Mammary gland puncture positioning path planning equipment

Abstract

The invention relates to the technical field of medical instruments, in particular to breast puncture positioning path planning equipment which comprises a rack, an adjusting assembly and a positioning lamp are arranged on the rack, the positioning lamp is used for projecting a positioning mark to the breast skin of a patient, and a collecting assembly is further arranged on the rack; the system further comprises a control system, and the control system is used for receiving breast images and breast shapes of previous patients, so that a breast mechanical model is obtained according to deformation of muscles, mammary glands and fat in the puncture process of the previous patients; the control system is further used for obtaining a breast image of the patient, obtaining a positioning point for needle insertion by combining the breast shape, the breast mechanical model, the focus position and the mammary gland paracentesis specification, selecting a group of feature points according to the breast shape of the patient, calculating the relative position of the positioning point and the feature points, and controlling the positioning lamp to work. And projecting the positioning mark to the positioning point. The method is used for improving the breast state in imaging to be consistent with that in an operation as much as possible, so that the accuracy of the operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a breast puncture positioning path planning device. Background Art

[0002] Breast cancer is one of the most common malignant tumors in women worldwide, and its incidence has been on the rise. In my country, the incidence of breast cancer ranks first among female malignant tumors, and has become a disease that seriously threatens women's physical and mental health. Early detection and early diagnosis are the key to improving the treatment effect and prognosis of breast cancer. In recent years, with the popularization and promotion of breast disease imaging examinations, especially ultrasound examinations, the detection rate of breast space-occupying lesions has continued to increase. However, a considerable number of lesions cannot be qualitatively determined due to the lack of typical benign and malignant characteristics, and further histopathological examinations are required to provide a reliable basis for clinical treatment plans. Against this background, breast puncture technology came into being and became an important means to obtain tissues required for breast pathological examinations.

[0003] Existing breast puncture surgery requires careful preparation. The doctor will conduct a detailed medical history inquiry and physical examination of the patient to understand the patient's physical condition and medical history in order to develop a suitable surgical plan. On the day of the operation, the patient usually lies on his back or side to facilitate the doctor's operation. The doctor will use a sterile cotton ball dipped in disinfectant to thoroughly disinfect the puncture site and surrounding skin to reduce the risk of postoperative infection. The doctor will use imaging examinations (such as ultrasound) to determine the puncture site to ensure accurate acquisition of the diseased tissue. Under ultrasound guidance, the doctor fixes the breast with his hands to avoid movement. Then use a disposable puncture needle to quickly pierce the designated position. During the puncture, the doctor will pay close attention to the ultrasound image to ensure that the needle reaches the target position accurately.

[0004] In this process, reasonable positioning path planning can ensure that the puncture needle reaches the target position accurately, thereby obtaining valuable tissue samples. This is crucial for subsequent diagnosis and treatment. At the same time, reasonable positioning path planning can reduce damage to normal breast tissue and reduce the risk of complications such as bleeding and infection.

[0005] However, in the prior art, when positioning is performed under X-ray guidance, although compression fixation of the breast can reduce imaging artifacts, there is a difference between the fixed state and the natural state during surgery, resulting in the imaging results being inconsistent with the actual position of the breast tissue during surgery, which can easily affect the accuracy of subsequent punctures. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a breast puncture positioning path planning device, which is used to make the breast state during imaging as consistent as possible with that during surgery, so as to improve the accuracy of the surgery.

[0007] In order to achieve the above-mentioned object, the technical scheme of the present invention is as follows: a breast puncture positioning path planning device, comprising a frame, an adjustment component and a positioning light are arranged on the frame, the adjustment component is used to fix the shape of the patient's breast, the positioning light is used to project a positioning mark onto the patient's breast skin, and the frame is also provided with a collection component;

[0008] It also includes a control system, which is used to receive breast images and breast shapes of past patients, and calculate the proportion of muscles, mammary glands and fat of past patients based on the breast images and breast shapes of past patients, and obtain a breast mechanical model based on the deformation of muscles, mammary glands and fat during the puncture process of past patients;

[0009] The control system is also used to obtain the patient's breast image, collect the patient's breast shape and lesion location, and obtain the needle insertion positioning point in combination with the breast shape, breast mechanical model, lesion location and breast puncture specifications. A set of feature points are selected according to the patient's breast shape to calculate the relative position of the positioning point and the feature point, control the positioning light to project the positioning mark onto the positioning point, and thus synchronously adjust the position of the positioning mark according to the movement of the feature point.

[0010] Furthermore, the adjustment component includes a pump component, which is connected to two groups of adjustable pressure bags. The connecting points between the adjustable pressure bags and the pump components are provided with nozzles. Fluid is provided in the adjustable pressure bags. The pump component and the nozzles are used to drive the liquid in the adjustable pressure bags to flow. The fluid is used to drive the deformation of the adjustable pressure bags. The adjustable pressure bags are used to fix the shape of the patient's breast.

[0011] Furthermore, the adjustment component also includes a magnetic field generating component, the fluid in the adjustable pressure capsule is a magnetic fluid, the magnetic field generating component is used to drive the magnetic fluid to move, and the magnetic fluid is used to drive the adjustable pressure capsule to deform.

[0012] Further, the control system includes a controller and a plurality of cameras;

[0013] The cameras are all fixedly connected to the frame, and the cameras are used to obtain image information of the patient;

[0014] The controller is used to receive the age, breast image and breast shape of the past patient, calculate the proportion of muscle, mammary gland and fat of the past patient according to the breast image and breast shape of the past patient, and obtain the breast mechanical model according to the breast shape, muscle, mammary gland and fat of the past patient;

[0015] The controller is also used to receive the patient's breast image, and obtain the patient's body position and breast shape based on the image information, and obtain the needle insertion point based on the patient's breast shape, breast mechanical model and breast puncture specifications, select feature points based on the patient's breast shape, and calculate the relative position of the positioning point and the feature point, control the positioning light to project the positioning mark onto the positioning point, and synchronously adjust the position of the positioning mark according to the movement of the feature point.

[0016] Furthermore, the controller is also used to control the operation of the pump assembly, the nozzle and the magnetic field generating assembly according to the positioning points and the feature points.

[0017] Furthermore, the controller is also used to obtain the operating range according to the positioning point and the shape of the patient's breast, and control the operation of the magnetic field generator according to the operating range to expose the operating range.

[0018] Furthermore, the controller is also used to obtain the patient's body position and adjust the position of the feature point in combination with the position of the positioning point.

[0019] Furthermore, the control system also includes a three-axis electromagnetic sensor, which is used to collect morphological information of the magnetic fluid, and the controller corrects the shape of the breast according to the morphological information.

[0020] Furthermore, the nozzle includes a plurality of nozzles, all of which are connected to the pump assembly, and electromagnetic valves are provided at the connection points between the nozzles and the pump assembly. The arrangement directions of the nozzles are different, and the controller controls the operation of the electromagnetic valves according to the positioning points.

[0021] Furthermore, the positioning light includes a laser light and several cylinders, the laser light and the cylinders are hinged to the frame, and the output ends of the cylinders are hinged to the side walls of the laser light, and the controller controls the operation of the laser light and the cylinders according to the positioning points and feature points.

[0022] Technical principles and beneficial effects of the above scheme:

[0023] This solution constructs a breast mechanics model through data from past patients. During use, marking points are selected on the surface of the patient's breast, and the position change relationship between the marking points is calculated after the patient changes position. Combined with the breast mechanics model, the magnitude, direction and position of the force that causes the position change are determined, and then the existing positioning point position is calculated based on the existing marking point position to improve the accuracy of subsequent needle insertion. Compared with the existing technology, this solution can reduce the problem of breast displacement under the influence of the breast's own weight, thereby affecting the accuracy of puncture during the process of converting from the examination position to the puncture position.

[0024] At the same time, the design of the adjustment component in this solution adjusts and limits the patient's breast through the flow of liquid in the adjustable pressure bag. Compared with the existing technology, the design of the adjustable pressure bag makes the adjustment component fit the patient's breast more closely. At the same time, the solution of adjusting the adjustable pressure bag through the flow of liquid can fluctuate the patient's breast from bottom to top, reducing the pressure on the patient's breast during the restriction of the patient's breast movement, affecting the puncture and the patient's comfort.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 An axonometric diagram of an embodiment of a breast puncture positioning path planning device of the present invention;

[0027] Figure 2 A bottom view of an embodiment of a breast puncture positioning path planning device of the present invention;

[0028] Figure 3 It is a front view of an embodiment of a breast puncture positioning path planning device of the present invention;

[0029] Figure 4 Figure 3 Cross-section of the middle AA;

[0030] Figure 5 for Figure 4 The enlarged view of point B in the middle;

[0031] Figure 6 A schematic diagram of the nozzle position of an embodiment of the breast puncture positioning path planning device of the present invention;

[0032] Figure 7 This is a circuit diagram of an embodiment of a breast puncture positioning path planning device of the present invention.

[0033] The figure marks in the drawings of the specification include: 1, frame; 2, adjustable pressure bag; 3, camera; 4, cylinder; 5, laser light; 6, nozzle; 61, nozzle. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] The following is further described in detail through specific implementation methods:

[0038] Embodiment 1:

[0039] As attached Figure 1 -Attached Figure 7 As shown: a breast puncture positioning path planning device, including a frame 1, on which an adjustment component and a positioning light are provided, the adjustment component is used to fix the shape of the patient's breast, the adjustment component includes a pump component, in this embodiment, the pump component is a water pump, the pump component is fixedly connected to the frame 1 by bolts, the pump component is connected to two groups of adjustable pressure bags 2, the connection between the adjustable pressure bags 2 and the pump component is provided with a nozzle 6, the adjustable pressure bags 2 are provided with fluid, in this embodiment, the fluid is liquid, the pump component and the nozzle 6 are both used to flow through the fluid, the fluid is used to drive the adjustable pressure bag 2 to deform, and the adjustable pressure bag 2 is used to fix the shape of the patient's breast.

[0040] The positioning light is used to project a positioning mark onto the patient's breast skin. The positioning light includes a laser light 5 and a plurality of cylinders 4. The laser light 5 and the cylinders 4 are both hinged to the frame 1, and the output ends of the cylinders 4 are hinged to the side walls of the laser light 5.

[0041] The device also includes a control system, which includes a controller and a plurality of cameras 3. The laser light 5, the cylinder 4 and the camera 3 are all electrically connected to the controller, and the camera 3 and the controller are fixedly connected to the frame 1 by bolts. The camera 3 is used to obtain the patient's image information. The controller is used to receive the breast images and breast shapes of past patients, and calculate the proportions of muscles, mammary glands and fat of past patients based on the breast images and breast shapes of past patients, and obtain the breast mechanical model based on the deformation of muscles, mammary glands and fat during the puncture process of past patients. The controller is also used to receive the patient's breast image, and obtain the patient's breast shape based on the image information, and obtain the needle insertion positioning point based on the patient's breast shape, breast mechanical model and breast puncture specifications, select a group of feature points based on the patient's breast shape, calculate the relative position of the feature points and the relative position of the positioning point to the feature points, control the cylinder 4 and the laser light 5 to work, project the positioning mark onto the positioning point, and synchronously adjust the position of the positioning mark according to the movement of the feature point.

[0042] The specific implementation process is as follows: before using this device, input the breast images of previous patients and the corresponding breast shapes into the controller. Based on the breast images, the proportions of muscle, mammary gland and fat in the corresponding previous patients' breasts can be obtained, as well as the deformation states of muscle, mammary gland and fat during the previous puncture process to construct a breast mechanics model. The breast mechanics model includes the deformation laws of various tissues after being subjected to force, as well as the position changes between various tissues caused by the insertion of the puncture needle.

[0043] During the use of the device, the frame 1 is fixed, and the patient's breast image obtained before the operation is input into the controller, and then the patient is guided to adjust to the body position during the CT examination, and the device is started. The camera 3 collects the patient's image information, which includes the patient's breast image. The patient's breast shape is obtained through the patient's breast image, and then a suitable needle insertion point, i.e., a positioning point, can be selected for the patient in combination with the breast mechanics model and relevant specifications of breast puncture. When selecting the positioning point, the principle of proximity should be followed to avoid excessive damage to the patient's normal tissue. At the same time, try to ensure that after the needle is inserted from this point, the center of the lesion can be punctured and sampled, so as to improve the accuracy of subsequent medical record examinations, and the positions of the nipple, areola and large blood vessels should be avoided to reduce the risk of subsequent complications.

[0044] After selecting appropriate positioning points, a group of feature points is selected based on the image information, and the number of feature points in a group is not less than two. For some patients whose breast structures are intact, the nipple is selected as the feature point. For some patients who undergo nipple removal due to breast diseases, moles on the breast skin that are not easy to erase and have a clear contrast with the surrounding skin are selected. If the above tissues do not exist on the patient's breast, the skin around the patient's lesion can be marked manually so that the controller can select appropriate feature points based on the image information.

[0045] After the feature points are selected, the controller calculates the relative position relationship between a set of feature points and the relative position relationship between the feature points and the positioning points in the spatial coordinates based on the image information, and then moves the patient to the biopsy bed.

[0046] Before the biopsy puncture begins, the frame 1 is fixed to the biopsy bed to ensure that the patient's breast is exposed within the acquisition range of the camera 3. Then the device is started again, and the controller controls the pump assembly and the nozzle 6 to work. The pump assembly extracts the liquid inside the adjustable pressure bag 2 and sprays the liquid into the adjustable pressure bag 2 again through the nozzle 6. Due to the action of the pump assembly and the nozzle 6, the liquid entering the adjustable pressure bag 2 from the nozzle 6 again has a higher pressure. Due to inertia, the fluid still moves upward after leaving the nozzle 6, pushing the adjustable pressure bag 2 to deform upward, and the kinetic energy is finally converted into potential energy at the highest point of the adjustable pressure bag 2.

[0047] During this process, due to the weight of the liquid, the side wall of the adjustable pressure bag 2 is pushed close to the patient's breast. As the liquid moves upward, the adjustable pressure bag 2 swings the patient's breast upward, allowing the patient's breast to naturally adjust its position. Compared with directly using plastic materials such as baffles, the design of the adjustable pressure bag 2 is not easy to cause compression to the patient's breast.

[0048] As the nozzle 6 and the pump assembly continue to work, the general shape of the adjustable pressure bag 2 no longer changes significantly, thereby achieving adjustment and positioning of the patient's breast. Compared with the traditional solution, this solution can help doctors simply fix the patient's breast, reducing the requirements for doctors' operating skills for breast puncture. At the same time, compared with the solution of using a backing plate and other objects with higher hardness to fix the breast, this solution is more comfortable, and because the force applied to the patient's breast is from bottom to top, the pressure on the breast is reduced, reducing the patient's discomfort. At the same time, due to its elastic characteristics, the adjustable pressure bag 2 reduces the pressure applied to the patient's breast by increasing the contact area with the patient's skin, thereby further reducing the patient's discomfort.

[0049] Next, camera 3 collects the patient's image information, obtains the position of the feature points based on the image information, and calculates the spatial position relationship of the feature points. Based on the change in the relative position of the feature points during the patient's examination to the biopsy, combined with the breast mechanics model and the proportion of breast, fat and muscle in the patient's breast image, the position, magnitude and direction of the force that causes the relative position change of the feature points are calculated, and then the position change of the positioning point under the action of this part of the force is calculated, so as to obtain the position of the positioning point after the position is changed. At this time, the movement of the breast after puncture is judged according to the positioning point combined with the breast mechanics model, so as to correct the puncture point to improve the accuracy of the puncture point.

[0050] The controller then controls the laser light 5 and the cylinder 4 to work. The laser light 5 projects a bright spot, i.e., a positioning mark, on the patient's breast skin. The controller then adjusts the cylinder 4 according to the position of the bright spot in the image information and the calculated positioning point position. By extending and retracting the cylinder 4 at a specific position, the laser light 5 is driven to rotate, thereby driving the bright spot to move on the patient's skin until the connected point coincides with the calculated positioning point position, thereby completing the positioning of the puncture point.

[0051] Compared with the existing technology, this solution can adjust the obtained needle insertion position (i.e., the positioning point) according to the patient's breast deformation state, avoiding the displacement of the lesion caused by the change of the patient's body position, resulting in poor needle insertion position and image sampling accuracy.

[0052] Embodiment 2:

[0053] The difference from Example 1 is that the adjustment component includes a magnetic field generating component. In this embodiment, the magnetic field generating component is an electromagnet, and the fluid in the adjustable pressure capsule 2 is a magnetic fluid. The magnetic field generating component is used to drive the movement of the magnetic fluid, and the magnetic fluid is used to drive the deformation of the adjustable pressure capsule 2.

[0054] The controller is also used to control the operation of the pump assembly, the nozzle 6 and the magnetic field generating assembly according to the positioning points and the characteristic points.

[0055] The controller is also used to obtain the operating range according to the positioning point and the shape of the patient's breast, and control the magnetic field generator to work according to the operating range to expose the operating range.

[0056] The specific implementation process is as follows: When using this equipment, the doctor can control the operation of the magnetic field generating component according to his own operating habits or the placement of various medical devices on site, and drive the movement of the magnetic fluid by adjusting the position, direction and size of the magnetic field around the adjustable pressure capsule 2. As the magnetic fluid moves inside the adjustable pressure capsule 2, the magnetic fluid drives the adjustable pressure capsule 2 to deform, and then adjusts the position covered by the adjustable pressure capsule 2, exposing the position that is convenient for the doctor to operate, and reduces the influence of the adjustable pressure capsule 2 on the operation.

[0057] At the same time, after the patient moves to the biopsy bed, when the device is started again, if the positioning point is blocked by the adjustable pressure capsule 2, or the range of the radius set with the positioning point as the center, that is, the operating position, is blocked by the adjustable pressure capsule 2, the controller autonomously determines that the adjustable pressure capsule 2 will affect the subsequent operation. At this time, the controller determines the direction in which the adjustable pressure capsule 2 needs to be adjusted according to the blocking position of the positioning point by the adjustable pressure capsule 2. For example, when the adjustable pressure capsule 2 needs to be adjusted downward, that is, the highest point of the adjustable pressure capsule 2 moves downward, the controller adjusts the working power of the pump assembly to reduce the initial kinetic energy of the liquid sprayed from the nozzle 6, and the amount of deformation of the adjustable pressure capsule 2 is also reduced, thereby causing the highest point of the adjustable pressure capsule 2 to move downward, exposing the operating position; and when the adjustable pressure capsule 2 needs to move horizontally to expose the operating position, the controller controls the magnetic field generator to work and drive the magnetic fluid to move. The magnetic fluid pushes the adjustable pressure capsule 2 to deform, causing the adjustable pressure capsule 2 to move horizontally until the operating position is exposed.

[0058] Compared with the prior art, this solution can realize adaptive adjustment of the coverage position and area of ​​the adjustable pressure bag 2, so that the device can maintain a certain fixing ability when facing patients with different puncture positions, and can further avoid the influence of the device on the doctor's subsequent puncture operation.

[0059] At the same time, the doctor can also limit the patient's breast according to his own surgical needs, such as if it is necessary to prevent the puncture needle from causing excessive deformation of the patient's breast during the needle insertion process, causing displacement of breast masses, etc. At this time, the doctor can control the magnetic field generating component to work, and by changing the magnetic field around the breast, the magnetic fluid is close to the patient's breast position, thereby giving the patient's breast a certain resistance to avoid excessive deformation of the patient's breast. Compared with the prior art, the design of this device is highly flexible, and the fixed position of the patient's breast is not affected by the shape of the biopsy bed and the placement of surrounding medical equipment, etc., and can adapt to different application scenarios. At the same time, compared with the design of only using the adjustable pressure capsule 2, due to the support of the magnetic fluid, the force required to overcome the adjustable pressure capsule 2 during the displacement of the patient's breast is greater, thereby reducing the probability of the patient's breast pushing the adjustable pressure capsule 2 to deform, thereby improving the stability of the patient's breast during the operation.

[0060] Embodiment 3:

[0061] The difference from Example 2 is that the controller is also used to obtain the patient's body position and adjust the position of the feature point in combination with the position of the positioning point.

[0062] The specific implementation process is as follows: When using this device, during the examination, the doctor selects a suitable puncture position for the patient according to the specific state of the patient's lesion, and inputs the selected puncture position into the controller. After the controller obtains the patient's position, it adjusts the position of the feature point in combination with the obtained positioning point position. For example, when the patient is in a supine position, the breast is flat, and when the patient is in a left lateral position, the breast droops under the influence of its own weight. If the feature point at the edge of the breast of a supine patient is selected, or the feature point on the left side of the breast of a left lateral patient is selected, when the patient is undergoing puncture, the patient's skin may block the feature point, affecting subsequent recognition.

[0063] At this time, feature points are reselected for the patient based on the location of the positioning points, and the feature points are not located in areas that may be covered by the patient's skin during the puncture process.

[0064] Compared with the existing technology, this technology can avoid the recognition error caused by the loss of feature points during the puncture process. At the same time, compared with the solution of using multiple feature points, this solution can minimize the recognition of useless feature points and improve the recognition speed of the equipment.

[0065] Embodiment 4:

[0066] The difference from Example 3 is that the control system further includes a three-axis electromagnetic sensor, which is used to collect morphological information of the magnetic fluid. The three-axis electromagnetic sensor is electrically connected to the controller, and the controller corrects the breast shape according to the morphological information.

[0067] The specific implementation process is as follows: During the use of this device, the three-axis electromagnetic sensor continuously collects the morphological information of the magnetic fluid. During use, the controller can determine whether the adjustable pressure capsule 2 is located in a suitable position based on the relative position of the positioning point and the adjustable pressure capsule 2. When the controller adjusts the shape of the magnetic fluid through the magnetic field generating component, the magnetic fluid pushes the outer wall of the adjustable pressure capsule 2 to fit the patient's breast position. According to the shape of the magnetic fluid and the size of the adjustable pressure capsule 2, the breast shape can be roughly obtained. The breast shape obtained at this time is closer to the actual state of the patient's breast. The breast shape obtained at this time is corrected by the breast shape obtained by the image information, thereby reducing the image data error or accuracy caused by lens mutation, unreasonable arrangement of camera 3, insufficient arrangement of camera 3, etc. during the image acquisition process, thereby improving the accuracy of recognition.

[0068] Embodiment 5:

[0069] The difference from Example 4 is that the nozzle 6 includes a plurality of nozzles 61, each of which is connected to the pump assembly, and each of which is provided with an electromagnetic valve at the connection between the nozzle 61 and the pump assembly. The arrangement directions of the nozzles 61 are different, and the nozzles 61 and the electromagnetic valves are electrically connected to the controller, and the controller controls the electromagnetic valve to work according to the positioning point.

[0070] The specific implementation process is as follows: During the use of this device, when the controller controls the magnetic field generating component to work, as the magnetic field generating component works, the magnetic fluid drives the adjustable pressure capsule 2 to move in the horizontal direction. However, during the movement of the adjustable pressure capsule 2, the impact position of the liquid pumped into the adjustable pressure capsule 2 through the pump component on the side wall of the adjustable pressure capsule 2 does not change. At this time, the controller controls the solenoid valve corresponding to the nozzle 61 in the corresponding direction to open, and the solenoid valve corresponding to the nozzle 61 that originally sprays liquid is closed, thereby changing the direction of the liquid sprayed from the nozzle 6, so that the position of the liquid acting on the adjustable pressure capsule 2 changes, adapting to the movement of the adjustable pressure capsule 2.

[0071] Compared with the prior art, the present solution can synchronously move the highest point of the adjustable pressure capsule 2 during the movement of the adjustable pressure capsule 2, thereby preventing the adjustable pressure capsule 2 from being subjected to upward and horizontal forces during horizontal movement, causing excessive stretching in certain positions, which affects the life of the adjustable pressure capsule 2. At the same time, the present solution can also make the horizontal movement of the adjustable pressure capsule 2 more obvious, thereby reducing the adjustment time of the adjustable pressure capsule 2.

[0072] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A breast puncture positioning path planning device, comprising a frame (1), the frame (1) being provided with an adjustment component and a positioning light, the adjustment component being used to fix the shape of a patient's breast, the positioning light being used to project a positioning mark onto the patient's breast skin, characterized in that: The frame (1) is also provided with a collection component; It also includes a control system, which is used to receive breast images and breast shapes of past patients, and calculate the proportion of muscles, mammary glands and fat of past patients based on the breast images and breast shapes of past patients, and obtain a breast mechanical model based on the deformation of muscles, mammary glands and fat during the puncture process of past patients; The control system is also used to obtain the patient's breast image, and collect the patient's breast shape and lesion location, and obtain the needle insertion positioning point based on the breast shape, breast mechanical model, lesion location and breast puncture specifications. A set of feature points are selected according to the patient's breast shape to calculate the relative position of the positioning point and the feature point, control the positioning light, project the positioning mark onto the positioning point, and then synchronously adjust the positioning mark position according to the movement of the feature point.

2. The breast puncture positioning path planning device according to claim 1, characterized in that: The adjustment component comprises a pump component, the pump component is connected to two groups of adjustable pressure bags (2), a nozzle (6) is provided at the connection point between the adjustable pressure bags (2) and the pump component, a fluid is provided in the adjustable pressure bags (2), the pump component and the nozzle (6) are used to drive the liquid in the adjustable pressure bags (2) to flow, the fluid is used to drive the adjustable pressure bags (2) to deform, and the adjustable pressure bags (2) are used to fix the shape of the patient's breast.

3. The breast puncture positioning path planning device according to claim 2, characterized in that: The adjustment component also includes a magnetic field generating component. The fluid in the adjustable pressure capsule (2) is a magnetic fluid. The magnetic field generating component is used to drive the magnetic fluid to move, and the magnetic fluid is used to drive the adjustable pressure capsule (2) to deform.

4. The breast puncture positioning path planning device according to claim 3, characterized in that: The control system includes a controller and a plurality of cameras (3); The cameras (3) are all fixedly connected to the frame, and the cameras (3) are all used to obtain image information of the patient; The controller is used to receive the age, breast image and breast shape of the past patient, calculate the proportion of muscle, mammary gland and fat of the past patient according to the breast image and breast shape of the past patient, and obtain the breast mechanical model according to the breast shape, muscle, mammary gland and fat of the past patient; The controller is also used to receive the patient's breast image, and obtain the patient's body position and breast shape based on the image information, and obtain the needle insertion point based on the patient's breast shape, breast mechanical model and breast puncture specifications, select a group of feature points based on the patient's breast shape, calculate the relative positions of feature points and the relative positions of positioning points, control the positioning light, project the positioning mark onto the positioning point, and synchronously adjust the position of the positioning mark according to the movement of the feature point.

5. The breast puncture positioning path planning device according to claim 4, characterized in that: The controller is also used to control the operation of the pump component, the nozzle (6) and the magnetic field generating component according to the positioning point and the characteristic point.

6. The breast puncture positioning path planning device according to claim 5, characterized in that: The controller is also used to obtain the operating range according to the positioning point and the shape of the patient's breast, and control the magnetic field generator to work according to the operating range to expose the operating range.

7. The breast puncture positioning path planning device according to claim 6, characterized in that: The controller is also used to obtain the patient's body position and adjust the position of the feature point in combination with the position of the positioning point.

8. The breast puncture positioning path planning device according to claim 7, characterized in that: The control system also includes a three-axis electromagnetic sensor, which is used to collect morphological information of the magnetic fluid, and the controller corrects the shape of the breast according to the morphological information.

9. The breast puncture positioning path planning device according to claim 8, characterized in that: The spray head (6) comprises a plurality of nozzles (61), each of the nozzles (61) is connected to a pump assembly, and each of the nozzles (61) and the pump assembly is provided with an electromagnetic valve at the connection point. The nozzles (61) are arranged in different directions, and a controller controls the electromagnetic valve to operate according to a positioning point.

10. The breast puncture positioning path planning device according to claim 9, characterized in that: The positioning lamp comprises a laser lamp (5) and a plurality of cylinders (4). The laser lamp (5) and the cylinders (4) are both hinged to the frame (1), and the output ends of the cylinders (4) are both hinged to the side walls of the laser lamp (5). The controller controls the operation of the laser lamp (5) and the cylinders (4) according to the positioning points and the characteristic points.

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