Needle insertion method and auxiliary device for puncture procedures

Abstract

The application discloses a needle insertion method and an auxiliary device for puncture surgery, and comprises the following steps: S1, acquiring medical image data of a target part; S2, determining a tomographic image where the target part is located; pre-processing the image, confirming an accessible area of a puncture needle, and then confirming a target needle insertion track. The application has the beneficial effects that different levels of tomographic images are analyzed, and inaccessible areas in each area are avoided, so that the safety of needle insertion in puncture surgery can be ensured, the safety of surgery is improved, the incidence of postoperative complications of patients is reduced, radiation can be reduced, and the pain and distress of patients caused by the radiation can be reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of medical robots, and particularly relates to a needle insertion method and an auxiliary device for puncture surgery. BACKGROUND

[0002] Puncture surgery has a wide range of applications in clinical practice. For example, in terms of diagnosis, a doctor may perform a biopsy on a patient suspected of having a tumor. When there is an unknown nodule in the lung, a percutaneous lung biopsy can be performed to obtain nodule tissue, and pathological examination can be performed to determine whether the nodule is benign or malignant. In terms of treatment, thoracentesis can be performed to remove fluid in the thoracic cavity to relieve symptoms such as difficulty breathing; ascitic fluid can be removed by abdominal paracentesis to relieve abdominal distension, and testing of the ascitic fluid can help diagnose the disease. Joint puncture can remove fluid in the joint cavity to reduce joint swelling and pain, and drugs can be injected into the joint cavity for treatment.

[0003] A doctor uses CT tomographic images to select the best puncture point and the best path for the insertion of a puncture needle into the body, ensuring that the lesion tissue sample is accurately obtained without damaging critical tissues and organs as much as possible.

[0004] Even if the puncture needle insertion point and insertion angle can be determined on the CT tomographic images, the doctor will perform multiple CT scans during the needle insertion process to ensure that the needle inserted into the body does not damage critical tissues and organs, and the needle direction is accurately directed towards the lesion tissue. In other words, due to human error, the puncture needle needs to be scanned once every time it is inserted a little bit, especially for cases with a long needle path, the path is often found to be unsatisfactory after a certain amount of needle insertion, and the needle needs to be adjusted again. This is inefficient and the patient receives a high amount of radiation. SUMMARY

[0005] Therefore, the present application aims to provide 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-mentioned purposes, the technical solution of the present application is as follows:

[0007] The needle insertion method for puncture surgery comprises the following steps:

[0008] S1: obtaining medical image data of a target site;

[0009] S2: determining the tomographic image where the target site is located; pre-processing the image to confirm that the puncture needle can enter the area; and further confirming the target needle insertion trajectory.

[0010] Further, the medical image data of the target site in step S1 comprises obtaining multi-layer CT scan images;

[0011] The CT scanning image of the multi-layer site has a scanning interval of 1-5 mm;

[0012] The image is pre-processed, including determining the position of the target part, the non-enterable contour and the outer contour in the tomographic image.

[0013] Further, the target part in step S2 is a red contour line, the outer contour is a yellow contour line, and the non-enterable contour is a colored contour line.

[0014] The area where the puncture needle can enter is a green area.

[0015] Further, step S2 includes the following steps:

[0016] A1: Establish a coordinate system on the tomographic image with the target part as the origin;

[0017] A2: Cut the first quadrant and the second quadrant of the tomographic image, and form a plurality of sector regions around the cutting line and the outer contour, and select the sector regions;

[0018] A3: Determine whether to insert the needle vertically to the upper surface of the body, if yes, exclude the non-insertable sector region, select the optimal region, and output, otherwise, proceed to step A4.

[0019] A4: Perform steps A1 and A2 on the adjacent layers of the layer where the target part is located, obtain the sector regions, take the midpoint coordinates of the chord of the sector region, and perform spatial straight line fitting on the midpoint coordinates of the adjacent layers and the origin coordinates to obtain a plurality of spatial straight line equations;

[0020] A5: Determine whether the spatial straight line equation in step A4 only passes through the puncture needle accessible region obtained in step S1, and output the limit point coordinates with only the straight line passing through the green region.

[0021] Further, step A1 further includes determining whether the target part is on the left or right side of the geometric center, if on the left side, preferentially select the straight line close to 135° of the second quadrant in step A3, if on the right side, preferentially select the straight line close to 45° of the first quadrant in step A3, if there is no suitable straight line in the first quadrant and the second quadrant in step A3, change the position of the target part.

[0022] Further, the selection of the sector region in step A3 includes determining whether both the dividing lines on both sides intersect with the key organ contour line, if both intersect, discard the sector region;

[0023] The selection of the sector region in step A3 includes selecting the sector region with the highest area ratio of the puncture needle accessible region and close to 45° of the first quadrant or 135° of the second quadrant in the remaining sector region.

[0024] Further, the midpoint coordinates of the chord of each sector region in step A4 are set as (x1, y1, z1) … (x n ,y n ,z n );

[0025] 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 chord midpoint coordinates of the sector regions of different layers are respectively subjected to spatial straight line fitting to obtain spatial straight line equations L1, L2 … L n .

[0026] Further, the output limiting point coordinate value in step S5 includes selecting the sector region close to the plane included angle 135° or 45° if there are multiple straight lines in the same layer meeting the preferred path requirement;

[0027] The intersection point of the optimal path calculated according to the spatial straight line equation of the sector center line and the outer contour of the human body part, and two limiting points 1cm and 3cm outside the yellow contour line are calculated along the direction of the spatial straight line equation, and the two limiting points are output.

[0028] The auxiliary device used in the needle insertion method for puncture surgery comprises a base, a first operation assembly and a second operation assembly;

[0029] The first operation assembly and the second operation assembly are arranged on the base through a first power source assembly and a second power source assembly respectively, the first power source assembly can drive the first operation assembly to move along the base;

[0030] The second power source assembly can drive the second operation assembly to move along the base;

[0031] The puncture needle can pass through the first operation assembly and the second operation assembly;

[0032] The angle of the first operation assembly and the second operation assembly is adjusted according to the target needle insertion trajectory.

[0033] Further, the base is provided with a first sliding groove and a second sliding groove;

[0034] The first power source assembly comprises a first motor and a first threaded rod, the first threaded rod is rotationally 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 with the first threaded rod;

[0035] The bottom of the first operation assembly is provided with a first moving block, the first moving block is threadedly arranged on a first threaded rod, and the first power source assembly can drive the first operation assembly to move.

[0036] The second power source assembly comprises a second motor and a second threaded rod, the second threaded rod is rotationally arranged in a second sliding groove on the base, the second motor is installed on one side of the base, and an output end of the second motor is connected with the second threaded rod.

[0037] The bottom of the second operation assembly is provided with a second moving block, the second moving block is threadedly arranged on the second threaded rod, and the second power source assembly can drive the second operation assembly to move.

[0038] The second sliding groove and the third sliding groove are arranged in parallel.

[0039] The first operation assembly comprises a first vertical telescopic rod, a first horizontal telescopic rod and a first connecting rod.

[0040] The bottom of the first vertical telescopic rod is arranged on the base through the first moving block, and the telescopic end of the first vertical telescopic rod is connected with the first horizontal telescopic rod.

[0041] The telescopic end of the first horizontal telescopic rod is rotationally connected with one end of the first connecting rod, and the other end of the first connecting rod is provided with a first sleeve ring.

[0042] The inner diameter of the first sleeve ring is greater than the outer diameter of the puncture needle.

[0043] The end of the first horizontal telescopic rod is provided with a first rotating shaft, one end of the first connecting rod is rotationally arranged on the first horizontal telescopic rod through the rotating shaft, and the end of the first rotating shaft is provided with a first locking nut.

[0044] The second operation assembly comprises a second vertical telescopic rod, a second horizontal telescopic rod and a second connecting rod.

[0045] The bottom of the second vertical telescopic rod is arranged on the base through the second moving block, and the telescopic end of the second vertical telescopic rod is connected with the second horizontal telescopic rod.

[0046] The telescopic end of the second horizontal telescopic rod is rotationally connected with one end of the second connecting rod, and the other end of the second connecting rod is provided with a second sleeve ring.

[0047] The inner diameter of the second sleeve ring is greater than the outer diameter of the puncture needle.

[0048] The end of the second horizontal telescopic rod is provided with a second rotating shaft, one end of the second connecting rod is rotationally arranged on the second horizontal telescopic rod through the rotating shaft, and the end of the second rotating shaft is provided with a second locking nut.

[0049] Compared with the prior art, the needle insertion method and auxiliary device for puncture surgery have the following advantages:

[0050] 1、The application analyzes different levels of fault images and avoids inaccessible areas in each region, which can ensure safe needle insertion in puncture operation, improve operation safety, reduce the incidence of postoperative complications of patients, and reduce the pain and distress caused to patients.

[0051] 2、The application does not need multiple attempts, and the confirmed route can be successful at one time, and the amount of radiation received by the patient.

[0052] 3、The application sets the first operation assembly and the second operation assembly to adjust the angle of the rotating rod, and then the angle of the puncture needle can be adjusted, and by adjusting the first vertical telescopic rod, the second vertical telescopic rod, the first horizontal telescopic rod and the second horizontal telescopic rod, different angles can be punctured.

[0053] 4、The application avoids direct puncture by hand, reduces human error, reduces the number of experiments, and reduces the amount of radiation received by the patient.

[0054] 5、The first power source in the application can make the auxiliary device move left and right on the operation table, and adapt to different puncture positions. DETAILED DESCRIPTION

[0055] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this application. The embodiments of the application, and their description, are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:

[0056] Figure 1 The CT fault image of the most complete and clear lesion out of the patient described in embodiment 1 of the application;

[0057] Figure 2 The CT fault image of the most complete and clear lesion out of the patient described in embodiment 1 of the application;

[0058] Figure 3 The CT fault image of the most complete and clear lesion out of the patient described in embodiment 1 of the application;

[0059] Figure 4 The CT fault image of the most complete and clear lesion out of the patient described in embodiment 1 of the application;

[0060] Figure 5 The CT fault image of the most complete and clear lesion out of the patient described in embodiment 1 of the application;

[0061] Figure 6 The three-axis coordinate diagram described in embodiment 1 of the application;

[0062] Figure 7A three-axis coordinate diagram as described in example 1 of the present application;

[0063] Figure 8 A post-cut schematic diagram as described in example 1 of the present application;

[0064] Figure 9 A pin path schematic diagram as described in example 2 of the present application;

[0065] Figure 10 A side schematic diagram of the pin path as described in example 2 of the present application;

[0066] Figure 11 A flow chart of a needle insertion method for puncture surgery as described in the present application;

[0067] Figure 12 A flow chart of image preprocessing as described in the present application;

[0068] Figure 13 A flow chart of pin insertion perpendicular to the upper surface of a body as described in the present application;

[0069] Figure 14 A flow chart of a single layer that cannot be punctured as described in the present application;

[0070] Figure 15 A schematic diagram of an auxiliary device for puncture surgery as described in the present application;

[0071] Figure 16 A front schematic diagram of an auxiliary device for puncture surgery as described in the present application.

[0072] BRIEF DESCRIPTION OF THE DRAWINGS

[0073] 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 DESCRIPTION

[0074] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0075] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can be explicitly or implicitly included one or more. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0076] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances.

[0077] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0078] The needle insertion method for puncture surgery includes the following steps: S1: obtaining medical image data of the target site; S2: determining the tomographic image where the target site is located; pre-processing the image to confirm the puncture needle access area; and then confirming the target needle insertion trajectory.

[0079] The medical image data of the target site in step S1 includes obtaining multi-slice CT scan images; the CT scan images of the multi-slice part have a slice interval of 1-5mm during scanning; the image is pre-processed, including determining the position of the target part, the non-entry contour and the outer contour in the tomographic image.

[0080] The target part in step S2 is a red contour line, the outer contour is a yellow contour line, and the non-entry contour line is a colored contour line; the puncture needle access area is a green area.

[0081] Step S2 includes the following steps:

[0082] A1: Establish a coordinate system on the tomographic image with the target part as the origin;

[0083] A2: The first and second quadrants of the tomographic image are cut, and the outer contour and the cutting line form several fan-shaped regions. The fan-shaped regions are then selected.

[0084] A3: Determine whether the pin is inserted perpendicular to the upper surface of the body. If it is perpendicular, exclude the fan-shaped area where pins cannot be inserted, select the optimal area, and output it. Otherwise, proceed to step A4.

[0085] A4: Perform steps A1 and A2 on the adjacent layers of the target layer to obtain a sector region. Take the midpoint coordinates of the chord of the sector region and perform spatial line fitting on the midpoint coordinates and origin coordinates of the adjacent layers to obtain several spatial line equations.

[0086] A5: Determine whether the spatial straight line equation in step A4 only passes through the area that the puncture needle obtained in step S1 can enter. Take the straight line that only passes through the green area as the area to be punctured and output the coordinates of the limit point.

[0087] Step A1 also includes determining whether the target part is to the left or right of the geometric center;

[0088] If it is on the left, then in step A3, the line closer to the second quadrant at 135° should be selected first.

[0089] If it is on the right, then in step A3, the line that is closer to the first quadrant at 45° should be selected first.

[0090] If there is no suitable straight line in the first or second quadrant in step A3, then change the position of the target part.

[0091] Step A3 involves selecting the sector region by determining whether the dividing lines on both sides intersect with the outline of the key organ. If they do, the sector region is discarded.

[0092] Step A3 involves selecting the sector area, which includes selecting the sector area that the puncture needle can enter with the highest area ratio and that is close to 45° in the first quadrant or 135° in the second quadrant.

[0093] In step A4, the midpoint coordinates of the chords of each sector region are taken and denoted as (x1, y1, z1)...(x n ,y n ,z n ); for the midpoint coordinates of the chords of different layer sector regions, respectively (x0,y0,z0) and (x1,y1,z1), (x0,y0,z0) and (x2,y2,z2)... (x0,y0,z0) and (x... n ,y n ,z n By performing spatial line fitting, the spatial line equations L1, L2, ..., L are obtained.n .

[0094] In step S5, the output limit point coordinate values ​​include selecting a fan-shaped area with a plane angle of 135° or 45° if multiple straight lines in the same layer meet the preferred path requirements.

[0095] Based on the intersection of the optimal path calculated from the spatial straight line equation of the fan-shaped center line and the outer contour of the human body, two limiting points are calculated outward from the intersection point along the direction of the spatial straight line equation, at distances of 1cm and 3cm from the outside of the yellow contour line, and the two limiting points are output.

[0096] An auxiliary device for puncture surgery includes a base 1, a first operating component, and a second operating component. The first operating component and the second operating component are respectively mounted on the base 1 via a first power source component and a second power source component. The first power source component can drive the first operating component to move along the base 1. The second power source component can drive the second operating component to move along the base 1. The puncture needle can pass through the first operating component and the second operating component.

[0097] The base 1 is provided with a first sliding groove 2 and a second sliding groove 3; the first power source assembly includes a first motor 4 and a first threaded rod 5. The first threaded rod 5 is rotatably disposed 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; the bottom of the first operating assembly is provided with a first moving block. The first moving block is threaded onto the first threaded rod 5. The first power source assembly can drive the first operating assembly to move.

[0098] The second power source assembly includes a second motor 7 and a second threaded rod 8. The second threaded rod 8 is rotatably mounted in a second sliding groove 3 on the base 1. The second motor 7 is mounted on one side of the base 1, and its output end is connected to the second threaded rod 8. A second moving block is provided at the bottom of the second operating component, and the second moving block is threaded onto the second threaded rod 8. The second power source assembly can drive the second operating component to move. The second sliding groove 3 and the third sliding groove are arranged in parallel.

[0099] 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 mounted on the base 1 via a first movable 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.

[0100] The first horizontal telescopic rod 11 has a first rotating shaft 14 at its end. One end of the first connecting rod 12 is rotatably mounted on the first horizontal telescopic rod 11 via the rotating shaft. The end of the first rotating shaft 14 has a first locking nut 15. The second operating assembly 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 mounted on the base 1 via a second moving block. 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. The other end of the second connecting rod 18 has a second collar 19. The inner diameter of the second collar 19 is larger than the outer diameter of the puncture needle. The second horizontal telescopic rod 17 has a second rotating shaft 9 at its end. One end of the second connecting rod 18 is rotatably mounted on the second horizontal telescopic rod 17 via the rotating shaft. The end of the second rotating shaft 9 has a second locking nut 6.

[0101] In practice, depending on the puncture location, an auxiliary device for the puncture procedure is installed. The device is placed on a testing bed (using existing technology). To increase stability, threaded holes can be provided on the base 1, and bolts can be used to install it on the testing bed. Alternatively, to avoid damaging the testing bed, adhesive can be applied to the bottom of the base 1 and placed on the testing bed, or the device can be fixed to the testing bed with tape.

[0102] Install the device on one side of the puncture site, confirm the puncture angle and depth, and adjust the positions of the first and second operating components on the base 1 so that the first collar 13 and the second collar 19 are aligned. Adjust the height of the first vertical telescopic rod 10 and the second vertical telescopic rod 16 according to the angle of the puncture needle, and adjust the extension length of the first horizontal telescopic rod 11 and the second horizontal telescopic rod 17. Confirm the depth, adjust the angle, and tighten the first locking nut and the second locking nut 6. The operator holds the puncture needle and passes it sequentially through the first collar 13 and the second collar 19. The diameters of the first collar 13 and the second collar 19 are larger than the diameter of the puncture needle, facilitating puncture at this angle. The first collar 13 and the second collar 19 can, to some extent, prevent errors during manual puncture surgery and limit the puncture angle.

[0103] Example 1

[0104] Perpendicular to the z-axis pin

[0105] 1. Displays the most complete and clear CT tomographic images of the lesion (e.g.) Figure 1 )

[0106] 2. Manually select (or automatically identify*) the lesion location, i.e., the endpoint of the needle tip's travel (e.g., Figure 2 (Red circle)

[0107] 3. Manually select (or automatically identify) the patient's outer contour (e.g., Figure 3 (yellow outline)

[0108] 4. Manually select (or automatically identify) key organs (such as...) Figure 4 (Colored outline), these areas should be avoided when inserting the puncture needle.

[0109] 5. Reverse the selection in step 3 to generate the area that the puncture needle can enter (e.g., Figure 5 (Green closed area)

[0110] 6. Automatically generate the preferred route, which is then confirmed by the clinician.

[0111] The three axes are as shown on the right. Figure 6 As shown.

[0112] Each CT slice 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.

[0113] Step 6-1: Determine whether the lesion is to the left or right of the geometric center of the image (in this example, the lesion is to the left of the image).

[0114] Step 6-2: Define an XY coordinate system with the lesion as the origin, as follows: Figure 7 As shown.

[0115] Step 6-3: Divide the image in the first and second quadrants evenly using the origin as the center (the fineness of the division can be adjusted), such as... Figure 8 As shown, each pair of dividing lines and the body outline encloses a small, approximately fan-shaped region, with the dividing lines considered as radii and the outlines as chords.

[0116] Step 6-4: Eliminate sector areas that cannot be pinned. That is, within an independent sector area, if its two radii intersect the outline of the key organ, then discard the area.

[0117] Steps 6-5: Prioritize selecting the sector with the highest proportion of green area within the sector and an angle close to 45° or 135°. The centerline of this sector can be used as the preferred path.

[0118] Since the lesion in the illustration is on the left side of the image, the 135° angle in the second quadrant is the most convenient for operation.

[0119] If the lesion is on the right side of the image, a sector approximately 45° from the first quadrant should be selected first.

[0120] If there is no suitable sector in the first and second quadrants, but there is a suitable sector in the third and fourth quadrants, then the suggestion is "the patient should change position before puncture".

[0121] like Figure 8 As shown, Figure 8 In the equation 'a', the two radii (dividing lines) intersect the outline of the key organ, so the sector region is discarded.

[0122] Figure 8 In the case of b, the green area accounts for the highest proportion of 100% and is closest to the 135° line.

[0123] The limit points of the robotic arm are determined according to the equation of the preferred path (points 1 cm and 3 cm away from the outside of the yellow outline), and the auxiliary structure is adjusted according to the position and angle.

[0124] Example 2

[0125] The following are procedures where puncture cannot be performed within a single layer, in which case the angle between the needle insertion direction and the z-axis is not 90°.

[0126] 1. Displays the most complete and clear CT tomographic images of the lesion (e.g.) Figure 1 )

[0127] 2. Manually select (or automatically identify*) the lesion location, i.e., the endpoint of the needle tip's travel (e.g., Figure 2 (Red circle)

[0128] 3. Manually select (or automatically identify) the patient's outer contour (e.g., Figure 3 (yellow outline)

[0129] 4. Manually select (or automatically identify) key organs (such as...) Figure 4 (Colored outline), these areas should be avoided when inserting the puncture needle.

[0130] 5. Reverse the selection in step 3 to generate the area that the puncture needle can enter (e.g., Figure 5 (Green closed area)

[0131] 6. Automatically generate the preferred route, which is then confirmed by the clinician.

[0132] The three axes are as shown on the right. Figure 6 As shown.

[0133] Each CT slice 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.

[0134] Step 6-1: Determine whether the lesion is to the left or right of the geometric center of the image (in this example, the lesion is to the left of the image).

[0135] Step 6-2: Define an XY coordinate system with the lesion as the origin, as follows: Figure 7 As shown.

[0136] Step 6-3: Divide the image in the first and second quadrants evenly using the origin as the center (the fineness of the division can be adjusted), such as... Figure 8 As shown, each pair of dividing lines and the body outline encloses a small, approximately fan-shaped region, with the dividing lines considered as radii and the outlines as chords.

[0137] Take the coordinates of the midpoint of each sector chord, and denote them as (x1, y1, z1)...(x... n ,y n ,z n For (x0,y0,z0) and (x1,y1,z1), (x0,y0,z0) and (x2,y2,z2) respectively, ..., (x0,y0,z0) and (x... n ,y n ,z n Perform spatial line fitting to obtain lines L1, L2...L n .

[0138] Determine L1, L2...L n Should the path only pass through the green area? The preferred path is the one that only passes through the green area.

[0139] like Figure 9 and Figure 10 As shown, the yellow dashed line is a schematic diagram of the pin insertion path;

[0140] When selecting adjacent layers, the selection is performed from closest to furthest. The two closest layers are not included because this method is not applicable if there are no other layers between them, and the interslice spacing is very small during CT-guided scanning (generally 1 to 5 mm), so skipping a layer has little impact on the selection of the insertion path.

[0141] Determining whether a line only traverses the green area refers to determining whether the intersection of the line with the layer between the lesion and the layer containing the sector chord is within the green area. If multiple lines within the same layer meet the preferred path requirements, the line closer to the YOZ plane angle of 135° or 45° is used as the preferred criterion.

[0142] 7. Based on the equation of the preferred path, confirm the limiting points of the robotic arm (take the points 1cm and 3cm away from the outside of the yellow outline), and adjust the auxiliary structure according to the position and angle.

[0143] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A needle insertion method for puncturing a procedure, characterized by: It comprises the following steps: S1: obtaining medical image data of a target site; S2: determining a tomographic image where the target site is located; pre-processing the image, confirming a puncture needle accessible area, and further confirming a target needle insertion trajectory; The medical image data of the target site in step S1 comprises obtaining multi-layer CT scan images; The image pre-processing comprises determining the position of the target site, an inaccessible contour, and an outer contour on the tomographic image; The target site in step S2 is a red contour line, the outer contour is a yellow contour line, and the inaccessible contour is a colored contour line; The puncture needle accessible area is a green area; Step S2 comprises the following steps: A1: establishing a coordinate system on the tomographic image with the target site as the origin; A2: cutting the first quadrant and the second quadrant of the tomographic image, forming a plurality of sector areas around the cutting line with the outer contour, and selecting the sector areas; A3: determining whether to insert the needle vertically to the upper surface of the body, if yes, excluding the sector area where the needle cannot be inserted, selecting the optimal area, and outputting, otherwise, performing step A4; A4: performing steps A1 and A2 on the adjacent layers of the layer where the target site is located, obtaining sector areas, taking the midpoint coordinates of the chords of the sector areas, and performing spatial straight line fitting on the midpoint coordinates of the adjacent layers and the origin coordinates to obtain a plurality of spatial straight line equations; A5: determining whether the spatial straight line equation in step A4 only passes through the puncture needle accessible area obtained in step S1, taking the straight line that only passes through the green area as the puncture entry area, and outputting the limit point coordinates.

2. The needle insertion method for a puncture operation according to claim 1, characterized by: Step A1 further comprises determining whether the target site is on the left or right side of the geometric center; If on the left side, preferentially select the straight line close to 135° of the second quadrant in step A3; If on the right side, preferentially select the straight line close to 45° of the first quadrant in step A3; If there is no suitable straight line in the first quadrant and the second quadrant in step A3, change the position of the target site.

3. The needle insertion method for a puncture operation according to claim 2, characterized by: The selection of the sector area in step A3 comprises determining whether both sides of the dividing line intersect with the key organ contour line, if yes, discard the sector area; The selection of the sector area in step A3 comprises selecting the sector area with the highest area ratio of the puncture needle accessible area and close to 45° of the first quadrant or 135° of the second quadrant from the retained sector areas.

4. The needle insertion method for a puncture operation according to claim 1, characterized by: In step A4, the midpoint coordinates of the chords of each sector area are taken as (x1, y1, z1) … (xn, yn, zn); 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 (xn, yn, zn) of the midpoint coordinates of the chords of the sector areas of different layers to obtain spatial straight line equations L1, L2 … Ln.

5. The needle insertion method for a puncture operation according to claim 1, wherein: The output of the limiting point coordinate value in step S5 includes: if there are multiple straight lines in the same layer that meet the requirements of the preferred path, a sector area close to the plane angle of 135° or 45° is selected; the intersection of the optimal path calculated according to the spatial straight line equation of the sector center line and the outer contour of the human body part is obtained, and two limiting points 1 cm and 3 cm away from the outside of the yellow contour line are calculated along the direction of the spatial straight line equation from the intersection point, and the two limiting points are output.

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