Navigation puncture method, device, equipment and storage medium

Abstract

The present application relates to the technical field of puncture navigation, and discloses a navigation puncture method, device, equipment and storage medium. First, based on the scan image of the target object before puncture, the target puncture parameter is obtained. Then, based on the target puncture parameter, the C-arm imaging device is controlled to obtain the target scan image of the target object, and the target puncture position is marked on the target scan image, so that the target puncture position is visualized, thereby providing an intuitive reference for subsequent operations. Then, the 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 scan image and the puncture auxiliary matrix, and the real-time puncture image obtained by the C-arm imaging device, the position of the puncture needle is adjusted so that the puncture needle reaches the target puncture position. Through real-time feedback and dynamic adjustment, the accuracy of the puncture operation is improved. At the same time, the above operation avoids the bed moving operation, thereby enhancing the convenience of the operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of puncture navigation, in particular to a navigation puncture method, device, equipment and storage medium. BACKGROUND

[0002] When performing pathological examination and thoracic and abdominal puncture surgery in a composite operating room, puncture guiding technology is usually needed to improve the accuracy and safety of puncture operation.

[0003] In related technologies, infrared cross laser lamps are used for puncture auxiliary positioning. Although the accuracy of using infrared cross laser lamps for puncture auxiliary positioning is high, in the process of puncture navigation, the patient's body surface puncture mark often needs to be overlapped with the laser point by moving the operating bed, which increases the complexity of operation. At the same time, the bed body action or noise of moving the operating bed may cause discomfort to the patient and increase the risk of puncture. SUMMARY

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

[0005] The embodiments of the present specification provide a navigation puncture method, which comprises:

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

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

[0008] Projecting a puncture auxiliary matrix on the target object, and adjusting the position of a puncture needle based on the position relationship between the target puncture position marked on the target object and the puncture auxiliary matrix, and a real-time puncture image obtained by the C-arm imaging device, so that the puncture needle reaches the target puncture position.

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

[0010] controlling a gantry of the C-arm imaging device to move to a puncture positioning position based on the needle insertion angle, wherein a 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, the center line of the C-arm imaging device being a line between a center point of a detector and a center point of a beamformer;

[0011] exposure acquisition is performed by the C-arm imaging device at the puncture positioning position to obtain a target scan image of the target object;

[0012] annotation is performed on the target scan image based on the target puncture position to display a mark of the target puncture position on the target scan image.

[0013] In one of the embodiments, the target object is projected with a puncture auxiliary matrix, and based on the position relationship between the mark of the target puncture position on the target scan image and the puncture auxiliary matrix, and a real-time puncture image obtained by the C-arm imaging device, the position of the puncture needle is adjusted to make the puncture needle reach the target puncture position, which includes:

[0014] determining an initial puncture position of the puncture needle based on the position 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 a center of the puncture auxiliary matrix, and the center of the puncture auxiliary matrix is determined as the initial puncture position;

[0015] determining a relative position between a puncture needle mark and the mark of the target puncture position according to a real-time puncture image obtained by the C-arm imaging device, wherein the real-time puncture image includes the mark of the target puncture position and the puncture needle mark;

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

[0017] In one of the embodiments, the method further includes:

[0018] if the puncture needle mark does not overlap with the mark of the target puncture position, determining an adjusted position of the puncture needle according to the relative position between the puncture needle mark and the mark of the target puncture position under the guidance of the puncture auxiliary matrix;

[0019] repeating the operations of obtaining the real-time puncture image and the adjusted position of the puncture needle, and in the case that the puncture needle mark overlaps with the mark of the target puncture position, the puncture needle reaches the target puncture position.

[0020] In one of the embodiments, the target puncture parameters include a needle insertion angle, a target puncture position and a target puncture depth, the scanning image includes a three-dimensional reconstruction image, the target puncture parameters are determined based on the scanning image of the target object before puncture, and the determination includes:

[0021] Based on the three-dimensional reconstruction image, a target puncture position corresponding to the lesion point is determined.

[0022] Based on the lesion point and the target puncture position, the target puncture depth is determined.

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

[0024] In one of the embodiments, after the puncture needle reaches the target puncture position, the projection direction of the puncture assistance matrix represents the needle insertion angle of the puncture needle, the projection direction can be visually recognized, and the method further includes:

[0025] The needle insertion action of the puncture needle is performed under the control of the puncture needle parallel to the projection direction of the puncture assistance matrix.

[0026] In one of the embodiments, the projection direction of the puncture assistance 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 of the embodiments, the C-arm imaging device further includes an image acquisition device, the target puncture parameters include a target puncture depth, and the method further includes:

[0029] During the puncture operation, the real-time puncture depth corresponding to the puncture needle is determined 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 of the embodiments, the method further includes:

[0032] The puncture assistance matrix is displayed in a proportional fusion manner with the target scanning image and / or a real-time puncture scanning image.

[0033] The embodiments of the present specification provide a navigation puncture device, and the device includes:

[0034] A puncture parameter acquisition module is configured to acquire target puncture parameters, wherein the target puncture parameters are determined based on scanning images of a target object before puncture.

[0035] an image acquisition marking module, configured 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;

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

[0037] The method of any one of the preceding method embodiments can be implemented by a computer device. The computer device comprises a memory and one or more processors in communication with the memory. The memory stores instructions executable by the one or more processors. The one or more processors execute the instructions to implement the steps of the method.

[0038] The method of any one of the preceding method embodiments can be implemented by a computer device. The computer device comprises a memory and one or more processors in communication with the memory. The memory stores instructions executable by the one or more processors. The one or more processors execute the instructions to implement the steps of the method.

[0039] The method of any one of the preceding method embodiments can be implemented by a computer device. The computer device comprises a memory and one or more processors in communication with the memory. The memory stores instructions executable by the one or more processors. The one or more processors execute the instructions to implement the steps of the method.

[0040] In the above embodiments, first, the target puncture parameter is obtained based on the scan image of the target object before puncture. The target puncture parameter will serve as the basis for subsequent puncture operation, ensuring that the puncture operation can be accurately and reliably performed. Then, the target scan image of the target object is obtained based on the target puncture parameter control C-arm imaging device, and the target puncture position is marked on the target scan image, which provides intuitive reference for subsequent operation through visualizing the target puncture position. Next, the puncture auxiliary matrix is projected on the target object as an auxiliary positioning tool. Finally, based on the position relationship between the target puncture position marking on the target scan image and the puncture auxiliary matrix, and the real-time puncture image obtained by the C-arm imaging device, the position of the puncture needle is adjusted to make the puncture needle reach the target puncture position. Through real-time feedback and dynamic adjustment, the accuracy of the puncture operation is improved. At the same time, since the puncture auxiliary matrix covers the surface of the target object at the puncture position, the puncture auxiliary matrix can provide navigation information such as the target puncture position, moving direction and moving distance, and the position relationship between the target puncture position marking and the puncture auxiliary matrix can guide the position adjustment of the puncture needle, which can avoid the bed moving operation compared with the guiding mode of the laser line in the related art, thereby reducing the discomfort of the patient caused by the bed moving, enhancing the convenience of the operation, and helping the medical staff to improve the operation safety. In addition, the above embodiments provide intuitive operation demonstration, which is suitable for teaching and clinical guidance. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 Flowchart of the navigation puncture method provided by the embodiments of the present specification;

[0042] Figure 2 Flowchart of the navigation puncture method provided by the embodiments of the present specification;

[0043] Figure 3a Flowchart of the navigation puncture method provided by the embodiments of the present specification;

[0044] Figure 3b Flowchart of the navigation puncture method provided by the embodiments of the present specification;

[0045] Figure 3c Flowchart of the navigation puncture method provided by the embodiments of the present specification;

[0046] Figure 4 Flowchart of the navigation puncture method provided by the embodiments of the present specification;

[0047] Figure 5a Flowchart of the navigation puncture method provided by the embodiments of the present specification;

[0048] Figure 5bA schematic diagram of a center line of a DSA device provided for 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 of a puncture needle reaching a target puncture position provided for an embodiment of the present specification;

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

[0052] Figure 7b A schematic diagram of determining an entry angle of a puncture needle provided for an embodiment of the present specification;

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

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

[0055] Figure 9b A schematic diagram of various types of puncture needles provided for an embodiment of the present specification;

[0056] Figure 9c A schematic diagram of a needle tube scale mark of a puncture needle provided for an embodiment of the present specification;

[0057] Figure 10 A schematic diagram of a multi-needle trajectory planning assisted puncture provided for an embodiment of the present specification;

[0058] Figure 11 A schematic diagram of a navigation puncture device provided for an embodiment of the present specification;

[0059] Figure 12 An internal structure diagram of a computer device provided for an embodiment of the present specification. DETAILED DESCRIPTION

[0060] Embodiments of the present application are described in detail below with reference to the attached drawings, which show by way of example, embodiments in which the same or similar elements have the same or similar reference numbers. The embodiments described below are examples intended to explain the present application, and are not to be understood as limiting the present application.

[0061] There are several significant drawbacks to traditional puncture methods when performing pathological examinations and thoracic and abdominal puncture procedures in a hybrid operating room, including low puncture accuracy, high dependence on physician experience, long procedure times, and high patient radiation doses.

[0062] When performing interventional procedures in a hybrid operating room, physicians typically mark the patient's body surface accurately after completing a three-dimensional scan. Conventional methods include using self-adhesive labels and markers to draw on the skin to ensure the accuracy of the puncture site. Physicians then operate the puncture needle based on the markings to perform the puncture. However, when using other materials for marking, multiple adjustments and erasures are often required, which not only increases the complexity of the operation but also causes additional burdens for the patient and the operator. Furthermore, this method lacks precise references and cannot provide real-time angle references, relying entirely on the experience of the operator.

[0063] During the assisted puncture process, a traditional infrared cross laser light is used for precise positioning, and its laser point is usually fixed. When performing puncture navigation, physicians need to move the operating table to align the puncture marks on the patient's body surface with the laser point. In a digital subtraction angiography (DSA) configuration, the movement of the catheter table is adjusted by a manual shaft. This means that the operator must manually move the table to ensure that the laser point is aligned with the marks. Since this method relies entirely on manual operation, the accuracy of the puncture is low. At the same time, this process can generate significant noise, affecting the patient's comfort experience under local anesthesia. If the operating table is not moved, but the cross center point of the laser light is adjusted, the position of the laser light needs to be constantly calibrated to ensure that it is aligned with the puncture marks. This approach not only increases the complexity of the operation but also can cause more errors, thus requiring a higher level of skill and experience.

[0064] Based on this, the embodiment of the present specification provides a navigation puncture method. First, based on the scan image of the target object before puncture, the target puncture parameter is obtained. The target puncture parameter will be the basis for subsequent execution of puncture operation, ensuring that the puncture operation can be accurately and reliably performed. Then, based on the target puncture parameter, the C-arm imaging device is controlled to obtain the target scan image of the target object, and the target puncture position is marked on the target scan image, and the target puncture position is visualized to provide intuitive reference for subsequent operation. Next, the puncture auxiliary matrix is projected on the target object as an auxiliary positioning tool. Finally, based on the position relationship between the target puncture position marked on the target scan image and the puncture auxiliary matrix, and the real-time puncture image obtained by the C-arm imaging device, the position of the puncture needle is adjusted to make the puncture needle reach the target puncture position. Through real-time feedback and dynamic adjustment, the accuracy of the puncture operation is improved. At the same time, since the puncture auxiliary matrix covers the surface of the target object at the puncture position, the puncture auxiliary matrix can provide navigation information such as puncture target position, moving direction and moving distance, and the position relationship between the target puncture position marked and the puncture auxiliary matrix can guide the position adjustment of the puncture needle, compared with the guiding mode of the laser line in the related art, the bed moving operation can be avoided, thereby reducing the discomfort of the patient caused by the bed moving, enhancing the convenience of the operation, and helping the medical staff to improve the operation safety. In addition, the above embodiment provides intuitive operation demonstration, which is suitable for teaching and clinical guidance.

[0065] The navigation puncture method of the embodiment of the present specification is applied to a C-arm imaging device, and DSA is one of the C-arm imaging devices. Taking DSA as an example, please refer to Figure 1 , the DSA device first performs CT-like scanning to obtain CT-like scanning data. Then, the DSA device sends the CT-like scanning 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 parameter, wherein the target puncture parameter can include the needle insertion angle and the target puncture position. The post-processing workstation sends the target puncture parameter to the DSA device. Then the DSA device starts the puncture path back function, presses the forward control remote sensing, controls the gantry of the DSA device to move to the puncture positioning position based on the needle insertion angle, and opens the matrix projection device to project the puncture auxiliary matrix on the target object.

[0066] In the puncture positioning position, exposure collection is performed by the DSA device to obtain a target scan image of the target object. Based on the position relationship between the target puncture position mark on the target scan image and the puncture auxiliary matrix, and the real-time puncture image obtained by the DSA device, the position of the puncture needle is adjusted to make the puncture needle reach the target puncture position. In the case of controlling the puncture needle to be parallel to the projection direction of the puncture auxiliary matrix, the needle entry action of the puncture needle is performed. Based on the image acquisition device during the execution of the puncture operation, the real-time puncture depth corresponding to the puncture needle is determined. In the case where the real-time puncture depth reaches the target puncture depth, the puncture operation is completed.

[0067] The embodiments of the present specification provide a navigation puncture method, please refer to Figure 2 The navigation puncture method can include the following steps:

[0068] S210, target puncture parameters are obtained.

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

[0070] Specifically, first, the scan image of the target object is obtained by using the C-arm imaging device. In the scan image, according to the clinical judgment and the specific position of the lesion point, the target puncture point is selected. At this time, it is necessary to ensure that the selection of the target puncture point can be closest to the lesion point, and the important structure on the puncture path is avoided to be damaged. The computer-aided tool (such as virtual reality or augmented reality technology) is used to simulate the puncture path, to ensure that the path is smooth and maintains a safe distance with the anatomical structure. Based on the information of the target puncture point and the lesion point information, the target puncture depth and the needle entry angle and other information are determined. Therefore, the target puncture parameters can include the target puncture depth, the needle entry angle and the target puncture position.

[0071] S220, based on the target puncture parameters, the C-arm imaging device is controlled to obtain a target scan image of the target object, and a target puncture position mark is performed on the target scan image.

[0072] S230, the puncture auxiliary matrix is projected on the target object, and based on the position relationship between the target puncture position mark on the target scan image and the puncture auxiliary matrix, and the real-time puncture image obtained by the C-arm imaging device, the position of the puncture needle is adjusted to make the puncture needle reach the target puncture position.

[0073] Specifically, based on the target puncture parameters, the C-arm imaging device is controlled to perform target scanning to obtain a target scan image of the target object. The C-arm imaging device can generate a clear image of the blood vessels and surrounding tissues in real time, providing the information required by the doctor, thereby ensuring the accuracy of the puncture. Based on the target puncture parameters, a mark of the target puncture position is labeled on the target scan image. Then, a puncture assistance matrix is projected on the target object. When performing puncture navigation, based on the puncture assistance matrix projected on the target object, in combination 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 position of the puncture needle so that the puncture needle reaches the target puncture position. Through this method, the puncture position can be adjusted in real time during the puncture operation on the target object to ensure accurate arrival at the lesion point.

[0074] In the above embodiments, first, based on the scan image of the target object before puncture, the target puncture parameters are obtained. The target puncture parameters will serve as the basis for subsequent puncture operations, ensuring 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 scan image of the target object, and the target puncture position is marked on the target scan image, providing an intuitive reference for subsequent operations by visualizing the target puncture position. Next, a puncture assistance matrix is projected on the target object as an auxiliary positioning tool, which can be grid-shaped. Finally, based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture assistance matrix, and the real-time puncture image obtained by the C-arm imaging device, the position of the puncture needle is adjusted to make the puncture needle reach the target puncture position. Through real-time feedback and dynamic adjustment, the accuracy of the puncture operation is improved. At the same time, since the puncture assistance matrix covers the surface of the target object at the puncture position, the puncture assistance matrix can provide navigation information such as the target puncture position, the moving direction, and the moving distance, and the positional relationship between the mark of the target puncture position and the puncture assistance matrix can guide the adjustment of the position of the puncture needle, which can avoid the bed moving operation compared to the guiding method of the laser line in the related art, thereby reducing the discomfort of the patient caused by the bed moving, enhancing the convenience of the operation, and helping medical personnel to improve the safety of the operation. In addition, the above embodiments provide intuitive operation demonstration, which is suitable for teaching and clinical guidance.

[0075] In some embodiments, referring to Figure 3a , the target puncture parameters include a needle insertion angle and a target puncture position, and based on the target puncture parameters, the C-arm imaging device is controlled to obtain a target scan image of the target object, and the target puncture position is marked on the target scan image, which can include the following steps:

[0076] S310, based on the needle insertion angle, the gantry of the C-arm imaging device is controlled to move to a puncture positioning position.

[0077] S320, exposure collection is performed by the C-arm imaging device at the puncture positioning position to obtain a target scan image of the target object.

[0078] S330, based on the target puncture position, a mark of the target puncture position is displayed on the target scan image.

[0079] The center line of the C-arm imaging device at 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 a line connecting the center point of the detector and the center point of the line source.

[0080] Specifically, the needle insertion angle can provide a better needle insertion field of view, so that the alignment between the lesion point and the puncture path is 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 depresses the front push rocker to start the motion system of the gantry of the C-arm imaging device. The gantry of the C-arm imaging device is controlled to move based on the setting information of the needle insertion angle to ensure that the gantry can be accurately positioned at 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, exposure collection can be performed by the C-arm imaging device after the gantry of the C-arm imaging device moves to the puncture positioning position 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 in the line of sight on the target scan image, that is, the lesion point position on the target scan image is the target puncture position, and the target puncture position reflects the needle insertion position of the puncture needle on the body surface of the target object. After obtaining the target scan image, the position corresponding to the target puncture position is determined and marked on the target scan image according to the coordinates of the target puncture position, so as to display the mark of the target puncture position on the target scan image. Exemplarily, please refer to Figure 3b , Figure 3b in FIG. 3B, a mark 302 of the target puncture position is displayed.

[0081] It should be noted that, please refer to Figure 3c after the gantry of the C-arm imaging device moves to the puncture positioning position, the matrix projection device 304 at the puncture positioning position projects a puncture auxiliary matrix 306 on the target object, so as to subsequently 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 gantry of the C-arm imaging device is controlled to move to a puncture positioning position, and under the puncture positioning position, exposure collection is performed by the C-arm imaging device to obtain a target scan image of the target object. Based on the target puncture position, a mark is labeled on the target scan image to display the target puncture position on the target scan image, thereby improving positioning accuracy and reducing the risk of injury caused by incorrect puncture angle or position.

[0083] In some embodiments, referring to Figure 4 , the scan image includes a three-dimensional reconstruction image, and determining the target puncture parameter based on the scan image of the target object before puncture can 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 reconstruction image.

[0086] S430, planning a puncture path based on the three-dimensional reconstruction image to obtain a target puncture parameter.

[0087] Specifically, the C-arm imaging device is used to expose and collect the target object before puncture to obtain original imaging data, and then the original 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 to reconstruct a continuous three-dimensional volume data to obtain a three-dimensional reconstruction image. Then, the three-dimensional reconstruction image is analyzed to accurately observe the position, size and relationship with the surrounding tissue of the lesion point. Based on the image analysis result, combined with the spatial distribution of the lesion point, the clinical requirements of the puncture point, and the existence of the surrounding sensitive structure, the puncture path is planned. According to the result of the path planning, the specific parameters required in the puncture process are automatically calculated to obtain the target puncture parameter. The target puncture parameter can be executed through the navigation system to ensure that the puncture operation can be accurately performed.

[0088] Exemplarily, the C-arm imaging device can be a DSA device. The DSA device collects data of the target object to obtain a CT-like image sequence and sends the CT-like image sequence to a post-processing workstation. The post-processing workstation performs slice reconstruction on the CT-like image sequence to form a three-dimensional reconstruction image. Based on the three-dimensional reconstruction image, the post-processing workstation plans a suitable puncture direction and puncture path, and calculates the target puncture parameter required for the operation.

[0089] In the above implementation, an initial scan image sequence of the target object before puncture is acquired, slice reconstruction is performed based on the initial scan image sequence, a three-dimensional reconstruction image is generated, puncture path planning is performed based on the three-dimensional reconstruction image, and target puncture parameters are obtained to guide the puncture operation, thereby reducing errors and deviations and reducing the risk of surgery.

[0090] In some embodiments, referring to Figure 5a , the target puncture parameters include a needle insertion angle, a target puncture position, and a target puncture depth, the scan image includes a three-dimensional reconstruction image, and determining the target puncture parameters based on the scan image of the target object before puncture can include the following steps:

[0091] S510, determining a target puncture position corresponding to the lesion point based on the three-dimensional reconstruction image.

[0092] S520, determining a target puncture depth based on the lesion point and the target puncture position.

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

[0094] Specifically, a line connecting the lesion point and the position on the human body surface where the puncture operation needs to be performed is taken as the puncture path. Based on the three-dimensional reconstruction image, the lesion point position is obtained, based on the lesion point position, the target puncture position is determined, and the line connecting the target puncture position and the lesion point is taken as the puncture path. When selecting the target puncture position, the puncture path is preferably made not to pass through important anatomical structures to avoid damage to important anatomical structures. The target puncture depth is determined according to the relative position of the lesion point and the target puncture position using a calculation method. Next, the three-dimensional reconstruction image is rotated by using a mouse or a controller to adjust the angle of the three-dimensional reconstruction image to observe the lesion point from different angles. During the adjustment of the angle of the three-dimensional reconstruction image, when the lesion point and the target puncture position are visually aligned, that is, they overlap in the line-of-sight direction, the observation angle at this time is determined as the needle insertion angle. The three-dimensional reconstruction image is obtained by reconstruction of an initial scan image sequence, and the position information of the gantry in the image acquisition process, that is, the so-called positioning information, is corresponding in each image in the initial scan image sequence. In this way, the different angles of the three-dimensional reconstruction image can be related to the positioning of the C-arm imaging device, and the relationship can be established in the manner implemented in the related art, for example, the three-dimensional reconstruction image and the C-arm imaging device can be fused in the same spatial coordinate system, which will not be described herein. Adjusting the angle of the three-dimensional reconstruction image actually adjusts the puncture positioning angle of the C-arm imaging device during subsequent real-time scan image acquisition. During the puncture process, the needle 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 scan image is actually a kind of expression of the projection of the target object on the projection plane.

[0095] For example, the detector, the wire bundle, and the lesion point remain perpendicular. Please refer to Figure 5b , the line 506 connecting the center point of the detector 502 and the center line point of the wire bundle 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 point, and the straight line is actually the puncture path.

[0096] Please refer to Figure 5c , the post-processing workstation calculates the target puncture parameters under the condition that the lesion point and the target puncture position are superimposed on the three-dimensional reconstruction image and the line connecting the lesion point and the target puncture position is parallel to the device center line, and displays the needle insertion angle 508, the target puncture position 510, and the target puncture depth 512 in Figure 5c .

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

[0098] In some embodiments, referring to Figure 6 The target object is projected with the puncture assistance matrix, and based on the positional relationship between the mark of the target puncture position on the target scan image and the puncture assistance matrix and the real-time puncture image obtained by the C-arm imaging device, the position of the puncture needle is adjusted so that the puncture needle reaches the target puncture position, which can include the following steps:

[0099] S610, determining the 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 assistance matrix.

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

[0101] Specifically, the puncture assistance matrix is projected on 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 assistance matrix, the center of the puncture assistance matrix can indicate the target puncture position, thereby establishing the positional relationship between the mark of the target puncture position on the target scan image and the puncture assistance matrix.

[0102] S620, determining the relative position of the mark of the target puncture position and the puncture needle mark according to the real-time puncture image obtained by the C-arm imaging device.

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

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

[0105] S630, according to the relative position of the puncture needle mark and the target puncture position mark, determine the adjustment position of the puncture needle under the guidance of the puncture auxiliary matrix.

[0106] Specifically, on the real-time puncture image, if the positional relationship between the puncture needle mark and the target puncture position mark deviates, 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, the deviation between the puncture needle mark and the target puncture position mark needs to be determined according to the puncture auxiliary matrix to guide the direction and approximate distance of the puncture needle adjustment. Then, under the guidance of the puncture auxiliary matrix, the position of the puncture needle is adjusted according to the direction and approximate distance of the adjustment without moving the bed, so as to determine the adjustment position of the puncture needle on the surface of the target object.

[0107] S640, repeat the operation of obtaining the real-time puncture image and the adjustment position of the puncture needle, and in the case that the puncture needle mark and the target puncture position mark overlap, the puncture needle reaches the target puncture position.

[0108] Specifically, the puncture needle is in the adjustment position, and the C-arm imaging device needs to be used again to expose and collect the target object in the puncture positioning position to obtain a real-time puncture image including the mark of the target puncture position and the puncture needle mark. Then, on the real-time puncture image obtained again, the mark of the target puncture position and the puncture needle mark are determined. Then, according to the relative positions of the puncture needle mark and the mark of the target puncture position, the adjustment position of the puncture needle is determined. If the positional relationship between the puncture needle mark and the mark of the target puncture position is not deviated, that is, the puncture needle mark overlaps the mark of the target puncture position, it indicates that the puncture needle reaches the position for performing the puncture operation, that is, the target puncture position, and the operation of adjusting the position of the puncture needle is stopped. If the positional relationship between the puncture needle mark and the mark of the target puncture position still has deviation, the operation of obtaining the real-time puncture image and adjusting the position of the puncture needle is repeated until the puncture needle mark overlaps 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 positions of the mark of the target puncture position and the puncture needle mark are determined according to the real-time puncture image obtained by the C-arm imaging device, the adjustment position of the puncture needle is determined according to the relative positions of the puncture needle mark and the mark of the target puncture position under the guidance of the puncture auxiliary matrix, and the operation efficiency is improved. Then, the operation of obtaining the real-time puncture image and adjusting the position of the puncture needle is repeatedly performed, and in the case that the puncture needle mark overlaps 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 needle entry angle of the puncture needle, and the projection direction can be visually recognized. The method can further include: performing the needle entry action of the puncture needle under the condition that the puncture needle is controlled 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, which indicates that after the position where the puncture needle needs to perform the puncture operation is determined, the puncture needle can reach the lesion point by performing the puncture operation parallel to the projection direction of the puncture auxiliary matrix. Therefore, after the puncture needle reaches the target puncture position, since the projection direction can be visually recognized, the inclination angle of the puncture needle can be adjusted according to the projection direction of the puncture auxiliary matrix, the puncture needle is made parallel to the projection direction of the puncture auxiliary matrix, and then the needle entry action of the puncture needle is performed.

[0112] Exemplarily, the matrix projection device can be deployed at the edge of the detector. Please refer to 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] Please refer to Figure 7b The puncture assisting matrix is projected on the target object by the matrix projection device 702, and based on the real-time puncture image including the target puncture position and the puncture needle mark obtained at the puncture positioning position, the puncture needle reaches the target puncture position 708 in the case that the puncture needle mark overlaps with the mark of the target puncture position. 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 assisting matrix, and the needle entry action of the puncture needle 710 is performed.

[0114] In the above embodiment, the needle entry action of the puncture needle is performed in the case that the puncture needle is controlled to be parallel to the projection direction of the puncture assisting matrix, thereby enhancing the convenience of operation.

[0115] In some embodiments, the projection direction of the puncture assisting matrix is determined by: performing position conversion on the matrix projection device according to the detector center point.

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

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

[0118] For example, please refer to Figure 8 The puncture assisting matrix takes the detector center point ISOCenter as the coordinate origin, performs position conversion on 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 projection direction of the matrix projection device is determined by performing position conversion on the matrix projection device according to the detector center point, which is used for subsequent guiding of the puncture needle and determining the needle entry angle of the puncture needle, thereby simplifying the operation and improving the efficiency and accuracy.

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

[0121] S910, determining a real-time puncture depth corresponding to the puncture needle based on the image acquisition device during the execution of the puncture operation.

[0122] S920, completing the puncture operation in the case that the real-time puncture depth reaches the target puncture depth.

[0123] Specifically, after performing the needle entry action of the puncture needle, the puncture needle is slowly inserted into the target object. During the execution of the puncture operation, the image acquisition device is used to collect images of the puncture area in real time. Through an image processing algorithm, the real-time images are analyzed 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 is monitored to reach the target puncture depth, a visual or audible reminder is issued to prompt the operator to complete the puncture operation. The image acquisition device can be any one of a camera, a fisheye camera.

[0124] In some embodiments, the camera can use monocular vision or stereo vision technology combined with a deep learning algorithm to track and calculate the length and position of the puncture needle in real time. The surface of the puncture needle is marked 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. Please refer to Figure 7a , the DSA device includes an image acquisition device 706 and a detector 704, and the image acquisition device 706 is arranged at the edge of the detector 704. Please refer to Figure 9b , Figure 9b shows various types of puncture needles, which are designed differently to meet different clinical needs. Please refer to Figure 9c , Figure 9c shows the scale marks on the needle tube of the puncture needle. This scale system is used to indicate the puncture depth, enhancing the controllability and safety of the operator during the puncture process.

[0126] In the above embodiments, during the execution of 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, ensuring the accuracy of the puncture operation and reducing errors.

[0127] In some embodiments, the puncture assistance matrix is also displayed in the same proportion as the target scan image and / or the real-time puncture scan image.

[0128] Specifically, the puncture assistance matrix is matched with the target scan image or the real-time puncture scan image in the same proportion, so that the target puncture position and the visualization information of the puncture needle are presented in the appropriate proportion. With this fusion display, puncture guidance can be more accurately performed under the guidance of intuitive images.

[0129] In some embodiments, single-needle and multi-needle trajectory planning are supported for assisted puncture. Please refer to Figure 10 , Figure 10The multi-needle trajectory planning assisted puncture is demonstrated.

[0130] In some embodiments, the multi-needle trajectory planning assisted puncture is implemented by a matrix projection device. In this way, the guidance of only one puncture needle is performed each time. When the planning and guidance of the current puncture needle are completed, the projection direction of the matrix projection device is adjusted to adapt to the next puncture operation.

[0131] In other embodiments, the matrix projection device can be multiple, so as to realize the 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 needle entry angle of the corresponding puncture needle, so that multiple puncture needles can simultaneously perform the puncture guidance operation.

[0132] The embodiment of the present specification provides a navigation puncture device 1100, please refer to Figure 11 The navigation puncture device 1100 comprises a puncture parameter acquisition module 1110, an image acquisition and labeling module 1120, and a puncture position determination module 1130.

[0133] The puncture parameter acquisition module 1110 is configured to acquire target puncture parameters, wherein the target puncture parameters are determined based on a scan image of a target object before puncture;

[0134] The image acquisition and labeling module 1120 is configured to control a C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameters, and mark a target puncture position on the target scan image;

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

[0136] For specific description of the navigation puncture device, please refer to the description of the navigation puncture method in the foregoing, which will not be repeated here.

[0137] The embodiment of the present specification provides a computer readable storage medium, which stores a computer program. 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 comprises instructions. When the instructions are executed by a processor of a computer device, the computer device can execute the steps of the method of any of the above embodiments.

[0139] In some embodiments, a computer device, which can be a terminal, has an internal structure diagram as shown in Figure 12 The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. The processor of the computer device is configured 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 running the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is configured to perform wired or wireless communication with an external terminal. The wireless communication can be achieved through WIFI, a carrier network, NFC (Near Field Communication) or other technologies. The computer program is executed by the processor to implement a navigation puncture method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0140] Those skilled in the art can understand that Figure 12 The structure shown in the above

[0141] It is to be appreciated that the logical and / or steps represented in the flow diagrams, or otherwise described herein, can be considered as a sequence of executable instructions for implementing the logical function, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or a combination thereof. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a product of taping and / or packaging the computer program. The computer-readable medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical connections), a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via an optical scanner, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

Claims

1. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor implements the steps of the navigation puncture method when executing the computer program, and the method comprises: obtaining target puncture parameters, wherein the target puncture parameters are determined based on a scan image of a target object before puncture; controlling a C-arm imaging device to obtain a target scan image of the target object based on the target puncture parameters, and marking a target puncture position on the target scan image; projecting a puncture auxiliary matrix on the target object, and adjusting a puncture needle position based on a positional relationship between the target puncture position marked on the target scan image and the puncture auxiliary matrix, and a real-time puncture image obtained by the C-arm imaging device, so that the puncture needle reaches the target puncture position; wherein an initial puncture position of the puncture needle is determined based on the positional relationship between the target puncture position marked on the target scan image and the puncture auxiliary matrix, a center line of the C-arm imaging device passes through the target puncture position and a center of the puncture auxiliary matrix, and the center of the puncture auxiliary matrix is determined as the initial puncture position; a relative position between a puncture needle mark and the target puncture position mark is determined according to the real-time puncture image obtained by the C-arm imaging device, the real-time puncture image includes the target puncture position mark and the puncture needle mark, and the puncture needle reaches the target puncture position when the puncture needle mark overlaps with the target puncture position mark.

2. The computer device of claim 1, wherein, The target puncture parameters include a needle insertion angle and a target puncture position, and the step of controlling the C-arm imaging device to obtain the target scan image of the target object based on the target puncture parameters and marking the target puncture position on the target scan image comprises: controlling a gantry of the C-arm imaging device to move to a puncture positioning position based on the needle insertion angle, wherein a center line of the C-arm imaging device at the puncture positioning position is parallel to a 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 a line connecting a center point of a detector and a center point of a line source; exposing and collecting, by the C-arm imaging device at the puncture positioning position, to obtain the target scan image of the target object; marking the target puncture position on the target scan image based on the target puncture position, so as to display a mark of the target puncture position on the target scan image.

3. The computer device of claim 1, wherein, The method further comprises: if the puncture needle mark does not overlap with the target puncture position mark, determining an adjusted position of the puncture needle under the guidance of the puncture auxiliary matrix according to the relative position between the puncture needle mark and the target puncture position mark; repeating the operations of obtaining the real-time puncture image and adjusting the position of the puncture needle, and the puncture needle reaches the target puncture position when the puncture needle mark overlaps with the target puncture position mark.

4. The computer device of claim 1, wherein, The projection direction of the puncture auxiliary matrix represents a needle insertion angle of the puncture needle, the projection direction can be visually recognized, and the method further comprises: The needle entry action of the puncture needle is performed while the puncture needle is controlled to be parallel to the projection direction of the puncture auxiliary matrix.

5. The computer device of claim 4, wherein, The projection direction of the puncture auxiliary matrix is determined by the following manner: The projection direction of the matrix projection device is determined by position conversion of a detector center point, and the projection direction is perpendicular to a detection plane of the detector.

6. The computer device of any of claims 1-5, wherein, The target puncture parameters include a needle entry angle, a target puncture position and a target puncture depth, the scan image includes a three-dimensional reconstruction image, and the target puncture parameters are determined based on a scan image of a target object before puncture, including: The target puncture position corresponding to the lesion point is determined based on the three-dimensional reconstruction image; The target puncture depth is determined based on the lesion point and the target puncture position; The angle of the three-dimensional reconstruction image is adjusted, and the angle when the line of sight of the lesion point and the target puncture position is superimposed is determined as the needle entry angle.

7. The computer device of any of claims 1-5, wherein, The C-arm imaging device further includes an image acquisition device, the target puncture parameters include a target puncture depth, and the method further includes: The real-time puncture depth corresponding to the puncture needle is determined based on the image acquisition device during the execution of the puncture operation; The puncture operation is completed when the real-time puncture depth reaches the target puncture depth.

8. The computer device of any of claims 1-5, wherein, Further comprising: The puncture auxiliary matrix is proportionally fused and displayed with a target scan image and / or a real-time puncture scan image.

9. A navigation puncture device, characterized by, The device includes: A puncture parameter acquisition module is configured to acquire target puncture parameters, wherein the target puncture parameters are determined based on a scan image of a target object before puncture; An image acquisition and labeling module is configured to control a C-arm imaging device to acquire a target scan image of the target object based on the target puncture parameters, and label a target puncture position on the target scan image; A puncture position determination module is configured to project a puncture auxiliary matrix on the target object, and adjust a puncture needle position based on a positional relationship between the target puncture position on the target scan image and the puncture auxiliary matrix, and a real-time puncture image acquired by the C-arm imaging device, so that the puncture needle reaches the target puncture position; wherein an initial puncture position of the puncture needle is determined based on the positional relationship between the target puncture position on the target scan image and the puncture auxiliary matrix, wherein a center line of the C-arm imaging device passes through the target puncture position and a center of the puncture auxiliary matrix, and the center of the puncture auxiliary matrix is determined as the initial puncture position; the relative position of a puncture needle mark and the label of the target puncture position is determined according to the real-time puncture image acquired by the C-arm imaging device, wherein the real-time puncture image includes the label of the target puncture position and the puncture needle mark; if the puncture needle mark overlaps with the label of the target puncture position, the puncture needle reaches the target puncture position.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the steps of the navigation puncture method implemented by the computer device in any one of claims 1 to 8. The computer program is executed by a processor to implement the steps of the navigation puncture method implemented by the computer device in any one of claims 1 to 8.

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