Needle inserting method and auxiliary device for puncture operation

Abstract

The invention discloses a needle inserting method and an auxiliary device for a puncture operation. The needle inserting method comprises the following steps: S1, acquiring medical image data of a target part; s2, determining a cross-sectional image where the target part is located; preprocessing the image, and confirming that the puncture needle can enter an area; and further determining a target needle insertion track. The method has the advantages that cross-sectional images of different layers are analyzed, the inaccessible area in each area is avoided, safe needle insertion of a puncture operation can be guaranteed, operation safety is improved, the occurrence rate of postoperative complications of a patient is reduced, radiation can be reduced, and pain and trouble brought to the patient by radiation can be reduced.

Description

Technical Field

[0001] The present invention belongs to the field of medical robots, and in particular relates to a needle insertion method and an auxiliary device for puncture surgery. Background Art

[0002] Puncture surgery has a wide range of applications in clinical practice. For example, in terms of diagnosis, for patients suspected of having tumors, doctors may perform a puncture biopsy. When there are unclear nodules in the lungs, percutaneous lung biopsy can obtain nodule tissues, and pathological examination can clarify whether the nodules are benign or malignant. In terms of treatment, thoracentesis can draw out the pleural effusion in the chest cavity to relieve symptoms such as dyspnea in patients; abdominal puncture can draw out ascites to relieve abdominal distension, and at the same time, the examination of ascites helps to diagnose diseases. Arthrocentesis can draw out the joint effusion in the joint cavity, relieve joint swelling and pain, and can also inject drugs into the joint cavity for treatment.

[0003] Doctors use CT tomographic images to select the best puncture point and the best path for the puncture needle to insert into the body, ensuring that the diseased tissue sample can be obtained accurately without damaging key tissues and organs as much as possible.

[0004] Even if the insertion point and insertion angle of the puncture needle can be determined on the CT tomographic image, in actual operation, doctors will perform multiple CT scans during the needle insertion process to ensure that the needle inserted into the body does not damage key tissues and organs, and the needle insertion direction is accurately directed towards the diseased tissue. In other words, due to human manual errors, every time the puncture needle is inserted a little bit, a CT scan needs to be performed for confirmation. Especially for cases with a relatively long needle insertion path, it is often found that the path is not ideal after inserting a section of the needle, and then it needs to be readjusted. This is inefficient and the patient receives a high radiation dose. Summary of the Invention

[0005] In view of this, the present invention aims to propose a needle insertion method and an auxiliary device for puncture surgery to solve at least one technical problem in the background art.

[0006] To achieve the above object, the technical solution of the present invention is realized as follows: A needle insertion method for puncture surgery includes the following steps: S1: Obtain medical image data of the target site; S2: Determine the tomographic image where the target site is located; preprocess the image to confirm the area where the puncture needle can enter; and then confirm the target needle insertion trajectory.

[0007] Further, the medical image data of the target site in step S1 includes obtaining multi-layer CT scan images; The layer spacing during the CT scan of the multi-layer site is 1-5 mm; Preprocess the image, including determining the position of the target part, the non-accessible contour, and the outer contour in the tomographic image.

[0008] Further, the target part in step S2 is the red contour line, the outer contour is the yellow contour line, and the non-accessible contour line is the colored contour line; The area where the puncture needle can enter is the green area.

[0009] Further, step S2 includes the following steps: A1: Establish a coordinate system on the tomographic image with the target part as the origin; A2: Cut the first and second quadrants of the tomographic image. The outer contour and the cutting lines form several fan-shaped regions, and select the fan-shaped regions; A3: Determine whether to insert the needle perpendicular to the upper surface of the body. If perpendicular, exclude the non-insertable fan-shaped regions, select the optimal region, and output it. Otherwise, go to step A4.

[0010] A4: Perform steps A1 and A2 on the adjacent layers of the layer where the target part is located to obtain fan-shaped regions. Take the midpoint coordinates of the chords of the fan-shaped regions, and perform spatial straight-line fitting on the midpoint coordinates of the adjacent layers of the layer and the origin coordinates to obtain several spatial straight-line equations; A5: Determine whether the spatial straight-line equations in step A4 only pass through the area where the puncture needle can enter obtained in step S1. Take the straight line that only passes through the green area as the puncture entry area, and output the limit point coordinates.

[0011] Further, step A1 also includes judging whether the target part is on the left or right side of the geometric center. If on the left, then in step A3, preferentially select the straight line close to 135° in the second quadrant; if on the right, then in step A3, preferentially select the straight line close to 45° in the first quadrant; if there is no suitable straight line in the first and second quadrants in step A3, then change the position of the target part.

[0012] Further, in step A3, the selection of the fan-shaped regions includes judging whether both of the dividing lines on both sides intersect the contour line of the key organ. If both intersect, then discard the fan-shaped region; The selection of the fan-shaped regions in step A3 includes screening, among the remaining fan-shaped regions, the fan-shaped region with the highest proportion of the area where the puncture needle can enter and close to 45° in the first quadrant or 135° in the second quadrant.

[0013] Further, in step A4, take the midpoint coordinates of the chord of each fan-shaped region, denoted as (x1,y1,z1)……(x n ,y n ,z n ); The midpoint coordinates (x0, y0, z0) and (x1, y1, z1), (x0, y0, z0) and (x2, y2, z2) …… (x0, y0, z0) and (x n , y n , z n ) of the chords of the fan-shaped regions of different layers are respectively subjected to spatial straight line fitting to obtain spatial straight line equations L1, L2……L n .

[0014] Furthermore, the output limit point coordinate values in step S5 include that if there are multiple straight lines in the same layer that meet the requirements of the preferred path, the fan-shaped regions close to the plane angles of 135° or 45° are selected; The intersection points of the optimal path calculated according to the spatial straight line equation of the fan-shaped center line and the outer contour of the human body are used. Starting from the intersection points, two limit points at 1 cm and 3 cm outside the yellow contour line are calculated along the direction of the spatial straight line equation, and the two limit points are output.

[0015] The auxiliary device used in the above needle insertion method for puncture surgery includes a base, a first operation component, and a second operation component; The first operation component and the second operation component are respectively arranged on the base through a first power source component and a second power source component. The first power source component can drive the first operation component to move along the base; The second power source component can drive the second operation component to move along the base; The puncture needle can pass through the first operation component and the second operation component; The angles of the first operation component and the second operation component are adjusted according to the target needle insertion trajectory.

[0016] Furthermore, a first sliding groove and a second sliding groove are provided on the base; The first power source component includes a first motor and a first threaded rod. The first threaded rod is rotatably arranged in the first sliding groove on the base. The first motor is installed on one side of the base, and the output end of the first motor is connected to the first threaded rod; The bottom of the first operation component is provided with a first moving block. The first moving block is threadedly arranged on the first threaded rod, and the first power source component can drive the first operation component to move; The second power source component includes a second motor and a second threaded rod. The second threaded rod is rotatably arranged in the second sliding groove on the base. The second motor is installed on one side of the base, and the output end of the second motor is connected to the second threaded rod; The bottom of the second operation component is provided with a second moving block. The second moving block is threadedly arranged on the second threaded rod, and the second power source component can drive the second operation component to move; The second sliding groove and the third sliding groove are arranged in parallel; The first operating component includes a first vertical telescopic rod, a first horizontal telescopic rod, and a first connecting rod; The bottom of the first vertical telescopic rod is arranged on the base through a first moving block; the telescopic end of the first vertical telescopic rod is connected to the first horizontal telescopic rod; The telescopic end of the first horizontal telescopic rod is rotatably connected to one end of the first connecting rod, and a first collar is provided at the other end of the first connecting rod; The inner diameter of the first collar is larger than the outer diameter of the puncture needle; A first rotating shaft is provided at the end of the first horizontal telescopic rod, one end of the first connecting rod is rotatably arranged on the first horizontal telescopic rod through the rotating shaft, and a first locking nut is provided at the end of the first rotating shaft; The second operating component includes a second vertical telescopic rod, a second horizontal telescopic rod, and a second connecting rod; The bottom of the second vertical telescopic rod is arranged on the base through a second moving block, and the telescopic end of the second vertical telescopic rod is connected to the second horizontal telescopic rod; The telescopic end of the second horizontal telescopic rod is rotatably connected to one end of the second connecting rod, and a second collar is provided at the other end of the second connecting rod; The inner diameter of the second collar is larger than the outer diameter of the puncture needle; A second rotating shaft is provided at the end of the second horizontal telescopic rod, one end of the second connecting rod is rotatably arranged on the second horizontal telescopic rod through the rotating shaft, and a second locking nut is provided at the end of the second rotating shaft.

[0017] Compared with the prior art, the needle insertion method and auxiliary device for puncture surgery of the present invention have the following advantages: 1. This application analyzes tomographic images at different levels and avoids non-accessible areas in each region, which can ensure safe needle insertion in puncture surgery, improve surgical safety, reduce the incidence of postoperative complications in patients, and reduce the pain and distress brought to patients thereby.

[0018] 2. This application does not require multiple attempts. The confirmed route can be successful at one time, and the radiation dose received by the patient can be reduced.

[0019] 3. This application sets the first operating component and the second operating component to adjust the angle of the rotating rod, and thus can adjust the angle of the puncture needle. By adjusting the first vertical telescopic rod, the second vertical telescopic rod, the first horizontal telescopic rod, and the second horizontal telescopic rod, puncture can be performed at different angles.

[0020] 4. This application avoids direct hand puncture, reduces human manual errors, reduces the number of experiments, and reduces the radiation dose received by the patient.

[0021] 5. In this application, by setting a first power source, the auxiliary device can move left and right on the operating table to adapt to different puncture positions. Brief Description of the Drawings

[0022] The drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 is the most complete and clear CT tomographic image of the lesion site in Embodiment 1 of the present invention; Figure 2 is the most complete and clear CT tomographic image of the lesion site for identifying the lesion location in Embodiment 1 of the present invention; Figure 3 is the most complete and clear CT tomographic image of the outer contour of the patient's body for identifying the outer contour of the patient's body in Embodiment 1 of the present invention; Figure 4 is the most complete and clear CT tomographic image of the key organ contour for identifying the key organ contour in Embodiment 1 of the present invention; Figure 5 is the most complete and clear CT tomographic image of the safety area for identifying the safety area in Embodiment 1 of the present invention; Figure 6 is the schematic diagram of the three-axis coordinates in Embodiment 1 of the present invention; Figure 7 is the three-axis coordinate diagram in Embodiment 1 of the present invention; Figure 8 is the schematic diagram after cutting in Embodiment 1 of the present invention; Figure 9 is the schematic diagram of the needle insertion path in Embodiment 2 of the present invention; Figure 10 is the side schematic diagram of the needle insertion path in Embodiment 2 of the present invention; Figure 11 is the flow chart of the needle insertion method for the puncture operation in the embodiment of the present invention; Figure 12 is the flow chart of the preprocessing of the image in the embodiment of the present invention; Figure 13 is the flow chart of the needle insertion perpendicular to the upper surface of the body in the embodiment of the present invention; Figure 14 is the flow chart of the non-puncture in a single layer in the embodiment of the present invention; Figure 15 is the schematic diagram of the auxiliary device for the puncture operation in the embodiment of the present invention; Figure 16 is the front schematic diagram of the auxiliary device for the puncture operation in the embodiment of the present invention.

[0023] Description of the Reference Numerals: 1. Base; 2. First sliding groove; 3. Second sliding groove; 4. First motor; 5. First threaded rod; 6. Second locking nut; 7. Second motor; 8. Second threaded rod; 9. Second rotating shaft; 10. First vertical telescopic rod; 11. First horizontal telescopic rod; 12. First connecting rod; 13. First collar; 14. First rotating shaft; 15. First locking nut; 16. Second vertical telescopic rod; 17. Second horizontal telescopic rod; 18. Second connecting rod; 19. Second collar. Detailed implementation mode

[0024] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0025] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0026] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0027] The present invention will be described in detail below with reference to the drawings and in combination with embodiments.

[0028] The needle insertion method for a puncture operation includes the following steps: S1: Obtain the medical image data of the target site; S2: Determine the tomographic image where the target site is located; preprocess the image to confirm the area where the puncture needle can enter; and then confirm the target needle insertion trajectory.

[0029] The medical image data of the target part in step S1 includes obtaining multi-layer CT scan images; the layer spacing during the CT scan of the multi-layer part is 1-5 mm; preprocessing the images, including determining the position, non-entry contour, and outer contour of the target part in the tomographic images.

[0030] The target part in step S2 is the red contour line, the outer contour is the yellow contour line, and the non-entry contour line is the colored contour line; the area where the puncture needle can enter is the green area.

[0031] Step S2 includes the following steps: A1: Establish a coordinate system on the tomographic image with the target part as the origin. A2: Cut the first and second quadrants of the tomographic image. The outer contour and the cutting lines form several fan-shaped regions, and select the fan-shaped regions. A3: Determine whether to insert the needle perpendicular to the upper surface of the body. If perpendicular, exclude the non-insertable fan-shaped regions, select the optimal region, and output it. Otherwise, proceed to step A4.

[0032] A4: Perform steps A1 and A2 on the adjacent layers of the layer where the target part is located to obtain fan-shaped regions. Take the midpoint coordinates of the chords of the fan-shaped regions, and perform a spatial straight-line fitting on the midpoint coordinates of the adjacent layers of the layer and the origin coordinates to obtain several spatial straight-line equations. A5: Determine whether the spatial straight-line equations in step A4 only pass through the area where the puncture needle can enter obtained in step S1. Use the straight line that only passes through the green area as the puncture entry area, and output the limit point coordinates.

[0033] Step A1 also includes determining whether the target part is on the left or right side of the geometric center. If on the left, then in step A3, preferentially select the straight line close to 135° in the second quadrant. If on the right, then in step A3, preferentially select the straight line close to 45° in the first quadrant. If there is no suitable straight line in the first and second quadrants in step A3, then change the position of the target part.

[0034] In step A3, the selection of the fan-shaped regions includes determining whether both of the dividing lines on both sides intersect the key organ contour line. If both intersect, then discard the fan-shaped region. In step A3, the selection of the fan-shaped regions includes screening, among the remaining fan-shaped regions, the fan-shaped region with the highest proportion of the area where the puncture needle can enter and close to 45° in the first quadrant or 135° in the second quadrant.

[0035] In step A4, take the midpoint coordinates of the chord of each fan-shaped region, denoted as (x1, y1, z1)……(x n, y n , z n ); respectively, for the midpoint coordinates (x0, y0, z0) and (x1, y1, z1), (x0, y0, z0) and (x2, y2, z2), …… (x0, y0, z0) and (x n , y n , z n [[ID=10)]) for the chords of the fan-shaped regions of different layers, perform spatial straight-line fitting to obtain spatial straight-line equations L1, L2, …… L n .

[0036] In step S5, the output limit point coordinate values include that if there are multiple straight lines in the same layer that meet the requirements of the preferred path, select the fan-shaped region close to the plane angle of 135° or 45°; The intersection points of the optimal path calculated according to the spatial straight-line equation of the fan-shaped center line and the outer contour of the human body. From the intersection points, calculate two limit points 1 cm and 3 cm outside the yellow contour line along the direction of the spatial straight-line equation, and output the two limit points.

[0037] An auxiliary device for puncture surgery, including a base 1, a first operation component, and a second operation component; the first operation component and the second operation component are respectively arranged on the base 1 through a first power source component and a second power source component. The first power source component can drive the first operation component to move along the base 1; the second power source component can drive the second operation component to move along the base 1; the puncture needle can pass through the first operation component and the second operation component.

[0038] The base 1 is provided with a first sliding groove 2 and a second sliding groove 3; the first power source component includes a first motor 4 and a first threaded rod 5. The first threaded rod 5 is rotatably arranged in the first sliding groove 2 on the base 1. The first motor 4 is installed on one side of the base 1, and the output end of the first motor 4 is connected to the first threaded rod 5; a first moving block is provided at the bottom of the first operation component, and the first moving block is threadedly arranged on the first threaded rod 5. The first power source component can drive the first operation component to move.

[0039] The second power source component includes a second motor 7 and a second threaded rod 8. The second threaded rod 8 is rotatably arranged in the second sliding groove 3 on the base 1. The second motor 7 is installed on one side of the base 1, and the output end of the second motor 7 is connected to the second threaded rod 8; a second moving block is provided at the bottom of the second operation component, and the second moving block is threadedly arranged on the second threaded rod 8. The second power source component can drive the second operation component to move. The second sliding groove 3 and the third sliding groove are arranged in parallel.

[0040] The first operating component includes a first vertical telescopic rod 10, a first horizontal telescopic rod 11, and a first connecting rod 12; the bottom of the first vertical telescopic rod 10 is arranged on the base 1 through a first moving block; the telescopic end of the first vertical telescopic rod 10 is connected to the first horizontal telescopic rod 11; the telescopic end of the first horizontal telescopic rod 11 is rotatably connected to one end of the first connecting rod 12, and the other end of the first connecting rod 12 is provided with a first collar 13. The inner diameter of the first collar 13 is larger than the outer diameter of the puncture needle.

[0041] The end of the first horizontal telescopic rod 11 is provided with a first rotating shaft 14, one end of the first connecting rod 12 is rotatably arranged on the first horizontal telescopic rod 11 through a rotating shaft, and the end of the first rotating shaft 14 is provided with a first locking nut 15. The second operating component includes a second vertical telescopic rod 16, a second horizontal telescopic rod 17, and a second connecting rod 18; the bottom of the second vertical telescopic rod 16 is arranged on the base 1 through a second moving block, and the telescopic end of the second vertical telescopic rod 16 is connected to the second horizontal telescopic rod 17; the telescopic end of the second horizontal telescopic rod 17 is rotatably connected to one end of the second connecting rod 18, and the other end of the second connecting rod 18 is provided with a second collar 19; the inner diameter of the second collar 19 is larger than the outer diameter of the puncture needle. The end of the second horizontal telescopic rod 17 is provided with a second rotating shaft 9, one end of the second connecting rod 18 is rotatably arranged on the second horizontal telescopic rod 17 through a rotating shaft, and the end of the second rotating shaft 9 is provided with a second locking nut 6.

[0042] In a specific implementation, according to the puncture position, the auxiliary device for the puncture operation is installed, and the device is placed on the detection bed (the detection bed uses the existing technology). To increase stability, threaded holes can be provided on the base 1 and installed on the detection bed using bolts, or in order to avoid damaging the detection bed, an adhesive can be pasted on the bottom of the base 1 on the detection bed, or the device can be fixed on the detection bed using tape.

[0043] Install the device on one side of the position to be punctured, confirm the puncture angle and depth, adjust the positions of the first operating component and the second operating component on the base 1 so that the first collar 13 and the second collar 19 are on the same straight line; according to the angle of the puncture needle, adjust the heights of the first vertical telescopic rod 10 and the second vertical telescopic rod 16, and adjust the extended lengths of the first horizontal telescopic rod 11 and the second horizontal telescopic rod 17. After confirming the depth and adjusting the angle, lock the first locking nut and the second locking nut 6. The operator holds the puncture needle and operates by passing the puncture needle through the first collar 13 and the second collar 19 in sequence. The diameters of the first collar 13 and the second collar 19 are larger than the diameter of the puncture needle, which is convenient for the operator to perform the puncture along this angle. The first collar 13 and the second collar 19 can, to a certain extent, avoid mistakes in the puncture operation by hand and can limit the puncture angle to a certain extent.

[0044] Embodiment 1 Insert the needle perpendicular to the z-axis 1. Display the most complete and clear CT tomographic image of the lesion (such as Figure 1 ) 2. Manually circle (or automatically identify*) the location of the lesion, which is the end position where the puncture needle tip travels (such as Figure 2 red circle) 3. Manually circle (or automatically identify) the outer contour of the patient's body (such as Figure 3 yellow contour line) 4. Manually circle (or automatically identify) the key organs (such as Figure 4 colored contour line). These parts should be avoided when inserting the puncture needle 5. Invert the selection of the third step to generate the area where the puncture needle can enter (such as Figure 5 green closed area) 6. Automatically generate the preferred path and confirm it by the clinician

[0045] The three axes are as shown on the right Figure 6 as shown

[0046] Each CT tomographic plane is perpendicular to the z-axis and has its own z-axis coordinate. Each image is parallel to the XOY plane and can be analyzed using the XY plane coordinate system, such as Figure 7 as shown

[0047] Step 6-1: Determine whether the lesion is on the left or right side of the geometric center of the image (the lesion in this example is on the left side of the image).

[0048] Step 6-2: Define the XY coordinate system with the lesion as the origin, such as Figure 7 as shown

[0049] Step 6-3: Evenly divide the images in the first and second quadrants with the origin as the center of the circle (the fineness of the division can be adjusted), such as Figure 8 as shown. Then each two dividing lines and the body contour line enclose a small area approximately in the shape of a sector. The dividing lines are regarded as the radii and the contour line is regarded as the chord

[0050] Step 6-4: Exclude the sector areas where the needle cannot be inserted. That is, in an independent sector area, if its two radii intersect with the key organ contour lines respectively, then discard this area

[0051] Step 6-5: Give priority to selecting the sector area with the highest proportion of the green area inside the sector and close to 45° or 135°. The center line of this sector area can be used as the preferred path

[0052] Since the lesion is on the left side of the image in the legend, the angle of 135° in the second quadrant is the most convenient for operation

[0053] If the lesion is on the right side of the image, then give priority to selecting the sector close to 45° in the first quadrant

[0054] If there is no suitable sector in the first and second quadrants, and there is a suitable sector in the third and fourth quadrants, prompt "The patient changes the body position for puncture".

[0055] As Figure 8 shown, Figure 8 in a, the two radii (dividing lines) intersect with the contour line of the key organ respectively, so discard the sector area.

[0056] Figure 8 In b, the area ratio of the green area is up to 100% and is closest to the 135° line.

[0057] Confirm the limit points of the robotic arm according to the equation of the optimal path (take the points 1 cm and 3 cm outside the yellow contour line), and adjust the auxiliary structure according to the position and angle.

[0058] Embodiment 2 The following are the steps that cannot perform puncture within a single plane. At this time, the included angle between the needle insertion direction and the z-axis is not 90°. 1. Display the most complete and clear CT tomographic image of the lesion (such as Figure 1 ). 2. Manually circle (or automatically identify*) the position of the lesion, that is, the end position where the puncture needle tip travels (such as Figure 2 the red circle). 3. Manually circle (or automatically identify) the outer contour of the patient's body (such as Figure 3 the yellow contour line). 4. Manually circle (or automatically identify) the key organs (such as Figure 4 the colored contour lines). These parts should be avoided when inserting the puncture needle. 5. Inverse select the third step to generate the area where the puncture needle can enter (such as Figure 5 the green closed area). 6. Automatically generate the optimal path and confirm it by the clinician.

[0059] The three axes are as shown on the right Figure 6 shown.

[0060] Each CT tomographic plane is perpendicular to the z-axis and has its own z-axis coordinate. Each image is parallel to the XOY plane and can be analyzed using the XY plane coordinate system, such as Figure 7 shown.

[0061] Step 6-1: Determine whether the lesion is on the left or right side of the geometric center of the image (the lesion in this example is on the left side of the image).

[0062] Step 6-2: Define the XY coordinate system with the lesion as the origin, such as Figure 7 shown.

[0063] Step 6-3: With the origin as the center of the circle, evenly divide the images in the first and second quadrants (the fineness of the division can be adjusted), as Figure 8 shown. Then, a small area approximately in the shape of a sector is formed by every two dividing lines and the body contour line. The dividing lines are regarded as radii, and the contour line is regarded as a chord.

[0064] Take the midpoint coordinates of the chord of each sector, denoted as (x1, y1, z1)……(x n , y n , z n ). Respectively perform spatial straight-line fitting on (x0, y0, z0) and (x1, y1, z1), (x0, y0, z0) and (x2, y2, z2) …… (x0, y0, z0) and (x n , y n , z n ), and obtain straight lines L1, L2……L n .

[0065] Judge whether L1, L2……L n only pass through the green area. The straight lines that only pass through the green area are retained as the preferred paths.

[0066] As Figure 9 and Figure 10 shown, the yellow dotted line is the schematic diagram of the needle-insertion path; When selecting adjacent layers, screen from near to far. The two closest layers are not included because this method is not applicable if there are no other layers between the two layers, and the layer spacing during CT-guided scanning is very small (usually 1 to 5 mm). Skipping one layer has little impact on the selection of the needle-insertion path.

[0067] Judging whether it only passes through the green area refers to the layer between the layer where the lesion point is located and the layer where the sector chord is located, and judging whether the intersection point of the straight line and the intermediate layer is within the green area. If there are multiple straight lines in the same layer that meet the requirements of the preferred path, use whether it is closer to the 135° or 45° angle with the YOZ plane as the preferred basis.

[0068] 7. Confirm the limit points of the robotic arm according to the equation of the preferred path (take the points 1 cm and 3 cm outside the yellow contour line), and adjust the auxiliary structure according to the position and angle.

[0069] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A needle insertion method for puncture surgery, characterized in that: The steps include: S1: Acquire medical image data of the target part; S2: Determine the tomographic image of the target site; pre-process the image to confirm that the puncture needle can enter the area; and then confirm the target needle insertion trajectory.

2. The needle insertion method for puncture surgery according to claim 1, characterized in that: The medical image data of the target part in step S1 includes acquiring a multi-slice CT scan image; The image is preprocessed, including determining the position of the target part, the inaccessible contour and the outer contour in the tomographic image.

3. The needle insertion method for puncture surgery according to claim 2, characterized in that: In step S2, the target part is a red contour line, the outer contour is a yellow contour line, and the inaccessible contour line is a colored contour line; The area that the puncture needle can enter is the green area.

4. The needle insertion method for puncture surgery according to claim 1, characterized in that: Step S2 includes the following steps: A1: Establish a coordinate system on the tomographic image with the target part as the origin; A2: Cut the first and second quadrants of the tomographic image, and the outer contour and the cutting line form several sector-shaped areas, and select the sector-shaped areas; A3: Determine whether the needle is inserted perpendicularly to the upper surface of the body. If it is perpendicular, exclude the fan-shaped area where the needle cannot be inserted, select the optimal area, and output it. Otherwise, proceed to step A4; A4: Perform steps A1 and A2 on the adjacent layers of the layer where the target part is located to obtain a fan-shaped area, take the midpoint coordinates of the chord of the fan-shaped area, perform spatial straight line fitting on the midpoint coordinates of the adjacent layers of the layer and the origin coordinates to obtain several spatial straight line equations; A5: Determine whether the spatial straight line equation in step A4 only passes through the area that the puncture needle can enter obtained in step S1, take the straight line that only passes through the green area as the area that the puncture needle can enter, and output the coordinates of the limit point.

5. The needle insertion method for puncture surgery according to claim 4, characterized in that: Step A1 also includes determining whether the target part is on the left or right side of the geometric center; If it is on the left side, then in step A3, the straight line with an angle of 135° close to the second quadrant is preferentially selected; If it is on the right side, then in step A3, the straight line close to 45° in the first quadrant is preferred; If there is no suitable straight line in the first quadrant and the second quadrant in step A3, the position of the target part is changed.

6. The needle insertion method for puncture surgery according to claim 5, characterized in that: The selection of the sector-shaped region in step A3 includes determining whether the segmentation lines on both sides intersect with the contour line of the key organ, and if they do, the sector-shaped region is discarded; The selection of the sector-shaped area in step A3 includes screening the sector-shaped area that has the highest area ratio of the area that the puncture needle can enter and is close to 45° of the first quadrant or 135° of the second quadrant among the retained sector-shaped areas.

7. The needle insertion method for puncture surgery according to claim 4, characterized in that: In step A4, the midpoint coordinates of the chord of each sector area are taken and set to (x1, y1, z1)... (x n ,y n ,z n ); The midpoint coordinates of the chords of the fan-shaped areas of different layers are (x0, y0, z0) and (x1, y1, z1), (x0, y0, z0) and (x2, y2, z2) ... (x0, y0, z0) and (x1, y1, z1) respectively. n ,y n ,z n ) to fit the space straight line and obtain the space straight line equations L1, L2...L n .

8. The needle insertion method for puncture surgery according to claim 4, characterized in that: Outputting the coordinate values ​​of the limit points in step S5 includes selecting a sector area close to a plane angle of 135° or 45° if there are multiple straight lines in the same layer that meet the requirements of the preferred path; Based on the intersection of the optimal path calculated according to the spatial straight line equation of the center line of the fan and the outer contour of the human body, two limit points 1 cm and 3 cm outside the yellow contour line are calculated from the intersection outward along the direction of the spatial straight line equation, and the two limit points are output.

9. The auxiliary device used in the needle insertion method for puncture surgery according to any one of claims 1 to 8, characterized in that: It includes a base, a first operating component and a second operating component; The first operating assembly and the second operating assembly are respectively arranged on the base through the first power source assembly and the second power source assembly, and the first power source assembly can drive the first operating assembly to move along the base; The second power source component can drive the second operating component to move along the base; The puncture needle can pass through the first operating component and the second operating component; The angles of the first operating component and the second operating component are adjusted according to the target needle insertion trajectory.

10. The auxiliary device according to claim 9, characterized in that: The base is provided with a first sliding groove and a second sliding groove; The first power source assembly includes a first motor and a first threaded rod, the first threaded rod is rotatably disposed in a first sliding groove on the base, the first motor is mounted on one side of the base, and the output end of the first motor is connected to the first threaded rod; A first moving block is provided at the bottom of the first operating assembly, and the first moving block is threadedly arranged on the first threaded rod, and the first power source assembly can drive the first operating assembly to move; The second power source assembly includes a second motor and a second threaded rod, the second threaded rod is rotatably disposed in a second sliding groove on the base, the second motor is mounted on one side of the base, and the output end of the second motor is connected to the second threaded rod; A second moving block is provided at the bottom of the second operating assembly, and the second moving block is threadedly arranged on the second threaded rod, and the second power source assembly can drive the second operating assembly to move; The second sliding groove and the third sliding groove are arranged in parallel; The first operating assembly includes a first vertical telescopic rod, a first horizontal telescopic rod, and a first connecting rod; The bottom of the first vertical telescopic rod is arranged on the base through a first moving block; the telescopic end of the first vertical telescopic rod is connected to the first horizontal telescopic rod; The telescopic end of the first horizontal telescopic rod is rotatably connected to one end of the first connecting rod, and the other end of the first connecting rod is provided with a first ring; The inner diameter of the first ring is larger than the outer diameter of the puncture needle; A first rotating shaft is provided at the end of the first horizontal telescopic rod, one end of the first connecting rod is rotatably arranged on the first horizontal telescopic rod through the rotating shaft, and a first locking nut is provided at the end of the first rotating shaft; The second operating assembly includes a second vertical telescopic rod, a second horizontal telescopic rod, and a second connecting rod; The bottom of the second vertical telescopic rod is arranged on the base through a second moving block, and the telescopic end of the second vertical telescopic rod is connected to the second horizontal telescopic rod; The telescopic end of the second horizontal telescopic rod is rotatably connected to one end of the second connecting rod, and the other end of the second connecting rod is provided with a second ring; The inner diameter of the second ring is larger than the outer diameter of the puncture needle; A second rotating shaft is provided at the end of the second horizontal telescopic rod, one end of the second connecting rod is rotatably arranged on the second horizontal telescopic rod through the rotating shaft, and a second locking nut is provided at the end of the second rotating shaft.

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