Portable CT-guided puncture navigation device and system, electronic equipment and storage medium

Abstract

The invention discloses a portable CT (Computed Tomography)-guided puncture navigation device, a portable CT-guided puncture navigation system, electronic equipment and a computer readable storage medium. The device comprises a signal sending / receiving module, a space included angle calculation module, a window display module and an image navigation module, wherein the image navigation module comprises an initialization sub-module, a transparency adjustment sub-module, a translation, zooming and rotation sub-module, an image screen capture sub-module, a human body virtual model construction sub-module and a real-time image processing sub-module; the device can monitor and display the real-time attitude angle data of the puncture needle relative to a needle insertion section coordinate system in real time, can display the attitude change of the puncture needle and the needle insertion section in real time in a simulated animation form, gives visual prompts to surgeons, does not need three-dimensional reconstruction of images in a DICOM format and other complex function development, and is convenient to use and popularize. The software development cost can be reduced, the popularization and application of the device system are facilitated, and the diagnosis and treatment cost of a patient can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of auxiliary navigation technology related to medical puncture, and in particular to a portable CT-guided puncture navigation device, a portable CT-guided puncture navigation system, an electronic device and a computer-readable storage medium. Background Art

[0002] In recent years, CT-guided puncture biopsy of various organs, tumor ablation and radioactive particle implantation are frequently used diagnostic and treatment methods in clinical practice. They have rapidly emerged due to their advantages such as less trauma, definite efficacy, low price and few complications. They have now become recognized as effective tumor interventional diagnostic and treatment methods, and are becoming more and more widely used in clinical practice.

[0003] Traditionally, the routine procedure for CT-guided freehand puncture is as follows: ① Before the operation, the patient is subjected to a CT scan. The surgeon reviews the patient's scanned images layer by layer on the CT medical imaging workstation and determines the CT scanning layer where the lesion is located to determine the needle insertion section (that is, determine the human body section that needs to be punctured). The optimal puncture path is planned on the CT image corresponding to the needle insertion section, and the auxiliary tools of the CT image workstation are used to determine information such as the needle insertion point, needle insertion depth, and needle insertion angle.

[0004] ② After completing the preoperative puncture planning, the patient's posture remains unchanged, the CT diagnostic bed moves to the CT layer where the lesion is located, and with the assistance of the positioning cursor, the surgeon marks the puncture point on the patient's skin surface.

[0005] ③ After completing the disinfection, draping, and local anesthesia of the puncture area, the doctor holds the puncture needle and punctures the insertion point marked on the patient's skin. Referring to the preoperative planned puncture path, the doctor controls the insertion angle of the puncture needle based on personal experience and performs puncture by slow or step-by-step insertion. The control of the insertion angle during manual puncture depends entirely on the surgeon's personal experience and skills. In addition, the patient's torso may also move unconsciously, which may cause the actual puncture path to deviate significantly from the preoperative planned path.

[0006] From the above, we can see that although manual puncture has greater flexibility and freedom, it lacks visual dynamic guidance and requires repeated scanning and gradual needle insertion to reduce the risk of puncture. However, this will greatly increase the patient's radiation dose and prolong the operation time.

[0007] In order to improve the accuracy of puncture operations under CT guidance, various auxiliary navigation systems have emerged. Currently, the optical positioning navigation system and the electromagnetic positioning navigation system are widely used in clinical practice. The biggest advantage of the optical and electromagnetic positioning navigation systems is that they have the spatial positioning and image fusion technology of the puncture needle, which realizes the real-time navigation of the puncture process. However, although the optical and electromagnetic positioning navigation systems can give surgeons intuitive prompts through fused images, they do not actually display the angle information of the puncture needle in real time, and cannot monitor the actual angle of the puncture needle relative to the needle insertion section in real time.

[0008] In addition, the optical and electromagnetic positioning and navigation systems take up a lot of space, are complex to operate, and require the export of DICOM images of patients for 3D reconstruction and image fusion, etc. The use of optical and electromagnetic positioning and navigation systems increases the operation time, radiation dose, and operation costs for patients; for doctors, a series of preparations relatively reduce work efficiency; for hospitals, the introduction of hardware and software is costly, which is not conducive to promotion and application. Summary of the invention

[0009] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a portable CT-guided puncture navigation device, a portable CT-guided puncture navigation system, an electronic device and a computer-readable storage medium, which can monitor and display the actual relative angle of the puncture needle compared to the needle insertion section in real time; in addition, it can also display the posture changes of the puncture needle and the needle insertion section in real time through simulated animation, giving intuitive prompts to the surgeon; and there is no need for the development of complex functions such as three-dimensional reconstruction of DICOM format images, which helps to reduce software development costs, and thus helps to reduce patient diagnosis and treatment costs.

[0010] The portable CT-guided puncture navigation device of the present invention is implemented by the following technical solutions: A portable CT-guided puncture navigation device, comprising: A signal receiving module is used to receive the posture angle data of the puncture needle collected in real time by the needle measuring instrument and the posture angle data of the needle insertion section collected in real time by the section measuring instrument, wherein the posture angle data of the puncture needle and the posture angle data of the needle insertion section are obtained based on the same reference coordinate system; The spatial angle calculation module is used to calculate the real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system based on the attitude angle data of the puncture needle collected in real time by the needle measuring instrument and the attitude angle data of the needle insertion section collected in real time by the section measuring instrument; A window display module is used to display a simulation animation window and real-time monitoring information on the screen. The real-time monitoring information is pre-displayed on the simulation animation window. The real-time monitoring information includes real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system; Image navigation module, including the following sub-modules: The initialization submodule is used to generate a three-dimensional virtual space and construct a virtual model of the puncture needle in the three-dimensional virtual space, the needle tip of the virtual model of the puncture needle coincides with the origin of the three-dimensional virtual space, and the three-dimensional virtual space is displayed through a simulation animation window; The transparency adjustment submodule is used to adjust the transparency of the picture frame displayed by the simulation animation window so that the screen image under the picture frame can be revealed; A translation, scaling and rotation submodule, used to adjust the observation position of the simulation animation window by translation or scaling, and used to adjust the observation direction of the simulation animation window by rotation; The image screenshot submodule is used to capture the screen image under the simulation animation window to obtain the screenshot image. The screenshot range is the screen range occupied by the simulation animation window frame, and the needle tip pixel coordinates of the virtual model of the puncture needle in the frame when the screenshot is taken are obtained; A human body virtual model construction submodule is used to construct a human body virtual model in a three-dimensional virtual space, wherein a virtual needle insertion section is formed at one end of the human body virtual model, the virtual needle insertion section is pasted with the screenshot image, and the pixel points corresponding to the needle tip pixel point coordinates in the screenshot image coincide with the origin of the three-dimensional virtual space; The real-time image processing submodule is used to adjust the posture of the puncture needle virtual model in the three-dimensional virtual space in real time according to the posture angle data of the puncture needle collected in real time by the needle measuring instrument, and is used to adjust the posture of the human body virtual model in the three-dimensional virtual space in real time according to the posture angle data of the needle insertion section collected in real time by the section measuring instrument.

[0011] Furthermore, the portable CT-guided puncture navigation device also includes a window editing module, which is used to adjust the position and size of the simulation animation window relative to the screen.

[0012] Furthermore, in the transparency adjustment submodule, adjusting the transparency of the picture frame displayed in the simulation animation window refers to adjusting the transparency of the pixel area in the picture frame corresponding to the spatial environment where the puncture needle virtual model is located.

[0013] Furthermore, the human body virtual model is a cubic virtual model, one side of the cubic virtual model is pasted with the screenshot image as a virtual needle insertion section, and the four sides of the side coincide with the four sides of the screenshot image, and a head or foot mark is set at the end of the cubic virtual model away from the side.

[0014] Furthermore, the coordinate system of the three-dimensional virtual space is used to simulate the reference coordinate system of the puncture needle and the needle insertion section; In the initial state, the height direction of the screenshot image of the human body virtual model is parallel to the z-axis of the three-dimensional virtual space, and the width direction is parallel to the y-axis of the three-dimensional virtual space; The real-time image processing submodule keeps the needle tip of the puncture needle virtual model coincident with the origin of the three-dimensional virtual space when adjusting the posture of the puncture needle virtual model in real time, and keeps the pixel points corresponding to the needle tip pixel point coordinates in the screenshot image coincident with the origin of the three-dimensional virtual space when adjusting the posture of the human body virtual model in real time.

[0015] Furthermore, the portable CT-guided puncture navigation device also includes a voice navigation module, which is used to play navigation voice to indicate the puncture process based on the pre-planned target attitude angle data of the puncture needle relative to the needle insertion section coordinate system and the real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system calculated by the spatial angle calculation module.

[0016] The portable CT-guided puncture navigation system of the present invention is implemented by the following technical solutions: A portable CT-guided puncture navigation system, comprising: The needle measuring instrument is used to be set on the puncture needle to collect the posture angle data of the puncture needle in real time; A cross-section measuring instrument is used to be set on the human body to collect the posture angle data of the needle insertion cross section in real time; A mobile storage device stores a portable computer program, and when the portable computer program is executed by a processor, the portable CT-guided puncture navigation device as described above is implemented.

[0017] Furthermore, the needle measuring instrument includes a posture sensor, a wireless communication module and a battery, the posture sensor is used to collect the posture angle data of the puncture needle in real time, and upload the real-time posture angle data to the portable CT-guided puncture navigation device through the wireless communication module, and the battery is used to power the posture sensor and the wireless communication module; The cross-section measuring instrument includes a posture sensor, a wireless communication module and a battery. The posture sensor is used to collect real-time posture angle data of the puncture needle, and upload the collected real-time posture angle data to a portable CT-guided puncture navigation device through the wireless communication module. The battery is used to power the posture sensor and the wireless communication module.

[0018] The electronic device of the present invention is implemented by the following technical solution: An electronic device comprises a processor and a memory storing a computer program, wherein when the processor executes the computer program, the portable CT-guided puncture navigation device as described above is implemented.

[0019] The computer-readable storage medium of the present invention is implemented by the following technical solution: A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the portable CT-guided puncture navigation device as described above is implemented.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The portable CT-guided puncture navigation device, portable CT-guided puncture navigation system, electronic device and computer-readable storage medium provided by the present invention can monitor and display the real-time attitude angle data of the puncture needle compared with the needle insertion section coordinate system in real time, so that the doctor can accurately control the needle insertion angle during the puncture process; in addition, by adjusting the attitude changes of the puncture needle virtual model and the human body virtual model in the three-dimensional virtual space in real time and displaying them through a simulated animation window, the attitude changes of the puncture needle and the needle insertion section can be displayed in real time in the form of a simulated animation, giving the surgeon intuitive prompts; and there is no need for the development of complex functions such as three-dimensional reconstruction of DICOM format images, which helps to reduce software development costs, and thus helps to reduce patient diagnosis and treatment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of a portable CT-guided puncture navigation system according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the working process 1 of the portable CT-guided puncture navigation device according to an embodiment of the present invention; Figure 3 It is a schematic diagram of the working process 2 of the portable CT-guided puncture navigation device according to an embodiment of the present invention; Figure 4 It is a schematic diagram of the working process 3 of the portable CT-guided puncture navigation device according to an embodiment of the present invention; Figure 5 A schematic diagram of a fourth working process of the portable CT-guided puncture navigation device according to an embodiment of the present invention; Figure 6 Schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0023] refer to Figure 1-Figure 6 Embodiments of the present invention provide a portable CT-guided puncture navigation device, a portable CT-guided puncture navigation system, an electronic device, and a computer-readable storage medium.

[0024] refer to Figure 1The portable CT-guided puncture navigation system of the embodiment of the present invention includes a needle measuring instrument 101, a section measuring instrument 102 and a mobile storage device 103. The needle measuring instrument 101 is used to be set on the puncture needle to collect the attitude angle data of the puncture needle in real time; wherein the attitude angle data specifically refers to the roll angle (Roll), the pitch angle (Pitch) and the yaw angle (Yaw). The section measuring instrument 102 is used to be set on the human body to collect the attitude angle data of the needle insertion section in real time; wherein, before the puncture operation, the section measuring instrument 102 can be set on the surface of the human body trunk at the position of the needle insertion section, or on the surface of the human body trunk near the position of the needle insertion section, which is to ensure that the section measuring instrument 102 is close enough to the needle insertion section, so that the combination of the section measuring instrument 102 and the needle insertion section is regarded as a structure similar to a rigid body, or to ensure the detection accuracy of the section measuring instrument 102 on the needle insertion section; in addition, the section measuring instrument 102 can be fixed on the surface of the human body trunk by pasting. The mobile storage device 103 stores a portable computer program, and when the portable computer program is executed by the processor, the portable CT-guided puncture navigation device as described in the embodiment of the present invention is implemented; wherein the mobile storage device 103 can be a DVD disk, a U disk, an SD card or a mobile hard disk, etc., and the mobile storage device 103 can usually be loaded on a CT medical imaging workstation for use; in addition, the portable computer program refers to a software program that can be directly run without installation, or can be directly run after decompression, without the need for a complicated installation process.

[0025] The portable CT-guided puncture navigation system of the embodiment of the present invention comprises a needle measuring instrument 101, a section measuring instrument 102 and a mobile storage device 103 as its hardware parts, and a portable CT-guided puncture navigation device as a host computer, which is stored in the mobile storage device 103 in the form of a portable program; therefore, the overall structure of the system is simple and compact, takes up very little space, is easy to use, and helps to reduce the cost of diagnosis and treatment.

[0026] Furthermore, in the portable CT-guided puncture navigation system of the embodiment of the present invention, the needle measuring instrument 101 includes a posture sensor, a wireless communication module and a battery. The posture sensor is used to collect the posture angle data of the puncture needle in real time, and upload the real-time posture angle data to the portable CT-guided puncture navigation device through the wireless communication module. The battery is used to power the posture sensor and the wireless communication module; the cross-sectional measuring instrument 102 includes a posture sensor, a wireless communication module and a battery. The posture sensor is used to collect the real-time posture angle data of the puncture needle, and upload the collected real-time posture angle data to the portable CT-guided puncture navigation device through the wireless communication module. The battery is used to power the posture sensor and the wireless communication module. The needle measuring instrument 101 adopts a wireless communication method and has its own battery, so there is no need for communication or power cables. The cross-sectional measuring instrument 102 adopts a wireless communication method and has its own battery, so there is no need for communication or power cables; therefore, there will be no problem of communication or power lines interfering with the operation during the puncture process, so that the doctor can achieve the flexibility and freedom of manual puncture.

[0027] The portable CT-guided puncture navigation device of the embodiment of the present invention is a host computer of the needle measuring instrument 101 and the cross-sectional measuring instrument 102, which can receive and process data uploaded by the measuring instrument and issue instructions to the measuring instrument. The portable CT-guided puncture navigation device includes a signal sending module, a signal receiving module, a space angle calculation module, a window display module, a window editing module, an image navigation module and a voice navigation module.

[0028] The signal sending module is used to send relevant instructions to the needle measuring instrument 101 and the cross-section measuring instrument 102, such as a calibration instruction for selecting a reference system, a start instruction for starting navigation, and a stop instruction for stopping navigation.

[0029] The signal receiving module is used to receive the posture angle data of the puncture needle collected in real time by the needle measuring instrument 101 and the posture angle data of the needle insertion section collected in real time by the section measuring instrument 102. The posture angle data of the puncture needle and the posture angle data of the needle insertion section are obtained based on the same reference coordinate system; wherein, specifically, the needle measuring instrument 101 and the section measuring instrument 102 can be made to select the same reference coordinate system through calibration instructions. For example, the reference coordinate system can be the human body coordinate system when the human body is lying flat before the operation. It is assumed that the human body is motionless before the formal operation, or the doctor instructs the patient not to move. For example, the right-hand rule is used to distinguish the directions of the axes of the reference coordinate system, such as the z-axis pointing upward and the x-axis pointing to the direction of the patient's head. In the initial state (that is, before starting the real-time navigation), the directions of the axes of the carrier coordinate system (that is, the puncture needle coordinate system and the needle insertion section coordinate system) are the same as the directions of the axes of the reference coordinate system, that is, the puncture needle coordinate system / the needle insertion section coordinate system are in the same posture as the reference coordinate system in the initial state.

[0030] The spatial angle calculation module is used to calculate the real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system based on the attitude angle data of the puncture needle collected in real time by the needle measuring instrument 101 and the attitude angle data of the needle insertion section collected in real time by the section measuring instrument 102.

[0031] The window display module is used to display a simulation animation window and real-time monitoring information on a screen (such as a device screen of a CT medical imaging workstation, or a mobile phone or tablet screen). The real-time monitoring information is pre-displayed on the simulation animation window. The real-time monitoring information includes real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system. Among them, the real-time monitoring information is pre-displayed on the simulation animation window so that the real-time monitoring information will never be blocked by the picture or UI components of the simulation animation window. The purpose is to ensure that the real-time monitoring information can be clearly displayed during the puncture process.

[0032] The window editing module is used to adjust the position and size of the simulation animation window relative to the screen; the functions of the window editing module can refer to the functions of adjusting the window position and size of the Windows system.

[0033] The image navigation module includes an initialization submodule, a transparency adjustment submodule, a translation, zoom and rotation submodule, an image screenshot submodule, a human body virtual model construction submodule and a real-time image processing submodule.

[0034] The initialization submodule is used to generate a three-dimensional virtual space and build a virtual model of the puncture needle in the three-dimensional virtual space (the virtual model of the puncture needle in the attached figure is only an example. In fact, the virtual model of the puncture needle can be built more realistically and finely when developing the software). The needle tip of the virtual model of the puncture needle coincides with the origin of the three-dimensional virtual space, and the three-dimensional virtual space is displayed through a simulated animation window. Figure 2 and Figure 3 ,exist Figure 2 In the CT medical imaging workstation, open the CT image corresponding to the needle insertion section and refer to Figure 3 At this time, the real-time navigation has not been officially started, and the simulation animation window displays a still picture, and the simulation animation window covers the CT image containing the puncture planning information at the bottom of the screen; among them, although it is a still picture, operations such as translation, zooming, and rotation can be performed.

[0035] The transparency adjustment submodule is used to adjust the transparency of the picture frame displayed in the simulation animation window so that the screen image under the picture frame can be revealed. The purpose of adjusting the transparency is to facilitate the user to perform manual operation, and then move the needle tip of the puncture needle virtual model to the pre-planned needle insertion point on the needle insertion section CT image. If the overall transparency of the picture frame changes at the same time when the transparency of the picture frame is adjusted, it can be adjusted to a semi-transparent state so that the user can see both the puncture needle virtual model and the CT image under the picture frame. Furthermore, in order to make it more convenient for users to perform manual operations, it can be designed like this: In the transparency adjustment module, the adjustment of the transparency of the picture frame displayed in the simulation animation window refers to adjusting the transparency of the pixel area in the picture frame corresponding to the spatial environment where the puncture needle virtual model is located; the specific effect can be referred to. Figure 4 It can be seen that in the picture displayed in the adjustment simulation animation window, the space environment where the puncture needle virtual model is located has become completely transparent, and the CT image under the picture frame is basically completely revealed, while the transparency of the puncture needle virtual model has not changed and still remains clearly displayed. In this case, the user can easily complete the calibration of the needle tip and the insertion point.

[0036] The translation, scaling and rotation submodule is used to adjust the observation position of the simulation animation window by translation or scaling, and to adjust the observation direction of the simulation animation window by rotation. The translation, scaling and rotation submodule is used to provide translation, scaling and rotation functions to facilitate manual operation by users. The translation operation can refer to the view translation function of AutoCAD (middle mouse button + mouse movement), the scaling operation can refer to the view scaling function of AutoCAD (mouse wheel), and the rotation function can refer to the view rotation function of AutoCAD (SHIFT + middle mouse button + mouse movement). Through the translation, scaling and rotation submodule, users can adjust the observation position and observation direction of the simulation animation window, and then realize view translation, scaling and rotation, so as to adjust the position, size and posture of the puncture needle virtual model relative to the simulation animation window, so as to facilitate users to move the needle tip of the puncture needle virtual model to the pre-planned needle insertion point on the needle insertion section CT image.

[0037] The image screenshot submodule is used to capture the screen image under the simulation animation window to obtain a screenshot image. The screenshot range is the screen range occupied by the simulation animation window frame, and the needle tip pixel coordinates of the virtual model of the puncture needle in the frame when capturing the screenshot are obtained.

[0038] The human body virtual model construction submodule is used to construct a human body virtual model in a three-dimensional virtual space (the human body virtual model in the attached figure is only an example. In fact, the human body virtual model can be constructed more realistically and finely when developing software). A virtual needle insertion section is formed at one end of the human body virtual model. The virtual needle insertion section is pasted with the screenshot image, and the pixel points corresponding to the needle tip pixel point coordinates in the screenshot image coincide with the origin of the three-dimensional virtual space. In actual application, the screenshot image is a screenshot of the needle insertion section CT image; when taking the screenshot, the needle tip of the puncture needle virtual model has been moved by the user to a position that matches the needle insertion point of the CT image. Therefore, the pixel points corresponding to the needle tip pixel point coordinates in the screenshot image are actually the pixels of the needle insertion point in the screenshot image (or pixels very close to the needle insertion point). Therefore, this actually completes the calibration of the puncture needle virtual model and the human body virtual model, so that the needle tip of the puncture needle virtual model coincides with the needle insertion point in the cross-sectional image of the human body virtual model.

[0039] refer to Figure 5 In order to further reduce the difficulty of software development, the human body virtual model can adopt a cubic virtual model, one side of the cubic virtual model is pasted with the screenshot image as a virtual needle insertion section, and the four sides of the side coincide with the four sides of the screenshot image, and a head or foot mark is set at the end of the cubic virtual model away from the side.

[0040] The real-time image processing submodule is used to adjust the posture of the virtual model of the puncture needle in the three-dimensional virtual space in real time according to the posture angle data of the puncture needle collected in real time by the needle measuring instrument; and the real-time image processing submodule is also used to adjust the posture of the virtual model of the human body in the three-dimensional virtual space in real time according to the posture angle data of the needle insertion section collected in real time by the section measuring instrument. By adjusting the postures of the virtual model of the puncture needle and the virtual model of the human body in real time, the doctor can be given an intuitive prompt. The surgeon can clearly know whether the puncture angle has deviated, in which direction it has deviated, and in which direction it should be adjusted. In addition, the real-time posture angle data of the puncture needle relative to the needle insertion section coordinate system is clearly displayed on the simulation animation window, so the surgeon can know the actual insertion angle of the current puncture needle; through real-time simulation animation and clear numerical display, the doctor can grasp the insertion angle with high precision during the puncture process.

[0041] In the portable CT-guided puncture navigation device of the embodiment of the present invention, the puncture needle virtual model is used to simulate the puncture needle, and the human body virtual model and the screenshot image pasted thereon are used to simulate the human body trunk and the needle insertion section. The puncture needle and the needle insertion section should use the same reference coordinate system (such as the human body coordinate system before surgery), and the coordinate system of the three-dimensional virtual space is used to simulate the reference coordinate system of the puncture needle and the needle insertion section. In the initial state of the human body virtual model (before real-time navigation is started), the height direction of the screenshot image is parallel to the z-axis of the three-dimensional virtual space, and the width direction is parallel to the y-axis of the three-dimensional virtual space; in this way, when the posture of the puncture needle changes in real time, the rotation of the puncture needle coordinate system (i.e., the carrier coordinate system) compared to the reference coordinate system can be obtained by the needle measuring instrument. When the posture of the needle insertion section (or the human body trunk) changes in real time, the rotation of the needle insertion section coordinate system compared to the reference coordinate system can be obtained by the section measuring instrument. The coordinate system of the three-dimensional virtual space is a simulation of the reference coordinate system, so the real-time posture changes of the puncture needle and the needle insertion section can be expressed by the puncture needle virtual model and the human body virtual model in the three-dimensional virtual space. In addition, since the puncture needle and the needle insertion section use the same reference coordinate system, the real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system, that is, the real-time actual needle insertion angle of the puncture needle, can be calculated.

[0042] In addition, the real-time image processing submodule keeps the needle tip of the virtual model of the puncture needle coincident with the origin of the three-dimensional virtual space when adjusting the posture of the virtual model of the human body in real time, and keeps the pixel points corresponding to the needle tip pixel coordinates in the screenshot image coincident with the origin of the three-dimensional virtual space when adjusting the posture of the virtual model of the human body in real time; in this way, during the navigation process of the simulated animation, the needle tip of the virtual model of the puncture needle is always aligned with the needle insertion point on the cross-sectional image of the virtual model of the human body.

[0043] The portable CT-guided puncture navigation device of the embodiment of the present invention further includes a voice navigation module, which is used to play a navigation voice for indicating the puncture process according to the pre-planned target attitude angle data of the puncture needle relative to the needle insertion section coordinate system and the real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system calculated by the spatial angle calculation module. The pre-planned target attitude angle data of the puncture needle relative to the needle insertion section coordinate system is actually equivalent to the pre-planned needle insertion angle; for example, refer to Figure 2 The needle insertion angle is 40° reversely rotated along the x-axis of the human body coordinate system. Then (Roll, Pitch, Yaw) = (-40, 0, 0) can be input on the device software as the target posture angle data.

[0044] The specific navigation voice can be designed as follows: when the real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system and the target attitude angle data of the puncture needle relative to the needle insertion section coordinate system are within a preset error range, the navigation voice used to instruct needle insertion is played, such as "You can insert the needle"; when the real-time attitude angle data and the target attitude angle data exceed the error range, the navigation voice used to instruct to stop needle insertion is played, such as "The current angle is wrong, please stop puncture"; the navigation voice used to instruct to adjust the direction can also be played, such as "Please adjust the puncture needle tip 10 degrees to the right of the patient."

[0045] The portable CT-guided puncture navigation device of the embodiment of the present invention can enable the doctor to clearly and intuitively grasp the current puncture status through real-time image navigation, and can give the doctor clear and explicit puncture instructions through real-time voice navigation, thereby avoiding the doctor's personal misjudgment and improving the puncture efficiency.

[0046] The method for using the portable CT-guided puncture navigation device according to the embodiment of the present invention comprises: 1) referring to Figure 2 , the doctor opens the CT image of the needle insertion section on the CT medical imaging workstation. The CT image contains information such as the puncture planning path, needle insertion point, needle insertion depth, and needle insertion angle; 2) Reference Figure 3 , run the host computer software, namely the portable CT-guided puncture navigation device, input the target posture angle data of the puncture needle, open the simulation animation window, and place the window on the CT image of the needle insertion section; 3) Reference Figure 4 , adjust the transparency of the picture frame to make the CT image under the picture frame appear, and move the needle tip of the virtual model of the puncture needle to a position that matches the needle insertion point of the CT image through operations such as translation, scaling, and rotation; 4) Reference Figure 5 , start the screenshot function, the software automatically builds a human body virtual model, and pastes the screenshot image to the virtual needle section of the human body virtual model, and automatically completes the calibration of the puncture needle virtual model and the human body virtual model, and then completes the calibration of the needle measuring instrument and the section measuring instrument. After selecting the same reference coordinate system, you can start real-time navigation. During the navigation process, the screen provided by the host computer software is as follows Figure 5 shown.

[0047] The portable CT-guided puncture navigation device of the embodiment of the present invention can monitor and display the real-time attitude angle data of the puncture needle compared with the needle insertion section coordinate system in real time, so that the doctor can accurately control the needle insertion angle during the puncture process; in addition, by adjusting the attitude changes of the puncture needle virtual model and the human body virtual model in the three-dimensional virtual space in real time and displaying them through a simulated animation window, the attitude changes of the puncture needle and the needle insertion section can be displayed in real time in the form of a simulated animation, giving the surgeon intuitive prompts; and there is no need for the development of complex functions such as three-dimensional reconstruction of DICOM format images, which helps to reduce software development costs, and thus helps to reduce patient diagnosis and treatment costs.

[0048] refer to Figure 6 The electronic device of the embodiment of the present invention includes a processor 601 and a memory 602 storing a computer program. When the processor 601 executes the computer program, the portable CT-guided puncture navigation device according to the embodiment of the present invention is implemented. The processor 601, the memory 602, and the communication interface 603 all communicate with each other through a communication bus 604.

[0049] In the electronic device of the embodiment of the present invention, the processor 601 may be a central processing unit (CPU), a specific application integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, and the processor 601 may be a microprocessor or any conventional processor, etc. The processor 601 may call the program stored in the memory 602.

[0050] In the electronic device of the embodiment of the present invention, the memory 602 is used to store one or more programs, and the program may include a program code, and the program code includes a computer operation instruction. The memory 602 may store a program for implementing the corresponding function of the above-mentioned system. In a possible implementation, the memory 602 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, and a computer program required for at least one system function, etc.; the data storage area may store data created during use. In addition, the memory 602 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A part of the memory may also include NVRAM. The memory stores an operating system and operation instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operation instructions may include various operation instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0051] In the electronic device of the embodiment of the present invention, the communication interface 603 may be an interface of a communication module, which is used to connect to other devices or systems. Figure 6 The structure shown does not constitute a limitation on the electronic device in the embodiment of the present invention. In actual applications, the electronic device may include Figure 6 More or fewer components than shown, or combinations of certain components.

[0052] The electronic device of the embodiment of the present invention is used to realize real-time monitoring and display of real-time posture angle data of the puncture needle compared to the needle insertion section coordinate system, so that the doctor can accurately control the needle insertion angle during the puncture process; in addition, by adjusting the posture changes of the puncture needle virtual model and the human body virtual model in the three-dimensional virtual space in real time and displaying them through a simulated animation window, the posture changes of the puncture needle and the needle insertion section can be displayed in real time in the form of a simulated animation, giving the surgeon intuitive prompts; and there is no need for the development of complex functions such as three-dimensional reconstruction of DICOM format images, which helps to reduce software development costs, and thus helps to reduce patient diagnosis and treatment costs.

[0053] The computer-readable storage medium of the embodiment of the present invention stores a computer program thereon, characterized in that when the computer program is executed by the processor, the portable CT-guided puncture navigation device as described in the embodiment of the present invention is implemented. Wherein, the computer-readable storage medium may be a tangible medium, which may contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. More specific examples of computer-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0054] The computer-readable storage medium of the embodiment of the present invention is used to realize real-time monitoring and display of real-time posture angle data of the puncture needle compared to the needle insertion section coordinate system, so that the doctor can accurately control the needle insertion angle during the puncture process; in addition, by adjusting the posture changes of the puncture needle virtual model and the human body virtual model in the three-dimensional virtual space in real time and displaying them through a simulated animation window, the posture changes of the puncture needle and the needle insertion section can be displayed in real time in the form of a simulated animation, giving the surgeon intuitive prompts; and there is no need for the development of complex functions such as three-dimensional reconstruction of DICOM format images, which helps to reduce software development costs, and thus helps to reduce patient diagnosis and treatment costs.

[0055] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A portable CT-guided puncture navigation device, characterized in that: include: A signal receiving module is used to receive the posture angle data of the puncture needle collected in real time by the needle measuring instrument and the posture angle data of the needle insertion section collected in real time by the section measuring instrument, wherein the posture angle data of the puncture needle and the posture angle data of the needle insertion section are obtained based on the same reference coordinate system; The spatial angle calculation module is used to calculate the real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system based on the attitude angle data of the puncture needle collected in real time by the needle measuring instrument and the attitude angle data of the needle insertion section collected in real time by the section measuring instrument; A window display module is used to display a simulation animation window and real-time monitoring information on the screen. The real-time monitoring information is pre-displayed on the simulation animation window. The real-time monitoring information includes real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system; Image navigation module, including the following sub-modules: The initialization submodule is used to generate a three-dimensional virtual space and construct a virtual model of the puncture needle in the three-dimensional virtual space, the needle tip of the virtual model of the puncture needle coincides with the origin of the three-dimensional virtual space, and the three-dimensional virtual space is displayed through a simulation animation window; The transparency adjustment submodule is used to adjust the transparency of the picture frame displayed by the simulation animation window so that the screen image under the picture frame can be revealed; A translation, scaling and rotation submodule, used to adjust the observation position of the simulation animation window by translation or scaling, and used to adjust the observation direction of the simulation animation window by rotation; The image screenshot submodule is used to capture the screen image under the simulation animation window to obtain the screenshot image. The screenshot range is the screen range occupied by the simulation animation window frame, and the needle tip pixel coordinates of the virtual model of the puncture needle in the frame when the screenshot is taken are obtained; A human body virtual model construction submodule is used to construct a human body virtual model in a three-dimensional virtual space, wherein a virtual needle insertion section is formed at one end of the human body virtual model, the virtual needle insertion section is pasted with the screenshot image, and the pixel points corresponding to the needle tip pixel point coordinates in the screenshot image coincide with the origin of the three-dimensional virtual space; The real-time image processing submodule is used to adjust the posture of the puncture needle virtual model in the three-dimensional virtual space in real time according to the posture angle data of the puncture needle collected in real time by the needle measuring instrument, and is used to adjust the posture of the human body virtual model in the three-dimensional virtual space in real time according to the posture angle data of the needle insertion section collected in real time by the section measuring instrument.

2. The portable CT-guided puncture navigation device according to claim 1, characterized in that: The portable CT-guided puncture navigation device also includes a window editing module, which is used to adjust the position and size of the simulation animation window relative to the screen.

3. The portable CT-guided puncture navigation device according to claim 1, characterized in that: In the transparency adjustment submodule, adjusting the transparency of the picture frame displayed in the simulation animation window refers to adjusting the transparency of the pixel area in the picture frame corresponding to the spatial environment where the puncture needle virtual model is located.

4. The portable CT-guided puncture navigation device according to claim 1, characterized in that: The human body virtual model is a cubic virtual model, one side of the cubic virtual model is pasted with the screenshot image as a virtual needle insertion section, and the four sides of the side coincide with the four sides of the screenshot image, and a head or foot mark is set at one end of the cubic virtual model away from the side.

5. The portable CT-guided puncture navigation device according to claim 1, characterized in that: The coordinate system of the three-dimensional virtual space is used to simulate the reference coordinate system of the puncture needle and the needle insertion section; In the initial state, the height direction of the screenshot image of the human body virtual model is parallel to the z-axis of the three-dimensional virtual space, and the width direction is parallel to the y-axis of the three-dimensional virtual space; The real-time image processing submodule keeps the needle tip of the puncture needle virtual model coincident with the origin of the three-dimensional virtual space when adjusting the posture of the puncture needle virtual model in real time, and keeps the pixel points corresponding to the needle tip pixel point coordinates in the screenshot image coincident with the origin of the three-dimensional virtual space when adjusting the posture of the human body virtual model in real time.

6. The portable CT-guided puncture navigation device according to claim 1, characterized in that: The portable CT-guided puncture navigation device also includes a voice navigation module, which is used to play a navigation voice for indicating the puncture process based on the pre-planned target attitude angle data of the puncture needle relative to the needle insertion section coordinate system and the real-time attitude angle data of the puncture needle relative to the needle insertion section coordinate system calculated by the spatial angle calculation module.

7. A portable CT-guided puncture navigation system, characterized in that: include: The needle measuring instrument is used to be set on the puncture needle to collect the posture angle data of the puncture needle in real time; A cross-section measuring instrument is used to be set on the human body to collect the posture angle data of the needle insertion cross section in real time; A mobile storage device, wherein the mobile storage device stores a portable computer program, and when the portable computer program is executed by a processor, the portable CT-guided puncture navigation device according to any one of claims 1 to 6 is implemented.

8. The portable CT-guided puncture navigation system according to claim 7, characterized in that: The needle measuring instrument includes a posture sensor, a wireless communication module and a battery. The posture sensor is used to collect the posture angle data of the puncture needle in real time, and upload the real-time posture angle data to the portable CT-guided puncture navigation device through the wireless communication module. The battery is used to power the posture sensor and the wireless communication module. The cross-section measuring instrument includes a posture sensor, a wireless communication module and a battery. The posture sensor is used to collect real-time posture angle data of the puncture needle, and upload the collected real-time posture angle data to a portable CT-guided puncture navigation device through the wireless communication module. The battery is used to power the posture sensor and the wireless communication module.

9. An electronic device, characterized in that: It comprises a processor and a memory storing a computer program, and when the processor executes the computer program, it implements the portable CT-guided puncture navigation device as described in any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the portable CT-guided puncture navigation device according to any one of claims 1 to 6 is implemented.

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