CT-guided puncture navigation method and system

Abstract

The invention provides a CT-guided puncture navigation method and system, and relates to the field of puncture navigation, and the method comprises the following steps: determining a plurality of groups of puncture routes according to a CT image; according to the real-time physiological movement data, dividing the plurality of groups of puncture routes into a plurality of sub-routes, and performing CT scanning on each sub-route to obtain real-time image data of each sub-route under the influence of physiological movement; according to the real-time image data of each sub-route under the influence of the physiological movement, in combination with the real-time physiological movement data, carrying out potential influence evaluation on puncture of each sub-route by the physiological movement to obtain an influence evaluation result; according to the influence evaluation result, selecting sub-routes with the smallest influence, and combining the sub-routes into an optimal puncture navigation path; in the puncture process, changes of physiological movement are continuously monitored, and the optimal puncture navigation path is dynamically adjusted according to real-time movement data. The defect that in the prior art, physiological movement is difficult to accurately predict and compensate, and consequently puncture precision is reduced is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture navigation, and in particular to a puncture navigation method and system under CT guidance. Background Art

[0002] CT-guided puncture navigation is an advanced diagnostic and treatment method that combines medical imaging technology and puncture technology. It is based on computed tomography (CT) technology and forms clear two-dimensional or three-dimensional images through high-resolution cross-sectional imaging of the human body. Doctors can use these images to accurately observe the location, size and relationship of the lesion tissue with surrounding structures, and plan an optimal navigation path for the puncture operation. During the puncture process, the patient's breathing, heartbeat and other physiological movements will have a significant impact on the puncture path. Existing technologies often find it difficult to accurately predict and compensate for physiological movements, resulting in a decrease in puncture accuracy. Summary of the invention

[0003] The present invention provides a puncture navigation method and system under CT guidance, which are used to solve the defect in the prior art that it is difficult to accurately predict and compensate for physiological movement, resulting in reduced puncture accuracy.

[0004] In one aspect, the present invention provides a CT-guided puncture navigation method, comprising: According to the CT images, the puncture target area is determined and the puncture path is planned to obtain multiple sets of puncture routes; According to the multiple puncture routes, the physiological motion parameters of the multiple puncture routes of the patient are monitored in real time and continuously by sensors to obtain real-time physiological motion data; According to the real-time physiological motion data, multiple groups of puncture routes are divided into multiple sub-routes, and each sub-route is subjected to CT scanning to obtain real-time image data of each sub-route under the influence of physiological motion; Based on the real-time image data of each sub-route under the influence of physiological motion, combined with the real-time physiological motion data, the potential influence of physiological motion on the puncture of each sub-route is evaluated to obtain the influence evaluation result; According to the results of the impact assessment, the least affected sub-routes are selected and combined into the optimal puncture navigation path; During the puncture process, changes in physiological movement are continuously monitored, and the optimal puncture navigation path is dynamically adjusted based on real-time motion data.

[0005] Furthermore, according to the CT images, the puncture target area is determined, and the puncture path planning is performed to obtain multiple sets of puncture routes, including: Preprocessing is performed according to the CT image to obtain a preprocessed CT image; According to the pre-processed CT images, the puncture target area is identified, and the position and range of the puncture target area are determined; According to the position and range of the puncture target area, the parameters of the puncture path planning are set, wherein the parameters of the puncture path planning include a starting point, a target point, an obstacle avoidance area, a puncture angle, and a depth limit; According to the parameters of puncture path planning, multiple puncture paths from the starting point to the target point are generated on the CT image to obtain multiple groups of puncture routes.

[0006] Furthermore, according to the multiple puncture routes, the physiological motion parameters of the multiple puncture routes of the patient are monitored in real time and continuously by sensors to obtain real-time physiological motion data, including: Determine the installation position of the sensor according to multiple sets of puncture routes; According to the installation position of the sensor, the sensor is used to monitor the patient's breathing, heartbeat and other physiological movements in real time and continuously to obtain multiple sets of physiological movement parameters of the puncture route; According to the physiological motion parameters of multiple groups of puncture routes, noise and outliers are removed to obtain real-time physiological motion data.

[0007] Furthermore, according to the real-time physiological motion data, the multiple puncture routes are divided into multiple sub-routes, and each sub-route is CT scanned to obtain real-time image data of each sub-route under the influence of physiological motion, including: According to real-time physiological motion data, multiple groups of puncture routes are divided into multiple sub-routes; According to the multiple sub-routes, CT scanning is performed on each sub-route to obtain real-time scanning parameters of each sub-route; According to the real-time scanning parameters of each sub-route, a three-dimensional image volume of each sub-route is combined through a three-dimensional reconstruction algorithm to obtain real-time image data of each sub-route under the influence of physiological movement.

[0008] Furthermore, based on the real-time image data of each sub-route under the influence of physiological motion, combined with the real-time physiological motion data, the potential impact of physiological motion on the puncture of each sub-route is evaluated to obtain the impact evaluation results, including: According to the real-time image data of each sub-route under the influence of physiological movement, the image features related to puncture are extracted; Extract key physiological parameters based on real-time physiological motion data; Based on the image features and key physiological parameters related to puncture, , quantify the potential impact of physiological movement on puncture of each sub-route to obtain the constructed evaluation model, in which, Indicates Sub-routes at time The results of the potential impact assessment of puncture, represents the support vector regression model using kernel methods, is the total number of sub-routes, Indicates that from The feature vectors extracted from the image data of the sub-route are change, Represents the key physiological parameter vector extracted from physiological motion data, over time change, , represents the Lagrange multiplier, Used to calculate the similarity between samples, and Respectively represent the image features and physiological parameters of the two samples, represents the bias term; According to the constructed evaluation model, the constructed evaluation model is trained using historical data to obtain a trained evaluation model; According to the trained evaluation model, the real-time image features and key physiological parameters are input into the trained evaluation model to obtain the impact evaluation result.

[0009] Furthermore, according to the results of the impact assessment, the least affected sub-routes are selected and combined into the optimal puncture navigation path, including: According to the result of the impact assessment, for the current sub-route, traverse all the next sub-routes that can be reached, and calculate the cumulative impact assessment value of the current sub-route and the next sub-route; According to the cumulative impact assessment values ​​of the current sub-route and the next sub-route, the one with the smallest cumulative impact assessment value is selected as the next sub-route; Add the selected next sub-route to the current path list, and check whether the selected next sub-route reaches the puncture target area; If the next sub-route reaches the puncture target area, the current path list is output as the optimal puncture navigation path; If the next sub-route does not reach the puncture target area, continue to select the next sub-route.

[0010] Furthermore, during the puncture process, the changes in physiological movements are continuously monitored, and the optimal puncture navigation path is dynamically adjusted based on real-time movement data, including: During the puncture process, the changes in physiological movements are continuously monitored and the movement data is updated in real time; Based on real-time motion data, the potential impact of physiological motion on puncture of each sub-route is evaluated in real time; According to the results of real-time impact assessment, the optimal puncture navigation path is dynamically adjusted.

[0011] On the other hand, a CT-guided puncture navigation system is characterized by comprising: The acquisition module is used to determine the puncture target area according to the CT image and perform puncture path planning to obtain multiple sets of puncture routes; The processing module is used to monitor the physiological motion parameters of multiple groups of puncture routes of the patient in real time and continuously through sensors according to the multiple groups of puncture routes to obtain real-time physiological motion data; divide the multiple groups of puncture routes into multiple sub-routes according to the real-time physiological motion data, and perform CT scanning on each sub-route to obtain real-time image data of each sub-route under the influence of physiological motion; evaluate the potential impact of physiological motion on puncture of each sub-route according to the real-time image data of each sub-route under the influence of physiological motion and the real-time physiological motion data to obtain the impact evaluation result; select the sub-route with the least impact according to the result of the impact evaluation, and combine them into the optimal puncture navigation path; during the puncture process, continuously monitor the changes in physiological motion, and dynamically adjust the optimal puncture navigation path according to the real-time motion data.

[0012] On the other hand, the present invention also provides a CT-guided puncture navigation system, including an acquisition module and a processing module.

[0013] On the other hand, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the above-mentioned CT-guided puncture navigation methods is implemented.

[0014] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described CT-guided puncture navigation methods.

[0015] The CT-guided puncture navigation method and system provided by the present invention can accurately evaluate the potential impact of physiological movement on the puncture of each sub-route by real-time and continuous monitoring of the patient's physiological movement parameters, and combine with the real-time image data obtained by CT scanning, and select the sub-route with the least impact, thereby significantly improving the accuracy of puncture; dynamically adjust the optimal puncture navigation path according to the patient's real-time physiological movement data, so that the puncture process is more flexible and can better cope with the uncertainty of the patient's physiological movement; by accurately predicting and compensating for the impact of physiological movement, the possible risks in the puncture process are reduced and the safety of the operation is improved; the CT-guided puncture navigation method and system of the present invention monitors and evaluates the impact of physiological movement in real time, dynamically adjusts the puncture path, significantly improves the accuracy and safety of puncture, and optimizes the surgical process, with significant beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flowchart of a CT-guided puncture navigation method provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a CT-guided puncture navigation system provided in an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Figure 1 This is one of the flow charts of the CT-guided puncture navigation method provided in an embodiment of the present invention.

[0020] like Figure 1 As shown, the CT-guided puncture navigation method provided by the embodiment of the present invention mainly includes the following steps: 11. According to the CT images, determine the puncture target area and plan the puncture path to obtain multiple sets of puncture routes; 12. According to multiple puncture routes, the physiological motion parameters of multiple puncture routes of the patient are monitored in real time and continuously through sensors to obtain real-time physiological motion data; 13. According to the real-time physiological motion data, multiple groups of puncture routes are divided into multiple sub-routes, and each sub-route is CT scanned to obtain real-time image data of each sub-route under the influence of physiological motion; 14. Based on the real-time image data of each sub-route under the influence of physiological motion, combined with the real-time physiological motion data, the potential impact of physiological motion on the puncture of each sub-route is evaluated to obtain the impact evaluation result; 15. According to the results of the impact assessment, select the least affected sub-routes and combine them into the optimal puncture navigation path; 16. During the puncture process, the changes in physiological movements are continuously monitored, and the optimal puncture navigation path is dynamically adjusted based on real-time motion data.

[0021] In the embodiment of the present invention, the puncture target area is determined by CT images, and the puncture path planning is performed to obtain multiple groups of puncture routes, thereby ensuring the accurate positioning of the puncture target and providing a basis for subsequent path selection; the physiological motion parameters of the multiple groups of puncture routes of the patient are monitored in real time and continuously by sensors to obtain real-time physiological motion data, which can accurately reflect the physiological motion state of the patient during the puncture process and provide a basis for subsequent path adjustment; according to the real-time physiological motion data, the multiple groups of puncture routes are divided into multiple sub-routes, and each sub-route is scanned by CT to obtain real-time image data of each sub-route under the influence of physiological motion, so that the puncture target is accurately positioned and the path selection is provided; The evaluation of the puncture path is more detailed and can take into account the specific impact of physiological movement on each sub-route; combining real-time physiological movement data and real-time image data of each sub-route, the potential impact of physiological movement on the puncture of each sub-route is evaluated, and based on the impact assessment results, the sub-route with the least impact is selected and combined into the optimal puncture navigation path, ensuring the scientific nature and feasibility of the puncture path and improving the success rate of puncture; during the puncture process, the changes in physiological movement are continuously monitored, and the optimal puncture navigation path is dynamically adjusted according to the real-time movement data, so that the puncture path can adapt to the patient's physiological changes, ensuring the accuracy and safety of the puncture.

[0022] like Figure 1 As shown in 11, according to the CT image, the puncture target area is determined, and the puncture path planning is performed to obtain multiple sets of puncture routes, including: 111. Perform preprocessing according to the CT image to obtain a preprocessed CT image; 112. Identify the puncture target area according to the preprocessed CT image, and determine the position and range of the puncture target area; 113. According to the position and range of the puncture target area, set the parameters of the puncture path planning, wherein the parameters of the puncture path planning include a starting point, a target point, an obstacle avoidance area, a puncture angle, and a depth limit; 114. According to the parameters of puncture path planning, multiple puncture paths from the starting point to the target point are generated on the CT image to obtain multiple groups of puncture routes.

[0023] In the embodiment of the present invention, the original CT image is subjected to denoising, contrast enhancement and other processing through the preprocessing step to obtain a preprocessed CT image, which helps to improve the clarity and accuracy of the image and provides a reliable basis for subsequent target area identification and path planning; based on the preprocessed CT image, the puncture target area is accurately identified through image recognition technology, and its position and range are determined, ensuring the accurate positioning of the puncture target and providing a clear target point for path planning; according to the position and range of the puncture target area, the parameters of the puncture path planning are flexibly set, including the starting point, the target point, the obstacle avoidance area, the puncture angle and the depth limit, etc., which can fully consider the specific conditions and surgical requirements of the patient and provide a guarantee for generating a reasonable puncture path; according to the set path planning parameters, multiple puncture paths from the starting point to the target point are generated on the CT image, multiple groups of puncture routes are obtained, and a variety of path options are provided, which helps doctors select the optimal puncture path according to actual conditions and improves the success rate and safety of puncture.

[0024] like Figure 1 As shown in 12, according to the multiple puncture routes, the physiological motion parameters of the multiple puncture routes of the patient are monitored in real time and continuously by sensors to obtain real-time physiological motion data, including: 121. Determine the installation position of the sensor according to multiple puncture routes; 122. According to the installation position of the sensor, the sensor is used to monitor the patient's breathing, heartbeat and other physiological movements in real time and continuously to obtain multiple sets of physiological movement parameters of the puncture routes; According to multiple groups of physiological motion parameters of puncture routes, noise and abnormal values ​​are removed to obtain real-time physiological motion data.

[0025] In the embodiment of the present invention, by determining the installation position of the sensor according to multiple groups of puncture routes, it can be ensured that the sensor can accurately capture the physiological motion information related to the puncture route, which helps to improve the accuracy and reliability of the monitoring data and provide a basis for subsequent data processing and analysis; using the sensor to monitor the patient's breathing, heartbeat and other physiological movements in real time and continuously, multiple groups of physiological motion parameters of the puncture route can be obtained, and the real-time and continuous monitoring method can fully reflect the changes in the patient's physiological state during the puncture process, and provide timely data support for the dynamic adjustment of the path; by removing noise and outliers, more accurate real-time physiological motion data can be obtained, which helps to eliminate data deviations caused by factors such as sensor errors and environmental interference, improve the reliability and accuracy of the data, and provide strong data guarantee for subsequent puncture navigation and path adjustment; the steps in the embodiment of the present invention provide reliable and accurate physiological motion data support for puncture navigation by ensuring the accuracy of the sensor installation position, real-time and continuous monitoring of physiological motion and improving the accuracy of physiological motion data, which helps to improve the accuracy and safety of puncture surgery, reduce surgical risks, and improve the treatment effect of patients.

[0026] like Figure 1 As shown in 13, according to the real-time physiological motion data, multiple groups of puncture routes are divided into multiple sub-routes, and each sub-route is CT scanned to obtain real-time image data of each sub-route under the influence of physiological motion, including: 131. Divide multiple groups of puncture routes into multiple sub-routes according to real-time physiological motion data; 132. According to the multiple sub-routes, perform CT scanning on each sub-route to obtain real-time scanning parameters of each sub-route; 133. According to the real-time scanning parameters of each sub-route, the three-dimensional image volume of each sub-route is combined through a three-dimensional reconstruction algorithm to obtain real-time image data of each sub-route under the influence of physiological movement.

[0027] In an embodiment of the present invention, multiple groups of puncture routes are divided into multiple sub-routes according to real-time physiological motion data, so that the puncture routes are more refined and can more accurately reflect the changes in the puncture paths of patients under the influence of physiological motion. By dividing the sub-routes, the influence of physiological motion on the puncture process can be considered more carefully, thereby improving the accuracy of puncture. A CT scan is performed on each sub-route to obtain real-time scanning parameters of each sub-route, thereby ensuring that each sub-route can obtain accurate CT scanning data, thereby providing a reliable basis for subsequent three-dimensional image reconstruction. The acquisition of real-time scanning parameters takes into account the influence of physiological motion, thereby making the scanning results closer to the actual situation. According to the real-time scanning parameters of each sub-route, a three-dimensional image volume of each sub-route is combined through a three-dimensional reconstruction algorithm to obtain real-time image data of each sub-route under the influence of physiological motion, and the two-dimensional CT scanning data is converted into three-dimensional image data, thereby providing more intuitive and comprehensive puncture path information. The generation of real-time three-dimensional image data helps doctors to more accurately understand the relationship between the puncture path and the surrounding tissues, thereby improving the safety and success rate of puncture.

[0028] like Figure 1 As shown in 14, based on the real-time image data of each sub-route under the influence of physiological motion, combined with the real-time physiological motion data, the potential impact of physiological motion on the puncture of each sub-route is evaluated to obtain the impact evaluation results, including: 141. Extract image features related to puncture according to the real-time image data of each sub-route under the influence of physiological movement; 142. Extract key physiological parameters based on real-time physiological motion data; 143. Based on the image features and key physiological parameters related to puncture, use , quantify the potential impact of physiological movement on puncture of each sub-route to obtain the constructed evaluation model, in which, Indicates Sub-routes at time The results of the potential impact assessment of puncture, represents the support vector regression model using kernel methods, is the total number of sub-routes, Indicates that from The feature vectors extracted from the image data of the sub-route are change, Represents the key physiological parameter vector extracted from physiological motion data, over time change, , represents the Lagrange multiplier, Used to calculate the similarity between samples, and Respectively represent the image features and physiological parameters of the two samples, represents the bias term; 144. According to the constructed evaluation model, the constructed evaluation model is trained using historical data to obtain a trained evaluation model; According to the trained evaluation model, the real-time image features and key physiological parameters are input into the trained evaluation model to obtain the impact evaluation result.

[0029] In the embodiment of the present invention, according to the real-time image data of each sub-route under the influence of physiological motion, the image features related to the puncture are extracted, which is helpful to extract the information that has a key impact on the puncture process from the complex image data, and provide a basis for the subsequent potential impact assessment; according to the real-time physiological motion data, the key physiological parameters are extracted, and the physiological parameters such as respiratory rate and heart rate are important indicators reflecting the physiological state of the patient. By extracting these parameters, the possible impact of physiological motion on the puncture process can be more accurately understood; the support vector regression model (SVR) quantification method is used to combine the image features related to the puncture and the key physiological parameters. The evaluation model is constructed based on the physiological parameters, which can take into account the dynamic changes of image features and physiological parameters, and calculate the similarity between samples by Lagrange multipliers, so as to more accurately evaluate the potential impact of physiological movement on the puncture of each sub-route; the constructed evaluation model is trained with historical data. Through training, the model can learn the laws and patterns contained in the historical data to improve the accuracy and reliability of the evaluation; the real-time image features and key physiological parameters are input into the trained evaluation model to obtain the impact evaluation results, so that doctors can understand the potential impact of physiological movement on puncture in real time during the operation, so as to make more timely adjustments and decisions.

[0030] like Figure 1 As shown in 15, based on the results of the impact assessment, the least affected sub-routes are selected and combined into the optimal puncture navigation path, including: 151. According to the result of the impact assessment, for the current sub-route, traverse all reachable next sub-routes, and calculate the cumulative impact assessment value of the current sub-route and the next sub-route; 152. According to the cumulative impact evaluation values ​​of the current sub-route and the next sub-route, the one with the smallest cumulative impact evaluation value is selected as the next sub-route; 153. Add the selected next sub-route to the current path list, and check whether the selected next sub-route reaches the puncture target area; 154. If the next sub-route reaches the puncture target area, the current path list is output as the optimal puncture navigation path; 155. If the next sub-route does not reach the puncture target area, continue to select the next sub-route.

[0031] In an embodiment of the present invention, according to the result of the impact evaluation, for the current sub-route, all the next sub-routes that can be reached are traversed, and the cumulative impact evaluation values ​​of the current sub-route and the next sub-route are calculated. By considering the potential impact of physiological movement on the puncture path, the next sub-route that can be reached is comprehensively evaluated, providing a basis for selecting the optimal path; according to the cumulative impact evaluation value, the one that minimizes the cumulative impact evaluation value is selected as the next sub-route, ensuring that the sub-route selected each time is the one that is least affected under the current situation, thereby reducing the interference of physiological movement on the puncture process; the selected next sub-route is added to the current path list, and it is checked whether the selected next sub-route reaches the puncture target area, thereby realizing the dynamic update of the path and ensuring that the path always moves toward the target area; if the next sub-route reaches the puncture target area, the current path list is output as the optimal puncture navigation path, indicating that the optimal path is successfully found, providing accurate puncture navigation guidance for the doctor; if the next sub-route does not reach the puncture target area, the next sub-route is continuously selected, ensuring the continuity of the path selection process until the optimal path to the target area is found.

[0032] like Figure 1 As shown in 16, during the puncture process, the changes in physiological movement are continuously monitored, and the optimal puncture navigation path is dynamically adjusted according to the real-time movement data, including: 161. During the puncture process, continuously monitor the changes in physiological movement and update the movement data in real time; 162. Based on real-time motion data, the potential impact of physiological motion on puncture of each sub-route is evaluated in real time; 163. According to the results of real-time impact assessment, the optimal puncture navigation path is dynamically adjusted.

[0033] In an embodiment of the present invention, during the puncture process, changes in physiological movement are continuously monitored and motion data is updated in real time, ensuring that the system can capture the latest status of physiological movement in a timely manner, providing an accurate data basis for subsequent dynamic adjustments; based on real-time motion data, the potential impact evaluation results of physiological movement on puncture of each sub-route are calculated in real time, and the system can quickly respond to the potential impact of changes in physiological movement on the puncture path, providing timely evaluation basis for path adjustment; based on the results of real-time impact evaluation, the optimal puncture navigation path is dynamically adjusted, so that the puncture path can be adjusted at any time according to changes in physiological movement, ensuring that the path always remains in the state with the least impact, thereby improving the accuracy and safety of puncture.

[0034] like Figure 2 As shown, a CT-guided puncture navigation system 20 is characterized by comprising: The acquisition module 21 is used to determine the puncture target area according to the CT image and perform puncture path planning to obtain multiple groups of puncture routes; The processing module 22 is used to monitor the physiological motion parameters of the multiple puncture routes of the patient in real time and continuously through sensors according to the multiple puncture routes to obtain real-time physiological motion data; divide the multiple puncture routes into multiple sub-routes according to the real-time physiological motion data, and perform CT scanning on each sub-route to obtain real-time image data of each sub-route under the influence of physiological motion; evaluate the potential impact of physiological motion on the puncture of each sub-route according to the real-time image data of each sub-route under the influence of physiological motion and the real-time physiological motion data to obtain the impact evaluation result; select the sub-route with the least impact according to the result of the impact evaluation, and combine them into the optimal puncture navigation path; during the puncture process, continuously monitor the changes in physiological motion, and dynamically adjust the optimal puncture navigation path according to the real-time motion data.

[0035] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0036] like Figure 3 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the CT-guided puncture navigation method.

[0037] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0038] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the CT-guided puncture navigation method provided by the above methods.

[0039] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the CT-guided puncture navigation method provided by the above methods.

[0040] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0041] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A CT-guided puncture navigation method, characterized in that: include: According to the CT images, the puncture target area is determined and the puncture path is planned to obtain multiple sets of puncture routes; According to the multiple puncture routes, the physiological motion parameters of the multiple puncture routes of the patient are monitored in real time and continuously by sensors to obtain real-time physiological motion data; According to the real-time physiological motion data, multiple groups of puncture routes are divided into multiple sub-routes, and each sub-route is subjected to CT scanning to obtain real-time image data of each sub-route under the influence of physiological motion; Based on the real-time image data of each sub-route under the influence of physiological motion, combined with the real-time physiological motion data, the potential influence of physiological motion on the puncture of each sub-route is evaluated to obtain the influence evaluation result; According to the results of the impact assessment, the sub-routes with the least impact are selected and combined into the optimal puncture navigation path; During the puncture process, changes in physiological movement are continuously monitored, and the optimal puncture navigation path is dynamically adjusted based on real-time motion data.

2. The CT-guided puncture navigation method according to claim 1, characterized in that: According to the CT images, the puncture target area is determined and the puncture path is planned to obtain multiple sets of puncture routes, including: Preprocessing is performed according to the CT image to obtain a preprocessed CT image; According to the pre-processed CT images, the puncture target area is identified, and the position and range of the puncture target area are determined; According to the position and range of the puncture target area, the parameters of the puncture path planning are set, wherein the parameters of the puncture path planning include a starting point, a target point, an obstacle avoidance area, a puncture angle, and a depth limit; According to the parameters of puncture path planning, multiple puncture paths from the starting point to the target point are generated on the CT image to obtain multiple groups of puncture routes.

3. The CT-guided puncture navigation method according to claim 2, characterized in that: According to multiple puncture routes, the physiological motion parameters of multiple puncture routes of the patient are monitored in real time and continuously through sensors to obtain real-time physiological motion data, including: Determine the installation position of the sensor according to multiple sets of puncture routes; According to the installation position of the sensor, the sensor is used to monitor the patient's breathing, heartbeat and other physiological movements in real time and continuously to obtain multiple sets of physiological movement parameters of the puncture route; According to the physiological motion parameters of multiple groups of puncture routes, noise and outliers are removed to obtain real-time physiological motion data.

4. The CT-guided puncture navigation method according to claim 3, characterized in that: According to the real-time physiological motion data, multiple groups of puncture routes are divided into multiple sub-routes, and each sub-route is CT scanned to obtain real-time image data of each sub-route under the influence of physiological motion, including: According to real-time physiological motion data, multiple groups of puncture routes are divided into multiple sub-routes; According to the multiple sub-routes, CT scanning is performed on each sub-route to obtain real-time scanning parameters of each sub-route; According to the real-time scanning parameters of each sub-route, a three-dimensional image volume of each sub-route is combined through a three-dimensional reconstruction algorithm to obtain real-time image data of each sub-route under the influence of physiological movement.

5. The CT-guided puncture navigation method according to claim 4, characterized in that: Based on the real-time image data of each sub-route under the influence of physiological motion, combined with the real-time physiological motion data, the potential impact of physiological motion on the puncture of each sub-route is evaluated to obtain the impact evaluation results, including: According to the real-time image data of each sub-route under the influence of physiological movement, the image features related to puncture are extracted; Extract key physiological parameters based on real-time physiological motion data; Based on the image features and key physiological parameters related to puncture, use , quantify the potential impact of physiological movement on puncture of each sub-route to obtain the constructed evaluation model, in which, Indicates Sub-routes at time The results of the potential impact assessment of puncture, represents the support vector regression model using kernel methods, is the total number of sub-routes, Indicates that from The feature vectors extracted from the image data of the sub-route are change, Represents the key physiological parameter vector extracted from physiological motion data, over time change, , represents the Lagrange multiplier, Used to calculate the similarity between samples, and Respectively represent the image features and physiological parameters of the two samples, represents the bias term; According to the constructed evaluation model, the constructed evaluation model is trained using historical data to obtain a trained evaluation model; According to the trained evaluation model, the real-time image features and key physiological parameters are input into the trained evaluation model to obtain the impact evaluation result.

6. The CT-guided puncture navigation method according to claim 5, characterized in that: According to the results of the impact assessment, the least affected sub-routes are selected and combined into the optimal puncture navigation path, including: According to the result of the impact assessment, for the current sub-route, traverse all the next sub-routes that can be reached, and calculate the cumulative impact assessment value of the current sub-route and the next sub-route; According to the cumulative impact assessment values ​​of the current sub-route and the next sub-route, the one with the smallest cumulative impact assessment value is selected as the next sub-route; Add the selected next sub-route to the current path list, and check whether the selected next sub-route reaches the puncture target area; If the next sub-route reaches the puncture target area, the current path list is output as the optimal puncture navigation path; If the next sub-route does not reach the puncture target area, continue to select the next sub-route.

7. The CT-guided puncture navigation method according to claim 6, characterized in that: During the puncture process, the changes in physiological movement are continuously monitored, and the optimal puncture navigation path is dynamically adjusted based on real-time movement data, including: During the puncture process, the changes in physiological movements are continuously monitored and the movement data is updated in real time; Based on real-time motion data, the potential impact of physiological motion on puncture of each sub-route is evaluated in real time; According to the results of real-time impact assessment, the optimal puncture navigation path is dynamically adjusted.

8. A CT-guided puncture navigation system, characterized in that: include: The acquisition module is used to determine the puncture target area according to the CT image and perform puncture path planning to obtain multiple sets of puncture routes; A processing module, used to monitor the physiological motion parameters of the multiple puncture routes of the patient in real time and continuously through sensors according to the multiple puncture routes, so as to obtain real-time physiological motion data; According to the real-time physiological motion data, multiple groups of puncture routes are divided into multiple sub-routes, and each sub-route is CT scanned to obtain real-time image data of each sub-route under the influence of physiological motion; according to the real-time image data of each sub-route under the influence of physiological motion, combined with the real-time physiological motion data, the potential impact of physiological motion on the puncture of each sub-route is evaluated to obtain the impact evaluation result; according to the result of the impact evaluation, the sub-route with the least impact is selected and combined into the optimal puncture navigation path; During the puncture process, changes in physiological movement are continuously monitored, and the optimal puncture navigation path is dynamically adjusted based on real-time motion data.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the CT-guided puncture navigation method according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the CT-guided puncture navigation method according to any one of claims 1 to 7 is implemented.

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