Thyroid nodule pathology precise sampling system

Abstract

The invention relates to the technical field of medical instruments, in particular to a thyroid nodule pathology precise sampling system which comprises a receiving module used for receiving tissue lesion types, positions, colors and shape features of past postoperative pathology sampling; the data processing module is used for constructing association between tissue lesion types and position, color and shape features, and constructing a judgment model in combination with a basic principle of pathological sampling; the guidance module is used for acquiring a three-dimensional image of the sample, generating a guidance scheme according to the three-dimensional image and the judgment model, and projecting guidance light to the sample according to the guidance scheme; the correction module is used for judging the position of the scalpel according to the breakpoint position of the guiding light on the sample, judging whether the scalpel moves along the guiding light or not according to the position of the scalpel, and giving an alarm to a user only when the scalpel does not move along the guiding light.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a precise sampling system for thyroid nodule pathology. Background Art

[0002] Thyroid nodule pathological sampling technology is a key link in pathological diagnosis. It involves obtaining diseased tissue or cell samples from the patient's body, and after a series of processing, it is finally made into slices that can be observed under a microscope for pathologists to diagnose.

[0003] The quality of thyroid nodule pathology sampling directly affects the quality of the sections, which in turn affects the accuracy and reliability of the pathological diagnosis. Correct sampling techniques ensure that representative lesion tissue is obtained, providing a reliable basis for subsequent pathological diagnosis.

[0004] In existing techniques, physicians describe and photograph gross and cross-sectional images, recording details of the appearance (shape, size, color, texture, firmness, etc.) and cross-sectional details (changes in shape, size, color, texture, firmness, and the presence of bleeding, necrosis, liquefaction, calcification, or cystic changes). They then select representative areas of diagnostic significance for excision, typically the lesion and adjacent tissue. The excised tissue block is typically smaller than 2 cm x 1.5 cm and less than 0.3 cm thick. For fragile tissues such as the thyroid, lymph nodes, and large masses of cancerous tissue, thicker sections may be used. For thicker tissues or those difficult for reagents to penetrate, such as fat, smooth muscle tissue, and fibrous tumors, thinner sections may be used.

[0005] During the sampling process, use a sharp knife and avoid dragging back and forth to ensure that the tissue block is uniform in thickness. Pay attention to the presence of sutures or bone within the tissue. If calcification is unavoidable, consult the technical department. When slicing fibrous tissue, muscle tissue, and the gastrointestinal tract, pay attention to the direction of the fibers and muscles, and cut parallel to the fibers whenever possible.

[0006] Sampling requires ensuring sample accuracy, representativeness, and completeness. However, existing techniques, due to the small size of thyroid nodules, especially malignant nodules, often measuring 2mm-5mm, and the multifocal nature of most, can affect the professional qualifications of the sampling physician. This can lead to problems such as incorrect sampling location, inaccurate sample volume, and missed samples, which directly impact the accuracy of subsequent pathological examinations. Summary of the Invention

[0007] To solve the above problems, the present invention provides a thyroid nodule pathology precision sampling system for improving the accuracy and representativeness of pathologists' sampling.

[0008] In order to achieve the above objectives, the technical solution of the present invention is as follows: A thyroid nodule pathology precision sampling system, comprising: The receiving module is used to receive the tissue lesion type, location, color and shape characteristics of the pathological samples taken after thyroid nodule surgery, as well as the corresponding preoperative imaging data of the patient, and locate the sampling location information; Data processing module: The data processing module is used to establish the association between tissue lesion type and location, color and shape characteristics, and to build a judgment model based on the basic principles of pathological sampling; The guidance module is used to obtain a three-dimensional image of the sample, generate a guidance plan based on the three-dimensional image and the judgment model, and project guidance light to the sample according to the guidance plan; The correction module is used to determine the position of the scalpel according to the breakpoint position of the guiding light on the sample, determine whether the scalpel moves along the position of the guiding light according to the position of the scalpel, and alarm the user only when the scalpel does not move along the position of the guiding light.

[0009] Furthermore, the correction module is also used to obtain the temperature of the sample and correct the position of the scalpel according to the point where the temperature mutation occurs in the sample.

[0010] Furthermore, the guidance module includes a sample stage, above which is provided an acquisition component for acquiring image information of the sample at several angles. A controller is also provided on the sample stage for generating a three-dimensional image of the sample based on the image information of the sample at several angles.

[0011] Furthermore, the correction module includes a laser emitter and an output component, the output component is used to output a signal to the user, and the laser emitted by the laser emitter is a straight-line laser. The laser emitter is provided with an adjustment component and a temperature sensor, the temperature sensor is used to collect temperature information of the sample, and the adjustment component is used to adjust the position and angle of the laser emitter and the temperature sensor. The controller determines whether the scalpel moves along the guide light according to the position of the straight-line laser break in the image information and the position of the temperature mutation in the temperature information, and controls the output component to alarm the user when the scalpel does not move along the straight-line laser.

[0012] Furthermore, the correction module is also used to synchronously adjust the sample position and the guiding light position when the scalpel does not move along the guiding light position until the scalpel and the guiding light coincide with each other.

[0013] Furthermore, the correction module also includes a screw lifting platform, the top wall of the screw lifting platform is fixedly connected to the bottom wall of the sample platform, and a fixed platform is provided under the screw lifting platform, and a pump assembly is provided on the fixed platform. The pump assembly is connected to a number of nozzles, and solenoid valves are provided at the connection points between the nozzles and the pump assembly. The nozzles are used to spray fluid onto the bottom wall of the screw, and the controller controls the operation of the screw lifting platform, pump assembly and solenoid valve according to image information and temperature information.

[0014] Furthermore, a first electromagnet is provided on the top wall of the fixed platform, and a first permanent magnet is provided on the bottom wall of the screw lifting platform. The controller controls the operation of the first electromagnet according to the image information and temperature information.

[0015] Furthermore, the correction module is also used to determine whether the screw lifting platform has been adjusted to the extreme position based on the image information. When the screw lifting platform is adjusted to the extreme position, the scalpel still does not coincide with the guidance light. The correction module re-plans the guidance plan based on the image information and the judgment model, and the starting position of the guidance plan coincides with the position of the scalpel.

[0016] Furthermore, an auxiliary module is included, which is used to determine whether the sampling is completed based on the image information, and to recover the tissue remaining on the sample stage and clean the sample stage after the sampling is completed.

[0017] Furthermore, the auxiliary module is also used to store sampling tools of different usages, and determine the sampling tool required by the user for the next step based on the image information, and pop up the corresponding sampling tool for the user according to the user's progress.

[0018] The technical principles and beneficial effects of the above scheme are as follows: 1. This solution guides users during sampling by projecting guidance light onto the sample. Compared to existing technologies, this solution is less affected by the physician's professional expertise. Even for physicians with limited sampling experience, it can help them quantitatively sample landmark tissues, helping to improve the accuracy of subsequent pathological judgments. Furthermore, compared to remote sampling guidance, this solution is less affected by network latency and can significantly reduce manual intervention in the sampling guidance process, reducing the workload of relevant personnel and helping to improve the standardization of the sampling process.

[0019] 2. This solution uses image acquisition to obtain the breakpoints of the guide light. Based on the position and movement status of the breakpoints, it can be determined whether the user uses a scalpel to cut along the guide light and the approximate position of the scalpel. Compared with the existing technology, this solution is not easily affected by the state of the scalpel, and the part that requires feature recognition is simple and less affected by the amount of data used to train the image recognition model.

[0020] 3. This solution collects the temperature of the sample, uses the temperature difference between the scalpel and the sample, locates the scalpel according to the temperature mutation position, and uses image information and temperature information to perform dual positioning of the scalpel, thereby reducing the error in the scalpel positioning process and improving the positioning accuracy of this solution.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of an embodiment of a system for accurately sampling thyroid nodules pathology according to the present invention; Figure 2 Axonometric diagram of an embodiment of the thyroid nodule pathology precision sampling system of the present invention Figure 3 Schematic diagram of an embodiment of a system for accurately sampling thyroid nodules pathology according to the present invention; Figure 4 A top view of an embodiment of a system for accurately sampling thyroid nodules pathology according to the present invention; Figure 5 for Figure 3 Middle AA section; Figure 6 for Figure 3 Middle BB cross-section; Figure 7 A cross-sectional view of a placement box of an embodiment of a system for precise sampling of thyroid nodules pathology according to the present invention; Figure 8 This is a circuit diagram of an embodiment of the thyroid nodule pathology precision sampling system of the present invention.

[0023] The figure marks in the drawings of the specification include: 1. guidance module; 11. sample stage; 12. camera; 2. correction module; 21. fixed platform; 22. screw lifting platform; 23. fixed frame; 24. electric control slide rail; 25. cylinder; 26. laser emitter; 27. nozzle; 28. first electromagnet; 29. first permanent magnet; 3. spray head; 4. placement box; 41. chamber; 42. second electromagnet; 43. tension spring; 44. second permanent magnet; 45. cover plate. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0027] The following is further described in detail through specific implementation methods: Example 1:

[0028] As attached Figure 1 -Attached Figure 8 Shown: A thyroid nodule pathology precision sampling system, comprising: The receiving module is used to receive the type, location, color and shape characteristics of tissue lesions sampled from past postoperative pathological samples; as well as the corresponding preoperative imaging image data of the patient, to accurately locate the sampling location information.

[0029] For example, a receiving model database is constructed based on previous imaging and pathological data of thyroid nodules, including benign thyroid nodules, thyroid adenomas, papillary thyroid carcinoma, and follicular thyroid carcinoma. For example, a patient's preoperative imaging data revealed a thyroid nodule on ultrasound, located on the left superior dorsal thyroid gland. The nodule was off-white in color, quasi-circular in shape, with an aspect ratio greater than 1 and poorly defined boundaries. The postoperative pathological diagnosis was papillary thyroid carcinoma.

[0030] The data processing module is used to establish the association between tissue lesion type and location, color and shape characteristics, and use machine learning to build a judgment model based on the basic principles of pathological sampling; The receiving module and data processing module are not only constructed using a database of previous thyroid nodule imaging pathology data, but also provide guidance for sampling plans by collecting and processing three-dimensional imaging data of the samples to be taken and comparing them with previous data in the database (which can be achieved through machine learning technology).

[0031] Guidance module 1, guidance module 1 is used to obtain a three-dimensional image of the sample and generate a three-dimensional model of the sample based on the three-dimensional image. The three-dimensional model includes the morphological details and color of each position of the sample, and generates a guidance plan based on the three-dimensional image and the judgment model. The guidance plan includes the order, position, length, size and position of the knife, etc. The guidance light is projected onto the sample according to the guidance plan. For example, when it is necessary to cut along the middle position of the sample and cut the sample open, the guidance light is projected at the middle position of the sample, and the length is the same as the length of the knife. As the cutting proceeds, the lesion position is gradually exposed. The guidance module 1 adjusts the guidance plan according to the real-time lesion position to assist the user in accurate sampling.

[0032] Correction Module 2 is used to determine the position of the scalpel based on the breakpoint position of the guiding light on the sample, determine whether the scalpel has moved along the guiding light position based on the scalpel position, and alert the user (e.g., issue a voice prompt) only if the scalpel has not moved along the guiding light position. Correction Module 2 is also used to synchronously adjust the sample position and the guiding light position until the scalpel and the guiding light coincide. During the process of guiding module 1 projecting the guiding light onto the sample, the user uses the scalpel to cut along the guiding light. When the scalpel and the guiding light coincide and cut the tissue, the tissue is separated along the guiding light position. Due to the thickness of the scalpel, it is difficult for tissue adjacent to the scalpel position to come close together. The guiding light irradiated at this position enters the tissue dividing line, thereby generating a breakpoint. The position of the scalpel can thus be determined based on the position and movement of the breakpoint. Compared with solutions that directly use image recognition, this solution requires fewer and more obvious features to be extracted, making it less likely that blood in the tissue will contaminate the scalpel, causing the system to misjudge.

[0033] Correction module 2 is also used to obtain the temperature of the sample and correct the position of the scalpel according to the point where the temperature mutation occurs in the sample. Since there is a temperature difference between the scalpel and the tissue, when obtaining the temperature information of the sample, the temperature at the scalpel position will be different from the tissue temperature, causing the temperature information at the scalpel position to mutate. Therefore, the position of the scalpel can be obtained based on the position of the mutated temperature information. The position of the scalpel obtained through image information and temperature information is compared and analyzed, thereby improving the accuracy of the scalpel position acquisition and improving the accuracy of the sampling guidance provided by this solution.

[0034] Example 2:

[0035] As attached Figure 2As shown, the difference from Example 1 is that the guidance module 1 includes a sample stage 11, and a collection component is provided above the sample stage 11. The collection component is used to collect image information of the sample at several angles. The collection module includes several cameras 12, and the angles of the cameras 12 are different. A controller is also provided on the sample stage 11, and the cameras 12 are electrically connected to the controller. The controller is used to generate a three-dimensional image of the sample based on the image information of the sample at several angles.

[0036] The correction module 2 includes a laser emitter 26 and an output component. The output component is used to output a signal to the user. In this embodiment, the output component is a communication module, and the laser emitted by the laser emitter 26 is a straight-line laser. The laser emitter 26 is provided with an adjustment component and a temperature sensor (non-contact temperature sensor). The temperature sensor is fixedly connected to the laser emitter 26 by bolts. The temperature sensor is used to collect temperature information of the sample. The adjustment component is used to adjust the position and angle of the laser emitter 26 and the temperature sensor. The adjustment component includes a fixing frame 23. The camera 12 is fixed to the fixing frame 23 by bolts. A fixed connection is provided on the fixed frame 23, an electric-controlled slide rail 24 is provided, the laser emitter 26 is hinged to the slider of the electric-controlled slide rail 24, and a cylinder 25 is also hinged on the slider of the electric-controlled slide rail 24, and the output end of the cylinder 25 is hinged to the side wall of the laser emitter 26, the laser emitter 26, the temperature sensor, the electric-controlled slide rail 24 and the cylinder 25 are all electrically connected to the controller, and the controller determines whether the scalpel moves along the guide light according to the position of the straight-line laser fracture in the image information and the position of the temperature mutation in the temperature information, and controls the communication module to send a prompt signal to the user to alarm when the scalpel does not move along the straight-line laser.

[0037] The correction module 2 is also used to synchronously adjust the sample position and the guiding light position when the scalpel does not move along the guiding light position until the scalpel and the guiding light coincide with each other, thereby further reducing the difficulty of sampling and improving the accuracy of sampling.

[0038] The correction module 2 also includes a screw lifting platform 22, the top wall of the screw lifting platform 22 is fixedly connected to the bottom wall of the sample table 11 by bolts, and a fixed platform 21 is provided below the screw lifting platform 22, and a pump assembly (not shown in the figure) is provided on the fixed platform 21. In this embodiment, the pump assembly is an air pump, and the pump assembly is connected to a plurality of nozzles 27, and the connection points between the nozzles 27 and the pump assembly are provided with solenoid valves. The nozzles 27 are all used to spray fluid toward the bottom wall of the screw. A first electromagnet 28 is provided on the top wall of the fixed platform 21, and a first permanent magnet 29 is provided on the bottom wall of the screw lifting platform 22. The first electromagnet 28, the screw lifting platform 22, the pump assembly and the solenoid valve are all electrically connected to the controller. The controller controls the operation of the electric control slide 24, the cylinder 25, the first electromagnet 28, the screw lifting platform 22, the pump assembly and the solenoid valve according to the image information and temperature information.

[0039] The specific implementation process is as follows: When using this solution, according to the characteristics of the sample, a suitable fixing solution is selected to fix the sample on the top wall of the sample table 11. During use, each camera 12 continuously collects image information of the sample at various angles, generates a corresponding three-dimensional image, and constructs a three-dimensional model of the sample based on the three-dimensional image.

[0040] By using the three-dimensional model and the judgment model, a corresponding guidance plan is formulated. According to the guidance plan, the controller controls the electric control slide 24 to work, driving the laser emitter 26 to move to the cutting position, and then controls the laser emitter 26 to work according to the cutting length at that position, and emits a line-shaped laser (i.e., the guidance light) to the corresponding position of the tissue. At the same time, the cylinder 25 is controlled to work according to the image information, driving the laser emitter 26 to rotate so that the line-shaped laser coincides with the cutting position in the guidance plan.

[0041] After the position of the in-line laser no longer changes, the user can use the scalpel to gradually perform the cutting operation according to the guidance of the in-line laser. During the cutting process, after the scalpel is inserted into the sample, the surgical tool has a certain thickness, making it difficult for the cutting position to adhere due to the surface tension of the liquid on its surface, etc., causing the in-line laser projected at this position to have a breakpoint. If the scalpel continues to move along the in-line laser, the breakpoint should continue to move without obvious pause or disappearance. Therefore, the cutting position of the scalpel can be judged by the position of the breakpoint in the image information. At the same time, if the scalpel shows obvious movement in the image information but no breakpoint appears, the scalpel may be offset.

[0042] At the same time, the temperature sensor moves synchronously with the laser emitter 26, continuously collecting the temperature of the position where the laser can irradiate, and obtaining temperature information. Since the temperature change from the outside to the inside of the tissue has a certain continuity, and the scalpel is a foreign object, there is a certain temperature difference between it and the tissue. Therefore, the position of the scalpel can be obtained by locating the position where the temperature mutation occurs in the temperature information, and the cutting position of the scalpel is corrected using this position. When the scalpel deviates from the cutting route in the guidance plan, the temperature information can be used to improve the accuracy of the image information in judging the cutting position of the scalpel, thereby improving the accuracy of the system.

[0043] When the actual cutting position deviates from the in-line laser, the controller confirms the difference between the scalpel position and the in-line laser position based on the image information and temperature information, and then controls the solenoid valve, pump assembly or screw lifting platform to work according to the difference to adjust the position of the sample. While adjusting the position of the sample, the electric control slide 24 and the cylinder 25 are controlled to move synchronously with the sample, avoiding the relative position misalignment of the in-line laser and the sample caused by the movement of the sample, thereby further improving the accuracy of sampling and reducing the difficulty of sampling.

[0044] For example, when the user places the knife directly below the inline laser, the controller controls the screw telescopic platform to operate, pushing the sample platform downward, and controls the cylinder 25 to operate, driving the laser emitter 26 to rotate, thereby driving the inline laser and the sample to move downward synchronously, until the user's scalpel coincides with the inline laser. When the user places the knife directly to the left of the inline laser, the controller controls the solenoid valve of the nozzle 27 on the right side of the screw lifting platform 22 to open, and controls the pump assembly to operate, pumping gas to the side wall of the screw lifting platform 22, thereby pushing the screw lifting platform 22 to move to the left, and at the same time the controller controls the electric control slide 24 to drive the laser emitter 26 to move, thereby making the inline laser and the sample move synchronously, until the scalpel coincides with the inline laser.

[0045] During this process, when the controller controls the operation of the pump assembly, the controller controls the operation of the first electromagnet 28. The first electromagnet 28 generates magnetic force, which forms a repulsive effect on the first permanent magnet 29, pushing the screw lifting platform 22 away from the fixed platform 21, thereby greatly reducing the friction between the screw lifting platform 22 and the fixed platform 21, and further reducing the work required by the gas ejected from the nozzle 27 to push the screw lifting platform 22 to move, thereby reducing the difficulty of pushing the screw lifting platform 22.

[0046] Compared with the solution of using electric cylinders to push the screw lifting platform 22, this solution is easier to disassemble and clean, has smaller cleaning dead corners, is easier to keep positions such as the sample table 11 clean, and the cleaning difficulty can be reduced accordingly.

[0047] Example 3:

[0048] As attached Figure 5 As shown, the difference from Example 2 is that the correction module 2 is also used to determine whether the screw lifting platform 22 has been adjusted to the extreme position based on the image information. When the screw lifting platform 22 is adjusted to the extreme position, the scalpel still does not coincide with the guidance light. The correction module 2 re-plans the guidance plan based on the image information and the judgment model, and the starting position of the guidance plan coincides with the position of the scalpel.

[0049] The specific implementation process is as follows: During the use of this solution, when the screw lifting platform 22 rises to the maximum height, descends to the minimum height or is pushed to the edge of the fixed platform 21, the correction module 2 can no longer continue to adjust the position of the sample (that is, it reaches the extreme position), but the scalpel still does not coincide with the guidance light at this time. The correction module 2 re-plans the guidance plan based on the image information and judgment model. The guidance plan obtained at this time may not be the optimal guidance plan, but the starting position of the guidance plan coincides with the real-time position of the scalpel.

[0050] Compared with the existing technology, this solution makes up for the displacement limitations caused by the use of the fixed platform 21, the screw lifting platform 22, etc., which helps to improve the applicable scenarios of this solution.

[0051] Example 4:

[0052] As attached Figure 7 As shown, the difference from Example 3 is that it also includes an auxiliary module, which is used to determine whether sampling is complete based on the image information, and after sampling is completed, recover the tissue remaining on the sample platform 11 and clean the sample platform 11. The auxiliary module is also used to store sampling tools with different uses, and determine the sampling tool required by the user for the next step based on the image information, and pop up the corresponding sampling tool for the user according to the user's progress.

[0053] The auxiliary module includes a recovery chamber and a spray head 3. The recovery chamber is connected to a vacuum pump (not shown in the figure), and the spray head 3 is connected to a water pump (not shown in the figure). The input end of the water pump is connected to a liquid storage box, which contains a cleaning liquid. The input end of the recovery chamber and the spray head 3 are both arranged on the top wall of the sample table 11.

[0054] The auxiliary module also includes a placement box 4, which has several chambers 41 inside. Each chamber 41 is provided with a tension spring 43. A second permanent magnet 44 is welded and fixed to the top end of the tension spring 43, and a second electromagnet 42 is welded and fixed to the other end of the tension spring 43. The second electromagnet 42 is fixed to the bottom wall of the chamber 41 by bolts. A cover 45 is hinged to the top wall of the chamber 41. The cover 45 is used to close the chamber 41. The vacuum pump, water pump and second electromagnet 42 are all electrically connected to the controller. The controller controls the operation of the second electromagnet 42, vacuum pump and water pump according to image information.

[0055] The specific implementation process is as follows: When using this solution, the controller determines the user's progress based on the image information, and determines the sampling tool required by the user for the next step based on the guidance plan. For example, when the user needs to use a sampling needle in the next step, the controller controls the second electromagnet 42 in the chamber 41 containing the sampling needle to work. The second electromagnet 42 generates a magnetic force to repel the second permanent magnet, pushing the second permanent magnet and the sampling needle to move upward. The outer shell that wraps the sampling needle pushes the cover plate 45 to rotate, so that the sampling needle is exposed to the user for the user to use. After the set time, regardless of whether the user uses it or not, the controller cuts off the power supply of the second electromagnet 42. At this time, the repulsive effect between the second electromagnet 42 and the second permanent magnet disappears, and the second permanent magnet is reset under the action of the tension spring 43.

[0056] In the image information, after the user completes sampling, the controller controls the vacuum pump to generate negative pressure on the surface of the sample platform 11, thereby sucking and recovering the tissue remaining on the surface of the sample platform. At the same time, the controller controls the water pump to extract the cleaning liquid in the liquid storage box, spray it on the surface of the sample platform 11 through the spray head 3, and is synchronously sucked and recovered into the recovery chamber according to the tissue until the sample platform in the image information returns to a clean state.

[0057] Compared with the existing technology, this solution can achieve self-cleaning of the sampling position, reduce the user's sampling steps, and reduce the user's workload. At the same time, during the user's sampling process, it provides the user with the sampling tools required for the next step, thereby further simplifying the user's sampling process.

[0058] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A thyroid nodule pathology precision sampling system, characterized in that: include: The receiving module is used to receive the type, location, color and shape characteristics of tissue lesions sampled from previous postoperative pathological samples, as well as the corresponding preoperative imaging data of the patient, and locate the sampling location information; The data processing module is used to establish the association between tissue lesion type and location, color and shape characteristics, and to build a judgment model based on the basic principles of pathological sampling; A guidance module (1) is used to obtain a three-dimensional image of the sample, generate a guidance scheme based on the three-dimensional image and the judgment model, and project guidance light onto the sample according to the guidance scheme; The correction module (2) is used to determine the position of the scalpel according to the breakpoint position of the guiding light on the sample, determine whether the scalpel moves along the position of the guiding light according to the position of the scalpel, and alarm the user only when the scalpel does not move along the position of the guiding light.

2. The thyroid nodule pathology precise sampling system according to claim 1, characterized in that: The correction module (2) is also used to obtain the temperature of the sample and correct the position of the scalpel according to the point where the temperature mutation occurs in the sample.

3. The thyroid nodule pathology precise sampling system according to claim 2, characterized in that: The guidance module (1) includes a sample stage (11), a collection component is provided above the sample stage (11), and the collection component is used to collect image information of the sample at several angles. The sample stage (11) is also provided with a controller, and the controller is used to generate a three-dimensional image of the sample based on the image information of the sample at several angles.

4. The thyroid nodule pathology precise sampling system according to claim 3, characterized in that: The correction module (2) includes a laser emitter (26) and an output component, the output component is used to output a signal to a user, and the laser emitted by the laser emitter (26) is a straight-line laser. The laser emitter (26) is provided with an adjustment component and a temperature sensor, the temperature sensor is used to collect temperature information of the sample, and the adjustment component is used to adjust the position and angle of the laser emitter (26) and the temperature sensor. The controller determines whether the scalpel moves along the guide light according to the straight-line laser fracture position in the image information and the position where the temperature mutation occurs in the temperature information, and controls the output component to send a prompt signal to alarm the user when the scalpel does not move along the straight-line laser.

5. The thyroid nodule pathology precise sampling system according to claim 4, characterized in that: The correction module (2) is also used to synchronously adjust the sample position and the guiding light position when the scalpel does not move along the guiding light position until the scalpel and the guiding light coincide with each other.

6. The thyroid nodule pathology precise sampling system according to claim 5, characterized in that: The correction module (2) further includes a screw lifting platform (22), the top wall of the screw lifting platform (22) is fixedly connected to the bottom wall of the sample platform, and a fixed platform (21) is provided below the screw lifting platform (22), and a pump assembly is provided on the fixed platform (21), the pump assembly is connected to a plurality of nozzles (27), and the connection points between the nozzles (27) and the pump assembly are all provided with solenoid valves, and the nozzles (27) are all used to spray fluid toward the bottom wall of the screw, and the controller controls the operation of the screw lifting platform (22), the pump assembly and the solenoid valve according to the image information and the temperature information.

7. The thyroid nodule pathology precise sampling system according to claim 6, characterized in that: A first electromagnet (28) is provided on the top wall of the fixed platform (21), and a first permanent magnet (29) is provided on the bottom wall of the screw lifting platform (22). The controller controls the operation of the first electromagnet (28) according to image information and temperature information.

8. The thyroid nodule pathology precise sampling system according to claim 7, characterized in that: The correction module (2) is also used to judge whether the screw lifting platform (22) has been adjusted to the extreme position based on the image information. When the screw lifting platform (22) is adjusted to the extreme position, the scalpel still does not coincide with the guidance light. The correction module (2) re-plans the guidance plan based on the image information and the judgment model, and the starting position of the guidance plan coincides with the position of the scalpel.

9. The thyroid nodule pathology precise sampling system according to claim 8, characterized in that: It also includes an auxiliary module, which is used to determine whether the sampling is completed based on the image information, and to recover the tissue remaining on the sample stage (11) and clean the sample stage (11) after the sampling is completed.

10. The thyroid nodule pathology precise sampling system according to claim 9, characterized in that: The auxiliary module is also used to store sampling tools of different usages, and determine the sampling tool required by the user for the next step based on the image information, and pop up the corresponding sampling tool for the user according to the user's progress.

Images