CN110292420A - Particle implantation system and method of operation - Google Patents

Abstract

The invention relates to the technical field of medical particle implantation, and discloses a particle implantation system, including CT imaging equipment, a data processing system, a resistive sensor, and a laser positioning system. The processing system is connected; the invention also discloses an operation method of the particle implantation system. The present invention reduces the operation time and improves the treatment effect, and obtains the dynamic change data of the needle insertion angle during the insertion process of the implant needle by simulating the offset activity of the lesion site and related tissues of the lesion site, and estimates the implant needle in real time during the operation process. The change of the implantation angle reduces the impact of the direction deviation of the lesion and related tissues due to extrusion on the accuracy of seed implantation during the puncture process, reduces the number of times CT is used, and simplifies the operation by guiding the doctor through the laser. The surgical operation process improves the puncture accuracy and reduces the repeated puncture rate.

Description

Particle implantation system and method of operation

technical field

The invention relates to the technical field of medical particle implantation, in particular to a particle implantation system and an operation method.

Background technique

At present, 70% to 80% of cancer patients are already in the middle and advanced stages when they are diagnosed. Traditional cancer treatment methods, such as radiotherapy and chemotherapy, are limited by dose and other factors, and it is difficult to completely kill tumor cells, and the treatment effect is not ideal. Tumor interventional therapy has the advantages of minimally invasive, low cost, safety, and good curative effect. Especially for those inoperable tumor patients, tumor interventional therapy has increasingly shown its status in tumor treatment.

Percutaneous puncture is a surgical method often used in tumor interventional therapy. It injects drugs or implants radioactive particles or implants magnetic heat seeds into the tumor through a puncture needle to achieve the purpose of killing tumor cells. It plays a decisive role in the success rate of puncture. In the past, doctors usually searched for puncture points based on experience, and directly inserted the puncture needle into the lesion, which was inaccurate and usually required several times to find the lesion. Or in the implantation process of the magnetic heat seeds, there are implantation deviations and implantation inhomogeneities, which affect the therapeutic effect.

With the continuous development of medical imaging technology, at present, the puncture point, puncture depth and puncture angle can be determined firstly through the guidance of CT and other imaging equipment, and then the doctor can rely on his experience to hold the puncture needle for tumor puncture. Accuracy and safety, but because the conventional CT scanning equipment is not guided in real time, the doctor will need to repeat the puncture process due to the subjective operation and the direction deviation of the lesion and related tissues due to extrusion during the puncture process, resulting in inaccurate positioning. CT scans and even repeated punctures lead to reduced surgical accuracy, prolonged operation time, and increased repeat puncture rates; there is currently a method of percutaneous puncture treatment of tumors on a regular scale under the guidance of CT or ultrasound scanning equipment, although this method It can improve the accuracy of particle implantation to a certain extent, but in more complex anatomical structures, conventional templates are prone to set-up errors, causing the needle path and particle implantation position during particle implantation to be inconsistent with the plan, reducing the The accuracy of the treatment will reduce the radiation dose of the tumor site and increase the radiation dose received by normal tissues, which will affect the treatment effect and increase complications. In addition, it is generally necessary to pre-fix the template through the fixing device, and then drive the template to move to the patient through the fixing device The site to be implanted has a complex structure and cumbersome operation. Multiple CT scans are still required during the operation to determine whether the direction of needle insertion is correct.

Contents of the invention

Based on the above problems, the present invention provides a particle implantation system and operation method, which can adjust the irradiation angle of the laser in real time, avoid errors caused by the doctor's subjective operation, reduce the number of times CT is used during the operation, simplify the operation process, Improve puncture accuracy and reduce repeated puncture rate.

In order to solve the above technical problems, the present invention provides a particle implantation system, including CT imaging equipment, data processing system, resistive sensor and laser positioning system, the CT imaging equipment, resistive sensor and laser positioning system are all connected with data The processing system is connected; the CT imaging device is a device for scanning the lesion and obtaining a CT image of the lesion, the resistive sensor is a device for sensing relevant changes in the skin surface, and the laser positioning system is used for positioning The device for implanting the implantation angle of the needle, the data processing system is used for receiving, analyzing, processing and storing the relevant data of the CT imaging equipment and the resistive sensor, and feeding the relevant data back to the laser positioning system.

Further, the resistive sensor is a deformation resistive sensor, which can sense the deformation of the skin surface and transmit the deformation data to the data processing system.

In order to solve the above technical problems, the present invention also provides a method for operating the particle implantation system, comprising the following steps:

1) Use CT imaging equipment to scan the lesion to obtain a CT image of the lesion, and the CT imaging equipment transmits the CT image to the data processing system;

2) The data processing system processes the CT image data to determine the insertion position and angle of the implant needle, and the medical staff marks the insertion position on the epidermis of the patient's lesion with a marker pen;

3) The data processing system constructs a virtual three-dimensional model of the lesion site and its related tissues according to the CT image obtained in step 1);

4) Resistive sensors are arranged around the lesion at 2-4cm outside the epidermis of the lesion, and the distance between adjacent resistive sensors is 1.5-3cm;

5) After step 4) is completed, the medical staff simulates the insertion action of the implanted needle at the needle insertion site of the patient, and the resistive sensor transmits the sensed skin surface deformation data to the data processing system, and the data processing system utilizes the above data in the step 3) The insertion action of the implant needle is simulated on the virtual three-dimensional model, thereby simulating the offset activity of the lesion and the related tissues of the lesion, thereby obtaining the dynamic change data of the needle insertion angle during the insertion process of the implant needle;

6) During the implantation operation, move the laser positioning system to the top of the surgical site, fix the position of the laser positioning system and keep it unchanged, then turn on the laser positioning system, and the medical staff will position the irradiation point of the laser to the mark in step 2) and make the irradiation angle of the laser the same as that determined in step 2), the doctor inserts the implant needle along the irradiation path of the laser, and the resistive sensor transmits the sensed skin deformation data to the data center during the insertion process. Processing system, the data processing system estimates the deviation of the lesion site and related tissues of the lesion site according to the deformation of the skin surface, thereby correcting the subsequent needle insertion angle in real time, and transmitting the signal to the laser positioning system, which adjusts the position of the laser. The angle of irradiation, the doctor adjusts the angle of needle insertion according to the change of the irradiation angle of the laser.

Further, the resistive sensors in step 4) are arranged at 2 cm outside the epidermis of the lesion, and the distance between adjacent resistive sensors is 1.5 cm.

Compared with the prior art, the beneficial effect of the present invention is that the present invention reduces the operation time and improves the treatment effect, and simulates the offset activity of the lesion and the related tissues of the lesion through the data processing system and the resistive sensor, thereby obtaining The dynamic change data of the needle insertion angle during the insertion process of the implant needle. During the operation, the data processing system estimates the change of the implant angle during the insertion process of the implant needle in real time according to the dynamic change data, which greatly reduces the risk of the lesion during the puncture process. The impact of the direction deviation of related tissues due to extrusion on the accuracy of seed implantation reduces the number of times CT is used during the operation, and saves the conventional fixed template at the same time, and simplifies the operation by guiding the doctor through laser surgery The operation process avoids the error caused by the doctor's subjective operation, improves the puncture accuracy and reduces the repeated puncture rate.

Description of drawings

Fig. 1 is a system composition diagram of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples and accompanying drawings. As a limitation of the present invention.

Example:

Referring to Fig. 1, a particle implantation system includes a CT imaging device, a data processing system, a resistive sensor and a laser positioning system, and the CT imaging device, a resistive sensor and a laser positioning system are all connected to the data processing system; the CT imaging device uses Scan the lesion and transmit the CT image of the lesion to the data processing system. The resistive sensor is a deformation resistive sensor that can sense the deformation of the skin surface and transmit the deformation data to the data processing system. The laser positioning system can emit laser light. And the angle of the laser can be adjusted through the information fed back by the data processing system. The data processing system can accept, analyze, process and store the data of CT imaging equipment and resistive sensors, and at the same time feed back the data information to the laser positioning system.

The operating method based on the above-mentioned particle implantation system includes the following steps:

1) Use CT imaging equipment to scan the lesion to obtain a CT image of the lesion, and the CT imaging equipment transmits the CT image to the data processing system;

2) The data processing system processes the CT image data, determines the needle insertion position and needle insertion angle of the implanted needle according to the CT image, and the medical staff marks the needle insertion position on the epidermis of the patient's lesion with a marker pen;

3) The data processing system constructs a virtual three-dimensional model of the lesion site and its related tissues according to the CT image obtained in step 1);

4) Resistive sensors are arranged around the lesion at 2-4 cm outside the epidermis of the lesion, and the distance between adjacent resistive sensors is 1.5-3 cm. The distance between adjacent resistive sensors is 1.5cm;

5) After step 4) is completed, the medical staff simulates the insertion action of the implanted needle at the needle insertion site of the patient, and the resistive sensor transmits the sensed skin surface deformation data to the data processing system, and the data processing system utilizes the above data in the step 3) The insertion action of the implant needle is simulated on the virtual three-dimensional model, thereby simulating the offset activity of the lesion and the related tissues of the lesion, thereby obtaining the dynamic change data of the needle insertion angle during the insertion process of the implant needle;

6) During the implantation operation, move the laser positioning system to the top of the surgical site, fix the position of the laser positioning system and keep it unchanged, then turn on the laser positioning system, and the medical staff will position the irradiation point of the laser to the mark in step 2) and make the irradiation angle of the laser the same as that determined in step 2), the doctor inserts the implant needle along the irradiation path of the laser, and the resistive sensor transmits the sensed skin deformation data to the data center during the insertion process. Processing system, the data processing system estimates the deviation of the lesion site and related tissues of the lesion site according to the deformation of the skin surface, thereby correcting the subsequent needle insertion angle in real time, and transmitting the signal to the laser positioning system, which adjusts the position of the laser. The angle of irradiation, the doctor adjusts the angle of needle insertion according to the change of the irradiation angle of the laser.

The invention senses the deformation of the epidermis of the lesion during the insertion process of the implant needle through a resistive sensor, and simulates the offset movement of the lesion and related tissues of the lesion through the data processing system and the resistive sensor before the operation, thereby obtaining the implant needle The dynamic change data of the needle insertion angle during the insertion process; the data processing system receives and processes the data of the resistive sensor in real time during the operation, so as to estimate the change of the implantation angle during the insertion process of the implant needle, which greatly reduces the puncture process. The direction deviation of the lesion and related tissues due to extrusion will affect the accuracy of particle implantation. At the same time, the laser irradiation angle can be adjusted in real time, and the laser guides the doctor to operate, which avoids the inconvenience caused by the doctor's subjective operation. It also saves the conventional fixed template, reduces the number of times CT is used during the operation, simplifies the operation process, reduces the operation time, improves the puncture accuracy, reduces the repeated puncture rate, and improves the treatment effect.

The above is the embodiment of the present invention. The specific parameters in the above-mentioned embodiments and the embodiments are only for clearly expressing the invention verification process, and are not used to limit the scope of patent protection of the present invention. The scope of patent protection of the present invention is still subject to its claims. Equivalent structural changes made in the description and accompanying drawings should all be included in the protection scope of the present invention.

Claims (4)

1. a kind of seeds implanted system, which is characterized in that including CT imaging device, data processing system, resistance sensor and Laser orientation system, the CT imaging device, resistance sensor and laser orientation system are connected with data processing system；Institute State CT imaging device be to scan lesions position and obtain lesions position CT image device, the resistance sensor is To the device of senses skin surface associated change, the laser orientation system is the dress to position implant needle implant angle It sets, the data processing system is used to receive and analyze processing and store the related data of CT imaging device and resistance sensor And related data is fed back into laser orientation system.

2. a kind of seeds implanted system according to claim 1, which is characterized in that the resistance sensor is deformation electricity Resistive sensor, resistance sensor can senses skin surface deformation, and deformation data is transmitted to data processing system.

3. based on a kind of operating method of seeds implanted system described in claim 1, which comprises the steps of:

1) lesions position is scanned using CT imaging device, obtains the CT image of lesions position, CT imaging device passes CT image Transport to data processing system；

2) data processing system handles CT image data, determines inserting needle position and the needle angle of implant needle, medical worker's note Number pen marks inserting needle position in the epidermis of patient's lesions position；

3) data processing system is according to the CT picture construction lesions position obtained in step 1) and its virtual three-dimensional of linked groups Model；

4) resistance sensor, adjacent resistor formula sensor are laid around lesions position at lesions position epidermis periphery 2-4cm Between spacing be 1.5-3cm；

5) after step 4) is completed, insert action of the medical worker in the inserting needle site of patient simulation implant needle, resistance-type sensing The skin surface deformation data sensed is transmitted to data processing system by device, and data processing system is using above-mentioned data in step 3) insert action of implant needle is simulated on the virtual three-dimensional model in, to simulate lesions position and lesions position linked groups Activity condition is deviated, to obtain the dynamic changing data of needle angle in implant needle insertion process；

6) during implant surgery, laser orientation system is moved to the top of operative site, the position of fixed laser positioning system And remain unchanged, later on laser orientation system, medical worker by the irradiation point location of laser to mark in step 2) into Pin position and make the irradiating angle of laser with it is rapid 2) in determine needle angle it is identical, doctor along laser exposure pathways be inserted into Implant needle, the skin deformation data sensed are transmitted to data processing system by resistance sensor in insertion process, at data Reason system estimates the offset activity condition of lesions position and lesions position linked groups according to the deformation situation of skin surface, thus The subsequent needle angle of real time correction, and laser orientation system is transmitted a signal to, laser orientation system adjusts the illumination angle of laser Degree, doctor adjust needle angle according to the variation of the irradiating angle of laser.

4. a kind of operating method of seeds implanted system according to claim 3, which is characterized in that the resistance in step 4) Formula sensor is laid at lesions position epidermis periphery 2cm, and the spacing between adjacent resistor formula sensor is 1.5cm.