CN112286205A - Puncture path planning method and system and robot - Google Patents
Puncture path planning method and system and robot Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a puncture path planning method, a system and a robot, comprising the following steps: acquiring a tumor CT image and a thoracic motion track in a CT scanning process; matching each frame of tumor CT image with the thoracic motion trail at the corresponding moment to obtain the tumor motion trail; and planning an ablation puncture point according to the position of the tumor at each moment in the tumor motion track, and acquiring the spatial position of the ablation puncture point at the current moment so as to form an ablation puncture path. The thorax movement track generated by respiratory motion is matched with the tumor position, and the puncture time of the ablation puncture point is adjusted through the coordinate position of each time in the thorax movement track, so that the puncture path can be planned without being influenced by the respiratory motion on the puncture precision during free respiration, the puncture point can be quickly and accurately confirmed, and the puncture precision is improved.
Description
Technical Field
The invention relates to the technical field of accurate medical treatment of robots, in particular to a puncture path planning method, a puncture path planning system and a robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Biopsy, particle implantation, thermal ablation, etc. have recently become accepted by hospitals in recent years due to their characteristics of minimal invasion, economic safety, etc.
Originally, when technologies such as biopsy, particle implantation or thermal ablation are clinically adopted, the planning of the puncture path depends heavily on the experience of doctors, the time and the labor are consumed, the planning precision is difficult to meet the clinical requirements, and in recent years, along with the development of navigation technologies, the planning precision is greatly improved, but errors caused by breathing still cannot be solved.
When a puncture path is planned, thoracic motion caused by respiration influences positioning accuracy, the tumor position changes to a certain extent along with the progress of the respiration, and path planning is carried out by using a static tumor CT image, so that a certain positioning error is inevitably caused, and how to counteract the positioning error caused by the respiration is a world-level problem.
Disclosure of Invention
In order to solve the problems, the invention provides a puncture path planning method, a puncture path planning system and a robot, wherein a thoracic motion track generated by respiratory motion is matched with a tumor position, and the puncture time of an ablation puncture point is adjusted through the coordinate position of each time in the thoracic motion track, so that the puncture path planning can be realized without the influence of respiratory motion on puncture precision during free respiration, the puncture point can be rapidly and accurately confirmed, and the puncture precision is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a puncture path planning method, including:
acquiring a tumor CT image and a thoracic motion track in a CT scanning process;
matching each frame of tumor CT image with the thoracic motion trail at the corresponding moment to obtain the tumor motion trail;
and determining an ablation puncture point and a puncture direction according to the tumor motion track, and acquiring the spatial position of the ablation puncture point at the current moment so as to form an ablation puncture path.
In a second aspect, the present invention provides a puncture path planning system, including:
the data acquisition module is used for acquiring tumor CT images and thoracic motion tracks in the CT scanning process;
the matching module is used for matching each frame of tumor CT image with the thoracic motion trail at the corresponding moment to obtain the tumor motion trail;
and the path planning module is used for determining an ablation puncture point and a puncture direction according to the tumor motion track and acquiring the spatial position of the ablation puncture point at the current moment so as to form an ablation puncture path.
In a third aspect, the present invention provides an electronic device comprising a memory and a processor, and computer instructions stored on the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method of the first aspect is performed.
In a fourth aspect, the present invention provides a computer readable storage medium for storing computer instructions which, when executed by a processor, perform the method of the first aspect.
In a fifth aspect, the present invention provides a robot for performing an ablation needle path resulting from the method of the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
the ablation puncture path planning method provided by the invention has the advantages that when free breathing is realized, the puncture path planning can be free from the influence of breathing motion on puncture precision, a puncture point can be rapidly and accurately confirmed, and the puncture precision is improved.
According to the invention, the position and the angle of the puncture point can be adjusted through matching the thoracic motion track generated by respiratory motion with the tumor position and the coordinate position of each moment in the thoracic motion track, so that the accuracy of puncture is ensured, and the puncture safety is improved.
Because the tumor position changes along with the influence of respiratory motion, the motion trail of the tumor is constructed according to different positions of the tumor in the respiration, the corresponding tumor position is realized when the tumor moves to a certain position through the thorax, and the dynamic relation of the same tumor motion at different time is obtained.
The invention can also independently execute the ablation puncture path through the robot, control the robot to execute the ablation puncture path task at the corresponding time point according to the thoracic motion track coordinate corresponding to the puncture point and on the requirement of a time axis, and penetrate into different positions according to the change of the tumor position at different time points.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a flowchart of a puncture path planning method provided in embodiment 1 of the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be understood that the terms "comprises" and "comprising", and any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example 1
As shown in fig. 1, the present embodiment provides a puncture path planning method, including:
s1: acquiring a tumor CT image and a thoracic motion track in a CT scanning process;
s2: matching each frame of tumor CT image with the thoracic motion trail at the corresponding moment to obtain the tumor motion trail;
s3: and determining an ablation puncture point and a puncture direction according to the tumor motion track, and acquiring the spatial position of the ablation puncture point at the current moment so as to form an ablation puncture path.
In step S1, the CT scan adopted in this embodiment is not a conventional CT scan, but an ultra-high speed computer tomography scan, which has a very fast scan speed that is 40 times or more of that of a conventional CT scan, and can be used for three-dimensional imaging of a moving organ, and each time point corresponds to one frame of CT scan image;
preferably, the dynamic CT scan image may also be short-interval continuous CT scan image data, and the plurality of types of short-interval continuous CT scan images form the dynamic CT scan image.
In the embodiment, a safety boundary region is generated around a tumor by taking the tumor as a center for an acquired tumor CT image, and an interested region is calibrated;
preferably, the safety boundary region is a region generated in normal tissues outside the tumor, and the region does not include important tissues such as important blood vessels, nerves and the like;
alternatively, the region may be an active region for restraining the ablation needle and/or the puncture needle.
Preferably, the region of interest is calibrated, and the needle insertion path planning of the ablation needle and/or the puncture needle is carried out aiming at the region of interest, so that the search range and the calculation region are effectively reduced.
In step S1, the magnetic navigation device is fixed on the thorax, so as to collect the motion trajectory of the thorax during the whole CT ultrahigh-speed scanning process;
preferably, the motion trail of the thorax is generated by respiratory motion, the motion trail of the thorax is tracked, and the motion relation in one respiratory cycle is matched;
during CT scanning, dynamic CT scanning is carried out according to respiratory motion, and the position of a tumor in respiratory motion is obtained according to a dynamic CT scanning image;
preferably, the extreme positions of movement are recorded as the thoracic up and down movements are produced by the respiratory movement.
In step S1, modeling the important nerves and blood vessels is further included to facilitate considering the influence of the puncture path on the important nerves and blood vessels when planning the path in a later stage.
In step S2, as the respiratory motion proceeds, the thoracic motion trajectory and the tumor CT image are both waved, and one of the complete processes is selected to establish a one-to-one correspondence relationship between the thoracic motion trajectory and the tumor CT image;
because the position of the tumor changes under the influence of the respiratory motion, the motion trail of the tumor is constructed according to different positions of the tumor in the respiration.
In this embodiment, a one-to-one correspondence relationship between the thoracic motion trajectory and the tumor CT image is constructed, so that a corresponding tumor position is realized when the thoracic motion reaches a certain position, and a dynamic relationship of the same tumor motion at different times is obtained.
In the step S3, a puncture point and a puncture direction are determined according to a motion trajectory of a tumor, an ablation puncture path is planned, important tissues such as vascular nerves and the like are avoided on the puncture path, and a path with the safest and the smallest trauma is selected;
in this embodiment, the ablation puncture path information includes an insertion point, a target point, and a puncture navigation path, and the thoracic motion trajectory coordinates of the puncture point at the same time corresponding to the path are recorded.
In this embodiment, the puncture site is planned safely, with little trauma, and with controlled insertion time. In the embodiment, the puncture needle and/or the ablation needle is firstly inserted beside a tumor running route, then the running track of the tumor is indirectly monitored through magnetic navigation, and when the tumor runs to the puncture route, the puncture needle and/or the ablation needle are quickly inserted;
preferably, the ablation puncture path can be completed by a robot, specifically, puncture points in the ablation puncture path are marked, spatial position information of the puncture points is obtained, and the spatial position information is matched with joint posture parameters of the robot so as to guide the robot to complete puncture operation;
preferably, according to the thoracic motion trajectory coordinate corresponding to the puncture point, on the requirement of a time axis, the robot is controlled to execute the ablation puncture path task at the corresponding time point, and the ablation puncture path task can penetrate into different positions at different time points.
Preferably, the ablation needle and/or puncture needle puncture point can be manually planned according to the tumor motion track.
The embodiment mainly aims to control the ablation needle and/or the puncture needle to puncture in a non-respiratory mode, and in the natural respiratory process, the ablation needle and/or the puncture needle point is planned without being influenced by respiratory motion.
Example 2
The present embodiment provides a puncture path planning system, including:
the data acquisition module is used for acquiring tumor CT images and thoracic motion tracks in the CT scanning process;
the matching module is used for matching each frame of tumor CT image with the thoracic motion trail at the corresponding moment to obtain the tumor motion trail;
and the path planning module is used for determining an ablation puncture point and a puncture direction according to the tumor motion track and acquiring the spatial position of the ablation puncture point at the current moment so as to form an ablation puncture path.
It should be noted that the above modules correspond to steps S1 to S3 in embodiment 1, and the above modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure in embodiment 1. It should be noted that the modules described above as part of a system may be implemented in a computer system such as a set of computer-executable instructions.
In this embodiment, the data obtaining module further includes: generating a safe boundary area around the tumor by taking the tumor as the center of the obtained tumor CT image, and calibrating the region of interest;
preferably, the action area of the ablation needle and/or the puncture needle is limited through the safety boundary area, and the needle inserting path planning of the ablation needle or the puncture needle is carried out according to the area of interest.
The data acquisition module further comprises: the magnetic navigation device is fixed on the thorax, and the thorax motion track generated by respiratory motion in the whole CT ultrahigh-speed scanning process is acquired.
Preferably, the thoracic motion trajectory is generated by respiratory motion, and when the thoracic motion is caused to move up and down by the respiratory motion, the limit positions of the thoracic motion are acquired to construct the thoracic motion trajectory.
In this embodiment, the matching module further includes: with the progress of respiratory motion, the thoracic motion track and the tumor CT image are waved, one of the complete processes is selected, and the one-to-one corresponding relation between the thoracic motion track and the tumor CT image is established;
because the position of the tumor changes under the influence of the respiratory motion, the motion trail of the tumor is constructed according to different positions of the tumor in the respiration.
In this embodiment, the path planning module further includes: planning an ablation puncture path according to the motion track of the tumor; the ablation puncture path information comprises needle insertion points, target points and puncture navigation paths, and thoracic motion track coordinates at the same time corresponding to the puncture points under the paths are recorded.
In this embodiment, the puncture site is planned safely, with little trauma, and with controlled insertion time. In the embodiment, the puncture needle and/or the ablation needle is firstly inserted beside a tumor running route, then the running track of the tumor is indirectly monitored through magnetic navigation, and when the tumor runs to the puncture route, the puncture needle and/or the ablation needle are quickly inserted;
preferably, the ablation puncture path can be completed by a robot, puncture points in the ablation puncture path are marked, the spatial position information of the puncture points is obtained, and the spatial position information is matched with the joint posture parameters of the robot so as to guide the robot to complete the puncture operation.
In further embodiments, there is also provided:
a robot for performing an ablation puncture path resulting from the method of example 1.
Preferably, the robot performs the ablation puncture path using magnetic navigation to guide the puncture.
An electronic device comprising a memory and a processor and computer instructions stored on the memory and executed on the processor, the computer instructions when executed by the processor performing the method of embodiment 1. For brevity, no further description is provided herein.
It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general purpose processors, digital signal processors DSP, application specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include both read-only memory and random access memory, and may provide instructions and data to the processor, and a portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.
A computer readable storage medium storing computer instructions which, when executed by a processor, perform the method described in embodiment 1.
The method in embodiment 1 may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, among other storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor. To avoid repetition, it is not described in detail here.
Those of ordinary skill in the art will appreciate that the various illustrative elements, i.e., algorithm steps, described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A puncture path planning method is characterized by comprising the following steps:
acquiring a tumor CT image and a thoracic motion track in a CT scanning process;
matching each frame of tumor CT image with the thoracic motion trail at the corresponding moment to obtain the tumor motion trail;
and determining an ablation puncture point and a puncture direction according to the tumor motion track, and acquiring the spatial position of the ablation puncture point at the current moment so as to form an ablation puncture path.
2. The method according to claim 1, wherein the tumor CT image is centered on the tumor, a safety boundary region is generated around the tumor, and the region of interest is calibrated.
3. A puncture path planning method according to claim 2, wherein the safety margin region limits the action region of the ablation needle and/or puncture needle, and the needle insertion path planning of the ablation needle or puncture needle is performed according to the region of interest.
4. The method for planning a puncture path according to claim 1, wherein the thoracic motion trajectory is generated by a respiratory motion, and extreme positions of the thoracic motion are acquired to construct the thoracic motion trajectory when the thoracic motion is moved up and down by the respiratory motion.
5. The method for planning a puncture path according to claim 1, wherein the ablation puncture path comprises a puncture point, a target point and a puncture navigation path, and the thoracic motion trajectory coordinates corresponding to the puncture point at the same time under the ablation puncture path are recorded.
6. A puncture path planning system, comprising:
the data acquisition module is used for acquiring tumor CT images and thoracic motion tracks in the CT scanning process;
the matching module is used for matching each frame of tumor CT image with the thoracic motion trail at the corresponding moment to obtain the tumor motion trail;
and the path planning module is used for determining an ablation puncture point and a puncture direction according to the tumor motion track and acquiring the spatial position of the ablation puncture point at the current moment so as to form an ablation puncture path.
7. An electronic device comprising a memory and a processor and computer instructions stored on the memory and executed on the processor, the computer instructions when executed by the processor performing the method of any of claims 1-5.
8. A computer-readable storage medium storing computer instructions which, when executed by a processor, perform the method of any one of claims 1 to 5.
9. A robot for performing an ablation puncture path obtained by the method of any one of claims 1-5.
10. A robot as claimed in claim 9, wherein the spatial location of the puncture point in the ablation puncture path is matched to the joint pose parameters of the robot to guide the robot to perform the ablation puncture procedure.
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| WO2023050307A1 (en) * | 2021-09-30 | 2023-04-06 | 中国科学院深圳先进技术研究院 | Ct-compatible lung biopsy system and method |
| CN114305656A (en) * | 2021-11-15 | 2022-04-12 | 上海市胸科医院 | Magnetic navigation radio frequency ablation electrode and system |
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