Prostate puncture simulation device operated in cooperation with data image

Abstract

The invention relates to a prostate puncture simulation device operated in cooperation with a data image. The prostate puncture simulation device comprises a prostate bionic tissue, a focus generation mechanism, an ultrasonic detection mechanism, a perineum simulation panel, a muscle bionic tissue, a focus marking module and a display mechanism. The method has the advantages that the prostate bionic tissue is printed through the 3D printing technology, the focus and the origin of coordinates are controllably generated in the prostate bionic tissue, the pseudo MRI image is generated by combining the 3D printing drawing and the focus coordinates, combination of the MRI image and the ultrasonic image can be directly replaced, operation of obtaining the MRI image in advance and marking the focus is not needed, and simulation is convenient; the focus generation mechanism also generates a coordinate origin when generating a focus, and the focus and the coordinate origin are made of materials with different echo intensities and can be visually displayed on an overtime image, so that fusion of a pseudo MRI image and an ultrasonic image is facilitated, and whether a puncture needle accurately obtains focus tissue or not can be quickly judged.

Description

Technical Field

[0001] The present invention relates to the field of puncture simulation equipment, and in particular to a prostate puncture simulation device that operates in conjunction with data images. Background Art

[0002] Targeted prostate biopsy is a technique that precisely locates suspicious lesions within the prostate and performs a biopsy. Its core approach is to integrate MRI with real-time imaging to precisely deliver the biopsy needle to the target lesion, thereby improving the detection rate of prostate cancer while reducing the number of unnecessary punctures and the risk of complications. Compared to traditional systematic biopsy, targeted prostate biopsy offers the advantage of "precision targeting," making it particularly suitable for patients with elevated prostate-specific antigen (PSA) and suspicious lesions on MRI.

[0003] Currently, the most mainstream method of prostate targeted puncture is based on real-time ultrasound and fusion with preoperative MRI images. Before the operation, the MRI image (including lesion markers) is imported into the navigation system, and during the operation, the ultrasound probe is used to obtain real-time two-dimensional / three-dimensional ultrasound images. The system uses an algorithm to align the anatomical structures of the two (such as the outline of the prostate, the urethra, and the vascular branches of the liver) to form a fusion image of "MRI lesion + real-time ultrasound anatomy + puncture needle". The doctor can "see" the location of the lesion marked by MRI on the ultrasound screen to achieve targeted guidance.

[0004] Prostate targeted puncture requires a combination of MRI and real-time timer. Simulating prostate targeted puncture is more difficult than traditional systematic puncture, which can be simulated using an ultrasound system combined with a prostate biomimetic device. However, prostate targeted puncture requires setting up a lesion in the prostate biomimetic device and pre-acquiring MRI images of the device to mark the lesion, which is more cumbersome. Summary of the Invention

[0005] The present invention mainly solves the above-mentioned problems and provides a prostate puncture simulation device that operates in conjunction with data imaging. It uses 3D printing technology to print prostate bionic tissue and controllably generates lesions and coordinate origins in the prostate bionic tissue. The combination of 3D printed drawings and lesion coordinates can directly replace MRI images and ultrasound images, eliminating the need to pre-acquire MRI images and mark lesions, making simulation convenient.

[0006] The technical solution adopted by the present invention to solve the technical problem is a prostate puncture simulation device that operates in conjunction with data images, including prostate bionic tissue, lesion generation mechanism, ultrasound detection mechanism, perineum simulation panel, muscle bionic tissue, lesion marking module and display mechanism; The perineum simulation panel is used to simulate the perineum of the human body, and the puncture needle is inserted from the perineum simulation panel; Muscle bionic tissue, located behind the perineum simulation panel, is used to simulate the muscle tissue between the perineum and prostate of the human body; Prostate bionic tissue, located behind the muscle bionic tissue, is used to simulate the prostate; The lesion generation mechanism is located behind the prostate bionic tissue and is used to generate a coordinate origin and a lesion in the prostate bionic tissue and output the coordinates of the lesion position; an ultrasonic detection mechanism, used for obtaining ultrasonic images of prostate bionic tissue; The lesion marking module uses the coordinate origin and the lesion position coordinates to mark the lesion position in the time-lapse image; The display mechanism displays an ultrasound image of the prostate bionic tissue with the lesion location marked.

[0007] As a preferred embodiment of the above scheme, the prostate bionic tissue and muscle bionic tissue are made of gelatin by 3D printing.

[0008] As a preferred embodiment of the above scheme, the lesion generation mechanism includes a pump body, a mounting plate, an electric telescopic rod array, an injection head and several solenoid valves. The mounting plate is vertically arranged, the electric telescopic rod array is horizontally arranged on the mounting plate, the injection head is horizontally arranged at the end of the electric telescopic rod, and the injection head is connected to the pump body through a solenoid valve and a hose.

[0009] As a preferred embodiment of the above scheme, the electric telescopic rod array includes a central electric telescopic rod and peripheral electric telescopic rods, and the pump body includes a first pump body and a second pump body. The first pump body injects the first hydrogel into the prostate bionic tissue through the injection head on the peripheral electric telescopic rod to form a lesion, and the second pump body injects the second hydrogel into the prostate bionic tissue through the injection head on the central electric telescopic rod to form a coordinate origin.

[0010] As a preferred embodiment of the above solution, the first hydrogel, the second hydrogel and the prostate biomimetic tissue have different echo intensities in the time-lapse image.

[0011] As a preferred embodiment of the above scheme, the lesion position coordinates are three-dimensional coordinates, the x-axis and y-axis coordinates of the three-dimensional coordinates are the two-dimensional coordinates of the electric telescopic rod where the injection head generating the lesion is located on the electric telescopic rod array, and the z-axis coordinate of the three-dimensional coordinates is the difference between the elongation of the electric telescopic rod where the injection head generating the lesion is located and the elongation of the electric telescopic rod where the injection head generating the coordinate origin is located.

[0012] As a preferred embodiment of the above solution, the ultrasonic probe of the timeout detection mechanism is located at the perineum simulation panel or behind the prostate bionic tissue.

[0013] The advantages of the present invention are: using 3D printing technology to print prostate bionic tissue, and controlling the generation of lesions and coordinate origins in the prostate bionic tissue, combining the 3D printed drawings and lesion coordinates to generate pseudo MRI images, which can directly replace MRI images and combine with ultrasound images, without the need to pre-acquire MRI images and mark lesions, and the simulation is convenient; the lesion generation mechanism also generates a coordinate origin when generating the lesion, and the lesion and the coordinate origin are made of materials with different echo intensities, which can be intuitively displayed on the timed image, facilitating the fusion of the pseudo MRI image and the ultrasound image, and can also quickly determine whether the puncture needle accurately obtains the lesion tissue. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the structure of the lesion generation mechanism. DETAILED DESCRIPTION

[0015] The technical solution of the present invention will be further described below with reference to embodiments and in conjunction with the accompanying drawings.

[0016] Example: This embodiment provides a prostate puncture simulation device that operates in conjunction with digital imaging and includes a prostate biomimetic tissue, a lesion generation mechanism, an ultrasound detection mechanism, a perineum simulation panel, a muscle biomimetic tissue, a lesion annotation module, and a display mechanism. The lesion generation mechanism, prostate biomimetic tissue, muscle biomimetic tissue, and perineum simulation panel are arranged in this order.

[0017] The perineal simulation panel simulates the human perineum. During simulation exercises, the practitioner inserts a puncture needle through the perineal simulation panel. The muscle biomimetic tissue simulates the muscle tissue between the perineum and prostate. The prostate biomimetic tissue simulates the prostate. Both the prostate biomimetic tissue and the muscle biomimetic tissue are made from gelatin through 3D printing. The gelatin used in these two tissues has different echo angles in time-lapse images, allowing practitioners to distinguish between the prostate biomimetic assembly and the muscle biomimetic tissue. Thanks to 3D printing technology, the prostate biomimetic tissue can have different appearances to simulate the prostates of patients of different ages. Furthermore, the 3D printed drawings of the prostate biomimetic tissue can serve as an alternative to prostate MRI images, eliminating the need for MRI images during model exercises. The lesion generation mechanism generates a coordinate origin and lesion within the prostate biomimetic tissue and outputs the lesion's location coordinates. The lesion's location coordinates are combined with the 3D printed drawings of the prostate biomimetic tissue to produce a pseudo-MRI image with the lesion's location. The ultrasound detection mechanism acquires ultrasound images of the prostate biomimetic tissue. The ultrasound probe of the ultrasound detection mechanism can be placed either on the perineal simulation panel or behind the prostate biomimetic tissue. The lesion marking module combines the pseudo MRI image and uses the coordinate origin and the lesion position coordinates to mark the lesion position in the time-lapse image; the display mechanism displays the prostate bionic tissue ultrasound image marked with the lesion position.

[0018] like Figure 1 As shown, the lesion generation mechanism includes a pump body, a mounting plate 1, an electric telescopic rod array 2, an injection head 3 and several solenoid valves. The mounting plate 1 is arranged vertically, the electric telescopic rod array 2 is arranged horizontally on the mounting plate, and the injection head 3 is arranged horizontally at the end of the electric telescopic rod. The electric telescopic rod array includes a central electric telescopic rod and surrounding electric telescopic rods. The central electric telescopic rod is located in the center of the electric telescopic rod and is the origin of the two-dimensional coordinate system where the electric telescopic rod array is located.

[0019] The pump body comprises a first pump body and a second pump body. The first pump body injects a first hydrogel into the prostate biomimetic tissue via injection heads on peripheral electric telescopic rods to form lesions. The second pump body injects a second hydrogel into the prostate biomimetic tissue via an injection head on a central electric telescopic rod to form a coordinate origin. In this embodiment, the central electric telescopic rod and each peripheral electric telescopic rod are independently extendable and controllable in their travel. Each injection head is individually equipped with a solenoid valve, enabling program control to extend any electric telescopic rod to a specified length and inject either the first or second hydrogel. The first hydrogel, second hydrogel, and prostate biomimetic tissue have different echo intensities in the time-lapse image: the first hydrogel is hypoechoic, the second hydrogel is hyperechoic, and the prostate biomimetic tissue is isoechoic. Specifically, in the time-lapse image, the isoechoic region of the prostate biomimetic tissue, the hyperechoic region, and the hypoechoic region represent the coordinate origin, while the hypoechoic region represents the individual lesions.

[0020] The coordinates of the lesion position are three-dimensional coordinates, the x-axis and y-axis coordinates of the three-dimensional coordinates are the two-dimensional coordinates of the electric telescopic rod where the injection head generating the lesion is located on the electric telescopic rod array, and the z-axis coordinate of the three-dimensional coordinates is the difference between the elongation of the electric telescopic rod where the injection head generating the lesion is located and the elongation of the electric telescopic rod where the injection head generating the coordinate origin is located.

[0021] Because the coordinate origin and lesion are generated in the prostate biomimetic tissue via program control, their specific locations are known in advance. Combined with a 3D-printed prostate diagram, a pseudo-MRI image with the coordinate origin and lesion can be generated. The pseudo-MRI image and the real-time ultrasound image can be registered using the echogenic region where the coordinate origin is located, achieving coordinate alignment. In actual prostate targeted puncture procedures, coordinate alignment is required by matching fixed anatomical landmarks such as bones and the urethra. The prostate puncture simulation device of this embodiment utilizes the coordinate origin as a fixed anatomical landmark for alignment, eliminating the need for additional components such as bones and the urethra. Fusion of the pseudo-MRI image with the real-time overtime image can be achieved using existing fusion navigation systems, and the fused image is displayed on a display. Since the fused image is generated based on the overtime real-time image, it also displays the position of the puncture needle in real time. Through the fused image, the practitioner can adjust the angle and depth of the puncture needle to practice targeted puncture of the lesion. The lesion area appears as a low-echo intensity area in the ultrasound image. After puncture, the puncture needle will take away part of the first hydrogel, which will appear as a smaller low-echo area in the time-lapse image. Based on this, it can be judged whether the practitioner has achieved targeted puncture.

[0022] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope of the appended claims.

Claims

1. A prostate puncture simulation device operated in conjunction with digital images, characterized by: It includes prostate bionic tissue, lesion generation mechanism, ultrasound detection mechanism, perineum simulation panel, muscle bionic tissue, lesion marking module and display mechanism; The perineum simulation panel is used to simulate the perineum of the human body, and the puncture needle is inserted from the perineum simulation panel; Muscle bionic tissue, located behind the perineum simulation panel, is used to simulate the muscle tissue between the perineum and prostate of the human body; Prostate bionic tissue, located behind the muscle bionic tissue, is used to simulate the prostate; The lesion generation mechanism is located behind the prostate bionic tissue and is used to generate a coordinate origin and a lesion in the prostate bionic tissue and output the coordinates of the lesion position; an ultrasonic detection mechanism, used for obtaining ultrasonic images of prostate bionic tissue; The lesion marking module uses the coordinate origin and the lesion position coordinates to mark the lesion position in the time-lapse image; The display mechanism displays an ultrasound image of the prostate bionic tissue with the lesion location marked.

2. The prostate puncture simulation device according to claim 1, wherein: The prostate bionic tissue and muscle bionic tissue are made of gelatin through 3D printing.

3. The prostate puncture simulation device according to claim 1, wherein: The lesion generation mechanism includes a pump body, a mounting plate, an electric telescopic rod array, an injection head and several solenoid valves. The mounting plate is arranged vertically, the electric telescopic rod array is arranged horizontally on the mounting plate, the injection head is arranged horizontally at the end of the electric telescopic rod, and the injection head is connected to the pump body through a solenoid valve and a hose.

4. The prostate puncture simulation device according to claim 3, wherein: The electric telescopic rod array includes a central electric telescopic rod and peripheral electric telescopic rods, and the pump body includes a first pump body and a second pump body. The first pump body injects a first hydrogel into the prostate bionic tissue through the injection head on the peripheral electric telescopic rods to form a lesion, and the second pump body injects a second hydrogel into the prostate bionic tissue through the injection head on the central electric telescopic rod to form a coordinate origin.

5. The prostate puncture simulation device according to claim 4, wherein: The first hydrogel, the second hydrogel and the prostate biomimetic tissue have different echo intensities in the time-lapse image.

6. The prostate puncture simulation device according to claim 1, wherein: The lesion position coordinates are three-dimensional coordinates, the x-axis and y-axis coordinates of the three-dimensional coordinates are the two-dimensional coordinates of the electric telescopic rod where the injection head generating the lesion is located on the electric telescopic rod array, and the z-axis coordinate of the three-dimensional coordinates is the difference between the elongation of the electric telescopic rod where the injection head generating the lesion is located and the elongation of the electric telescopic rod where the injection head generating the coordinate origin is located.

7. The prostate puncture simulation device according to claim 1, wherein: The ultrasonic probe of the timeout detection mechanism is located at the perineum simulation panel or behind the prostate bionic tissue.

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