Navigation puncture method, device, equipment and storage medium

Abstract

The invention relates to the technical field of puncture navigation, and discloses a navigation puncture method, device and equipment and a storage medium. Firstly, based on a scanning image of a target object before puncture, target puncture parameters are obtained; and then, based on the target puncture parameters, the C-shaped arm imaging equipment is controlled to obtain a target scanning image of the target object, target puncture position marking is performed on the target scanning image, and visual reference is provided for subsequent operation by visualizing the target puncture position. Then, a puncture auxiliary matrix is projected on the target object to serve as an auxiliary positioning tool; finally, the position of the puncture needle is adjusted based on the position relation between the mark of the target puncture position on the target scanning image and the puncture auxiliary matrix and the real-time puncture image obtained by the C-shaped arm imaging equipment, so that the puncture needle reaches the target puncture position. And through real-time feedback and dynamic adjustment, the accuracy of puncture operation is improved. Meanwhile, bed moving operation is avoided, and operation convenience is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of puncture navigation technology, and in particular to a navigation puncture method, device, equipment and storage medium. Background Art

[0002] When performing pathological examinations and chest and abdominal puncture surgeries in a hybrid operating room, puncture guidance technology is usually required to improve the accuracy and safety of the puncture operation.

[0003] In the related technology, an infrared cross laser light is used for puncture-assisted positioning. Although the accuracy of using an infrared cross laser light for puncture-assisted positioning is relatively high, during the puncture navigation process, it is often necessary to move the operating table so that the puncture mark on the patient's body surface coincides with the laser point, which increases the complexity of the operation. At the same time, the movement or noise of the moving operating table may cause discomfort to the patient and increase the risk of puncture. Summary of the invention

[0004] The embodiments of this specification are intended to solve at least one of the technical problems in the related art to a certain extent. To this end, the embodiments of this specification propose a navigation puncture method, device, equipment and storage medium.

[0005] This specification provides a navigation puncture method, which includes:

[0006] Acquiring target puncture parameters, wherein the target puncture parameters are determined based on a scanned image of the target object before puncture;

[0007] Controlling a C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameter, and marking a target puncture position on the target scan image;

[0008] A puncture auxiliary matrix is ​​projected onto the target object, and based on the positional relationship between the mark of the target puncture position on the target object and the puncture auxiliary matrix, and the real-time puncture image acquired by the C-arm imaging device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position.

[0009] In one embodiment, the target puncture parameters include a needle insertion angle and a target puncture position, and the method of controlling a C-arm imaging device based on the target puncture parameters to acquire a target scan image of the target object and marking the target puncture position on the target scan image includes:

[0010] Based on the needle insertion angle, control the frame of the C-arm imaging device to move to the puncture positioning position, wherein the center line of the C-arm imaging device at the puncture positioning position is parallel to the needle insertion direction, and the center line of the C-arm imaging device passes through the target puncture position, and the center line of the C-arm imaging device is the line between the center point of the detector and the center point of the harness;

[0011] In the puncture positioning position, the C-arm imaging device performs exposure acquisition to obtain a target scan image of the target object;

[0012] Based on the target puncture position, the target scan image is marked to display a mark of the target puncture position on the target scan image.

[0013] In one embodiment, projecting a puncture auxiliary matrix on the target object, and adjusting the puncture needle position based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and the real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position includes:

[0014] Determine an initial puncture position of the puncture needle based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, wherein the center line of the C-arm imaging device passes through the target puncture position and the center of the puncture auxiliary matrix, and the center of the puncture auxiliary matrix is ​​determined as the initial puncture position;

[0015] Determining the relative position of the puncture needle identifier and the mark of the target puncture position according to the real-time puncture image acquired by the C-arm imaging device, wherein the real-time puncture image includes the mark of the target puncture position and the puncture needle identifier;

[0016] If the puncture needle marker overlaps with the mark of the target puncture position, the puncture needle reaches the target puncture position.

[0017] In one embodiment, the method further comprises:

[0018] If the puncture needle identifier does not overlap with the mark of the target puncture position, the adjustment position of the puncture needle is determined under the guidance of the puncture auxiliary matrix according to the relative position of the puncture needle identifier and the mark of the target puncture position;

[0019] The real-time puncture image and the position adjustment operation of the puncture needle are repeatedly performed, and when the puncture needle mark overlaps with the mark of the target puncture position, the puncture needle reaches the target puncture position.

[0020] In one embodiment, the target puncture parameters include a needle insertion angle, a target puncture position, and a target puncture depth, the scanned image includes a three-dimensional reconstructed image, and the target puncture parameters are determined based on the scanned image of the target object before puncture, including:

[0021] Based on the three-dimensional reconstructed image, determining a target puncture position corresponding to the lesion point;

[0022] Determining the target puncture depth based on the lesion point and the target puncture position;

[0023] The angle of the three-dimensional reconstructed image is adjusted, and the angle when the line of sight of the lesion point and the target puncture position are superimposed is determined as the needle insertion angle.

[0024] In one embodiment, after the puncture needle reaches the target puncture position, the projection direction of the puncture auxiliary matrix represents the insertion angle of the puncture needle, and the projection direction can be visually identified. The method further includes:

[0025] The puncture needle is inserted into the puncture area while being controlled to be parallel to the projection direction of the puncture auxiliary matrix.

[0026] In one embodiment, the projection direction of the puncture auxiliary matrix is ​​determined by:

[0027] The position of the matrix projection device is converted according to the center point of the detector to determine the projection direction of the matrix projection device, wherein the projection direction is perpendicular to the detection plane of the detector.

[0028] In one embodiment, the C-arm imaging device further comprises an image acquisition device, the target puncture parameter comprises a target puncture depth, and the method further comprises;

[0029] During the puncture operation, determining the real-time puncture depth corresponding to the puncture needle based on the image acquisition device;

[0030] When the real-time puncture depth reaches the target puncture depth, the puncture operation is completed.

[0031] In one embodiment, it also includes:

[0032] The puncture auxiliary matrix is ​​fused with the target scanning image and / or the real-time puncture scanning image in equal proportion and displayed.

[0033] The present specification provides a navigation puncture device, the device comprising:

[0034] a puncture parameter acquisition module, used to acquire target puncture parameters, wherein the target puncture parameters are determined based on a scanned image of the target object before puncture;

[0035] An image acquisition and annotation module, used for controlling a C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameter, and marking a target puncture position on the target scan image;

[0036] The puncture position determination module is used to project a puncture auxiliary matrix on the target object, and adjust the puncture needle position based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and the real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position.

[0037] An embodiment of the present specification provides a computer device, which includes: a memory, and one or more processors communicatively connected to the memory; the memory stores instructions executable by the one or more processors, and the instructions are executed by the one or more processors to enable the one or more processors to implement the steps of the method described in any of the above embodiments.

[0038] The embodiments of this specification provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method described in any of the above embodiments are implemented.

[0039] An embodiment of the present specification provides a computer program product, wherein the computer program product includes instructions, and when the instructions are executed by a processor of a computer device, the computer device is enabled to perform the steps of the method described in any one of the above embodiments.

[0040] In the above-mentioned embodiment of the specification, first, the target puncture parameters are obtained based on the scanned image of the target object before puncture. The target puncture parameters will serve as the basis for the subsequent puncture operation to ensure that the puncture operation can be performed accurately and reliably. Then, based on the target puncture parameters, the C-arm imaging device is controlled to obtain the target scanned image of the target object, and the target puncture position is marked on the target scanned image, and the target puncture position is visualized to provide an intuitive reference for subsequent operations. Next, a puncture auxiliary matrix is ​​projected on the target object as an auxiliary positioning tool. Finally, based on the positional relationship between the mark of the target puncture position on the target scanned image and the puncture auxiliary matrix, and the real-time puncture image obtained by the C-arm imaging device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position. The accuracy of the puncture operation is improved through real-time feedback and dynamic adjustment. At the same time, since the puncture auxiliary matrix covers the surface of the puncture position of the target object, the puncture auxiliary matrix can provide navigation information such as the puncture target position, moving direction and moving distance. Based on the mark of the target puncture position and the position relationship of the puncture auxiliary matrix, the position adjustment of the puncture needle can be guided. Compared with the laser line guidance method in the related art, the bed moving operation can be avoided, thereby reducing the patient's discomfort caused by bed moving, enhancing the convenience of operation, and helping medical staff improve the safety of operation. In addition, the above-mentioned implementation method provides an intuitive operation demonstration, which is suitable for teaching and clinical guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A flowchart of a navigation puncture method provided in an embodiment of this specification;

[0042] Figure 2 A schematic diagram of the flow chart of the navigation puncture method provided in the embodiment of this specification;

[0043] Figure 3a A schematic diagram of a process for displaying a mark of a target puncture position on a target scan image provided by an embodiment of this specification;

[0044] Figure 3b A schematic diagram of a mark of a target puncture position provided for an embodiment of the present specification;

[0045] Figure 3c A schematic diagram of projecting a puncture auxiliary matrix onto a target object provided in an embodiment of this specification;

[0046] Figure 4 A schematic diagram of a process for determining target puncture parameters provided in an embodiment of this specification;

[0047] Figure 5a A schematic diagram of a process for obtaining target puncture parameters provided in an embodiment of this specification;

[0048] Figure 5bA schematic diagram of the center line of a DSA device provided in an embodiment of the present specification;

[0049] Figure 5c A schematic diagram of a post-processing workstation provided for an embodiment of the present specification;

[0050] Figure 6 A schematic diagram of a process for a puncture needle to reach a target puncture position provided in an embodiment of this specification;

[0051] Figure 7a A schematic diagram of the positional relationship of a matrix projection device, a detector, and an image acquisition device provided in an embodiment of this specification;

[0052] Figure 7b A schematic diagram of determining the insertion angle of a puncture needle provided in an embodiment of this specification;

[0053] Figure 8 A schematic diagram of determining the projection direction of a matrix projection device provided in an embodiment of this specification;

[0054] Figure 9a A schematic diagram of a process for performing a puncture operation provided in an embodiment of this specification;

[0055] Figure 9b Schematic diagrams of various types of puncture needles provided for embodiments of this specification;

[0056] Fig.9c A schematic diagram of the needle tube scale marking of the puncture needle provided in the embodiment of this specification;

[0057] Fig.10 A schematic diagram of multi-needle trajectory planning assisted puncture provided in an embodiment of this specification;

[0058] Fig.11 A schematic diagram of a navigation puncture device provided in an embodiment of this specification;

[0059] Fig.12 An internal structural diagram of a computer device provided for an embodiment of this specification. DETAILED DESCRIPTION

[0060] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0061] When performing pathological examinations and chest and abdominal puncture surgeries in hybrid operating rooms, traditional puncture methods have some significant disadvantages, including low puncture accuracy, high dependence on physician experience, long surgery time, and high radiation dose to patients.

[0062] During interventional surgery in a hybrid operating room, doctors usually make accurate marks on the patient's body surface after completing a three-dimensional scan. Conventional methods include drawing with self-adhesive labels and markers to ensure the accuracy of the puncture site. The doctor will operate the puncture needle according to the mark to perform the puncture. However, when other materials are used for marking, multiple adjustments and erasures are often required, which not only increases the complexity of the operation, but also causes additional burdens for patients and operators. In addition, this method has no precise reference objects, cannot provide angle references in real time, and is completely dependent on the experience of the operating technician.

[0063] In the process of assisting puncture, the traditional infrared cross laser light is used for precise positioning, and its laser point is usually fixed. When performing puncture navigation, the doctor needs to move the operating table so that the puncture mark on the patient's body surface coincides with the laser point. In the digital subtraction angiography (DSA) configuration, the movement of the catheter bed is adjusted by manual axis. This means that the operator must manually move the bed to ensure that the laser point is aligned with the mark. Since this method relies entirely on manual operation, the accuracy of the puncture is low. At the same time, this process may generate a lot of noise, affecting the patient's comfort experience under local anesthesia. If you choose not to move the operating table, but adjust the cross center point of the laser light, you need to constantly calibrate the position of the laser light to ensure that it is aligned with the puncture mark. This method not only increases the complexity of the operation, but may also cause more errors, so it requires a high level of technical skills and experience.

[0064] Based on this, the embodiment of this specification provides a navigation puncture method. First, based on the scanned image of the target object before puncture, the target puncture parameters are obtained. The target puncture parameters will serve as the basis for the subsequent puncture operation to ensure that the puncture operation can be performed accurately and reliably. Then, based on the target puncture parameters, the C-arm imaging device is controlled to obtain the target scanned image of the target object, and the target puncture position is marked on the target scanned image, and the target puncture position is visualized to provide an intuitive reference for subsequent operations. Next, a puncture auxiliary matrix is ​​projected on the target object as an auxiliary positioning tool. Finally, based on the positional relationship between the mark of the target puncture position on the target scanned image and the puncture auxiliary matrix, and the real-time puncture image obtained by the C-arm imaging device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position. The accuracy of the puncture operation is improved through real-time feedback and dynamic adjustment. At the same time, since the puncture auxiliary matrix covers the surface of the puncture position of the target object, the puncture auxiliary matrix can provide navigation information such as the puncture target position, moving direction and moving distance. Based on the mark of the target puncture position and the position relationship of the puncture auxiliary matrix, the position adjustment of the puncture needle can be guided. Compared with the laser line guidance method in the related art, the bed moving operation can be avoided, thereby reducing the patient's discomfort caused by bed moving, enhancing the convenience of operation, and helping medical staff improve the safety of operation. In addition, the above-mentioned implementation method provides an intuitive operation demonstration, which is suitable for teaching and clinical guidance.

[0065] The navigation puncture method of the embodiment of this specification is applied to a C-arm imaging device, and DSA is one of the C-arm imaging devices. Figure 1 , the DSA device first performs a CT-like scan to obtain CT-like scan data. Then, the DSA device sends the CT-like scan data to the post-processing workstation. The post-processing workstation starts the three-dimensional path map function, plans a suitable puncture path on the path planning page, and obtains the target puncture parameters, where the target puncture parameters may include the needle insertion angle and the target puncture position. The post-processing workstation sends the target puncture parameters to the DSA device. Then the DSA device starts the puncture path feedback function, pushes down and pushes forward to control the remote sensing, and controls the frame of the DSA device to move to the puncture position based on the needle insertion angle, turns on the matrix projection device, and projects the puncture auxiliary matrix on the target object.

[0066] At the puncture position, the DSA device performs exposure acquisition to obtain a target scan image of the target object. Based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and the real-time puncture image obtained by the DSA device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position. Under the condition that the puncture needle is controlled to be parallel to the projection direction of the puncture auxiliary matrix, the puncture needle insertion action is performed. During the puncture operation, the real-time puncture depth corresponding to the puncture needle is determined based on the image acquisition device. When the real-time puncture depth reaches the target puncture depth, the puncture operation is completed.

[0067] This specification provides a navigation puncture method. Figure 2 The navigation puncture method may include the following steps:

[0068] S210, obtaining target puncture parameters.

[0069] The target puncture parameters are determined based on a scanned image of the target object before puncture.

[0070] Specifically, first, a scanned image of the target object is obtained using a C-arm imaging device. In the scanned image, the target puncture point is selected based on clinical judgment and the specific location of the lesion. At this time, it is necessary to ensure that the selection of the target puncture point can be as close to the lesion as possible, while avoiding damage to important structures on the puncture path. Use computer-aided tools (such as virtual reality or augmented reality technology) to simulate the puncture path to ensure that the path is smooth and keeps a safe distance from the anatomical structure. Based on the information of the target puncture point and the lesion point information, determine the target puncture depth and needle insertion angle and other information. Therefore, the target puncture parameters can include target puncture depth, needle insertion angle, and target puncture position.

[0071] S220 , controlling the C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameter, and marking the target puncture position on the target scan image.

[0072] S230, projecting a puncture auxiliary matrix onto the target object, and adjusting the puncture needle position based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and the real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position.

[0073] Specifically, based on the target puncture parameters, the C-arm imaging device is controlled to perform a target scan to obtain a target scan image of the target object. The C-arm imaging device can generate clear images of blood vessels and surrounding tissues in real time, providing the information required by the doctor to ensure the accuracy of the puncture. The target scan image is marked based on the target puncture parameters to display the mark of the target puncture position. Then, a puncture auxiliary matrix is ​​projected on the target object. When performing puncture navigation, based on the puncture auxiliary matrix projected on the target object, combined with the target puncture position marked on the target scan image and the real-time puncture image obtained by the C-arm imaging device, real-time feedback and guidance are provided to adjust the puncture needle position so that the puncture needle reaches the target puncture position. In this way, the puncture position can be adjusted in real time during the puncture operation on the target object to ensure that the lesion point is accurately reached.

[0074] In the above embodiment, first, the target puncture parameters are obtained based on the scanned image of the target object before puncture. The target puncture parameters will serve as the basis for the subsequent puncture operation to ensure that the puncture operation can be performed accurately and reliably. Then, based on the target puncture parameters, the C-arm imaging device is controlled to obtain the target scanned image of the target object, and the target puncture position is marked on the target scanned image, and the target puncture position is visualized to provide an intuitive reference for subsequent operations. Next, a puncture auxiliary matrix is ​​projected on the target object as an auxiliary positioning tool, and the puncture auxiliary matrix can be in a grid shape. Finally, based on the positional relationship between the mark of the target puncture position on the target scanned image and the puncture auxiliary matrix, and the real-time puncture image obtained by the C-arm imaging device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position. The accuracy of the puncture operation is improved through real-time feedback and dynamic adjustment. At the same time, since the puncture auxiliary matrix covers the surface of the puncture position of the target object, the puncture auxiliary matrix can provide navigation information such as the puncture target position, moving direction and moving distance. Based on the mark of the target puncture position and the position relationship of the puncture auxiliary matrix, the position adjustment of the puncture needle can be guided. Compared with the laser line guidance method in the related art, the bed moving operation can be avoided, thereby reducing the patient's discomfort caused by bed moving, enhancing the convenience of operation, and helping medical staff improve the safety of operation. In addition, the above-mentioned implementation method provides an intuitive operation demonstration, which is suitable for teaching and clinical guidance.

[0075] In some embodiments, see Figure 3a The target puncture parameters include a needle insertion angle and a target puncture position. Based on the target puncture parameters, controlling the C-arm imaging device to obtain a target scan image of the target object and marking the target puncture position on the target scan image may include the following steps:

[0076] S310: Based on the needle insertion angle, control the frame of the C-arm imaging device to move to the puncture positioning position.

[0077] S320: In the puncture positioning position, the C-arm imaging device performs exposure acquisition to obtain a target scan image of the target object.

[0078] S330: Based on the target puncture position, mark the target scan image to display a mark of the target puncture position on the target scan image.

[0079] Among them, the center line of the C-arm imaging device in the puncture positioning position is parallel to the needle insertion direction and passes through the target puncture position. The center line of the C-arm imaging device is the line between the center point of the detector and the center point of the harness.

[0080] Specifically, the needle insertion angle can provide a better needle insertion field of view, making the alignment between the lesion point and the puncture path more accurate. Therefore, performing the puncture operation at the needle insertion angle can reduce the puncture deviation caused by improper viewing angle and improve the success rate and accuracy of the puncture operation. Therefore, the operator starts the motion system of the rack of the C-arm imaging device by pressing down and pushing the rocker forward. The rack of the C-arm imaging device is controlled to move based on the setting information of the needle insertion angle to ensure that the rack can accurately locate the puncture positioning position. Since the center line of the C-arm imaging device at the puncture positioning position is parallel to the needle insertion direction, after the rack of the C-arm imaging device moves to the puncture positioning position, the C-arm imaging device can be exposed and collected to obtain a target scan image of the target object. Since the center line of the C-arm imaging device at the puncture positioning position is parallel to the needle insertion direction, the target puncture position and the lesion point are superimposed on the line of sight on the target scan image, that is, the position of the lesion point on the target scan image is the target puncture position, and the target puncture position reflects the insertion position of the puncture needle on the body surface of the target object. After obtaining the target scanned image, according to the coordinates of the target puncture position, the position corresponding to the target puncture position is determined and marked on the target scanned image using an image processing tool, so as to display the mark of the target puncture position on the target scanned image. For example, see Figure 3b , Figure 3b A mark 302 of the target puncture position is displayed.

[0081] Please note that Figure 3c After the rack of the C-arm imaging device moves to the puncture positioning position, the matrix projection device 304 at the puncture positioning position projects the puncture auxiliary matrix 306 on the target object, so as to guide the moving direction and distance of the puncture needle according to the mark of the target puncture position. The matrix projection device 304 can be an infrared projection device.

[0082] In the above embodiment, based on the needle insertion angle, the frame of the C-arm imaging device is controlled to move to the puncture positioning position. In the puncture positioning position, the C-arm imaging device performs exposure and acquisition to obtain a target scanning image of the target object. Based on the target puncture position, the target scanning image is marked to display the mark of the target puncture position on the target scanning image, thereby improving positioning accuracy and reducing the risk of injury caused by incorrect puncture angle or position.

[0083] In some embodiments, see Figure 4 The scanned image includes a three-dimensional reconstructed image, and determining the target puncture parameters based on the scanned image of the target object before puncture may include the following steps:

[0084] S410, obtaining an initial scan image sequence of the target object before puncture.

[0085] S420 , performing slice reconstruction based on the initial scan image sequence to generate a three-dimensional reconstructed image.

[0086] S430 , performing puncture path planning based on the three-dimensional reconstructed image to obtain target puncture parameters.

[0087] Specifically, a C-arm imaging device is used to expose and collect the target object before puncture to obtain raw imaging data, and then the raw imaging data is reconstructed to obtain an initial scan image sequence of the target object. Next, the initial scan image sequence is processed using an image reconstruction algorithm and reconstructed into a continuous three-dimensional volume data to obtain a three-dimensional reconstructed image. Then, the three-dimensional reconstructed image is analyzed to accurately observe the location, size, and relationship of the lesion with the surrounding tissue. Based on the image analysis results, combined with the spatial distribution of the lesion, the clinical requirements of the puncture point, and the presence of surrounding sensitive structures, the puncture path is planned. According to the results of the path planning, the specific parameters required during the puncture process will be automatically calculated to obtain the target puncture parameters. The target puncture parameters can be executed through the navigation system to ensure that the puncture operation can be performed accurately.

[0088] Exemplarily, the C-arm imaging device can be a DSA device. The DSA device collects data on the target object, obtains a CT-like image sequence, and sends the CT-like image sequence to a post-processing workstation. The post-processing workstation reconstructs the CT-like image sequence into a three-dimensional reconstructed image. Based on the three-dimensional reconstructed image, the post-processing workstation plans the appropriate puncture direction and puncture path, and calculates the target puncture parameters required for the operation.

[0089] In the above embodiment, an initial scanning image sequence of the target object before puncture is obtained, slice reconstruction is performed based on the initial scanning image sequence, a three-dimensional reconstructed image is generated, and a puncture path planning is performed based on the three-dimensional reconstructed image to obtain target puncture parameters in order to guide the puncture operation, thereby reducing errors and deviations and reducing surgical risks.

[0090] In some embodiments, see Figure 5a The target puncture parameters include a needle insertion angle, a target puncture position, and a target puncture depth. The scanned image includes a three-dimensional reconstructed image. Determining the target puncture parameters based on the scanned image of the target object before puncture may include the following steps:

[0091] S510: Determine a target puncture position corresponding to the lesion point based on the three-dimensional reconstructed image.

[0092] S520: Determine the target puncture depth based on the lesion point and the target puncture position.

[0093] S530, adjusting the angle of the three-dimensional reconstructed image, and determining the angle when the line of sight of the lesion point and the target puncture position are superimposed as the needle insertion angle.

[0094] Specifically, the line between the lesion point and the position on the human body surface where the puncture operation needs to be performed is used as the puncture path. Based on the three-dimensional reconstructed image, the position of the lesion point is obtained, and based on the position of the lesion point, the target puncture position is determined, and the line between the target puncture position and the lesion point is used as the puncture path. When selecting the target puncture position, try to make the puncture path not pass through important anatomical structures to avoid damage to important anatomical structures. Use a calculation method to determine the target puncture depth based on the relative position of the lesion point and the target puncture position. Next, the three-dimensional reconstructed image is rotated by using a mouse or controller to adjust the angle of the three-dimensional reconstructed image to observe the lesion point from different angles. In the process of adjusting the angle of the three-dimensional reconstructed image, when the lesion point and the target puncture position are visually aligned, that is, they overlap in the line of sight, the observation angle at this time is determined as the needle insertion angle. The three-dimensional reconstructed image is obtained by reconstructing the initial scanning image sequence. Each image in the initial scanning image sequence corresponds to the positioning information of the C-arm imaging device. The so-called positioning information is the position information of the frame during the image acquisition process. In this way, different angles of the three-dimensional reconstructed image can establish a relationship with the positioning of the C-arm imaging device. The relationship can be established by using the implementation method in the relevant technology. For example, the three-dimensional reconstructed image and the C-arm imaging device can be integrated in the same spatial coordinate system, which will not be repeated. Adjusting the angle of the three-dimensional reconstructed image actually adjusts the puncture positioning angle of the C-arm imaging device during the subsequent real-time scanning image acquisition. During the puncture process, the insertion angle of the puncture needle is perpendicular to the detection plane of the detector of the C-arm imaging device, and the plane where the detection plane is located is the projection plane of the target object. The real-time scanning image is actually an expression of the projection of the target object on the projection plane.

[0095] For example, the detector, beam guide, and lesion point are kept perpendicular. Figure 5b The line 506 between the center point of the detector 502 and the center point of the beam 504 is the center line of the DSA device. A straight line parallel to the center line of the DSA device passes through the lesion, and this straight line is actually the puncture path.

[0096] See also Figure 5c The post-processing workstation calculates the target puncture parameters when the lesion point and the target puncture position are superimposed on the three-dimensional reconstructed image and the line between the lesion point and the target puncture position is parallel to the center line of the device, and Figure 5c Needle insertion angle 508, target puncture position 510 and target puncture depth 512 are shown.

[0097] In the above-mentioned implementation, based on the three-dimensional reconstructed image, the target puncture position corresponding to the lesion point is determined, and based on the lesion point and the target puncture position, the target puncture depth is determined, and the angle of the three-dimensional reconstructed image is adjusted, and the angle when the line of sight of the lesion point and the target puncture position are superimposed is determined as the needle insertion angle to guide the puncture operation, thereby reducing errors and deviations and reducing surgical risks.

[0098] In some embodiments, see Figure 6 , projecting a puncture auxiliary matrix on the target object, and adjusting the puncture needle position based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and the real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position, which may include the following steps:

[0099] S610: Determine an initial puncture position of the puncture needle based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix.

[0100] The center line of the C-arm imaging device passes through the target puncture position and the center of the puncture auxiliary matrix, and the center of the puncture auxiliary matrix is ​​determined as the initial puncture position.

[0101] Specifically, the puncture auxiliary matrix is ​​projected onto the target object. Since the center line of the C-arm imaging device passes through the target puncture position and the center of the puncture auxiliary matrix, the center of the puncture auxiliary matrix can indicate the target puncture position, thereby establishing a positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix.

[0102] S620: Determine the relative position of the mark of the target puncture position and the puncture needle marker according to the real-time puncture image acquired by the C-arm imaging device.

[0103] The real-time puncture image includes a mark of the target puncture position and a puncture needle identifier.

[0104] Specifically, due to the puncture positioning error of the C-arm imaging device, the projection error of the puncture auxiliary matrix, the movement of the target object, etc., the initial puncture position determined by the puncture auxiliary matrix may be inaccurate. Next, the C-arm imaging device is used to expose and capture the target object at the puncture positioning position to obtain a real-time puncture image including a mark of the target puncture position and a puncture needle identifier. The puncture needle identifier is actually the display of the puncture needle on the real-time puncture image. By analyzing the real-time puncture image, the actual situation of the puncture needle and the target puncture position is determined based on the relative position between the puncture needle identifier and the mark of the target puncture position. If the puncture needle identifier and the mark of the target puncture position overlap, the initial puncture position is the target puncture position, that is, the puncture needle reaches the target puncture position. If the puncture needle identifier and the mark of the target puncture position do not overlap, steps S630 and S640 are performed.

[0105] S630: According to the relative position of the puncture needle identifier and the mark of the target puncture position, the adjustment position of the puncture needle is determined under the guidance of the puncture auxiliary matrix.

[0106] Specifically, if there is a deviation in the positional relationship between the puncture needle identifier and the mark of the target puncture position on the real-time puncture image, it indicates that the puncture needle has not been accurately positioned at the position where the puncture operation needs to be performed, that is, the target puncture position. In this case, it is necessary to use the puncture auxiliary matrix for guidance based on the deviation between the puncture needle identifier and the mark of the target puncture position to determine the direction and approximate distance that the puncture needle needs to be adjusted. Then, under the guidance of the puncture auxiliary matrix, the position of the puncture needle is adjusted according to the direction and approximate distance that need to be adjusted without moving the bed, so as to determine the adjusted position of the puncture needle on the surface of the target object.

[0107] S640: Repeat the operation of acquiring the real-time puncture image and adjusting the position of the puncture needle. When the puncture needle identifier overlaps with the mark of the target puncture position, the puncture needle reaches the target puncture position.

[0108] Specifically, when the puncture needle is in the adjusted position, it is necessary to re-use the C-arm imaging device to expose and capture the target object in the puncture position to obtain a real-time puncture image including the mark of the target puncture position and the puncture needle identifier. Then, on the real-time puncture image obtained again, the puncture needle identifier and the mark of the target puncture position are determined. Then, according to the relative position of the puncture needle identifier and the mark of the target puncture position, the adjustment position of the puncture needle is determined. If there is no deviation in the positional relationship between the puncture needle identifier and the mark of the target puncture position, that is, the puncture needle identifier overlaps with the mark of the target puncture position, indicating that the puncture needle has reached the position for performing the puncture operation, that is, the target puncture position, then the operation of adjusting the puncture needle position is stopped. If there is still a deviation in the positional relationship between the puncture needle identifier and the mark of the target puncture position, the acquired real-time puncture image and the puncture needle adjustment position operation are repeated until the puncture needle identifier overlaps with the mark of the target puncture position.

[0109] In the above embodiment, the initial puncture position of the puncture needle is determined based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, the relative position of the mark of the target puncture position and the puncture needle identifier is determined according to the real-time puncture image acquired by the C-arm imaging device, and the adjustment position of the puncture needle is determined under the guidance of the puncture auxiliary matrix according to the relative position of the puncture needle identifier and the mark of the target puncture position, thereby improving the operation efficiency. Then, the real-time puncture image acquired and the puncture needle position adjustment operation are repeatedly performed, and when the puncture needle identifier overlaps with the mark of the target puncture position, the puncture needle reaches the target puncture position.

[0110] In some embodiments, after the puncture needle reaches the target puncture position, the projection direction of the puncture auxiliary matrix represents the insertion angle of the puncture needle, and the projection direction can be visually identified. The method may also include: executing the insertion action of the puncture needle while controlling the puncture needle to be parallel to the projection direction of the puncture auxiliary matrix.

[0111] Specifically, the projection direction of the puncture auxiliary matrix is ​​parallel to the center line of the C-arm imaging device, indicating that after determining the position where the puncture needle needs to perform the puncture operation, the puncture needle can be made to perform the puncture operation parallel to the projection direction of the puncture auxiliary matrix to reach the lesion point. Therefore, when the puncture needle reaches the target puncture position, since the projection direction can be visually identified, the inclination angle of the puncture needle can be adjusted according to the projection direction of the puncture auxiliary matrix, so that the puncture needle is parallel to the projection direction of the puncture auxiliary matrix, and then the puncture needle insertion action is performed.

[0112] For example, the matrix projection device can be deployed at the edge of the detector. Figure 7a The DSA device includes a matrix projection device 702 and a detector 704 , and the matrix projection device 702 is arranged on the detector 704 .

[0113] See also Figure 7b , the matrix projection device 702 projects the puncture auxiliary matrix on the target object, based on the real-time puncture image including the mark of the target puncture position and the puncture needle mark acquired at the puncture position, when the puncture needle mark overlaps with the mark of the target puncture position, the puncture needle reaches the target puncture position 708. The needle tip of the puncture needle 710 is fixed at the target puncture position 708, and the puncture needle 710 is controlled to be parallel to the projection direction of the puncture auxiliary matrix, and the puncture needle 710 is inserted into the needle.

[0114] In the above embodiment, the puncture needle is inserted into the puncture needle while being controlled to be parallel to the projection direction of the puncture auxiliary matrix, thereby enhancing the convenience of operation.

[0115] In some embodiments, the projection direction of the puncture auxiliary matrix is ​​determined in the following manner: the position of the matrix projection device is converted according to the center point of the detector to determine the projection direction of the matrix projection device.

[0116] The projection direction is perpendicular to the detection plane of the detector.

[0117] Specifically, according to the current position of the detector, the coordinate position of the center point of the detector is calculated. Next, according to the relative position between the center point of the detector and the matrix projection device, the angle when the projection direction of the matrix projection device is perpendicular to the detection plane of the detector is calculated and determined as the projection direction of the matrix projection device.

[0118] For example, see Figure 8 The puncture auxiliary matrix takes the detector center point ISOCenter as the coordinate origin, converts the position of the matrix projection device according to the detector center point ISOCenter, and determines the projection angle of the matrix projection device.

[0119] In the above embodiment, the position of the matrix projection device is converted according to the center point of the detector to determine the projection direction of the matrix projection device, which is used to subsequently guide the puncture needle and determine the insertion angle of the puncture needle, thereby simplifying the operation and improving efficiency and accuracy.

[0120] In some embodiments, see Figure 9a The C-arm imaging device further includes an image acquisition device, the target puncture parameter includes a target puncture depth, and the method may further include the following steps:

[0121] S910: Determine the real-time puncture depth of the puncture needle based on the image acquisition device during the puncture operation.

[0122] S920: When the real-time puncture depth reaches the target puncture depth, the puncture operation is completed.

[0123] Specifically, after the insertion of the puncture needle, the puncture needle is slowly inserted into the target object. During the puncture operation, an image acquisition device is used to acquire images of the puncture area in real time. The real-time image is analyzed by an image processing algorithm to accurately monitor the relative depth of the puncture needle and calculate the real-time length of the puncture needle. The total length of the puncture needle is subtracted from the real-time length of the puncture needle to obtain the real-time puncture depth corresponding to the puncture needle. During the puncture process, when the real-time puncture depth reaches the target puncture depth, a visual or sound reminder is issued to prompt the operator to complete the puncture operation. The image acquisition device can be any one of a camera and a fisheye camera.

[0124] In some embodiments, the camera can track and calculate the length and position of the puncture needle in real time through monocular vision or stereoscopic vision technology combined with deep learning algorithms. The surface of the puncture needle is engraved with obvious scale marks, and the camera uses image recognition technology to read these scales in real time to assist in determining whether the puncture needle has reached the target puncture depth.

[0125] For example, the image acquisition device can be deployed at the edge of the detector. Figure 7a The DSA device includes an image acquisition device 706 and a detector 704, and the image acquisition device 706 is arranged on the edge of the detector 704. Figure 9b , Figure 9b There are many types of puncture needles shown in the table, which are designed differently to meet different clinical needs. Fig.9c , Fig.9c The needle tube scale markings of the puncture needle are displayed. This scale system is used to indicate the puncture depth, enhancing the operator's controllability and safety during the puncture process.

[0126] In the above embodiment, during the puncture operation, the real-time puncture depth corresponding to the puncture needle is determined based on the image acquisition device, and the puncture operation is completed when the real-time puncture depth reaches the target puncture depth, thereby ensuring the accuracy of the puncture operation and reducing errors.

[0127] In some embodiments, the method further includes: displaying the puncture auxiliary matrix in equal proportion with the target scan image and / or the real-time puncture scan image.

[0128] Specifically, the puncture auxiliary matrix is ​​matched with the target scan image or the real-time puncture scan image by proportional fusion, so as to present the visualization information of the target puncture position and the puncture needle in an appropriate proportion. With this fusion display, puncture guidance can be performed more accurately under the guidance of intuitive images.

[0129] In some embodiments, single and multiple needle trajectory planning is supported for assisted puncture. Fig.10 , Fig.10Multi-needle trajectory planning-assisted puncture was demonstrated.

[0130] In some embodiments, a matrix projection device is used to implement multi-needle trajectory planning and assisted puncture. In this way, only one puncture needle is guided at a time. After the planning and guidance of the current puncture needle is completed, the projection direction of the matrix projection device is adjusted to adapt to the next puncture operation.

[0131] In other embodiments, there may be multiple matrix projection devices, so as to achieve simultaneous guidance of multiple puncture needles. In this way, each matrix projection device corresponds to the guidance of one puncture needle, and the projection direction of each device is consistent with the insertion angle of the corresponding puncture needle, so that multiple puncture needles can perform puncture guidance operations simultaneously.

[0132] This specification provides a navigation puncture device 1100, see Fig.11 The navigation puncture device 1100 includes: a puncture parameter acquisition module 1110 , an image acquisition and annotation module 1120 , and a puncture position determination module 1130 .

[0133] A puncture parameter acquisition module 1110, used to acquire target puncture parameters, wherein the target puncture parameters are determined based on a scanned image of the target object before puncture;

[0134] An image acquisition and annotation module 1120 is used to control a C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameter, and mark a target puncture position on the target scan image;

[0135] The puncture position determination module 1130 is used to project a puncture auxiliary matrix on the target object, and adjust the puncture needle position based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, as well as the real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position.

[0136] For a detailed description of the navigation puncture device, please refer to the description of the navigation puncture method above, which will not be repeated here.

[0137] An embodiment of the present specification provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

[0138] One embodiment of the present specification provides a computer program product, which includes instructions. When the instructions are executed by a processor of a computer device, the computer device can perform the steps of the method of any of the above embodiments.

[0139] In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.12 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a navigation puncture method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0140] Those skilled in the art will understand that Fig.12 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution disclosed in this specification, and does not constitute a limitation on the computer device to which the solution disclosed in this specification is applied. Specifically, the computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0141] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

Claims

1. A navigation puncture method, characterized in that: The method comprises: Acquiring target puncture parameters, wherein the target puncture parameters are determined based on a scanned image of the target object before puncture; Controlling a C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameter, and marking a target puncture position on the target scan image; A puncture auxiliary matrix is ​​projected onto the target object, and based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and the real-time puncture image acquired by the C-arm imaging device, the puncture needle position is adjusted so that the puncture needle reaches the target puncture position.

2. The method according to claim 1, characterized in that The target puncture parameters include a needle insertion angle and a target puncture position, and the step of controlling a C-arm imaging device based on the target puncture parameters to acquire a target scan image of the target object and marking the target puncture position on the target scan image includes: Based on the needle insertion angle, control the frame of the C-arm imaging device to move to the puncture positioning position, wherein the center line of the C-arm imaging device at the puncture positioning position is parallel to the needle insertion direction, and the center line of the C-arm imaging device passes through the target puncture position, and the center line of the C-arm imaging device is the line between the center point of the detector and the center point of the harness; In the puncture positioning position, the C-arm imaging device performs exposure acquisition to obtain a target scan image of the target object; Based on the target puncture position, the target scan image is marked to display a mark of the target puncture position on the target scan image.

3. The method according to claim 1, characterized in that: Projecting a puncture auxiliary matrix on the target object, and adjusting the puncture needle position based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and the real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position, including: Determine an initial puncture position of the puncture needle based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, wherein the center line of the C-arm imaging device passes through the target puncture position and the center of the puncture auxiliary matrix, and the center of the puncture auxiliary matrix is ​​determined as the initial puncture position; Determining the relative position of the puncture needle identifier and the mark of the target puncture position according to the real-time puncture image acquired by the C-arm imaging device, wherein the real-time puncture image includes the mark of the target puncture position and the puncture needle identifier; If the puncture needle marker overlaps with the mark of the target puncture position, the puncture needle reaches the target puncture position.

4. The method according to claim 3, characterized in that The method further comprises: If the puncture needle identifier does not overlap with the mark of the target puncture position, the adjustment position of the puncture needle is determined under the guidance of the puncture auxiliary matrix according to the relative position of the puncture needle identifier and the mark of the target puncture position; The real-time puncture image and the position adjustment operation of the puncture needle are repeatedly performed, and when the puncture needle mark overlaps with the mark of the target puncture position, the puncture needle reaches the target puncture position.

5. The method according to claim 3, characterized in that: The projection direction of the puncture auxiliary matrix represents the insertion angle of the puncture needle, and the projection direction can be visually identified. After the puncture needle reaches the target puncture position, the method further includes: The puncture needle is inserted into the puncture area while being controlled to be parallel to the projection direction of the puncture auxiliary matrix.

6. The method according to claim 5, characterized in that The projection direction of the puncture auxiliary matrix is ​​determined by: The position of the matrix projection device is converted according to the center point of the detector to determine the projection direction of the matrix projection device, wherein the projection direction is perpendicular to the detection plane of the detector.

7. The method according to any one of claims 1 to 6, characterized in that: The target puncture parameters include a needle insertion angle, a target puncture position, and a target puncture depth. The scanned image includes a three-dimensional reconstructed image. The target puncture parameters are determined based on the scanned image of the target object before puncture, including: Based on the three-dimensional reconstructed image, determining the target puncture position corresponding to the lesion point; Determining the target puncture depth based on the lesion point and the target puncture position; The angle of the three-dimensional reconstructed image is adjusted, and the angle when the sight lines of the lesion point and the target puncture position are superimposed is determined as the needle insertion angle.

8. The method according to any one of claims 1 to 6, characterized in that: The C-arm imaging device further includes an image acquisition device, the target puncture parameter includes a target puncture depth, and the method further includes: During the puncture operation, determining the real-time puncture depth corresponding to the puncture needle based on the image acquisition device; When the real-time puncture depth reaches the target puncture depth, the puncture operation is completed.

9. The method according to any one of claims 1 to 6, characterized in that: Also includes: The puncture auxiliary matrix is ​​fused with the target scanning image and / or the real-time puncture scanning image in equal proportion and displayed.

10. A navigation puncture device, characterized in that: The device comprises: a puncture parameter acquisition module, used to acquire target puncture parameters, wherein the target puncture parameters are determined based on a scanned image of the target object before puncture; An image acquisition and annotation module, used for controlling a C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameter, and marking a target puncture position on the target scan image; The puncture position determination module is used to project a puncture auxiliary matrix on the target object, and adjust the puncture needle position based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and the real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

Images