Puncture navigation control device, apparatus, and puncture navigation surgery system

Abstract

The application provides a puncture navigation control device, a puncture navigation control device, and a puncture navigation surgery system. The puncture navigation control device comprises a processor, and the processor is configured to perform the following steps: receiving a first instruction of a user, the first instruction being used to adjust a position of a medical imaging device; in response to the first instruction, adjusting the medical imaging device to a preset target position; controlling the medical imaging device to scan a target object at the target position to obtain a target medical image, the target medical image being used to determine a puncture state of a puncture needle for a puncture operation on the target object. By presetting the target position, when the first instruction of the user is received, the medical imaging device can be moved to the target position in response to the first instruction. The user does not need to manually adjust the position of the medical imaging device, and the puncture efficiency is improved.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and in particular relates to a puncture navigation control device, apparatus, and puncture navigation surgical system. Background Technology

[0002] Navigation-guided biopsy is a surgical procedure performed under the guidance of medical images. It utilizes medical imaging equipment such as CT scanners, MRI machines, and C-arm fluoroscopy to visualize the position and path of the biopsy needle, thereby helping doctors to more accurately guide the needle to the target location for procedures such as tissue biopsy, tumor ablation, and fluid aspiration.

[0003] During puncture-guided surgery, medical staff typically need to adjust the position of the medical imaging equipment multiple times to ensure that the images clearly show the location of the puncture needle and the puncture path. Generally, repeated adjustments to the equipment are necessary to achieve the optimal position. This constant adjustment makes the puncture-guided surgery process cumbersome, error-prone, and inefficient. Summary of the Invention

[0004] This application provides a puncture navigation control device, apparatus, and puncture navigation surgical system, which allows users to adjust the position of medical imaging equipment via a first command, thereby improving puncture efficiency.

[0005] In a first aspect, embodiments of this application provide a puncture navigation control device, which includes a processor. The processor is configured to perform the following steps: receiving a first instruction from a user, the first instruction being used to adjust the position of a medical imaging device; responding to the first instruction, adjusting the medical imaging device to a preset target position; controlling the medical imaging device to scan a target object at the target position to obtain a target medical image, the target medical image being used to determine the puncture state for performing a puncture operation on the target object.

[0006] The puncture navigation control device in the first aspect, by pre-setting the target position, can move the medical imaging device to the target position in response to the user's first instruction, so that the user does not need to manually adjust the position of the medical imaging device, thus improving puncture efficiency.

[0007] In one possible implementation of the first aspect, before receiving the user's first instruction, the processor further performs the following steps: determining the location information of a target point and the location information of a target needle insertion point, wherein the target point represents the target point for puncture operation against the target object, and the target needle insertion point represents the starting point of the puncture operation against the target object; determining the target location based on the location information of the target needle insertion point, the location information of the target point, the location information of the medical imaging device, and the location information of a reference object, wherein the reference object includes an object whose distance from the medical imaging device is less than a preset threshold. In this implementation, the target location is determined based on the location information of the target needle insertion point, the target point, the medical imaging device, and the reference object, making the solution simple and easy to implement.

[0008] In one possible implementation of the first aspect, the medical imaging device is a C-arm. The puncture status includes puncture progress information and puncture direction information. Determining the position information of the target needle insertion point includes: acquiring the position information of candidate needle insertion points, where a candidate needle insertion point represents any starting point on the target object that can be punctured to the target point; determining a candidate puncture path based on the position information of the candidate needle insertion point and the position information of the target point, where the candidate puncture path represents the puncture path where the candidate needle insertion point and the target point are located; if there is a first point on the straight line where the candidate puncture path is located, then the candidate needle insertion point is determined as the target needle insertion point, and the position information of the target needle insertion point includes the position information of the candidate needle insertion point; wherein, when the rotation center of the C-arm is located at the first point: the C-arm does not collide with the reference object, the image obtained by the C-arm scanning the target object from a first perspective is used to determine the puncture progress information, and the image obtained by the C-arm scanning the target object from a second perspective is used to determine the puncture direction information.

[0009] In one possible implementation of the first aspect, the processor further performs the following steps: if a first point does not exist on the straight line of the candidate puncture path, the processor controls the display device to display a first prompt message, which prompts the user to reselect a candidate needle insertion point. In this implementation, when a candidate needle insertion point is unsuitable, i.e., when a first point cannot be found on the straight line of the candidate path, the first prompt message to reselect a candidate needle insertion point is displayed. This method is simple and highly interactive.

[0010] In one possible implementation of the first aspect, obtaining the location information of candidate needle insertion points includes: receiving a user's selection operation on a target 3D image, where the target 3D image represents a 3D image of the target object at the location of the target point; and determining the location information of the site corresponding to the selection operation on the target 3D image as the location information of the candidate needle insertion point. In this implementation, the location information of the candidate needle tip is obtained through the user's selection operation on the 3D image, resulting in a simple, highly interactive solution that enhances the user experience.

[0011] In one possible implementation of the first aspect, the medical imaging device is a C-arm. The puncture status includes puncture progress information and puncture direction information. Based on the position information of the target needle insertion point, the target point, the medical imaging device, and the reference object, the target position is determined, including: determining the target puncture path based on the position information of the target needle insertion point and the target point, where the target puncture path represents the puncture path where the target needle insertion point and the target point are located; using the position information of the medical imaging device and the reference object, determining multiple first points along the straight line of the target puncture path; and determining the first point among the multiple first points that meets preset conditions as the target position. Specifically, when the rotation center of the C-arm is located at the first point: the C-arm does not collide with the reference object; the image obtained by the C-arm scanning the target object from a first perspective is used to determine the puncture progress information; and the image obtained by the C-arm scanning the target object from a second perspective is used to determine the puncture direction information. In this implementation, by filtering multiple first points according to conditions to determine the target position, the target position is ensured to be the optimal point among the multiple first points, improving the accuracy of the results.

[0012] In one possible implementation of the first aspect, the reference object includes the target object and the operating table on which the target object is located; the first point determined as the target location satisfies the following preset condition: among multiple first points, the weighted sum of the first distance value, the second distance value, and the third distance value corresponding to the first point determined as the target location is minimized; wherein, the first distance value represents the minimum distance between the medical imaging equipment and the target object, the second distance value represents the minimum distance between the medical imaging equipment and the operating table, and the third distance value represents the distance between the first point determined as the target location and the target point. In this implementation, the first point as the target location is determined by minimizing the weighted sum of the first distance value, the second distance value, and the third distance value, which is simple, computationally inefficient, and easy to implement.

[0013] In one possible implementation of the first aspect, the target medical image includes a first medical image and a second medical image. The first medical image is an image obtained by scanning the target object with a C-arm from a first perspective, and the second medical image is an image obtained by scanning the target object with a C-arm from a second perspective. The processor is further configured to perform the following steps: controlling a display device to display either the first medical image or the second medical image; receiving a second instruction from a user, the second instruction being used to switch the displayed medical image between the first and second medical images; responding to the second instruction, controlling the display device to switch from displaying the first medical image to displaying the second medical image; or controlling the display device to switch from displaying the second medical image to displaying the first medical image. In this implementation, the user can switch between the first medical image from the first perspective and the second medical image from the second perspective using a third instruction, facilitating viewing the medical images from both perspectives and improving the user experience.

[0014] Secondly, embodiments of this application provide a puncture navigation control device, the device including a unit for implementing the various steps executed by the processor in the puncture navigation control device as described in any of the first aspects above.

[0015] Thirdly, embodiments of this application provide a puncture navigation surgical system, which includes the puncture navigation control device described in any one of the first aspects above.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps performed by the processor in the puncture navigation control device as described in any of the first aspects above.

[0017] Fifthly, embodiments of this application provide a computer program product that, when run on a server, causes the server to execute the steps performed by the processor in the puncture navigation control device described in any of the first aspects above.

[0018] In a sixth aspect, embodiments of this application provide a chip, including: a processor for calling and running a computer program from a memory, causing an electronic device on which the chip is installed to perform the steps performed by the processor in the puncture navigation control device as described in any of the first aspects above.

[0019] It is understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a puncture navigation surgical system provided in one embodiment of this application;

[0022] Figure 2 This is a schematic flowchart of an embodiment of a puncture navigation control method provided in this application;

[0023] Figure 3 This is a schematic diagram of the process for determining the target location provided in one embodiment of this application;

[0024] Figure 4 This is a schematic diagram illustrating the process of determining the location information of the target needle insertion point according to an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the process for determining the target location provided in one embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the structure of a puncture navigation and control device provided in one embodiment of this application; Detailed Implementation

[0027] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0028] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0029] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0030] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0031] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0033] Navigation-guided puncture surgery is a modern medical technique that utilizes medical imaging and navigation technologies to assist doctors in performing precise puncture procedures. This technology can significantly improve the accuracy and safety of surgery, reduce surgical risks, and enhance the patient's treatment experience. During navigation-guided puncture surgery, medical staff need to repeatedly control the medical imaging equipment to scan the patient and obtain medical images in order to clearly understand the puncture status of the needle, such as its position and puncture path. Each time the medical imaging equipment is used to scan the patient, medical staff often need to make repeated adjustments to position the equipment correctly. Such repeated adjustments inevitably make the navigation-guided puncture procedure cumbersome and reduce its efficiency.

[0034] To address the aforementioned technical problems, this application provides a puncture navigation control device, apparatus, and puncture navigation surgical system. Upon receiving a first command from the user, the puncture navigation control device adjusts the medical imaging equipment to a preset target position and controls the medical imaging equipment to scan the target object at the target position to obtain medical images. This operation allows the user to adjust the medical imaging equipment via a first command, improving the efficiency of puncture navigation.

[0035] The puncture navigation control device, apparatus, and puncture navigation surgical system provided in this application will be described exemplarily below with reference to specific embodiments.

[0036] See Figure 1 This is a schematic diagram of a puncture navigation surgical system provided in one embodiment of this application. Figure 1 As shown, the puncture navigation surgical system in this embodiment includes: a puncture navigation control device 110 and a medical imaging device 120. The puncture navigation control device 110 and the medical imaging device 120 are communicatively connected.

[0037] The puncture navigation control device 110 is used to receive a first instruction from the user, which is used to adjust the position of the medical imaging device; in response to the first instruction, the medical imaging device 120 is adjusted to a preset target position; and the medical imaging device 120 is controlled to scan the target object at the target position to obtain a target medical image.

[0038] Understandably, in Figure 1 In the illustrated embodiment, the puncture navigation control device 110 and the medical imaging device 120 are two separate devices. In other embodiments, the puncture navigation control device 110 may also be integrated into the medical imaging device 120.

[0039] For example, the medical imaging device 120 can be a C-arm, U-arm, G-arm, CT (Computed Tomography) device, MRI (Magnetic Resonance Imaging) device, etc. The specific type of the medical imaging device 120 is not limited in the embodiments of this application.

[0040] It is understandable that C-arms, U-arms, and G-arms are all X-ray imaging devices, and these three types of devices are important imaging equipment in the medical field. Due to their different shapes and structures, each of these devices has its unique application scenarios and advantages. A puncture-guided surgical system can select the most suitable X-ray imaging device based on the patient's specific condition and needs; this application does not impose any restrictions on this.

[0041] In some embodiments, the medical imaging device 120 is a C-arm. The C-arm can rotate freely, enabling imaging and observation from different angles, thus providing high flexibility. The C-arm is connected by multiple joints, enabling multi-directional movement and support, ensuring the stability and accuracy of the device. The design of the C-arm allows the device to move in all directions, thereby expanding the field of view and improving the quality and accuracy of the images.

[0042] For example, a C-arm includes a C-shaped support, which comprises an arc-shaped main body and two opposing open ends, which are the start and end points of the C-arm, respectively, and are connected by the arc-shaped main body. During surgery or diagnosis, the physician moves the C-arm to the appropriate position and angle as needed so that X-rays can accurately penetrate specific parts of the patient's body.

[0043] In some embodiments, the C-arm has a rotation center that is fixed at a point when positioning the C-arm. When it is necessary to scan the patient from different perspectives, the C-arm is rotated around the rotation center to achieve scanning from different perspectives.

[0044] For example, the X-ray tube and detector can be set on an open end respectively. The C-arm can be positioned by the midpoint of the line connecting the X-ray tube and detector. The C-shaped support of the C-arm can rotate around the midpoint of the line connecting the X-ray tube and detector to scan parts of the patient's body from different angles. In this case, the midpoint of the line connecting the X-ray tube and detector can be used as the rotation center of the C-arm.

[0045] In some embodiments, the puncture navigation control device 110 controls the C-arm to scan the patient from a first perspective. The scanned image can display the entire puncture path, and the puncture progress information can be determined from the puncture path displayed in the image. The first perspective refers to the perspective where the line connecting the X-ray tube and the detector is perpendicular to the puncture path.

[0046] Specifically, the process of determining the puncture progress information includes: determining the position of the needle tip and the target point based on the puncture path shown in the image; if the needle tip reaches the target point, the puncture progress information is determined to be completed; if the needle tip does not reach the target point, the puncture progress information is determined to be incomplete.

[0047] In some embodiments, the puncture navigation control device 110 controls the C-arm to scan the patient from a second perspective. In the scanned image, the tip of the puncture needle and the target point are displayed overlapping or interlaced. The puncture direction information can be determined by the tip of the puncture needle and the target point displayed in the image. The second perspective refers to the perspective along the direction of the line connecting the X-ray tube and the detector along the puncture path.

[0048] Specifically, the process of determining the puncture direction information includes: if the position of the needle tip and the target point displayed in the image overlap, the puncture direction information is determined to be the normal puncture direction, that is, the puncture needle has not deviated from the expected direction; if the positions of the needle tips are misaligned or do not overlap, the puncture direction information is determined to be the abnormal puncture direction, that is, the puncture needle has deviated from the expected direction.

[0049] For example, the midpoint of the line connecting the X-ray tube and the detector can be used as the rotation center, and this midpoint can be placed on the puncture path. The C-shaped support of the C-arm rotates around this midpoint. When it is necessary to switch the scanning angle, the C-shaped support is controlled to rotate around the midpoint of the line connecting the X-ray tube and the detector. When the C-shaped support rotates to a position where the line connecting the X-ray tube and the detector is perpendicular to the puncture path, the C-arm is in the first viewing angle; when the C-shaped support rotates to a position where the line connecting the X-ray tube and the detector coincides with the puncture path, the C-arm is in the second viewing angle.

[0050] In some embodiments, the puncture navigation surgical system may further include a display device 130, and a puncture navigation control device 110 is communicatively connected to the display device 130. After the puncture navigation control device 110 controls the medical imaging device 120 to obtain the target medical image, the puncture navigation control device 110 controls the display device 130 to display the target medical image so that the user can view the target medical image.

[0051] In some embodiments, after acquiring an image, the puncture navigation control device 110 can mark the needle tip and target point of the puncture needle in the image, and control the display device 130 to display the image after marking the needle tip and target point. Exemplarily, the display device 130 can also be controlled to display prompts about the puncture progress and direction. For example, the prompts can be displayed as prompt boxes, or in other possible ways; this embodiment does not limit the scope of the application.

[0052] In some other embodiments, the display device 130 is communicatively connected to the medical imaging device 120. After the medical imaging device 120 obtains the target medical image, it sends the image to the display device 130 for display.

[0053] For example, the display device 130 can be a standalone device, such as a display unit in the medical imaging device 120; the display device 130 can also be integrated into the medical imaging device 120. Of course, the display device 130 can also be configured in other forms, such as the specific configuration forms, which are not limited in this application embodiment.

[0054] In some embodiments, the puncture navigation surgical system may also include a surgical robot that can communicate with the puncture navigation control device 110. The user performs the puncture operation through the surgical robot, for example, the surgical robot can be a master-slave surgical robot.

[0055] In some other embodiments, the puncture navigation control device 110 in the puncture navigation surgical system can be integrated into a robot, which is a navigation robot that can assist doctors in planning surgical paths and providing prompts during surgery.

[0056] It is understood that the communication connection in the embodiments of this application can be a wireless communication connection. For example, a wireless communication connection can be implemented using wireless communication technologies such as Bluetooth (BT), Wireless-Fidelity (WiFi), or Near Field Communication (NFC). Of course, the communication connection in the embodiments of this application can also be a wired communication connection, and this application does not limit or elaborate on this.

[0057] After introducing the puncture navigation surgical system in the embodiments of this application, the puncture navigation control process in the embodiments of this application will be described exemplarily below. The puncture navigation control process in the embodiments of this application is applicable to... Figure 1 The puncture navigation control device 110 shown.

[0058] See Figure 2 This is a flowchart illustrating an example of a puncture navigation control method provided in this application. This method is applicable to... Figure 1 The puncture navigation control device 110 shown below, in conjunction with... Figure 2 The puncture navigation control method in the embodiments of this application will be described. For example... Figure 2 As shown, the puncture navigation control method includes: S210 to S230.

[0059] S210 receives the user's first instruction, which is used to adjust the position of the medical imaging equipment.

[0060] Understandably, the first command can be the instruction given by the user during the puncture procedure. When the user needs to adjust the medical imaging equipment to obtain the current puncture status, the user can issue the first command to adjust the position of the medical imaging equipment.

[0061] For example, a button may be provided on the puncture navigation control device 110, and the user can issue a first command by pressing the button. Alternatively, the first command may also be a voice command or a gesture command. The puncture navigation control device 110 receives the user's first command when it recognizes a specific voice or gesture. This application embodiment does not limit the specific form of the first command.

[0062] S220, in response to the first command, adjusts the medical imaging equipment to the preset target position.

[0063] It should be understood that the target position refers to the position of the medical imaging equipment after adjustment. When the medical imaging equipment is in the target position, the medical image obtained by scanning the target object with the medical imaging equipment can be used to determine the puncture status of the puncture needle under the current puncture operation.

[0064] In some embodiments, the target location can be determined based on the location information of the needle insertion point, the location information of the target point, the location information of the medical imaging device, and the location information of reference objects located around the medical imaging device. The specific process of obtaining the target location will be described exemplarily below, and will not be elaborated upon here.

[0065] S230, control the medical imaging equipment to scan the target object at the target location to obtain the target medical image, the target medical image is used to determine the puncture state of the puncture operation performed on the target object.

[0066] Understandably, the target location may include one or more location information pieces. The number of location information pieces included in the target location information is related to the number of locations the medical imaging device needs to move to determine the puncture status of the needle. For example, if the medical imaging device can determine the puncture status with a medical image obtained at one location, then the target location may only include one location information piece; if the medical imaging device needs to obtain medical images at N locations and determine the puncture status based on N medical images, then the target location includes N location information pieces, where N is an integer greater than 1.

[0067] For example, the puncture status may include puncture direction information and puncture progress information. If the puncture direction information and puncture progress information can be determined based on the medical images obtained by the medical imaging device at a location, then the target location includes one location information. If the puncture direction information and the puncture progress information are determined based on the medical images obtained by the medical imaging device at a location, then the target location includes two location information.

[0068] For example, when the medical imaging equipment is a C-arm, the scanning angle of the C-arm can be changed by rotating the C-shaped support in the C-arm when the C-arm is in one position, thereby obtaining medical images from different angles. If the image obtained by the C-arm scanning the target object in the first angle can be used to determine the puncture progress information, and the image obtained by the C-arm scanning the target object in the second angle can be used to determine the puncture direction information, then the target position corresponding to the C-arm can be considered as a positional information.

[0069] It should be understood that the target medical image may include one medical image or multiple medical images, and the number of medical images included in the target medical image is the number of medical images required to obtain the puncture status.

[0070] For example, if the puncture status can be obtained from a single medical image, then the target medical image may consist of only one medical image, such as a medical image obtained from a single location; if the puncture status can be obtained from N medical images, then the target medical image may consist of N medical images. The N medical images may be medical images obtained by scanning the target object at N locations with a medical imaging device, or medical images obtained by scanning the target object at the same location from N different perspectives with a medical imaging device, where N is an integer greater than 1.

[0071] For example, the puncture status can include puncture direction information and puncture progress information. When the medical imaging device is a C-arm, if the first medical image obtained by the C-arm scanning the target object from the first viewpoint can be used to determine the puncture progress information, and the second medical image obtained by the C-arm scanning the target object from the second viewpoint can be used to determine the puncture direction information, the target medical image includes the first medical image and the second medical image.

[0072] In some embodiments, the target medical image includes a first medical image and a second medical image. The first medical image is an image obtained by scanning the target object from a first perspective using the C-arm, and the second medical image is an image obtained by scanning the target object from a second perspective using the C-arm. The puncture navigation control method further includes the following steps: controlling a display device to display either the first medical image or the second medical image; receiving a second instruction from a user, the second instruction being used to switch the displayed medical image between the first and second medical images; responding to the second instruction, controlling the display device to switch from displaying the first medical image to displaying the second medical image; or controlling the display device to switch from displaying the second medical image to displaying the first medical image. In this embodiment, the user can switch between the first and second medical images using the second instruction, which is simple to operate, convenient for users, and improves the user experience.

[0073] In some other embodiments, the puncture navigation control method further includes the following steps: controlling the display device to display the target medical image. In this embodiment, the target medical image is displayed simultaneously, which makes it convenient for users to view it on the same interface and facilitates user use.

[0074] In some embodiments, step S230 is triggered by a first instruction, meaning that the user can trigger both the position movement and scanning operations of the medical imaging device with a single instruction. This embodiment is simple and easy to implement.

[0075] For example, the display of a target medical image by the puncture navigation control device can be triggered by a first instruction. For instance, the display of a first medical image or a second medical image by the puncture navigation control device can also be triggered by the first instruction.

[0076] In some other embodiments, step S230 may be triggered by a third command. After the puncture navigation device controls the medical imaging device to move to the target position, it needs to receive a third command from the user before it can control the medical imaging device to scan the target object at the target position. In this embodiment, the movement and scanning operations of the medical imaging device are triggered by two separate commands, allowing the user to clearly perceive the entire control process, better grasp the rhythm of the process, and improve the user's sense of control over the device.

[0077] For example, if the target location includes multiple location information, or if the target location includes one location information but the medical imaging device needs to perform multiple scans at the same location by changing the viewing angle, then the scans at different locations or viewing angles can be controlled by different instructions. That is, the third instruction can include multiple instructions, each of which is used by the puncture navigation control device to control the medical imaging device to perform scanning operations at one location or one viewing angle.

[0078] For example, the display of a target medical image by the puncture navigation control device can be triggered by a third instruction. For instance, the display of a first or second medical image by the puncture navigation control device can also be triggered by a third instruction.

[0079] In this embodiment of the application, by pre-setting a target position, when a first instruction from the user is received, the medical imaging device can be moved to the target position in response to the first instruction, so that the user does not need to manually adjust the position of the medical imaging device, thereby improving the puncture efficiency.

[0080] To facilitate understanding, the following example uses a C-arm medical imaging device and, in conjunction with the accompanying drawings, provides an exemplary description of the process for determining the target location.

[0081] refer to Figure 3 This is a schematic diagram illustrating the process of determining a target location according to an embodiment of this application. Figure 3 As shown, the process includes S310 to S320.

[0082] S310, determine the location information of the target point and the location information of the target needle entry point.

[0083] Here, the target point refers to the target point for the puncture operation on the target object, and the target needle entry point refers to the starting point for the puncture operation on the target object.

[0084] It should be understood that the location information of the target point and the location information of the target needle insertion point can be determined before the operation. There are multiple methods to determine the location information of the target point and the location information of the target needle insertion point, and you can choose according to your needs.

[0085] For example, the location information of the target can be determined based on medical images obtained before surgery.

[0086] For example, the location information of the target needle insertion point can be determined based on the preoperative surgical plan. The surgical plan can be implemented by the puncture navigation control device or by other devices in the puncture navigation control system. This application does not limit this.

[0087] For example, the location information of the target needle insertion point can also be determined based on the user's selection or input. The method of determining the target needle insertion point based on the user's selection or input will not be elaborated here, but will be explained in detail below.

[0088] S320 determines the target location based on the location information of the target needle insertion point, the target point, the medical imaging equipment, and the reference object.

[0089] The reference object includes objects that are less than a preset threshold distance from the medical imaging equipment.

[0090] It is understood that the reference object is an object located around the medical imaging equipment, such as the surgical robot's arm, operating table, target object, etc. Furthermore, the preset threshold can be set as needed; this application embodiment does not impose specific limitations on the type of reference object or the size of the preset threshold.

[0091] It should be understood that when determining the target location, the puncture status of the puncture needle can be displayed by considering the location information of the target needle insertion point and the target point; by considering the location information of the medical imaging equipment and the reference object, it can be ensured that the medical imaging equipment will not collide with the reference object at the target location, thus ensuring the feasibility of the target location information.

[0092] For example, the location information of a medical imaging device may include the location information of multiple points on the medical imaging device, while the location information of a reference object may include the location information of multiple points on the medical imaging device.

[0093] To facilitate understanding, the following description, in conjunction with the accompanying drawings, illustrates the specific process of determining the location information of the target needle insertion point based on the user's selection or input.

[0094] refer to Figure 4This is a schematic diagram illustrating the process of determining the location information of a target needle insertion point according to an embodiment of this application. In this embodiment, the medical imaging device is a C-arm, and the puncture status includes puncture progress information and puncture direction information. Figure 4 As shown, the process includes S410 to S450.

[0095] S410, obtain the location information of the candidate needle insertion point.

[0096] Among them, the candidate needle entry point refers to any starting point on the target object that can be punctured to the target point.

[0097] It should be understood that a candidate needle entry point generally refers to a site located on the skin surface of the target object, which serves as the starting point for the puncture needle during the procedure. The candidate needle entry point can be a starting point selected or entered by the user.

[0098] In some embodiments, the puncture navigation control device receives a user's selection operation on a target three-dimensional image, which represents a three-dimensional image of the target object at the location of the target point; and determines the position information of the site on the target three-dimensional image corresponding to the selection operation as the position information of the candidate needle insertion point.

[0099] For example, users can click on the target 3D image, and the point corresponding to the click operation can be used as a candidate needle insertion point. The location information of this point is the location information of the candidate needle insertion point.

[0100] It is understood that the target three-dimensional image can be obtained by three-dimensional reconstruction using medical images, and any existing and feasible method can be used for three-dimensional reconstruction. This application does not limit or elaborate on this.

[0101] S420 determines the candidate puncture path based on the location information of the candidate needle insertion point and the target point.

[0102] Among them, the candidate puncture path represents the puncture path where the candidate needle insertion point and the target point are located.

[0103] For example, the location information of a point may include the coordinate information of that point, such as the three-dimensional coordinates of that point.

[0104] It should be understood that the puncture path represents the route taken by the tip of the puncture needle during the puncture process, with the candidate needle insertion point being the starting point of the route and the target point being the ending point of the route.

[0105] Understandably, the purpose of determining candidate puncture paths is to determine whether a candidate needle insertion point can be used as the target needle insertion point. Therefore, the process of determining candidate puncture paths is a simulation calculation process, and the actual puncture process does not necessarily follow the candidate puncture path. Only when a candidate needle insertion point is determined to be the target needle insertion point will the actual puncture process follow the candidate path containing that candidate needle insertion point.

[0106] S430, determine whether there is a first point on the straight line where the candidate puncture path is located.

[0107] It should be understood that, based on the positional information of the candidate needle insertion point and the target point on the candidate puncture path, the direction information of the candidate puncture path can be determined. For example, the direction information of the puncture path may include a vector calculated based on the positional information of the needle insertion point and the target point. Therefore, the straight line containing the puncture path can be determined based on this vector.

[0108] In the implementation of this application, the conditions that the first point needs to meet include: in terms of the relative positional relationship between the C-arm and the reference object, the C-arm and the reference object must not collide; in terms of the scanning angle, when the C-arm is located at the first point, the image obtained by the C-arm scanning the target object from the first perspective can be used to determine the puncture progress information, and the image obtained by the C-arm scanning the target object from the second perspective can be used to determine the puncture direction information.

[0109] S440, if there is a first point on the straight line where the candidate puncture path is located, then the candidate needle insertion point is determined as the target needle insertion point, and the location information of the target needle insertion point includes the location information of the candidate needle insertion point.

[0110] It should be understood that the existence of a first point on the straight line of the candidate puncture path indicates that the C-arm can normally obtain the puncture status of the puncture needle during the puncture process under the candidate puncture path. Therefore, the candidate needle insertion point corresponding to the candidate puncture path can be determined as the target needle insertion point, and the position information of the candidate needle insertion point is the position information of the target needle insertion point.

[0111] For example, multiple points can be selected from the straight line where the candidate puncture path is located, and at least one of the multiple points can be verified to see if it meets the condition of the first point. When one of the multiple points is determined to be the first point, it means that there is a first point on the straight line where the candidate puncture path is located.

[0112] For example, if a first point is determined to exist on the straight line of the candidate puncture path, the display device can be controlled to display a second prompt message. This second prompt message indicates that the puncture operation can be performed from the current candidate needle insertion point. This operation allows users to more clearly perceive the puncture needle insertion, improving the user experience.

[0113] S450, if there is no first point on the straight line where the candidate puncture path is located, the control display device will display a first prompt message, which is used to prompt the candidate needle insertion point to be reselected.

[0114] It should be understood that if there is no first point on the straight line of the candidate puncture path, it means that the C-arm cannot obtain the puncture status of the puncture needle during the puncture process under the candidate puncture path. Therefore, it is necessary to select other candidate needle insertion points. Prompting through the first prompt message can ensure that the user selects a new candidate needle insertion point in time, making the whole process smoother and faster.

[0115] It should be understood that, based on Figure 4 After determining the location information of the target needle insertion point as shown, the target position can be further determined based on the location information of the target needle insertion point. The process of determining the target position is illustrated below with reference to the attached figures.

[0116] refer to Figure 5 This is a schematic diagram illustrating the process of determining a target location according to an embodiment of this application. In this embodiment, the medical imaging device is a C-arm, and the puncture status includes puncture progress information and puncture direction information. Figure 5 As shown, the process includes S510 to S530.

[0117] S510 determines the target puncture path based on the location information of the target needle insertion point and the target point.

[0118] The target puncture path refers to the puncture path where the needle insertion point and the target point are located.

[0119] It should be understood that the direction information of the target puncture path can be determined based on the location information of the needle insertion point and the target point on the target puncture path. For example, the direction information of the puncture path may include a vector calculated based on the location information of the needle insertion point and the target point.

[0120] It is understandable that if the location information of the target needle insertion point is obtained through... Figure 4 If the method shown is used to obtain the target puncture path, then the target puncture path is... Figure 4 In the process shown, there are candidate puncture paths for the first point on the straight line. In this case, when determining the target position, there is no need to execute step S510 again, and the process can proceed directly to step S520.

[0121] S520 uses the positional information of medical imaging equipment and the positional information of reference objects to determine multiple first points on the straight line where the target puncture path is located.

[0122] For example, the straight line containing the puncture path can be determined based on the calculated vector.

[0123] In this application, the first point on the straight line specifically satisfies the following conditions: From the relative positional relationship between the C-arm and the reference object, the C-arm and the reference object cannot collide; from the scanning perspective, when the C-arm is located at the first point, the image obtained by the C-arm scanning the target object from the first viewpoint can be used to determine the puncture progress information, and the image obtained by the C-arm scanning the target object from the second viewpoint can be used to determine the puncture direction information. That is, when the rotation center of the C-arm is located at the first point: the C-arm does not collide with the reference object, the image obtained by the C-arm scanning the target object from the first viewpoint is used to determine the puncture progress information, and the image obtained by the C-arm scanning the target object from the second viewpoint is used to determine the puncture direction information.

[0124] For example, the location information of a medical imaging device may include the location information of multiple points on the medical imaging device, while the location information of a reference object may include the location information of multiple points on the medical imaging device.

[0125] S530: Among multiple first points, the first point that meets the preset conditions is determined as the target position.

[0126] Understandably, by using preset conditions, the first point closest to the desired position can be selected from multiple first points as the target position, thus ensuring the reliability of the obtained target position.

[0127] In some embodiments, the reference object includes the target object and the operating table on which the target object is located; the first point determined as the target location satisfies the following preset condition: among a plurality of first points, the weighted sum of the first distance value, the second distance value and the third distance value corresponding to the first point determined as the target location is the smallest; wherein, the first distance value represents the minimum distance between the medical imaging equipment and the target object, the second distance value represents the minimum distance between the medical imaging equipment and the operating table, the third distance value represents the distance between the corresponding first point and the target point, the weights of the first distance value and the second distance value are negative numbers, and the weight of the third distance value is a positive number.

[0128] It is understood that the first distance value, the second distance value, and the third distance value in this application are all distance values ​​when the medical imaging equipment, or the C-arm, is located at the corresponding first point.

[0129] It should be understood that the closest distance between the medical imaging equipment and the target object is used to characterize the safety factor of the surgical procedure, and the closest distance between the medical imaging equipment and the operating table characterizes the size of the surgical space. Therefore, the larger the first and second distance values, the safer the puncture process is, and the larger the surgical space, the more convenient the operation is. The distance between the medical imaging equipment and the target point is used to characterize the range of the scanning angle. The smaller the third distance value, the better the scanning angle of the medical imaging equipment to the target point.

[0130] For example, the first distance value may include two distance values: the minimum distance between the C-arm and the target object from a first perspective, and the minimum distance between the C-arm and the target object from a second perspective; the second distance value may actually be two distance values: the minimum distance between the C-arm and the operating table from a first perspective, and the minimum distance between the C-arm and the operating table from a second perspective.

[0131] For example, assuming multiple first points include N first points, for the i-th first point, the weighted sum of its corresponding first distance value, second distance value, and third distance value is obtained according to equation (1):

[0132] P i =W1×L ip1 +W2×L it1 +W3×L ip2 +W4×L it2 +W5×L3 (1)

[0133] In equation (1): P i L represents the weighted sum of the values ​​corresponding to the first point of the i-th position. ip1 L represents the minimum distance between the C-arm and the target object from a first-person perspective. it1 L represents the minimum distance between the C-arm and the operating table from a first-person perspective. ip2 L represents the minimum distance between the C-arm and the target object from the second-person perspective. it2 L1 represents the minimum distance between the C-arm and the operating table from the second perspective, L2 represents the distance between the i-th first point and the target point, and W1, W2, W3, W4 and W5 represent the weights corresponding to the distances. N is a positive integer and 1≤i≤N, where W1, W2, W3 and W4 are negative numbers and W5 is a positive number.

[0134] In some other embodiments, the reference object includes the target object and the operating table where the target object is located; the first point determined as the target location satisfies the following preset condition: among multiple first points, the weighted sum of the first distance value, the second distance value and the third distance value corresponding to the first point determined as the target location is the largest; wherein, the first distance value represents the minimum distance between the medical imaging equipment and the target object, the second distance value represents the minimum distance between the medical imaging equipment and the operating table, and the third distance value represents the distance between the corresponding first point and the target point, the weights of the first distance value and the second distance value are positive numbers, and the weight of the third distance value is a negative number. The specific formula applicable in this embodiment can refer to formula (1), except that the positive and negative values ​​of the weights W1, W2, W3, W4 and W5 are different, that is, in this embodiment, W1, W2, W3, W4 are positive numbers and W5 is a negative number.

[0135] After introducing the puncture navigation control method in the embodiments of this application, the structure of the puncture navigation control device in the embodiments of this application will be described below with reference to the accompanying drawings.

[0136] See Figure 6 This is a schematic diagram of the structure of a puncture navigation and control device 110 provided in one embodiment of this application. Figure 6 As shown, the puncture navigation control device in this embodiment includes a processor 600, which is used to execute the steps performed by the puncture navigation control device in any of the above-described puncture navigation control method embodiments.

[0137] In some other embodiments, a display device may also be integrated into the puncture navigation control device, which is used to receive and display instructions from the puncture navigation control device.

[0138] For example, such as Figure 6 As shown, in some other embodiments, the puncture navigation control device also includes a memory 601 and a computer program 602 stored in the memory 601 and executable on the processor 600. When the processor 600 executes the computer program 602, it implements the steps performed by the puncture navigation control device in any of the above embodiments of the puncture navigation control method.

[0139] Figure 6 This is merely an example of a puncture navigation control device 110 and does not constitute a limitation on the puncture navigation control device 110. The puncture navigation control device 110 may include more or fewer components than shown, or combine certain components, or different components.

[0140] The processor 600 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0141] In some embodiments, the memory 601 may be an internal storage unit of the puncture navigation control device 110, such as a hard disk or memory of the puncture navigation control device 110. In other embodiments, the memory 601 may be an external storage device of the puncture navigation control device 110, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the puncture navigation control device 110. Further, the memory 601 may include both internal and external storage units of the puncture navigation control device 110. The memory 601 is used to store the operating system, applications, boot loader, data, and other programs, such as the program code of the computer program. The memory 601 can also be used to temporarily store data that has been output or will be output.

[0142] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0143] This application also provides a puncture navigation control device, which includes a unit for executing the steps performed by the puncture navigation control device in the above-described embodiments of the puncture navigation control methods, or a unit for executing the steps performed by the processor in the above-described embodiments of the puncture navigation control device.

[0144] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the steps performed by the puncture navigation control device in the above-described embodiments of the puncture navigation control method, or the steps performed by the processor in the above-described embodiments of the puncture navigation control device.

[0145] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to execute steps performed by the puncture navigation control device in the above-described embodiments of the puncture navigation control method, or steps executed by the processor in the above-described embodiments of the puncture navigation control device.

[0146] This application also provides a chip located in an electronic device, the chip including: a processing unit and a communication unit. The processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, pins, or circuits. The processing unit can execute computer instructions to cause the electronic device to perform the steps executed by the puncture navigation control device in any of the puncture navigation control methods provided in this application, or the steps executed by the processor in the puncture navigation control device embodiments described above.

[0147] Optionally, the computer instructions are stored in a storage unit.

[0148] Optionally, the storage unit can be an internal storage unit within the chip, such as a register or cache. Alternatively, it can be an external storage unit located within the terminal, such as a ROM or other types of static storage devices capable of storing static information and instructions, such as random access RAM. The processor mentioned above can be a CPU, microprocessor, ASIC, or one or more integrated circuits used to control the execution of a program for transmitting the aforementioned feedback information. The processing unit and the storage unit can be decoupled and located on different physical devices, connected via wired or wireless means to implement their respective functions, thereby supporting the system chip in implementing the various functions described in the above embodiments. Alternatively, the processing unit and the memory can also be coupled to the same device.

[0149] In this embodiment, the surgical planning and navigation device, puncture navigation and control device, computer-readable storage medium, computer program product or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0150] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a projection device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0151] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0152] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0153] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0154] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0155] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A puncture navigation and control device, characterized in that, The puncture navigation control device includes a processor, which is configured to perform the following steps: Receive a first instruction from the user, which is used to adjust the position of the medical imaging equipment; In response to the first command, the medical imaging device is adjusted to a preset target position; The medical imaging device is controlled to scan the target object at the target location to obtain a target medical image, which is used to determine the puncture state of the puncture operation performed on the target object. Before receiving the user's first instruction, the processor also performs the following steps: Determine the location information of the target point and the target needle entry point; The target location is determined based on the location information of the target needle insertion point, the target point, the medical imaging equipment, and the reference object. The medical imaging device is a C-arm. The puncture status includes puncture progress information and puncture direction information. Determining the target position based on the position information of the target needle insertion point, the position information of the target point, the position information of the medical imaging device, and the position information of the reference object includes: The target puncture path is determined based on the location information of the target needle insertion point and the location information of the target point; Using the position information of the medical imaging equipment and the position information of the reference object, multiple first points are determined on the straight line where the target puncture path is located; Among the multiple first sites, the first site that meets the preset conditions is determined as the target location; Wherein, when the rotation center of the C-arm is located at the first point: the C-arm does not collide with the reference object, the image obtained by the C-arm scanning the target object from the first perspective is used to determine the puncture progress information, and the image obtained by the C-arm scanning the target object from the second perspective is used to determine the puncture direction information; The reference object includes the target object and the operating table on which the target object is located; The first location identified as the target location satisfies the following preset condition: among multiple first locations, the weighted sum of the first distance value, the second distance value, and the third distance value corresponding to the first location identified as the target location is the smallest; Wherein, the first distance value represents the minimum distance between the medical imaging device and the target object, the second distance value represents the minimum distance between the medical imaging device and the operating table, and the third distance value represents the distance between the first point determined as the target location and the target point.

2. The puncture navigation and control device according to claim 1, characterized in that, The location information for determining the target needle insertion point includes: Obtain the location information of candidate needle insertion points; Based on the location information of the candidate needle insertion point and the location information of the target point, a candidate puncture path is determined; If the first site exists on the straight line of the candidate puncture path, then the candidate needle insertion point is determined as the target needle insertion point, and the location information of the target needle insertion point includes the location information of the candidate needle insertion point.

3. The puncture navigation and control device according to claim 2, characterized in that, The processor also performs the following steps: If the first site does not exist on the straight line of the candidate puncture path, the control display device will display a first prompt message, which is used to prompt the user to reselect a candidate needle insertion point.

4. The puncture navigation and control device according to claim 2, characterized in that, The step of obtaining the location information of the candidate needle insertion point includes: Receives a selection operation from a user on a target 3D image, wherein the target 3D image represents a 3D image of the target object at the location of the target point; The position information of the site on the target 3D image corresponding to the selection operation is determined as the position information of the candidate needle insertion point.

5. The puncture navigation and control device according to claim 1, characterized in that, The target medical image includes a first medical image and a second medical image. The first medical image is an image obtained by scanning the target object with the C-arm from a first perspective, and the second medical image is an image obtained by scanning the target object with the C-arm from a second perspective. The processor is also used to perform the following steps: Control the display device to display the first medical image or the second medical image; Receive a second instruction from the user, the second instruction being used to switch the displayed medical image between the first medical image and the second medical image; In response to the second instruction, the display device is controlled to switch from displaying the first medical image to displaying the second medical image; or the display device is controlled to switch from displaying the second medical image to displaying the first medical image.

6. A puncture navigation and control device, characterized in that, The device includes a unit for implementing the various steps performed by the processor in the puncture navigation control device according to any one of claims 1 to 5.

7. A puncture navigation surgical system, characterized in that, The system includes: a medical imaging device and a puncture navigation control device according to any one of claims 1 to 5, wherein the medical imaging device and the puncture navigation control device are communicatively connected, and the puncture navigation control device is used to control the medical imaging device.

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