28 results about "Organ Motion" patented technology

The invention discloses a real-time image registration and path planning system in bronchoscope surgical navigation, relates to the technical field of image registration, and is used for solving the problems that in a thoracic and abdominal minimally invasive interventional operation, organ movement and deformation caused by breathing of a patient can cause obvious influence on the registration precision of a navigation system, and the navigation precision is poor. Space registration of preoperative images and an anatomical structure of a patient in an operation often has errors due to mismatching of breathing phase changes; multi-attitude data are fused, the respiration interference degree is comprehensively evaluated through double indexes, the problem that a traditional static deformation field cannot be matched with dynamic respiration is solved through respiratory cycle driving deformation prediction, displacement errors are corrected through tidal volume observation values, and B spline control point weights are reversely optimized through registration residual errors. A deformation field can adapt to breathing amplitude and frequency differences of different patients, online distillation learning is carried out by taking a registration error output by a filter as a teacher signal, and local residual deformation and chronic changes which are difficult to describe by a traditional global model are accurately captured.

The invention discloses an interpretable heart registration method based on multi-feature fusion and biomechanical constraint, and the method comprises the steps: obtaining N three-dimensional heart nuclear magnetic resonance images, and obtaining a heart nuclear magnetic resonance image data set; performing linear transformation on all images in the data set to eliminate global geometric difference, and constructing an encoder and decoder network as a registration model; for any two three-dimensional images in the training set, motion interference of other organs of the abdomen is extracted and removed, the three features are fused after passing through a three-dimensional convolution layer, and detail information in the original images is reserved through three different expression forms; feature integration and dimension recovery are carried out in a decoder part, and biomechanical constraints are applied to the process of predicting a displacement field by the whole network. According to the method, the anatomy rationality is remarkably improved, the robustness of the model to complex noise is improved, the clinical diagnosis credibility is enhanced, and the individual difference and the uneven imaging quality of clinical data are effectively handled.

The invention discloses a four-dimensional dynamic image guided dose optimization system for tumor radiotherapy, and belongs to the technical field of medical imaging and radiotherapy. The system comprises a real-time image acquisition module, a dynamic anatomical model construction module, an organ deformation prediction module, a motion compensation engine, a four-dimensional dose accumulation calculation module, a self-adaptive treatment plan generation module and a dose delivery control module. A patient-specific four-dimensional dynamic anatomical model is constructed based on a deep neural network, an autoregression algorithm is adopted to predict organ motion trails, motion compensation parameters are calculated in real time, cumulative dose distribution considering tissue deformation is accurately calculated, a treatment plan is automatically adjusted, and dose delivery with millimeter-level precision is achieved. According to the system, the target area coverage deviation is reduced by 62%, the normal tissue irradiation dose is reduced by 37%, and the precision and safety of thoracic and abdominal tumor radiotherapy are remarkably improved.

Provided is a bio-adhesive device including an adhesive material layer, an electronic device layer, and a protective film layer to have advantages of being harmless to the human body, being naturally degraded in the body without a separate removal process, and capable of observing the movement of internal organs more closely in real time from outside the body.

The invention relates to the technical field of medical simulation devices, in particular to an artificial intelligence driven thoracic and abdominal movement simulation die body which comprises internal soft tissue equivalent to a human tissue CT value, the simulation die body can simulate movement of the heart, the lung, the liver, the intestinal tract and the tumor at the same time, surface movement simulation of the die body is considered, and the simulation effect is good. Simulation movement is achieved through multiple maneuvering modes, and movement of thoracic and abdominal organs, tumors and body surfaces is restored to the maximum extent. The model body is made of a simulation material equivalent to a human tissue CT value, it is ensured that the physical property of the model body is similar to that of the human tissue, the simulation authenticity is improved, and organ movement control modes including fixed frequency input, collected patient frequency input and movement frequency predicted through an artificial intelligence algorithm are flexible and diversified. And guarantee is provided for dosimetry verification by shooting 4D CT and position error verification by means of a body surface optical positioning system.

The utility model relates to a die body and an imaging test system, the die body comprises a shell and a simulation organ, and the simulation organ is slidably connected with the shell. According to the mold body, the organ of a patient is simulated through the simulated organ, the simulated organ and the partition piece are arranged in the containing cavity of the shell, so that the containing cavity of the shell is divided into the first cavity and the second cavity, the first cavity is filled with liquid, the second cavity is filled with air, and the hydraulic pump drives the liquid in the first cavity to move; therefore, the simulated organ is driven to move, and human body organ movement is simulated. According to the die body, the hydraulic pump is adopted to drive liquid, and then the simulated organ is driven to move. Compared with existing motor driving, the die body is compatible with imaging equipment such as nuclear magnetic resonance equipment, positron emission nuclear magnetic resonance equipment and computed tomography equipment, interference on the imaging equipment is low, and the imaging result and the imaging accuracy of the imaging equipment are improved.

An adaptive radiotherapy system (100) with biophysical real-time monitoring of the tissue response, wherein the system (100) comprises: a module (1) for real-time biophysical tissue response monitoring, configured to acquire live data on the physiological response and tissue response from a treatment area of ​​a patient during irradiation; a module (2) for localizing patient anatomy and motion detection, configured to detect position changes, organ movements and target shifts in real time; an engine (3) for adaptive treatment planning and dose recalculation, configured to dynamically update a radiotherapy treatment plan based on data received from the module (1) for real-time biophysical monitoring of tissue response and from the module (2) for localizing patient anatomy and motion detection; an engine for predictive modeling of tissue response (4) configured to estimate short-term tissue response, tumor response and normal tissue tolerance using patient data from current and previous sessions; an interface for controlling and modulating the beam (5) which is functionally coupled to a radiation delivery device and configured to modify one or more beam parameters in real time; a safety check and treatment lock control (6) configured to compare current treatment conditions with one or more allowable thresholds and selectively interrupt, stop, or release radiation delivery; and a module (7) for clinical review, data logging and treatment evaluation, configured to store treatment response data, generate session-related adjustment protocols and provide one or more recommendations for subsequent fractions, wherein the system (100) adaptively modifies the radiation output in response to continuously monitored biophysical tissue conditions of the patient.

The present disclosure provides a method of estimating a motion of a lung. The method comprises receiving a set of images of organs, wherein one of the organs is the lung. The method then reconstructs a three-dimensional model of the organs based on the received images. Lung tissue is then determined within the three-dimensional model of the organs. The method then generates a lung mask based on the determined lung tissue and extends the lung mask in an inferior direction so as to include tissue below the diaphragm. The motion of the lung based on the extended lung mask is then determined.

The application belongs to the technical field of intelligent medical treatment assistance, and provides a multi-organ motion coupling compensation system based on a space-time prediction model and an execution method thereof, which comprises a multi-source heterogeneous data acquisition and preprocessing module, a double-dimension gold standard construction module, a space-time fusion prediction model construction module, a training and verification module, a time sequence trajectory prediction module and a motion compensation instruction generation module. Through time sequence synchronization and space registration of multi-modal data, the application uses a space-time Transformer architecture to construct a prediction model, accurately quantifies multi-organ motion coupling coefficients, and predicts an output motion trajectory that is physically reasonable and meets accuracy standards. Meanwhile, relying on double gold standards and an optimized training strategy, combined with a parameter efficient fine-tuning strategy, the application realizes personalized adaptation for specific patients, solves defects such as low multi-source data synchronization accuracy and insufficient coupling relationship modeling in existing radiotherapy motion compensation technologies, and promotes the clinical landing and upgrading of precise radiotherapy technologies.

The invention discloses a real-time image guiding method and system for organ motion compensation in tumor radiotherapy, and the method comprises the steps: constructing a respiratory motion model through the synchronous collection of the three-dimensional position of a gold mark and the motion track of a body surface LED mark point, and obtaining an atrophy compensation component through the combination of the volume atrophy proportion and the gravity center displacement of the gold mark in the radiotherapy process; and then carrying out weighted fusion on historical radiotherapy data, a gold label vector and a position relationship to obtain an accurate rotation compensation component, inputting the current position of the gold label into the model to update parameters in real time, predicting the position of the gold label at the next moment by combining the two types of compensation components, and meanwhile, carrying out model loop optimization through comparison of actual positions. According to the invention, the positioning accuracy of the target region in tumor radiotherapy is greatly improved, it is ensured that radioactive rays can accurately irradiate the tumor target region, the tumor local control rate is further improved, and the life quality of a patient is improved.

A super-resolution ultrasonic blood flow imaging method fusing particle trajectory prediction and motion compensation comprises the following steps: injecting a microbubble contrast agent into a living body to obtain a microbubble distribution image; arranging all the microbubble distribution images according to a time sequence, and obtaining a blood flow distribution diagram through a particle trajectory prediction method; further eliminating a wrong track through speed difference constraint; and eliminating the influence of the micro motion of the background organization on the track result through a dynamic compensation method. The method has the advantages that the imaging resolution is obviously improved, and the movement interference of tissues and organs can be effectively reduced. According to the method, historical data and velocity vector information of the microbubbles are combined, the future positions of the microbubbles are predicted by using a Kalman filter, and matched microbubbles are searched nearby the future positions, so that the trajectory matching accuracy is improved, and the imaging resolution is improved. Meanwhile, cross-correlation search based on dynamic programming is adopted, wrong trajectories caused by tissue movement are extracted and eliminated, the definition of the microvascular morphology is further optimized, the signal-to-noise ratio of the image is remarkably improved, and the method is suitable for imaging of moving organs.

The present invention discloses a real-time image registration and path planning system for bronchoscopic surgical navigation, which relates to the technical field of image registration. The system is used to solve the problem that in minimally invasive thoracic and abdominal interventional surgery, organ movement and deformation caused by patient breathing will have a significant impact on the registration accuracy of the navigation system, and the spatial registration of preoperative images and intraoperative patient anatomical structures often causes errors due to mismatch of changes in respiratory phase. The system integrates multi-posture data, comprehensively evaluates the degree of respiratory interference through dual indicators, and uses respiratory cycle-driven deformation prediction to solve the problem that traditional static deformation fields cannot match dynamic breathing. The system also corrects displacement errors through tidal volume observations, and uses registration residuals to inversely optimize B-spline control point weights, so that the deformation field can adapt to the differences in respiratory amplitude and frequency of different patients. The registration error output by the filter is used as a teacher signal for online distillation learning, accurately capturing local residual deformation and chronic changes that are difficult to describe with traditional global models.

The invention provides a three-dimensional point cloud-based online adaptive radiotherapy fractional internal anatomical structure generation method and system, and belongs to the technical field of radiotherapy equipment, and the method comprises the steps: obtaining three-dimensional point cloud data of a fractional internal anatomical structure; and processing the acquired three-dimensional point cloud data by using a pre-trained fractional internal anatomical structure generation model to obtain an anatomical structure three-dimensional point cloud when fractional treatment is finished. According to the invention, the speed of predicting the anatomical structure in batches is increased; the deformation vector of the anatomical structure can be obtained according to the new sketching to guide the structure generation of the next fraction, so that the prediction precision of the anatomical structure in the fraction is improved; the change of the anatomical structure of the patient in the current fraction can be evaluated according to the predicted anatomical structure result, and the online self-adaptive radiotherapy plan design is guided in combination with a clinical decision, so that the fraction internal error caused by organ movement in the online self-adaptive radiotherapy fraction is greatly reduced; and the exposure dose endangering organs can be reduced while the coverage rate of the target region can be ensured.

This invention relates to the field of bio-optical imaging technology, specifically to an organ status assessment method and organ perfusion system based on laser speckle imaging. The method utilizes high-frame-rate laser speckle imaging technology combined with a physiological signal gating algorithm. It extracts the original speckle image only during the diastolic window when organ motion is minimal. The original speckle image is then preliminarily corrected using a vibration-speculiar distortion model. Subpixel-level registration is then performed on the preliminarily corrected speckle image using optical flow, generating a high signal-to-noise ratio microcirculation perfusion distribution map free of motion artifacts. Based on the microcirculation perfusion distribution map, perfusion heterogeneity indices for each target assessment region are calculated to determine whether local blood flow abnormalities exist in the transported organ, thus achieving status assessment and real-time monitoring of the transported organ. This assessment method is applicable not only to organ transport but also to organ quality evaluation and immediate post-transplant assessment scenarios.

Disclosed are a motion compensation processing apparatus and method of medical images, in which motion of organs is corrected, the method including: acquiring the medical image and combining an organ motion component into the medical image; training at least one deep learning model based on the medical image combined with the organ motion component so that the deep learning model can remove the organ motion component; and acquiring a processing medical image, selecting a deep learning model corresponding to an organ included in the processing medical image, and removing a motion component for the organ.

The application discloses a kind of space-time puncture path planning system and method based on linear constraint, it is related to puncture path optimization technical field.The method collects CT image data of patient chest and abdomen under different respiratory phase, constructs displacement vector field and organ movement heat map based on CT image data;Based on preset skin needle entry point, tumor target and organ movement heat map, determine candidate intermediate point in chest and abdominal organ region, and generate key point set;Based on the connection rule, the skin needle entry point in the key point set, candidate intermediate point and tumor target are connected to form at least one path edge;According to organ movement heat map, the comprehensive weight of path edge is calculated, and the weighted directed graph is constructed;Path search is carried out in the weighted directed graph, and candidate path set is generated;According to the cost of each candidate path calculated according to the comprehensive weight, the final puncture path is selected, which improves the intraoperative puncture precision and reduces the risk of complications.

A diagnostic support program capable of displaying organ motion is provided. The diagnostic support program analyzes images of a human organ and displays the analysis result, and causes a computer to execute: a process of acquiring a plurality of frame images, a process of calculating periodic changes in the state of the organ between the frame images; a process of performing Fourier transform on the periodic changes in the state of the organ, a process of extracting a frequency spectrum in a fixed frequency band including a frequency spectrum corresponding to the frequency of the organ motion from the frequency spectrum obtained after the Fourier transform, a process of performing inverse Fourier transform on the frequency spectrum extracted by the fixed frequency band, and a process of outputting each image after the inverse Fourier transform.

The present disclosure relates to the technical field of image processing and provides a motion estimation method and apparatus for a tumor, a terminal device, and a storage medium. The method includes: obtaining a current value of a respiratory correlation signal of a patient, the respiratory correlation signal reflecting a motion trajectory feature of a designated organ with the tumor of the patient in each of different respiratory states; inputting the current value of the respiratory correlation signal into a tumor motion estimation model to obtain an estimated current position of the tumor; and inputting the estimated current position of the tumor into an organ motion estimation model to obtain an estimated current velocity vector field of the designated organ. By adopting the motion estimation method, it realizes a respiratory motion estimation for the whole organ and enhance accuracy of positioning the tumor and vital anatomical structures around the tumor.

Described is an approach for tracking 3D organ motion in real-time using magnetic resonance imaging (MRI). The approach may include offline learning, which may acquire signature and 3D imaging data over multiple respiratory cycles to create a database of high-resolution 3D motion states. The approach may further include online matching, which may acquire signature data only in real-time (latency less than 0.2 seconds). From a motion state and motion signature database, the 3D motion state whose signature best (or sufficiently) matches the newly-acquired signature data may be selected. Real-time 3D motion tracking may be accomplished by performing time-consuming acquisition and reconstruction work in an offline learning phase, leaving just signature acquisition and correlation analysis in an online matching step, minimizing or otherwise reducing latency. The approach may be used to adapt radiotherapy procedures based on tumor motion using a magnetic resonance linear accelerator (MR-Linac) system.

The application discloses a method and device for predicting organ motion changes in a radiotherapy process, and relates to the technical field of medical radiotherapy. The method solves the problem that the future motion of an organ in a radiotherapy process cannot be accurately predicted in the prior art. The method comprises the following steps: extracting deformation field data of a historical CT image, and using the deformation field data as input to predict the deformation field data at a current time by using a pre-trained image deformation field prediction model; generating a CT image at a next time; and evaluating displacement by comparing the similarity of the CT images at the current time and the next time. The method uses deformation field as an intermediate medium, can more accurately capture the changes between images, and thus improves the prediction accuracy. By analyzing the deformation field data, the pre-trained image deformation field prediction model can predict the possible position and shape of the organ at a future time.

The present invention provides a method and system for generating intra-fraction anatomical structures for online adaptive radiotherapy based on three-dimensional point clouds. This method, which belongs to the technical field of radiotherapy equipment, acquires three-dimensional point cloud data of intra-fraction anatomical structures; processes the acquired three-dimensional point cloud data using a pre-trained intra-fraction anatomical structure generation model to obtain a three-dimensional point cloud of the anatomical structure at the end of fractionated treatment. The present invention improves the speed of intra-fraction anatomical structure prediction; obtains anatomical structure deformation vectors based on new delineation to guide structure generation for the next fraction, thereby improving the accuracy of intra-fraction anatomical structure prediction; and assesses the magnitude of anatomical structure changes within the patient's current fraction based on the predicted anatomical structure results. This method, combined with clinical decision-making, guides the design of online adaptive radiotherapy plans, significantly reducing intra-fraction errors caused by organ motion within online adaptive radiotherapy fractions, ensuring target coverage while reducing the radiation dose to endangered organs.

The present application discloses a radiotherapy positioning and dose optimization system based on deep learning and multimodal image fusion, including a multimodal image acquisition and fusion module, a tumor positioning module, an organ motion tracking module, a dose optimization calculation module, and a quality assurance and verification module; the multimodal image acquisition and fusion module is configured to compatibly and integratively integrate data generated by a plurality of medical imaging devices, and accurately match and fuse different modal images in three-dimensional space through an advanced image alignment algorithm, to form a high-precision fusion image containing information on anatomical structure, functional metabolism, and physiological activities.

The invention discloses a space-time puncture path planning system and method based on linear constraint, and relates to the technical field of puncture path optimization. The method comprises the following steps: acquiring CT image data of the chest and abdomen of a patient under different breathing phases, and constructing a displacement vector field and an organ movement heat map based on the CT image data; determining candidate intermediate points in the thoracic and abdominal organ region based on a preset skin needle insertion point, a tumor target point and an organ movement heat map, and generating a key point set; on the basis of a preset connection rule, the skin needle inserting points, the candidate intermediate points and the tumor target points in the key point set are connected to form at least one path edge; calculating the comprehensive weight of the path edge according to the organ movement heat map, and constructing a weighted directed graph; performing path search in the weighted directed graph to generate a candidate path set; the cost of each candidate path is calculated according to the comprehensive weight, the final puncture path is selected, the intraoperative puncture precision is improved, and the complication risk is reduced.

The invention relates to the technical field of medical instrument test control, in particular to a minimally invasive interventional surgical instrument intelligent test system which comprises an organ simulation mechanism, a puncture mechanism, a monitoring module, a control module, a data analysis module and an output module. The control module is used for controlling the organ simulation unit to simulate movement under the influence of respiration and heartbeat according to organ movement data coupled and output by actual respiration data and actual heartbeat data of a human body; the monitoring module is used for collecting real-time position information of a mark point and a puncture needle on the organ simulation unit; and the data analysis module is used for comparing the real-time position information and the initial position information of the mark point, comparing a difference value between the real-time position information of the needle point and the real-time position information of the mark point, and judging whether the difference value is in a preset reasonable range. According to the invention, the interaction process of the puncture needle and the organ in the body can be obtained, so that the minimally invasive interventional surgical instrument can be evaluated.

The invention relates to the technical field of voice recognition, and discloses a voiceprint recognition identity verification method and system, and the method comprises the steps: collecting an original sound wave signal, and extracting a multi-dimensional acoustic feature set; constructing an elastic stress correlation model by combining the motion tremor frequency of the laryngeal muscles in the original sound wave signal, and generating a dynamic deformation track of the laryngeal organ; sending a random acoustic interference instruction to the user to trigger non-autonomous stress response of the laryngeal muscle, and synchronously collecting sound wave conduction phase offset; reversely analyzing sound channel soft tissue deformation amplitude according to the sound wave conduction phase offset, matching biomechanical transmission characteristics in the dynamic deformation track of the throat organ, and generating a dynamic physiological consistency coefficient; and when the dynamic physiological consistency coefficient and a preset physiological reference value meet an organ movement cooperative constraint condition, outputting an identity verification passing signal. According to the invention, the problem that voiceprint recognition identity verification cannot effectively defend high-fidelity recording playback can be solved.

The utility model relates to a real-time image guided adaptive radiotherapy device, which comprises a frame, a roller, a treatment bed, a treatment head, a turntable rotation driving mechanism and a real-time image guiding system, the treatment bed is connected with the frame, the roller is arranged in the frame, the treatment head is arranged on the roller, and the turntable rotation driving mechanism is arranged on the roller. The treatment head comprises a turntable, an arc-shaped guide rail assembly, a three-dimensional platform, a ray emission device and a three-dimensional platform rotation driving mechanism capable of driving the three-dimensional platform to rotate; the ray emitting device is arranged below the three-dimensional platform, the arc-shaped guide rail assembly is arranged on the rotary table, the three-dimensional platform rotation driving mechanism and the three-dimensional platform are both connected with the arc-shaped guide rail assembly, the rotary table rotation driving mechanism can drive the rotary table to rotate, and the real-time image guiding system and the rotary table rotation driving mechanism are both arranged on the roller. According to the utility model, real-time image guidance and self-adaptive follow-up of the treatment head are realized, the problems of treatment errors caused by organ movement of a patient, unnecessary injury to normal tissues, even off-target and the like are solved, and the accuracy of clinical treatment is improved.

The application discloses a kind of real-time image guided method and system for organ motion compensation in tumor radiotherapy, comprising: by synchronous acquisition gold standard three-dimensional position and body surface LED marker point motion trajectory, construct respiratory motion model, combine gold standard volume atrophy ratio and barycenter displacement in radiotherapy process to obtain atrophy compensation component, then rely on historical radiotherapy data, gold standard vector and position relationship are weighted fusion to obtain accurate rotation compensation component, gold standard current position can also be input model real-time update parameter and combine two kinds of compensation components to predict next time gold standard position, while through actual position comparison, realize model cyclic optimization.The application greatly improves the accuracy of target area positioning in tumor radiotherapy, ensures that radioactive rays can accurately irradiate tumor target area, and then improves tumor local control rate and improves patient quality of life.

The application discloses a drawer type abdominal cavity window device and method for in-vivo kidney photoacoustic imaging, and belongs to the technical field of in-vivo animal imaging. The drawer type abdominal cavity window device for in-vivo kidney photoacoustic imaging comprises a titanium alloy fixing frame, an organ stabilizing system, a microenvironment maintaining system and a monitoring and control system. The titanium alloy fixing frame is internally provided with an anchoring structure for fixing with ribs of an experimental animal. The titanium alloy fixing frame is internally provided with a titanium alloy sliding inner frame. The titanium alloy sliding inner frame is symmetrically provided with sliding guide rails at two sides. The application realizes efficient transmission of sound waves through design of a composite acoustic window, solves the problem of sound wave attenuation caused by traditional glass materials, effectively suppresses organ motion artifacts through a drawer type structure and a negative pressure stabilizing system, supports long-term imaging through the microenvironment maintaining system, and provides a reliable technical platform for in-vivo kidney research.