CN-121971170-A - Puncture auxiliary positioning method, puncture auxiliary positioning equipment, puncture auxiliary positioning medium and puncture auxiliary positioning program product

CN121971170ACN 121971170 ACN121971170 ACN 121971170ACN-121971170-A

Abstract

The embodiment of the specification provides a puncture-based auxiliary positioning method, puncture-based auxiliary positioning equipment, puncture-based auxiliary positioning medium and puncture-based auxiliary positioning program product, and relates to the field of intelligent medical treatment. The method comprises the steps of receiving a first focus cross-sectional image from a sagittal plane of a sample to be detected, wherein the first focus cross-sectional image comprises a first form focus image and a first form ablation needle image, receiving a second focus cross-sectional image from the cross section of the sample to be detected, wherein the second focus cross-sectional image comprises a second form focus image and a second form ablation needle image, acquiring the position relation between the first form focus and the first form ablation needle in real time based on the first focus cross-sectional image, sending an instruction for fixing the position of the first form ablation needle when the position relation between the first form focus and the first form ablation needle meets the set requirement, and acquiring the included angle between the second form ablation needle and the cross-sectional horizontal line of the second form focus in real time based on the second focus cross-sectional image until the included angle meets the preset angle.

Inventors

YANG ZHENGQIANG
LONG LONG
WENG SIYUAN
LI HANG
WU FAN
SONG BO

Assignees

中国医学科学院肿瘤医院

Dates

Publication Date: 20260505
Application Date: 20260312

Claims (10)

1. A puncture assistance positioning method, comprising: Receiving an acquired first focus cross-sectional image from a sagittal plane of a sample to be tested, wherein the first focus cross-sectional image comprises a first form focus image and a first form ablation needle image; Receiving an acquired second focus cross-section image from a cross section of a sample to be detected, wherein the second focus cross-section image comprises a second-form focus image and a second-form ablation needle image; Acquiring the position relation between the first form focus and the first form ablation needle in real time based on the first focus cross-section image, and sending out an instruction for fixing the position of the first form ablation needle when the position relation between the first form focus and the first form ablation needle meets the set requirement; And acquiring an included angle between the second shape ablation needle and the horizontal line of the cross section of the second shape focus in real time based on the cross section image of the second focus until the included angle accords with a preset angle.
2. The puncture assistance localization real-time method of claim 1, wherein said setting requirement is that the positions of the lesion of the first modality and the ablation needle of the first modality overlap; optionally, the preset angle is determined by preoperative CT images.
3. The puncture assistance localization real-time method of claim 1, wherein said first lesion cross-sectional image is acquired based on a first imaging device disposed laterally to a longitudinal axis of said body of said sample under test; optionally, the second lesion cross-sectional image is acquired based on a second imaging device disposed on a side of the sample to be tested, where the second imaging device is disposed at an end parallel to a longitudinal axis of the body of the sample to be tested, and preferably at a foot end.
4. A puncture assistance-localization real-time device, comprising: an ablation needle for penetrating a target lesion; the first imaging device is used for acquiring a first focus cross-sectional image from a sagittal plane of a sample to be detected, wherein the first focus cross-sectional image comprises a first form focus image and a first form ablation needle image; the second imaging device is used for acquiring a second focus cross-section image from the cross section of the sample to be detected, wherein the second focus cross-section image comprises a second shape focus image and a second shape ablation needle image; The upper computer is used for acquiring the position relation between the first-form focus and the first-form ablation needle in real time based on the first focus cross-section image, when the position relation between the first-form focus and the first-form ablation needle meets the set requirement, the upper computer sends out an instruction for fixing the position of the first-form ablation needle, And the system is also used for acquiring the included angle between the second-form ablation needle and the horizontal line of the cross section of the second-form focus in real time based on the cross section image of the second focus until the included angle accords with a preset angle.
5. The puncture assisting positioning device according to claim 4, wherein the first imaging means is disposed on a side perpendicular to a longitudinal axis of the body of the sample to be measured; Optionally, the second imaging device is arranged at one end parallel to the longitudinal axis of the body of the sample to be measured, preferably at the foot end.
6. The puncture assisting positioning device according to claim 4, wherein the setting requirement is that the positions of the lesion of the first form and the ablation needle of the first form overlap; optionally, the preset angle is determined by preoperative CT images.
7. The puncture assisting positioning device of claim 4, further comprising an ablation needle fixing means for fixing the ablation needle and the connection cable.
8. A computer device, characterized in that the device comprises a memory and a processor, the memory being for storing a computer program, the processor executing the computer program to carry out the steps of the method according to any one of claims 1-3.
9. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1-3.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1-3.

Description

Puncture auxiliary positioning method, puncture auxiliary positioning equipment, puncture auxiliary positioning medium and puncture auxiliary positioning program product Technical Field The present invention relates to the field of intelligent medical technology, and more particularly, to a puncture assistance localization real-time method, apparatus, medium, and program product. Background The multi-mode ablation treatment such as radio frequency, microwave, freezing and the like under CT guidance is a tumor treatment technology which is widely developed clinically. At present, tumor ablation treatment based on CT guidance clinically, and a tumor ablation plan is required to be empirically drawn according to two-dimensional CT images before treatment. In the treatment process, a doctor is required to puncture the ablation needle into the tumor focus under the guidance of CT images by means of the coordination capability of hands and eyes and the hand feeling and experience of individuals. In CT guided percutaneous puncture ablation treatment for a long time, the puncture accuracy of an ablation needle mainly depends on the hand feeling and experience of doctors, and the existing puncture robot, infrared positioning, magnetic navigation and other technologies try to integrally solve the problems of needle insertion angle and depth, but neglect the important functions of muscle memory and hand feeling of the doctors, weaken the space for the doctors to accept training and technology growth, and have huge equipment volume, high cost and difficulty in popularization and application in basic medical institutions. In addition, in the clinical practice of puncture path planning, the needle insertion angle of the actual ablation needle is more important than the depth. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a puncture-based assisted positioning method, device, apparatus, medium and program product; the invention uses imaging devices respectively arranged at the bed tail and the bed side to form a binocular identification system, converts the fuzzy space perception of doctors into clear and quantized data guidance, realizes closed loop coordination of 'eyes-hands-needles-targets', reserves the operation leading right of the doctors, and fully plays the important roles of muscle memory and hand feeling of the doctors. The first aspect of the application discloses a puncture auxiliary positioning method, which comprises the following steps: Receiving an acquired first focus cross-sectional image from a sagittal plane of a sample to be tested, wherein the first focus cross-sectional image comprises a first form focus image and a first form ablation needle image; Receiving an acquired second focus cross-section image from a cross section of a sample to be detected, wherein the second focus cross-section image comprises a second-form focus image and a second-form ablation needle image; Acquiring the position relation between the first form focus and the first form ablation needle in real time based on the first focus cross-section image, and sending out an instruction for fixing the position of the first form ablation needle when the position relation between the first form focus and the first form ablation needle meets the set requirement; And acquiring an included angle between the second shape ablation needle and the horizontal line of the cross section of the second shape focus in real time based on the cross section image of the second focus until the included angle accords with a preset angle. In some embodiments, the setting requires that the first modality lesion and the first modality ablation needle position overlap; optionally, the preset angle is determined by preoperative CT images. In some embodiments, the first lesion cross-sectional image is acquired based on a first imaging device disposed laterally to a longitudinal axis of the body of the sample to be measured; optionally, the second lesion cross-sectional image is acquired based on a second imaging device disposed on a side of the sample to be tested, where the second imaging device is disposed at an end parallel to a longitudinal axis of the body of the sample to be tested, and preferably at a foot end. A second aspect of the present application discloses a puncture assistance-localization real-time device comprising: an ablation needle for penetrating a target lesion; the first imaging device is used for acquiring a first focus cross-sectional image from a sagittal plane of a sample to be detected, wherein the first focus cross-sectional image comprises a first form focus image and a first form ablation needle image; the second imaging device is used for acquiring a second focus cross-section image from the cross section of the sample to be detected, wherein the second focus cross-section image comprises a second shape