound images and MRI magnetic resonance images.

[0023] Another aspect of the present invention discloses a treatment path planning system for non-invasive energy focusing surgery, comprising: An appearance feature determination module is configured to determine the appearance features of the human body part to which the area to be treated belongs; a treatment mode selection module, configured to select a preset treatment mode according to the appearance feature, each treatment mode having a plurality of treatment surfaces covering the area to be treated, and the arrangement of the treatment surfaces in different treatment modes being different; An image acquisition module is configured to respectively acquire a medical image of each treatment surface in the treatment mode; The target determination module is configured to determine the target of each treatment surface based on the medical image, including: Obtaining the projection boundary of the area to be treated in the medical image and the contour line of the human body part; dividing the contour line into two parts; for each part of the contour line, setting a point based on the curvature radius and drawing multiple concentric circles; determining the target point of the corresponding treatment surface according to the intersection of all the concentric circles and the projection boundary of the area to be treated; A treatment path setting module is configured to set a treatment path connecting all the targets in each treatment plane in a preset sorting manner; The mechanical path setting module is configured to set the mechanical path of the energy focusing device according to the treatment path, so that when the energy focusing device treats each target area, the angle between the central axis and the radius of the concentric circle where the target is located is minimized.

[0024] The present invention discloses a treatment path planning method and system for non-invasive energy focusing surgery. First, the appearance characteristics of the human body part to which the area to be treated belongs need to be determined, and a preset treatment mode is selected according to the appearance characteristics; then, a medical image of each treatment surface in the treatment mode, as well as the projection boundary of the area to be treated and the contour line of the human body part in the image are obtained, and the contour line is divided into two parts. For each part of the contour line, a dot is set based on the curvature radius and multiple concentric circles are drawn, and the target point of the corresponding treatment surface is determined according to the intersection of all concentric circles and the projection boundary of the area to be treated; finally, a treatment path connecting all target points in each treatment surface is set in a preset sorting method, and a mechanical path of the energy focusing device is set according to the treatment path.

[0025] The present invention is applicable to human body parts with various curvatures, making the energy pathway more uniform and the refraction angle smaller, thereby alleviating the difficulty of electronic correction and even eliminating the need to introduce electronic correction, which can effectively reduce the complexity of treatment path planning.

[0026] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0028] Figure 1 A schematic flow chart of a treatment path planning method for non-invasive energy focusing surgery provided by an embodiment of the present invention; Figure 2 A schematic flow chart of another treatment path planning method for non-invasive energy focusing surgery provided by an embodiment of the present invention; Figure 3 A schematic diagram of a treatment surface of a first treatment mode provided by an embodiment of the present invention; Figure 4 A schematic diagram of a treatment surface of a second treatment mode provided in an embodiment of the present invention; Figure 5 Implementation provided for the embodiment of the present invention Figure 1 Schematic diagram of the process of step S401; Figure 6 A schematic diagram of an image coordinate system provided by an embodiment of the present invention; Figure 7 Implementation provided for the embodiment of the present invention Figure 1 Schematic diagram of the process of step S402; Figure 8 A schematic diagram of a dividing line provided in an embodiment of the present invention; Fig. 9 A schematic diagram of setting dots for left and right contour lines respectively provided by an embodiment of the present invention; Fig.10 A schematic diagram of the left and right centers of the embodiment of the present invention respectively corresponding to concentric circles; Fig.11 Implementation provided for the embodiment of the present invention Figure 1 Schematic diagram of the process of step S404; Fig.12 Implementation provided for the embodiment of the present invention Figure 1 Schematic diagram of the process of step S600; Fig.13 A schematic diagram of setting a mechanical path provided by an embodiment of the present invention; Fig.14 A schematic structural diagram of a treatment path planning system for non-invasive energy focusing surgery provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0030] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0031] Figure 1 A flowchart of a treatment path planning method for non-invasive energy focusing surgery provided by an embodiment of the present invention is provided. The method uses a focused ultrasonic energy treatment device to treat tissue at a target point. The focused ultrasonic energy treatment device transmits ultrasonic energy toward the focus point along the central axis through an energy transmitter, and can form an effective energy zone that is approximately spherical at the focus point. However, since ultrasonic energy will be refracted when passing through human tissue, there will be a large deviation between the actual focus and the set focus. The embodiment disclosed by the present invention can solve this problem.

[0032] like Figure 1 As shown, the treatment path planning method for non-invasive energy focused surgery includes the following steps: Step S100: determining the appearance characteristics of the human body part to which the area to be treated belongs.

[0033] In the disclosed embodiments of the present invention, the appearance features of human body parts include semi-cylinders and hemispheres. For example, the appearance features of a flat abdomen are similar to a semi-cylinder, and the external features of a protruding abdomen and breasts are similar to a hemisphere.

[0034] The appearance characteristics of the human body part to which the area to be treated belongs can be confirmed according to the user's input instructions; or, the human body part to which the area to be treated belongs can be obtained using recognition tools such as medical recognition software, thereby obtaining the corresponding appearance characteristics of the human body part.

[0035] In one embodiment disclosed in the present invention, Figure 2 As shown, before executing step S100, the following steps are also included: Step S010: Based on the medical image, a preset three-dimensional reconstruction method is used to obtain the relative position and boundary of the area to be treated in the human body.

[0036] The relative position, size and shape of the area to be treated (such as a tumor) can be obtained through the patient's preoperative medical images (such as B-ultrasound images and MRI magnetic resonance images) in conjunction with three-dimensional reconstruction software, so that the user (such as a doctor) can use it as a reference before using energy focusing equipment for treatment.

[0037] Step S200: Select a preset treatment mode according to the appearance characteristics.

[0038] In the embodiments disclosed in the present invention, each treatment mode has multiple treatment surfaces covering the area to be treated, and the arrangement of the treatment surfaces is different in different treatment modes.

[0039] In one embodiment disclosed in the present invention, a preset treatment mode is selected according to the appearance characteristics, including the following methods: When the appearance feature of the human body part to be treated is a semi-cylinder, the first treatment mode is adopted; when the appearance feature of the human body part to be treated is a hemisphere, the second treatment mode is adopted; wherein, The first treatment mode is: dividing the area to be treated by using a plurality of mutually parallel treatment planes.

[0040] like Figure 3 As shown, the treatment surfaces are parallel to each other, and the group of treatment surfaces divides the area to be treated (such as a tumor) so that the entire area to be treated can be completely covered by the energy focusing area after the treatment is completed.

[0041] The second treatment mode is: the area to be treated is divided by using a plurality of treatment planes intersecting each other on a treatment axis, and the treatment axis is a straight line passing through the midpoint of the area to be treated.

[0042] like Figure 4 As shown, each treatment surface rotates around the treatment axis, and the group of treatment surfaces divides the area to be treated, so that the entire area to be treated is completely covered by the energy focusing area after the treatment is completed.

[0043] Step S300: Obtain a medical image of each treatment surface in the treatment mode.

[0044] In the embodiments disclosed in the present invention, the observation surface of the medical image is the treatment surface, and the medical image includes but is not limited to B-ultrasound images and MRI magnetic resonance images.

[0045] Step S400: determining the target point of each treatment surface based on the medical image.

[0046] In the embodiments disclosed in the present invention, the method for determining the target point of each treatment surface is the same. In the embodiments of the present invention, one of the treatment surfaces is taken as an example.

[0047] like Figure 1 As shown, the following sub-steps can be used to determine the target for each treatment surface: Step S401: Acquire the projection boundary of the area to be treated in the medical image and the contour line of the human body part.

[0048] The boundary of the area to be treated projected in the medical image is the projection boundary.

[0049] In one embodiment disclosed in the present invention, Figure 5 As shown, the following sub-steps may be used to implement step S401: Step S4011: Determine the projection boundary of the area to be treated in the medical image according to the boundary data input by the user.

[0050] In the disclosed embodiment of the present invention, the user can refer to step S010 to obtain the relative position and boundary of the area to be treated in the human body, and determine the projection boundary of the area to be treated in the medical image; or, the medical image can be input into tools such as image recognition software to identify the projection boundary of the area to be treated in the medical image.

[0051] Step S4012: Establish an image coordinate system for the medical image. The y-axis of the image coordinate system coincides with the shooting center axis of the image shooting device, the positive direction of the y-axis is the shooting direction of the image shooting device, the x-axis is perpendicular to the shooting center axis, and the origin o is the shooting center point of the image shooting device.

[0052] like Figure 6 As shown, taking the medical imaging device as B-ultrasound as an example, the y-axis is assumed to coincide with the shooting center axis of the B-ultrasound probe, the shooting direction away from the B-ultrasound probe is set as the positive direction of the y-axis, the direction perpendicular to the B-ultrasound shooting center axis is the x-axis, and the center of the emitting surface of the B-ultrasound probe is taken as the origin o.

[0053] Step S4013: Obtain the coordinates and grayscale value of each pixel in the medical image in the image coordinate system.

[0054] Step S4014: Calculate the average gray value of pixels in the non-human body area of ​​the medical image .

[0055] There will be some coupling areas between the imaging surface of the B-ultrasound probe and the human tissue. Since there is no tissue in this area, the grayscale value is low. According to the user's input information or the recognition results of tools such as recognition software, the non-human area is obtained in the medical image, and then the average grayscale value of all pixels in this area is calculated. .

[0056] Step S4015: traverse the medical image at a preset x-axis interval parallel to the positive direction of the y-axis, and search for contour points ( ).

[0057] Among them, when the contour point is traversed for the pth time, when the gray value is greater than the average gray value Among all the points in , the point with the smallest y value is is the x value corresponding to the pth traversal, is the y value of the contour point.

[0058] For example, the preset x-axis interval is 1, that is, the x-values ​​of adjacent traversals differ by 1. The first traversal starts from the origin, and the grayscale value of each pixel is compared with the average grayscale value in turn along the positive direction of the y-axis. If the grayscale value of a pixel compared during the traversal is greater than the average grayscale value, the point is taken as a contour point. The contour point is the first pixel point that meets the conditions during the traversal, that is, the y value of the contour point is smaller than the y values ​​of other pixels whose grayscale values ​​are greater than the average grayscale value.

[0059] After an interval of 1 unit, the second traversal is continued from x=1 on the x-axis to find the contour point. If there is no pixel point that meets the requirements during a certain traversal, the next traversal is performed to stop the traversal to complete the entire medical image.

[0060] Step S4016: Perform secondary discrimination on all contour points, delete contour points that are not adjacent to other contour points, and connect all contour points after secondary discrimination as the contour line of the human body part.

[0061] When noise points appear in medical images, they may be mistakenly identified as contour points. The embodiment of the present invention performs secondary discrimination on all contour points. Human body parts are connected in medical images. If a contour point is not adjacent to other contour points, that is, the x value of a contour point differs from the x value of other contour points by more than a preset x-axis interval (for example, 1), then the contour point is considered to be isolated and not a contour point of a human body part.

[0062] Step S402: Divide the contour line into two parts.

[0063] In one embodiment disclosed in the present invention, Figure 7 As shown, step S402 is implemented in the following manner: Step S4021, determine the contour point with the smallest y value.

[0064] Among all the contour points, determine a contour point with the smallest y value. When there are multiple contour points with the smallest and equal y values, select the contour point closer to the midpoint of the contour line.

[0065] Step S4022: Set a segmentation line that includes the contour points and is parallel to the y-axis.

[0066] like Figure 8 As shown, a straight line passing through the contour points determined in step S4021 is set as a dividing line, and the dividing line is parallel to the y-axis.

[0067] Step S4023: Use a dividing line to divide the contour line and the medical image into two parts, a left part and a right part.

[0068] Step S403: For each part of the contour line, a point is set based on the curvature radius and a plurality of concentric circles are drawn.

[0069] In one embodiment disclosed in the present invention, Fig. 9 As shown, for each part of the contour line, the dots are set in the following way: Get the average curvature of the contour , Where f(x) is the curve function fitted to all contour points in the contour line; is the curvature of f(x); a and b represent the starting point and end point of the contour line respectively; Calculate the average curvature radius R of the contour line, The least square method is used to determine the center of the arc that best fits the contour line using the average curvature radius R, and the center is set as the point of the contour line.

[0070] For specific implementation methods, please refer to the following: Assume the center position is , for each contour point The distance to the center of the fitted circle is , then the sum of square errors of the contour points is , using the current contour center position as the initial estimate, using Newton's method or using a numerical optimization library (e.g. scipy.optimize.least_squares), iterating through the built-in trust region reflective algorithm or Levenberg-Marquardt algorithm to obtain the coordinates of the circle center .

[0071] According to the above method, we get the points corresponding to the left and right contour lines, and record the points corresponding to the left contour line as , and record the dot corresponding to the right part of the contour line as .

[0072] Draw multiple equally spaced concentric circles for the left and right dots, that is, each dot corresponds to multiple equally spaced concentric circles, and the spacing is determined according to the effective energy area of ​​the energy focusing device, which can be 0.3-0.8 times the diameter of the approximate sphere of the effective energy area. Each concentric circle contains part or all of the projection of the area to be treated in the medical image, among which the concentric circle with the largest diameter contains all the projections of the area to be treated, so that these concentric circles can cover the complete projection of the area to be treated.

[0073] Take the concentric circles corresponding to the center of the left part as an example: A circle tangent to the area to be treated is made as the first concentric circle, and the radius of the second concentric circle is obtained by adding 0.3-0.8 times the diameter of the approximate sphere of the effective energy area to the radius of the circle, and so on, until the largest concentric circle no longer intersects with the projection of the area to be treated. Fig.10 It shows that two concentric circles are drawn for the centers of the left and right parts.

[0074] Step S404: determine the target point corresponding to the treatment surface according to the intersection points of all concentric circles and the projected boundary of the area to be treated.

[0075] In one embodiment disclosed in the present invention, Fig.11 As shown, step S404 may be implemented in the following manner: Step S4041: In the medical image, obtain the projection boundary and dot of the area to be treated in the left part The intersection of the corresponding concentric circles, and obtain the projection boundary of the area to be treated in the right part and the dot The intersection of the corresponding concentric circles.

[0076] Get the projection boundary and dots of the area to be treated in the left part of the medical image The intersection of the corresponding concentric circles, similarly, obtain the projection boundary of the area to be treated in the right part of the medical image and the dot The intersection of the corresponding concentric circles. Fig.10 The intersection points determined by the two concentric circles corresponding to the centers of the left and right circles are shown. Other intersection points can be referred to Fig.10 obtained by .

[0077] Step S4042: All the above intersection points are used as target points corresponding to the treatment surface of the medical image.

[0078] All the intersection points obtained in step S4041 are used as target points of the treatment surface corresponding to the medical image. During actual treatment, energy focusing equipment is used to treat each target point.

[0079] In one embodiment disclosed in the present invention, before executing step S500 of setting a treatment path connecting all the targets in each treatment plane in a preset sorting manner, the following steps are also included: (1) The area to be treated is divided into multiple sub-areas according to the preset unit volume.

[0080] (2) Determine whether there is a sub-region where the number of target points is less than the preset threshold.

[0081] If there is a sub-region that meets the conditions, it means that the density of the target points in the sub-region is low. Therefore, in such a sub-region, a treatment surface passing through the sub-region is added. For example, according to the sorting method of the treatment surfaces in the current treatment mode, a treatment surface passing through the midpoint of the sub-region is set. Then, the target points in the added treatment surface are determined in the above manner.

[0082] If there is no sub-region that meets the conditions, step S500 is directly executed.

[0083] (3) Re-determine whether there is a sub-region where the number of target points is less than the preset threshold, and execute step S500 again until there is no sub-region where the number of target points is less than the preset threshold.

[0084] Step S500: setting a treatment path connecting all target points in each treatment plane in a preset sorting manner.

[0085] In one embodiment disclosed in the present invention, among the target points corresponding to all treatment surfaces, the order of the target points is arranged in descending order of y values, and all the target points are connected in order to obtain a treatment path.

[0086] The above content can be understood as first treating the path farthest from the transmitter of the focused energy device on each treatment surface, and only after the farthest ends of all treatment surfaces are treated will the adjacent paths on each treatment surface (i.e., the farthest ends that are not currently treated) be switched to achieve an effect of treating the human body layer by layer from the inside to the outside, so that the treated area does not affect the energy pathway of the untreated area.

[0087] In another embodiment disclosed in the present invention, there is also another way of setting the treatment path.

[0088] Among all the targets corresponding to the treatment surface, the order of the targets is arranged from small to large according to the y value, and all the targets are connected in order to obtain the treatment path.

[0089] That is, treatment begins at the path closest to the transmitter end of the focused energy device, and proceeds layer by layer toward the inside of the human body, increasing penetration depth by reducing energy attenuation in the treated area.

[0090] Step S600, setting the mechanical path of the energy focusing device according to the treatment path, so that when the energy focusing device treats each target area, the angle between the central axis and the radius of the concentric circle where the target is located is minimized.

[0091] In one embodiment disclosed in the present invention, Fig.12 As shown, for each target, the mechanical path of the energy focusing device is set in the following way: Step S601, determine the point of the concentric circle where the target point is located, and draw the radius between the target point and the point.

[0092] Step S602: The center of the effective energy zone of the energy focusing device is made to coincide with the target point, and the angle between the center axis and the radius is minimized.

[0093] The energy transmitter of the energy focusing device has a central axis. During treatment, the central axis needs to coincide with the radius of the concentric circle where each target point in the treatment path is located as much as possible. When interference occurs between the device and the human body, the angle between the central axis and the radius is minimized. Fig.13 It is the mechanical pathway for focusing energy to treat a specific target.

[0094] According to the ordering method of the targets in the treatment path, the ordering method of the mechanical path for the energy focusing device to treat the targets is set, and the direction of the energy focusing device in the mechanical path is set so that its central axis meets the requirements.

[0095] Fig.14 This is a schematic diagram of the structure of a treatment path planning system for non-invasive energy focusing surgery disclosed in an embodiment of the present invention. The system includes the following modules: The appearance feature determination module 1 is configured to determine the appearance features of the human body part to which the area to be treated belongs.

[0096] The treatment mode selection module 2 is configured to select a preset treatment mode according to the appearance characteristics. Each treatment mode has multiple treatment surfaces covering the area to be treated, and the arrangement of the treatment surfaces in different treatment modes is different.

[0097] The image acquisition module 3 is configured to respectively acquire the medical image of each treatment surface in the treatment mode.

[0098] The target determination module 4 is configured to determine the target of each treatment surface based on the medical image, including:

[0099] The projection boundary of the area to be treated and the contour line of the human body part in the medical image are obtained; the contour line is divided into two parts; for each part of the contour line, a point is set based on the curvature radius and multiple concentric circles are drawn; the target point of the corresponding treatment surface is determined according to the intersection of all concentric circles and the projection boundary of the area to be treated.

[0100] The treatment path setting module 5 is configured to set a treatment path connecting all the target points in each treatment plane in a preset sorting manner.

[0101] The mechanical path setting module 6 is configured to set the mechanical path of the energy focusing device according to the treatment path, so that when the energy focusing device treats each target area, the angle between the central axis and the radius of the concentric circle where the target is located is minimized.

[0102] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A treatment path planning method for non-invasive energy focusing surgery, characterized in that: include: Determine the appearance characteristics of the human body part to which the area to be treated belongs; A preset treatment mode is selected according to the appearance characteristics, each treatment mode has multiple treatment surfaces covering the area to be treated, and the arrangement of the treatment surfaces in different treatment modes is different; Obtaining medical imaging images of each treatment surface in the treatment mode; Determine the target for each treatment surface based on medical imaging, including: Obtaining the projection boundary of the area to be treated in the medical image and the contour line of the human body part; dividing the contour line into two parts; for each part of the contour line, setting a point based on the curvature radius and drawing multiple concentric circles; determining the target point of the corresponding treatment surface according to the intersection of all the concentric circles and the projection boundary of the area to be treated; A treatment path connecting all targets in each treatment plane is set using a preset sorting method; The mechanical path of the energy focusing device is set according to the treatment path, so that when the energy focusing device treats each target area, the angle between the central axis and the radius of the concentric circle where the target is located is minimized.

2. The path planning method according to claim 1, characterized in that: The appearance features of the human body part include a semi-cylinder and a hemisphere, and the selecting a preset treatment mode according to the appearance features includes: When the appearance feature of the human body part to be treated is a semi-cylinder, the first treatment mode is adopted; when the appearance feature of the human body part to be treated is a hemisphere, the second treatment mode is adopted; wherein, The first treatment mode is: the area to be treated is divided by using a plurality of mutually parallel treatment planes; The second treatment mode is: the area to be treated is divided by using a plurality of treatment planes intersecting each other on a treatment axis, wherein the treatment axis is a straight line passing through a midpoint of the area to be treated.

3. The path planning method according to claim 1, characterized in that: The step of obtaining the projection boundary of the area to be treated in the medical image and the contour line of the human body part includes: Determining the projection boundary of the area to be treated in the medical image according to the boundary data input by the user; Establish an image coordinate system for the medical image, wherein the y-axis of the image coordinate system coincides with the shooting center axis of the image shooting device, the positive direction of the y-axis is the shooting direction of the image shooting device, the x-axis is perpendicular to the shooting center axis, and the origin o is the shooting center point of the image shooting device; Obtain the coordinates and grayscale value of each pixel in the medical image in the image coordinate system; Calculate the average gray value of pixels in non-human body areas in medical images ; Traverse the medical image at preset x-axis intervals parallel to the positive direction of the y-axis and find the contour points ( ), where the contour point is the i-th traversal, when the gray value is greater than the average gray value Among all the points in , the point with the smallest y value is is the x value corresponding to the i-th traversal, is the y value of the contour point; Perform secondary discrimination on all contour points, delete contour points that are not adjacent to other contour points, and connect all contour points after secondary discrimination as the contour line of the human body part.

4. The path planning method according to claim 3, characterized in that: The step of dividing the contour line into two parts comprises: Determine the contour point with the smallest y value; Setting a segmentation line that includes the contour point and is parallel to the y-axis; The segmentation line is used to divide the contour line and the medical image into two parts, a left part and a right part.

5. The path planning method according to claim 4, characterized in that: For each part of the contour line, a point is set based on the curvature radius and multiple concentric circles are drawn, including: For each part of the outline, the points are set in the following way: Get the average curvature of the contour , Where f(x) is the curve function fitted to all contour points in the contour line; is the curvature of f(x); a and b represent the starting point and end point of the contour line respectively; Calculate the average curvature radius R of the contour line, The least square method is used to determine the center of the arc that best fits the contour line using the average curvature radius R, and the center is set as the point of the contour line; Draw a plurality of equally spaced concentric circles with the dots, wherein the spacing is determined according to the effective energy zone of the energy focusing device; each concentric circle contains a portion or all of the projection of the area to be treated in the medical image, wherein the concentric circle with the largest diameter contains all of the projection of the area to be treated.

6. The path planning method according to claim 4, characterized in that: The dot corresponding to the left part of the contour line is recorded as , and record the dot corresponding to the right part of the contour line as ; The step of determining the target point corresponding to the treatment surface according to the intersection points of all concentric circles and the projected boundary of the area to be treated includes: In the medical image, obtain the projection boundary and dots of the area to be treated in the left part The intersection of the corresponding concentric circles, and obtain the projection boundary of the area to be treated in the right part and the dot The intersection of the corresponding concentric circles; All of the above intersection points are used as target points of the treatment surface corresponding to the medical image.

7. The path planning method according to claim 1, characterized in that: The method of setting a treatment path connecting all the targets in each treatment plane in a preset sorting manner includes: Among all the target points corresponding to the treatment surface, the order of the target points is arranged in descending order according to the y value, and all the target points are connected in the order to obtain the treatment path.

8. The path planning method according to claim 1, characterized in that: The step of setting a mechanical path of the energy focusing device according to the treatment path comprises: For each target, the mechanical path of the energy focusing device is set up in the following way: Determine the point of the concentric circle where the target point is located, and draw the radius between the target point and the point; The center of the effective energy zone of the energy focusing device is made to coincide with the target point, and the angle between the central axis and the radius is minimized.

9. The path planning method according to claim 1, characterized in that: Before executing the step of determining the appearance characteristics of the human body part to which the area to be treated belongs, the method further includes: Based on the medical image, the relative position and boundary of the area to be treated in the human body are obtained using a preset three-dimensional reconstruction method.

10. The path planning method according to claim 1, characterized in that: The method of setting a treatment path connecting all the targets in each treatment plane in a preset sorting manner includes: Among all the target points corresponding to the treatment surface, the order of the target points is arranged in ascending order according to the y value, and all the target points are connected in the order to obtain the treatment path.

11. The path planning method according to claim 1, characterized in that: Before executing the step of setting a treatment path connecting all the targets in each treatment plane in a preset sorting manner, the method further includes: Dividing the area to be treated into multiple sub-areas according to preset unit volumes; Determine whether there is a sub-region where the number of targets is less than the preset threshold, If so, a treatment surface passing through the sub-region is added and a target point of the treatment surface is determined.

12. The path planning method according to claim 1, characterized in that: The medical images include but are not limited to B-ultrasound images and MRI magnetic resonance images.

13. A treatment path planning system for non-invasive energy focusing surgery, characterized in that: include: An appearance feature determination module is configured to determine the appearance features of the human body part to which the area to be treated belongs; a treatment mode selection module, configured to select a preset treatment mode according to the appearance feature, each treatment mode having a plurality of treatment surfaces covering the area to be treated, and the arrangement of the treatment surfaces in different treatment modes being different; An image acquisition module is configured to respectively acquire a medical image of each treatment surface in the treatment mode; The target determination module is configured to determine the target of each treatment surface based on the medical image, including: Obtaining the projection boundary of the area to be treated in the medical image and the contour line of the human body part; dividing the contour line into two parts; for each part of the contour line, setting a point based on the curvature radius and drawing multiple concentric circles; determining the target point of the corresponding treatment surface according to the intersection of all the concentric circles and the projection boundary of the area to be treated; A treatment path setting module is configured to set a treatment path connecting all the targets in each treatment plane in a preset sorting manner; The mechanical path setting module is configured to set the mechanical path of the energy focusing device according to the treatment path, so that when the energy focusing device treats each target area, the angle between the central axis and the radius of the concentric circle where the target is located is minimized.

Images