A navigation system for pulmonary puncture in pneumology

Abstract

The application discloses a navigation system for lung puncture in pneumology, and relates to the technical field of lung puncture navigation, comprising a data collection module, a data processing module, a calculation module and a navigation module. The application has the advantages that lung image data and respiratory motion data of a patient are collected, respiratory compensation calculation is utilized, the lesion position can be accurately positioned in real time, the need for multiple adjustments of the position of a puncture needle is avoided, the optimal puncture path can be calculated, intelligent biopsy puncture path planning can be carried out according to the specific condition of the patient, the biopsy risk is reduced, and the lesion position change caused by respiratory motion can be accurately compensated through real-time respiratory compensation application, which ensures that the navigation accuracy and biopsy effect are not affected by respiratory motion.

Description

Technical Field

[0001] The present invention relates to the technical field of lung puncture navigation, and in particular to a lung puncture navigation system for respiratory medicine. Background Art

[0002] Biopsy is abbreviated as biopsy. When a patient seeks medical treatment, the doctor may find lumps and nodules through CT. At this time, a puncture biopsy is needed to remove living tissue samples or cell samples from the patient's body for pathologists to perform pathological tests, thereby guiding the patient's subsequent overall treatment plan. Biopsy puncture is performed after local anesthesia. The doctor uses a lung puncture needle and, guided by CT and other images, passes the needle through the chest wall into the suspicious area and obtains lung tissue.

[0003] However, current lung biopsy procedures may mostly rely on CT-guided lung puncture. Although this can provide a certain positioning basis, due to the lack of real-time navigation and precise position feedback, it may be difficult for doctors to ensure that the puncture needle accurately penetrates the lesion site in one go. This may lead to multiple punctures and repeated adjustments, increasing the patient's radiation exposure and biopsy risks.

[0004] Doctors may design biopsy plans based on CT images and experience, thus only providing simple path planning functions. They are unable to perform intelligent biopsy path planning based on the patient's specific conditions, such as lesion size, location, shape, and surrounding tissue structure, thus limiting the accuracy and safety of biopsy.

[0005] In addition, due to the patient's breathing, lung lesions will move up and down, and existing navigation system methods may not be able to accurately compensate for respiratory movement, which may cause the lesion position to shift during breathing, thereby affecting navigation accuracy and biopsy results. Summary of the Invention

[0006] The purpose of the present invention is to provide a navigation system for lung puncture in respiratory medicine, which solves the problems raised in the above background technology.

[0007] To achieve the above objectives, the present invention provides the following technical solutions: A navigation system for lung puncture in respiratory medicine, comprising:

[0008] Data collection module: used to scan the patient's lungs and obtain three-dimensional image data of the lungs to determine the location and shape of lung lesions and collect the patient's respiratory rate data;

[0009] Data processing module: used to organize the three-dimensional image data of the lungs and the patient's respiratory rate data, output the position of the lung target point in the basic state and the respiratory rate at time t, match the image with the actual anatomical structure, and perform lesion identification;

[0010] Calculation module: used to input the position of the lung target point in the basic state and the respiratory rate at time t, and output the position of the lung target point after compensation at time t, the optimal path value and the puncture needle angle to be adjusted;

[0011] Navigation module: used to input the lung target point position after time t compensation, the optimal path value and the puncture needle angle that needs to be adjusted. The navigation module guides the doctor to perform biopsy puncture based on the optimal path value and the puncture needle angle that needs to be adjusted, and updates the data in real time through the data collection module, and uses electrocardiogram monitoring equipment to monitor the patient's vital signs.

[0012] Optionally, the calculation module includes: a breathing compensation submodule, a path planning submodule, a biopsy adjustment submodule and a circulation submodule.

[0013] Optionally, the calculation formula of the breathing compensation submodule is as follows:

[0014] ;

[0015] in:

[0016] PUGV t refers to the position of the lung target point after compensation at time t;

[0017] PUGA refers to the position of the lung target point in the basic state, PUGB t refers to the respiratory frequency at time t, PA refers to the respiratory motion compensation coefficient 1, PB refers to the phase difference of the respiratory motion, PC refers to the respiratory motion compensation coefficient 2, PUGC refers to the center point position of the lung, PUVD refers to the apex position of the lung, ||PUGA-PUGC|| 2 Refers to the Euclidean norm of the PUGA-PUGC vector, which is used to calculate the length of the vector;

[0018] The processing process of the respiratory compensation submodule is as follows: the position of the lung target point PUGA in the basic state and the respiratory frequency PUGB at time t are calculated. t Input to the respiratory compensation submodule, and adjust the compensation degree based on the respiratory motion compensation coefficient 1 PA, the phase difference PB of the respiratory motion and the respiratory motion compensation coefficient 2, and output the lung target point position PUGV after compensation at time t t .

[0019] Optionally, the calculation formula of the path planning submodule is as follows:

[0020] ;

[0021] in:

[0022] LPTS refers to the optimal path value, min refers to the minimum value, n refers to the number of points on the path, i refers to the index of the point on the path, and represents a point on the path. (x i ,y i ) refers to the coordinates of the i-th point on the path, (x i+1 ,y i+1 ) refers to the coordinates of the i+1th point on the path, LA refers to the weight coefficient one, m refers to the number of obstacles encountered on the path, j refers to the index of the obstacle, indicating an obstacle, PL j Refers to the position of the jth obstacle, LB refers to the weight coefficient 2, p refers to the number of bending points on the path, k refers to the index of the bending point, indicating a bending point, LPTB k Refers to the bending radius of the kth bending point on the path of the puncture needle, Refers to the sum of squared distances between adjacent points on the path;

[0023] The processing process of the path planning submodule is as follows: the lung target point position PUGV after compensation at time t t Input to the path planning submodule, and based on the position PL of the jth obstacle j , weight coefficient 1 LA and weight coefficient 2 LB output the optimal path value LPTS.

[0024] Optionally, the calculation formula of the biopsy adjustment submodule is as follows:

[0025] ;

[0026] in:

[0027] OADL refers to the angle of the puncture needle that needs to be adjusted;

[0028] Arctan refers to the inverse tangent function, (X pugv , Y pugv ) refers to the lung target point position PUGV after compensation at time t t The two-dimensional coordinates of (X sj , Y sj ) refers to the coordinates of the current actual position of the puncture needle, ODAB refers to the desired puncture needle angle, OADA refers to the current angle of the puncture needle, Vsj refers to the current velocity vector of the puncture needle, Vqw refers to the desired puncture needle velocity vector, and α refers to the adjustment coefficient;

[0029] The processing process of the biopsy adjustment submodule is as follows: the lung target point position PUGV after time t compensation is set to t The two-dimensional coordinates (X pugv , Y pugv) and the optimal path value LPTS are input into the biopsy adjustment submodule, and the adjusted needle angle OADL is output based on the desired needle angle ODAB and the current needle angle OADA.

[0030] Optionally, the processing procedure of the loop submodule is as follows:

[0031] Firstly: ; ;

[0032] Secondly, set the loop termination condition:

[0033] Termination condition one: the iteration number i is 83 times;

[0034] Termination condition two: |PA new - PA old | < 0.0062;

[0035] Wherein:

[0036] PA new denotes the updated respiratory motion compensation coefficient one;

[0037] PA old denotes the updated respiratory motion compensation coefficient one;

[0038] denotes the learning rate;

[0039] denotes the partial derivative of OS with respect to PA old ;

[0040] Based on the operation of the adjusted needle angle OADL and the desired needle angle ODAB, and through the learning rate γ to adjust the adjustment range of the updated respiratory motion compensation coefficient one PA old , the updated respiratory motion compensation coefficient one PA new is output, the updated respiratory motion compensation coefficient one PA new replaces the respiratory motion compensation coefficient one PA in the respiratory compensation submodule, so as to continuously adjust the calculation results of the respiratory compensation submodule, the path planning submodule and the biopsy adjustment submodule, and finally the loop termination purpose is achieved by the termination condition one and the termination condition two.

[0041] Optionally, the data collection module uses a CT scanner and a respiratory monitoring device;

[0042] The patient is scanned by the CT scanner to obtain three-dimensional image data containing the position, size and shape of the lung lesion;

[0043] The respiratory frequency and respiratory phase information of the patient are collected in real time by the respiratory monitoring device.

[0044] Optionally, the navigation module combines electromagnetic induction positioning technology and endoscopic technology to achieve real-time positioning and navigation. Electromagnetic induction positioning technology uses the principle of electromagnetic induction to place a sensor on the biopsy instrument and measure changes in electromagnetic signals to determine position and positioning information.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The present invention outputs the position of the lung target point after compensation at time t through the breathing compensation submodule. By calculating the position of the lung target point after compensation at time t, the position of the target point can be tracked in real time during the biopsy navigation process, and accurate and intuitive positioning information can be provided to the operator, which greatly reduces the operational difficulty during the biopsy process.

[0047] 2. The present invention outputs the optimal path value through the path planning submodule. The calculation of the optimal path value has the characteristic of changing with time, so that the position of the target point can be tracked in real time during the navigation process, thereby improving the accuracy and safety of the biopsy. The optimal path value can accurately reflect the impact of respiratory movement on the position of the target point, reduce the positioning error caused by respiratory movement, and accurately reflect the impact of respiratory movement on the position of the target point in the lungs, so that the biopsy navigation can track the position of the target point in real time, thereby improving the accuracy and safety of the biopsy.

[0048] 3. The present invention outputs the puncture needle angle that needs to be adjusted through the biopsy adjustment submodule. The puncture needle angle that needs to be adjusted can reflect the position change of the puncture needle due to respiratory movement in real time, and dynamically adjust the puncture angle to ensure that it accurately reaches the target point, which is convenient for improving the accuracy and safety of puncture. By dynamically adjusting the puncture angle, the doctor can more easily control the position and direction of the puncture needle, thereby reducing the difficulty of biopsy operation. Accurate puncture and less operational difficulty help reduce pain and discomfort during the biopsy process, thereby improving the patient's comfort.

[0049] 4. The present invention iterates the respiratory motion compensation coefficient one through a loop submodule. By iteratively optimizing the respiratory motion compensation coefficient one, the puncture path and angle can be continuously adjusted, so that the puncture needle can reach the target lesion more accurately, reducing the risk of mispuncture. Accurate biopsy puncture can reduce the occurrence of complications such as pneumothorax and hemothorax, and improve patient safety and comfort. This iterative method can continuously correct the errors of the navigation system, improve the accuracy and reliability of the biopsy navigation process, and provide doctors with more accurate biopsy guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A flowchart of the method steps for the navigation system for lung puncture in respiratory medicine;

[0051] Figure 2 Fig. 1 is a schematic diagram of the overall structure of the navigation system for lung puncture in pneumology;

[0052] Figure 3 Fig. 2 is a schematic diagram of the structure of the calculation module of the navigation system for lung puncture in pneumology. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0054] Regarding the navigation system for lung puncture in pneumology, unlike the existing lung puncture method, the existing navigation method is mostly CT-guided lung puncture. Although it can provide a certain positioning basis, due to the lack of real-time navigation and accurate position feedback, it is difficult for doctors to ensure that the puncture needle is accurately inserted into the lesion site at one time, which leads to multiple punctures and repeated adjustments, increases the patient's radiation exposure and biopsy risk, and in the process of patient breathing, the lung lesion moves up and down, and the existing navigation method and system may not be able to accurately compensate for the respiratory motion, resulting in a decrease in navigation accuracy.

[0055] And the module of the navigation system for lung puncture in pneumology calculates the real-time respiratory compensation parameter PUGV t The present application can accurately compensate for the lesion position change caused by respiratory motion, ensure that the puncture needle can accurately penetrate the lesion site, which not only reduces the number of multiple punctures and repeated adjustments, reduces the patient's radiation exposure and biopsy risk, but also improves the success rate of material taking and the accuracy of biopsy.

[0056] Embodiment one: please refer to Figures 1 to 3 The present embodiment provides a navigation system for lung puncture in pneumology, comprising:

[0057] The data collection module is used for scanning the patient's lung and obtaining three-dimensional image data of the lung to determine the position and shape of the lung lesion and collect the patient's respiratory frequency data;

[0058] The data processing module is used for data arrangement of the three-dimensional image data of the lung and the respiratory frequency data of the patient, output of the position of the lung target point in the basic state and the respiratory frequency at time t, matching of the image with the actual anatomical structure, and lesion identification;

[0059] The calculation module: for inputting the position of the lung target point in the basic state and the respiratory frequency at time t, outputting the lung target point position after compensation at time t, the optimal path value and the adjusted puncture needle angle;

[0060] The navigation module: for inputting the lung target point position after compensation at time t, the optimal path value and the adjusted puncture needle angle, the navigation module guides the doctor to perform biopsy puncture according to the optimal path value and the adjusted puncture needle angle, and performs real-time updating of data through the data collection module, and monitors the vital signs of the patient through the electrocardiogram monitoring device;

[0061] The calculation module includes a respiratory compensation submodule, a path planning submodule, a biopsy adjustment submodule and a circulation submodule.

[0062] In this embodiment: the lung target point position PUGV t after compensation is calculated t , the position of the target point can be tracked in real time during biopsy navigation, and accurate and intuitive positioning information is provided for the operator, which greatly reduces the operation difficulty in the biopsy process, the optimal path LPTS is planned and the puncture needle angle OADL is adjusted, which can ensure that the puncture needle reaches the target point at the shortest distance and with the least obstacle cost during biopsy navigation, and accurately punctures along the planned path, which greatly improves the precision and safety of puncture, the angle of the puncture needle is adjusted in real time to adapt to the position change of the target point caused by respiratory motion, the biopsy navigation process can reduce the occurrence of complications such as pneumothorax and pulmonary embolism caused by inaccurate puncture, and the planning of the optimal path also reduces the risk and uncertainty in the biopsy process, and through real-time tracking of the position of the lung target point and dynamic adjustment of the puncture angle, the navigation system can realize accurate positioning, ensure that the puncture needle accurately reaches the target point, the planning of the optimal path and the dynamic adjustment of the puncture angle help to optimize the biopsy process, reduce the biopsy time and risk, accurate puncture and optimized biopsy process help to improve the treatment effect and reduce the occurrence of complications, thereby improving the prognosis and quality of life of the patient.

[0063] Please refer to Figures 1 to 3 , the process of the respiratory compensation submodule is as follows:

[0064] ;

[0065] Among them:

[0066] PUGV t refers to the lung target point position after compensation at time t;

[0067] PUGA refers to the position of the lung target point in the basic state;

[0068] PUGB tPUGB refers to the respiratory frequency at time t, PUGB t determines the speed of respiratory motion, indicating the number of respiratory cycles per second;

[0069] PA refers to respiratory motion compensation coefficient one, PA affects changes related to the distance between the center of the lung and the base position;

[0070] PB refers to the phase difference of respiratory motion, PB describes the offset of the starting point of respiratory motion relative to the reference point;

[0071] PC refers to respiratory motion compensation coefficient two, PC affects changes related to the angle between the top of the lung and the base position;

[0072] PUGC refers to the center position of the lung, PUVD refers to the top position of the lung, ||PUGA-PUGC|| 2 refers to the Euclidean norm of the PUGA-PUGC vector, used to calculate the length of the vector;

[0073] The processing process of the respiratory compensation submodule is as follows: the position of the lung target point in the base state PUGA and the respiratory frequency at time t PUGB t are input into the respiratory compensation submodule, and the compensation degree is adjusted based on the respiratory motion compensation coefficient one PA, the phase difference of respiratory motion PB, and the respiratory motion compensation coefficient two PC, and the position of the lung target point after compensation at time t PUGV t .

[0074] In this embodiment: this submodule substantially solves the influence of respiratory motion on the position of the lung target point by calculating the position of the lung target point after compensation PUGV t , in lung puncture biopsy, due to the respiratory motion of the patient, the position of the lung target point will change over time, this submodule dynamically compensates the position of the lung target point, thereby ensuring that the position of the target point can be accurately tracked in biopsy, PUGV t as the position of the lung target point after compensation has the characteristic of changing over time, this feature enables the position of the target point to be tracked in real time during navigation, thereby improving the accuracy and safety of biopsy, by introducing the respiratory motion compensation algorithm, PUGV t can accurately reflect the influence of respiratory motion on the position of the target point, reducing the positioning error caused by respiratory motion, compared with the prior art PUGV t the calculation of which introduces the respiratory motion compensation algorithm, can accurately reflect the influence of respiratory motion on the position of the lung target point, this advantage enables the position of the target point to be tracked in real time by the navigation system, thereby improving the accuracy and safety of biopsy, in summary, PUGV tIt can reflect the position changes of the lung target point caused by respiratory movement in real time, thereby improving the positioning accuracy of the navigation system during the biopsy process, which helps doctors to more accurately determine the insertion point and path of the puncture needle. Since it can accurately track the position of the lung target point, doctors can avoid accidentally injuring important surrounding tissues or organs during the biopsy process, thereby reducing the risk of biopsy. Accurate positioning helps doctors find the target point faster, thereby shortening the biopsy time and improving biopsy efficiency.

[0075] See also Figures 1 to 3 , the path planning submodule processing process is as follows:

[0076] ;

[0077] in:

[0078] LPTS refers to the optimal path value, min refers to the minimum value, n refers to the number of points on the path, i refers to the index of the point on the path, and represents a point on the path. (x i ,y i ) refers to the coordinates of the i-th point on the path, (x i+1 ,y i+1 ) refers to the coordinates of the i+1th point on the path, LA refers to the weight coefficient one, m refers to the number of obstacles encountered on the path, j refers to the index of the obstacle, indicating an obstacle, PL j Refers to the position of the jth obstacle, LB refers to the weight coefficient 2, p refers to the number of bending points on the path, k refers to the index of the bending point, indicating a bending point, LPTB k Refers to the bending radius of the kth bending point on the path of the puncture needle, Refers to the sum of squared distances between adjacent points on the path;

[0079] The processing process of the path planning submodule is as follows: the lung target point position PUGV after compensation at time t t Input to the path planning submodule, and based on the position PL of the jth obstacle j , weight coefficient 1 LA and weight coefficient 2 LB output the optimal path value LPTS.

[0080] In this embodiment: this submodule is at the lung target point position PUGV after compensation tOn this basis, the optimal path from the current position of the puncture needle to the target point is planned, and the planning of the optimal path considers various factors, including path length, obstacle cost, and the influence of respiratory motion. By introducing the obstacle cost term and the respiratory motion compensation term, this submodule can ensure that the planned path is both safe and efficient, thereby reducing the risks and uncertainties in the biopsy process. LPTS, as the length of the optimal path, has features such as shortest path and smallest obstacle cost. By planning the optimal path, the biopsy navigation process can ensure that the puncture needle reaches the target point with the shortest distance and the least obstacle cost. This feature not only improves the efficiency of biopsy but also reduces the risks and uncertainties in the biopsy process. The calculation of LPTS considers various factors, including path length, obstacle cost, and the influence of respiratory motion. By introducing the obstacle cost term and the respiratory motion compensation term, LPTS can ensure that the planned path is both safe and efficient. This advantage not only improves the efficiency of biopsy but also reduces the risks and uncertainties in the biopsy process. In summary, LPTS can plan a path that is both safe and efficient, avoiding unnecessary tissue damage and biopsy risks. By selecting the optimal path, doctors can minimize complications such as pneumothorax and pulmonary embolism during the biopsy process, which helps to improve postoperative recovery and quality of life for patients. The planning of the optimal path helps to improve the success rate of biopsy, as doctors can more accurately reach the target point and perform effective treatment.

[0081] Please refer to Figures 1 to 3 , the biopsy adjustment submodule handles the process as follows:

[0082] ;

[0083] Where:

[0084] OADL refers to the angle of the puncture needle that needs to be adjusted;

[0085] arctan refers to the inverse tangent function, (X pugv , Y pugv ) refers to the two-dimensional coordinates of the compensated lung target point position PUGV t at time t, (X sj , Y sj ) refers to the coordinates of the current actual position of the puncture needle, ODAB refers to the desired angle of the puncture needle, OADA refers to the current angle of the puncture needle, Vsj refers to the current speed vector of the puncture needle, Vqw refers to the desired speed vector of the puncture needle, and a refers to the adjustment coefficient;

[0086] The processing process of the biopsy adjustment submodule is as follows: the two-dimensional coordinates (X t , Y pugv ) of the compensated lung target point position PUGV pugv) and the optimal path value LPTS are input into the biopsy adjustment submodule, and the puncture needle angle OADL to be adjusted is output based on the desired puncture needle angle ODAB and the current puncture needle angle OADA.

[0087] In this embodiment: This submodule is used to dynamically adjust the position and angle of the puncture needle to ensure that the puncture needle can accurately reach the target point along the planned path. By calculating the adjusted angle OADL, this submodule can adjust the direction and position of the puncture needle in real time, thereby adapting to the target point position changes caused by respiratory movement. This dynamic adjustment capability is of great significance for improving puncture accuracy and reducing complications. OADL, as the adjusted puncture needle angle, has the characteristics of real-time and dynamic. By adjusting the puncture needle angle in real time, the target point position changes caused by respiratory movement can be adapted to during the biopsy navigation process, thereby ensuring that the puncture needle can accurately reach the target point along the planned path. This feature is of great significance for improving puncture accuracy and reducing complications. The calculation of OADL has the characteristics of real-time and dynamic. It can adjust the angle of the puncture needle in real time to adapt to the changes in the target point position caused by respiratory movement, so that the navigation system can ensure that the puncture needle accurately reaches the target point along the planned path, thereby improving the puncture accuracy and reducing the occurrence of complications. In summary, OADL can reflect the position changes of the puncture needle due to respiratory movement in real time, and dynamically adjust the puncture angle to ensure that it accurately reaches the target point, which helps to improve the accuracy and safety of puncture. By dynamically adjusting the puncture angle, the doctor can more easily control the position and direction of the puncture needle, thereby reducing the difficulty of biopsy operation, and accurate puncture and less operational difficulty help reduce pain and discomfort during the biopsy process, thereby improving the comfort of the patient.

[0088] See also Figures 1 to 3 , the loop submodule processing process is as follows:

[0089] first: ; ;

[0090] Next: Set the loop termination condition:

[0091] Termination condition 1: The number of iterations i is 83;

[0092] Termination condition 2: |PA new -PA old |<0.0062;

[0093] in:

[0094] PA new refers to the updated respiratory motion compensation coefficient of one;

[0095] PA olddenotes the respiratory motion compensation coefficient before updating;

[0096] denotes the learning rate;

[0097] denotes the partial derivative of the OS with respect to the PA old , which indicates how the OS changes when the PA old occurs a small change;

[0098] Based on the operation of the adjusted puncture needle angle OADL and the desired puncture needle angle ODAB, and through the learning rate γ to adjust the adjustment range of the respiratory motion compensation coefficient one PA old before updating, the updated respiratory motion compensation coefficient one PA new is output, the updated respiratory motion compensation coefficient one PA new replaces the respiratory motion compensation coefficient one PA in the respiratory compensation sub-module, so as to continuously adjust the calculation results of the respiratory compensation sub-module, the path planning sub-module and the biopsy adjustment sub-module, and finally the cycle termination purpose is realized by the termination condition one and the termination condition two.

[0099] In the embodiment: by iteratively optimizing PA, the puncture path and angle can be continuously adjusted, so that the puncture needle can more accurately reach the target lesion, reducing the risk of mispenetration or deviation from the target, the iterative method allows dynamic adjustment according to real-time feedback in biopsy navigation, adapts to different patients' lung structure and lesion conditions, improves the applicability and flexibility of the navigation system, accurate biopsy puncture can reduce the occurrence of complications such as pneumothorax and hemothorax, improve the safety and comfort of patients, through iterative optimization, biopsy time and radiation exposure can be reduced, biopsy efficiency is improved, and the workload of medical staff is reduced, OADL as the adjustment value of the puncture angle, through iterative optimization PA can realize fine adjustment of the puncture angle, ensure that the puncture needle can reach the target lesion along the optimal path, the iterative method can continuously correct the error of the navigation system, improve the accuracy and reliability of the navigation system, and provide more accurate biopsy guidance for doctors.

[0100] In the specific implementation process, the navigation system for lung puncture in the respiratory department is constituted by using various sub-modules in the method, by inputting the position of the lung target point in the basic state PUGA and the respiratory frequency at time t PUGB t to the respiratory compensation sub-module, the lung target point position PUGV t compensated at time t is output, PUGV tThe position change of the lung target point caused by the respiratory motion can be reflected in real time, thereby improving the positioning accuracy of the navigation system in the biopsy process, helping the doctor to more accurately determine the needle entry point and path of the puncture needle, and because the position of the lung target point can be accurately tracked, the important surrounding tissues or organs can be avoided from being damaged in the biopsy process, thereby reducing the biopsy risk, and the accurate positioning helps the doctor to more quickly find the target point, thereby shortening the biopsy time and improving the biopsy efficiency;

[0101] The position PUGV of the lung target point after compensation at time t is input into the path planning sub-module, and an optimal path value LPTS is output. t The optimal path value LPTS can plan a safe and efficient path, avoid unnecessary tissue damage and biopsy risk, and help the puncture biopsy process. By selecting the optimal path, the doctor can minimize the possible complications after biopsy, such as pneumothorax, pulmonary embolism, etc., which helps to improve the postoperative recovery and quality of life of the patient. The planning of the optimal path helps to improve the success rate of biopsy, because the doctor can more accurately reach the target point and perform effective treatment;

[0102] The two-dimensional coordinates (X t , Y pugv ) of the position PUGV of the lung target point after compensation at time t and the optimal path value LPTS are input into the biopsy adjustment sub-module, and an adjusted puncture needle angle OADL is output. pugv The adjusted puncture needle angle OADL can reflect the position change of the puncture needle caused by the respiratory motion in real time, and dynamically adjust the puncture angle to ensure accurate arrival at the target point, which helps to improve the accuracy and safety of puncture. By dynamically adjusting the puncture angle, the doctor can easily control the position and direction of the puncture needle, thereby reducing the operation difficulty of biopsy. Accurate puncture and less operation difficulty help to reduce pain and discomfort during biopsy, thereby improving patient comfort;

[0103] The respiratory motion compensation coefficient PA new is iterated by the operation of the adjusted puncture needle angle OADL and the desired puncture needle angle ODAB. By iteratively optimizing PA, the puncture path and angle can be continuously adjusted to enable the puncture needle to more accurately reach the target lesion, reducing the risk of mispenetration of the target. Accurate biopsy puncture can reduce the occurrence of complications such as pneumothorax and hemothorax, improve patient safety and comfort, and reduce biopsy time and radiation exposure to improve biopsy efficiency while reducing the workload of medical staff. OADL, as an adjustment value of the puncture angle, can achieve fine adjustment of the puncture angle by iteratively optimizing PA. The iterative method can continuously correct the errors of the navigation system, improve the accuracy and reliability in the biopsy navigation process, and provide more accurate biopsy guidance for the doctor;

[0104] Furthermore, the overall multiple seed modules can be calculated in cooperation with each other, and the overall circulation and iteration can be performed, so that the overall system has the effects of automatic optimization and updating, and the adaptability is better.

[0105] Embodiment two: please refer to Figure 1 , Figure 2 and Figure 3 , the data collection module uses CT scanner and respiratory monitoring equipment, the CT scanner is used for scanning the patient to obtain three-dimensional image data containing the position, size and shape of the lung lesion; the respiratory monitoring equipment is used for collecting the respiratory frequency and respiratory phase information of the patient in real time; the navigation module combines the electromagnetic induction positioning technology and the endoscopic technology to realize real-time positioning and navigation, the electromagnetic induction positioning technology is to place an inductor on the biopsy instrument, measure the change of the electromagnetic signal to determine the position and positioning information.

[0106] In the embodiment: through the data collection module, the data of the patient's lung can be collected in all directions, and the patient's own condition can be collected in real time to optimize the algorithm and plan and run the biopsy based on the navigation ambiguity.

[0107] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A lung puncture navigation system for respiratory medicine, characterized by: include: Data collection module: used to scan the patient's lungs and obtain three-dimensional image data of the lungs to determine the location and shape of lung lesions and collect the patient's respiratory rate data; Data processing module: used to organize the three-dimensional image data of the lungs and the patient's respiratory rate data, output the position of the lung target point in the basic state and the respiratory rate at time t, match the image with the actual anatomical structure, and perform lesion identification; Calculation module: used to input the position of the lung target point in the basic state and the respiratory rate at time t, and output the position of the lung target point after compensation at time t, the optimal path value and the puncture needle angle to be adjusted; Navigation module: used to input the lung target point position after time t compensation, the optimal path value, and the puncture needle angle that needs to be adjusted. The navigation module guides the doctor to perform biopsy puncture based on the optimal path value and the puncture needle angle that needs to be adjusted. The data collection module updates the data in real time and uses the ECG monitoring device to monitor the patient's vital signs. The calculation module includes: a breathing compensation submodule, a path planning submodule, a biopsy adjustment submodule and a circulation submodule; The calculation formula of the breathing compensation submodule is as follows: ； in: PUGV t refers to the position of the lung target point after compensation at time t; PUGA refers to the position of the lung target point in the basic state, PUGB t refers to the respiratory frequency at time t, PA refers to the respiratory motion compensation coefficient 1, PB refers to the phase difference of the respiratory motion, PC refers to the respiratory motion compensation coefficient 2, PUGC refers to the center point position of the lung, PUVD refers to the apex position of the lung, ||PUGA-PUGC|| 2 Refers to the Euclidean norm of the PUGA-PUGC vector, which is used to calculate the length of the vector; The processing process of the respiratory compensation submodule is as follows: the position of the lung target point PUGA in the basic state and the respiratory frequency PUGB at time t are calculated. t Input to the respiratory compensation submodule, and adjust the compensation degree based on the respiratory motion compensation coefficient 1 PA, the phase difference PB of the respiratory motion and the respiratory motion compensation coefficient 2, and output the lung target point position PUGV after compensation at time t t .

2. The lung puncture navigation system for respiratory medicine according to claim 1, characterized in that: The calculation formula of the path planning submodule is as follows: ； in: LPTS refers to the optimal path value, min refers to the minimum value, n refers to the number of points on the path, i refers to the index of the point on the path, and represents a point on the path. (x i ,y i ) refers to the coordinates of the i-th point on the path, (x i+1 ,y i+1 ) refers to the coordinates of the i+1th point on the path, LA refers to the weight coefficient one, m refers to the number of obstacles encountered on the path, j refers to the index of the obstacle, indicating an obstacle, PL j Refers to the position of the jth obstacle, LB refers to the weight coefficient 2, p refers to the number of bending points on the path, k refers to the index of the bending point, indicating a bending point, LPTB k Refers to the bending radius of the kth bending point on the path of the puncture needle, Refers to the sum of squared distances between adjacent points on the path; The processing process of the path planning submodule is as follows: the lung target point position PUGV after compensation at time t t Input to the path planning submodule, and based on the position PL of the jth obstacle j , weight coefficient 1 LA and weight coefficient 2 LB output the optimal path value LPTS.

3. The lung puncture navigation system for respiratory medicine according to claim 2, characterized in that: The calculation formula of the biopsy adjustment submodule is as follows: ； in: OADL refers to the angle of the puncture needle that needs to be adjusted; Arctan refers to the inverse tangent function, (X pugv , Y pugv ) refers to the lung target point position PUGV after compensation at time t t The two-dimensional coordinates of (X sj , Y sj ) refers to the coordinates of the current actual position of the puncture needle, ODAB refers to the desired puncture needle angle, OADA refers to the current angle of the puncture needle, Vsj refers to the current velocity vector of the puncture needle, Vqw refers to the desired puncture needle velocity vector, and α refers to the adjustment coefficient; The processing process of the biopsy adjustment submodule is as follows: the lung target point position PUGV after time t compensation is set to t The two-dimensional coordinates (X pugv , Y pugv ) and the optimal path value LPTS are input into the biopsy adjustment submodule, and the puncture needle angle OADL to be adjusted is output based on the desired puncture needle angle ODAB and the current puncture needle angle OADA.

4. The lung puncture navigation system for respiratory medicine according to claim 3, characterized in that: The processing process of the loop submodule is as follows: first: ; ; Next: Set the loop termination condition: Termination condition 1: The number of iterations i is 83; Termination condition 2: |PA new -PA old |<0.0062; in: PA new refers to the updated respiratory motion compensation coefficient of one; PA old Refers to the respiratory motion compensation coefficient before updating, which is one; Refers to the learning rate; Refers to OS about PA old The partial derivative of Based on the calculation of the puncture needle angle OADL to be adjusted and the desired puncture needle angle ODAB, the respiratory motion compensation coefficient before update is adjusted by the learning rate γ. old The adjustment amplitude is used to output the updated respiratory motion compensation coefficient PA new , the updated respiratory motion compensation coefficient is PA new The respiratory motion compensation coefficient PA in the respiratory compensation submodule is replaced to continuously adjust the calculation results of the respiratory compensation submodule, the path planning submodule and the biopsy adjustment submodule, and finally the loop is terminated by the termination conditions 1 and 2.

5. The lung puncture navigation system for respiratory medicine according to claim 1, characterized in that: The equipment used in the data collection module includes a CT scanner and a respiratory monitoring device; Scan the patient with a CT scanner to obtain three-dimensional image data including the location, size, and shape of lung lesions; The patient's respiratory rate and respiratory phase information are collected in real time through respiratory monitoring equipment.

6. The lung puncture navigation system for respiratory medicine according to claim 1, characterized in that: The navigation module combines electromagnetic induction positioning technology and endoscopic technology to achieve real-time positioning and navigation. Electromagnetic induction positioning technology uses the principle of electromagnetic induction to place sensors on the biopsy instrument and measure changes in electromagnetic signals to determine position and positioning information.

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