Three-dimensional positioning method for ultrasonic medical diagnosis position

Abstract

The invention discloses a three-dimensional positioning method for an ultrasonic medical diagnosis position. The three-dimensional positioning method comprises the following steps: S1, establishing a three-dimensional coordinate system taking a neck anatomical mark as a reference; s2, multi-plane ultrasonic image acquisition and nodule feature point extraction; s3, reconstructing a nodule three-dimensional model through coordinate registration; s4, recognizing the puncture needle in real time and calculating the three-dimensional coordinates of the needle tip; s5, a safe puncture path is planned, and deviation is corrected in real time; and S6, determining that the needle tip is in place and completing positioning. By establishing a neck fixing three-dimensional coordinate system, adopting three-plane ultrasonic image registration to reconstruct a nodule three-dimensional form, tracking the three-dimensional position of a puncture needle in real time, automatically planning a safe path and correcting deviation, precise puncture is achieved, an expensive volume probe is not needed, the positioning precision is high, operation is easy, safety is high, and the method is suitable for popularization and application. The thyroid nodule puncture success rate can be remarkably improved, complications are reduced, and clinical wide popularization is facilitated.

Description

Technical Field

[0001] This invention belongs to the field of ultrasound medical imaging and interventional puncture positioning technology, and particularly relates to a method for three-dimensional positioning of ultrasound medical diagnostic locations. Background Technology

[0002] Thyroid nodules refer to one or more abnormal lumps within the thyroid gland, and are one of the most common nodular lesions. Ultrasound imaging is non-invasive, low-cost, radiation-free, and allows for real-time imaging, making it widely used for the detection and diagnosis of thyroid diseases and greatly assisting in the selection of early clinical treatment methods.

[0003] Traditional two-dimensional ultrasound guidance relies on physician experience and has the following drawbacks:

[0004] It can only provide planar information and cannot obtain the three-dimensional relationship between the nodule and the needle tip in terms of depth, tilt angle, and offset; the localization error of deep, small nodules and nodules adjacent to blood vessels / nerves is large, which can easily lead to insufficient sampling, repeated punctures, and complications; it lacks a unified spatial coordinate system, and the puncture path depends on subjective judgment, resulting in poor repeatability.

[0005] In addition, existing three-dimensional ultrasonic positioning systems mostly rely on expensive volumetric probes, which have complex algorithms and insufficient real-time performance, making them difficult to popularize at the grassroots level. Summary of the Invention

[0006] The purpose of this invention is to provide a three-dimensional positioning method for ultrasound medical diagnostic positions, so as to solve the technical problems mentioned in the background art.

[0007] To achieve the above objectives, the specific technical solution of the present invention is as follows: A method for three-dimensional localization of ultrasound medical diagnostic positions, comprising the following steps:

[0008] S1. Establish a three-dimensional coordinate system based on anatomical landmarks of the neck;

[0009] S2. Multiplanar ultrasound image acquisition and nodule feature point extraction;

[0010] S3. Reconstruct the three-dimensional model of the nodule through coordinate registration;

[0011] S4. Real-time identification of puncture needles and calculation of the three-dimensional coordinates of the needle tip;

[0012] S5. Plan a safe puncture path and correct deviations in real time;

[0013] S6. Determine that the needle tip is in position and complete the positioning.

[0014] Preferably, in step S1, the three-dimensional coordinate system takes the fixed anatomical point of the thyroid isthmus or nodule as the origin, and the probe's major axis, minor axis, and depth as the X, Y, and Z axes.

[0015] Preferably, registration is performed using three-plane images: transverse, longitudinal, and oblique sections, which can achieve 3D reconstruction without a volume probe.

[0016] Preferably, the three-dimensional coordinates of the needle tip, the needle insertion angle, the deflection angle, and the spatial deviation from the target point are output in real time.

[0017] Preferably, the path planning automatically avoids blood vessels, trachea, and recurrent laryngeal nerve, and selects the shortest safe path.

[0018] Preferably, when the needle tip has stably entered the target area for a set time, the system determines that the positioning is complete and provides a notification.

[0019] The three-dimensional localization method for ultrasound medical diagnostic positions according to the present invention has the following advantages:

[0020] This invention establishes a fixed three-dimensional coordinate system in the neck, reconstructs the three-dimensional morphology of the nodule using three-plane ultrasound image registration, tracks the three-dimensional position of the puncture needle in real time, automatically plans a safe path and corrects deviations, achieving precise puncture. Moreover, this invention does not require an expensive volume probe, has high positioning accuracy, is simple to operate, and is highly safe, which can significantly improve the success rate of thyroid nodule puncture and reduce complications, making it suitable for widespread clinical application. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the embodiments of the invention. Therefore, the description is considered to be exemplary in nature and not restrictive.

[0022] In the description of the embodiments of the present invention, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom", etc., indicating the orientation or positional relationship are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0025] The following disclosure provides many different implementations or examples for carrying out different structures of the embodiments of the present invention. To simplify the disclosure of the embodiments of the present invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the embodiments of the present invention. Furthermore, reference numerals and / or reference letters may be repeated in different examples of the embodiments of the present invention; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0026] To better understand the purpose, structure, and function of this invention, the following provides a more detailed description of a three-dimensional positioning method for ultrasound medical diagnostic locations.

[0027] The present invention provides a three-dimensional localization method for ultrasound medical diagnostic positions, comprising the following steps:

[0028] S1. Establish a three-dimensional coordinate system based on anatomical landmarks of the neck. The three-dimensional coordinate system takes the fixed anatomical point of the thyroid isthmus or nodule as the origin and the probe's major axis, minor axis, and depth as the X, Y, and Z axes to establish a unified three-dimensional spatial coordinate system.

[0029] S2. Multi-planar ultrasound image acquisition and nodule feature point extraction: A linear array high-frequency probe is used to sequentially acquire transverse, longitudinal, and oblique three-planar ultrasound images to identify nodule edges, calcified areas, cystic areas, and surrounding blood vessels, trachea, and recurrent laryngeal nerve.

[0030] S3. Reconstruct the three-dimensional model of the nodule through coordinate registration. Mark the corresponding feature points of the same nodule in the three-plane images. Through affine transformation and projection correction, convert the two-dimensional image coordinates into three-dimensional spatial coordinates and reconstruct the three-dimensional model of the nodule.

[0031] S4. Real-time identification of puncture needles and calculation of three-dimensional coordinates of the needle tip; identification of strong echoes of the puncture needle body and needle tip in ultrasound images; calculation of the needle body axis equation; and real-time output of needle tip coordinates, needle insertion angle, and deflection angle.

[0032] S5. Plan a safe puncture path and correct deviations in real time. Automatically plan the shortest, obstacle-avoiding, and safe needle insertion path. Calculate the three-dimensional deviation between the needle tip and the target point in real time and provide correction prompts for the needle insertion direction and depth.

[0033] S6. Determine that the needle tip is in place and completes positioning. When the needle tip enters the preset target area and stays stably for ≥1 second, the system issues a positioning prompt and completes positioning.

[0034] Specific operating instructions:

[0035] The patient is placed in a supine position with the back of the neck elevated to fully expose the thyroid region. After the probe is disinfected, a transverse scan of the thyroid gland is performed to determine the location of the nodule and establish a coordinate system. The transverse, longitudinal, and oblique scans are performed sequentially to extract feature points and reconstruct the three-dimensional morphology of the nodule. The needle insertion point, angle, and depth are planned to generate a three-dimensional path. The three-dimensional coordinates and deviation of the needle tip are displayed in real time to guide the needle insertion. After the needle tip is in place, the coordinates are locked, and the aspiration of the sample is performed.

[0036] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A method for three-dimensional localization of ultrasound medical diagnostic positions, characterized in that: Includes the following steps: S1. Establish a three-dimensional coordinate system based on anatomical landmarks of the neck; S2. Multiplanar ultrasound image acquisition and nodule feature point extraction; S3. Reconstruct the three-dimensional model of the nodule through coordinate registration; S4. Real-time identification of puncture needles and calculation of the three-dimensional coordinates of the needle tip; S5. Plan a safe puncture path and correct deviations in real time; S6. Determine that the needle tip is in position and complete the positioning.

2. The method for three-dimensional localization of ultrasound medical diagnostic positions according to claim 1, characterized in that: In step S1, the three-dimensional coordinate system takes the fixed anatomical point of the thyroid isthmus or nodule as the origin, and the probe's major axis, minor axis, and depth as the X, Y, and Z axes.

3. The method for three-dimensional localization of ultrasound medical diagnostic positions according to claim 1, characterized in that: Registration is performed using three-plane images (horizontal, vertical, and oblique sections), enabling 3D reconstruction without a volume probe.

4. The method for three-dimensional localization of ultrasound medical diagnostic positions according to claim 1, characterized in that: It outputs the three-dimensional coordinates of the needle tip, the needle insertion angle, the deflection angle, and the spatial deviation from the target point in real time.

5. The method for three-dimensional localization of ultrasound medical diagnostic positions according to claim 1, characterized in that: The path planning automatically avoids blood vessels, trachea, and recurrent laryngeal nerve, and selects the shortest and safest path.

6. The method for three-dimensional localization of ultrasound medical diagnostic positions according to claim 1, characterized in that: Once the needle tip has stably entered the target area for the set duration, the system determines that the positioning is complete and provides a notification.