CN115317098A - Method and device for controlling implantation of radioactive particles, electronic apparatus, and storage medium - Google Patents

Abstract

The application discloses a radioactive particle implantation control method, a radioactive particle implantation control device, electronic equipment and a storage medium, wherein the method and the device are used for carrying out image recognition based on a registration plate image on a puncture plane to obtain a perspective transformation parameter; carrying out perspective transformation on the three-dimensional live-action image based on the perspective transformation parameters to obtain a simulated image; marking the initial position of the puncture needle clamped by the robot in the simulated image based on the simulated image; acquiring a medical image of a patient on an examination bed; carrying out image registration processing on the medical image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system and the medical image; converting the target point, the needle inlet point and the puncture path on the medical image into a plurality of parameters such as a target point coordinate, a needle inlet point coordinate and a puncture path coordinate based on a robot coordinate system based on a coordinate conversion relation; and performing implant control based on the plurality of parameters. The scheme does not depend on experience and state of an operator, thereby improving implantation precision.

Description

Implantation control method, device, electronic device and storage medium of radioactive particles

technical field

The present application relates to the technical field of medical devices, and more specifically, to a radioactive particle implantation control method, device, electronic equipment and storage medium.

Background technique

Radioactive seed implantation is an effective method for treating malignant tumors. Its basic principle is to implant a radioactive sealed seed source into or around the tumor lesion through a puncture needle, and kill tumor cells through the gamma rays emitted by the particles. Its curative effect and side effects mainly depend on the location, quantity and radiation dose of implanted radioactive seeds. Therefore, radioactive particles must be accurately implanted in or around the tumor lesion.

Now generally speaking, the operator needs to perform puncture and insert radioactive seeds based on the CT scan image and radioactive seed implantation planning system (TPS) to complete the seed implantation. The whole process requires the operator to have more experience and a better state to plan better. Since the manual operation is heavily dependent on the operator's experience and individual status, it is difficult to guarantee accurate implantation in each operation.

Contents of the invention

In view of this, the present application provides a radioactive particle implantation control method, device, electronic equipment and storage medium, which are used to control medical robots to provide navigation control when performing percutaneous puncture and implanting radioactive particles, so as to improve the implantation of radioactive particles. Implantation precision.

In order to achieve the above purpose, the proposed scheme is as follows:

A method for controlling the implantation of radioactive particles, applied to electronic equipment, and used for navigation control of a medical robot in an interventional operating room, the interventional operating room is equipped with medical imaging equipment and image acquisition equipment, and the puncture needle of the medical robot is in the On a puncture plane perpendicular to the examination table of the medical imaging equipment, the robot implantation control method includes the steps of:

Performing image recognition based on the registration plate image of the registration plate on the puncture plane collected by the image acquisition device to obtain perspective transformation parameters;

performing perspective transformation on the three-dimensional real-scene image collected by the image acquisition device based on the perspective transformation parameters, to obtain a simulated image of the three-dimensional real-scene image;

Marking the initial position of the puncture needle held by the medical robot in the simulation image to obtain the current position of the puncture needle;

Acquiring the medical image of the patient on the examination bed and the treatment planning information of the radioactive particle implantation planning system, the medical image is marked with at least the target point, needle insertion point, puncture path, number of paths, needle insertion depth, implantation particle location, activity and quantity;

performing registration processing on the medical image and the simulated image to obtain a coordinate transformation relationship between the robot coordinate system of the medical robot and the medical image;

Perform coordinate transformation on the current position, the target point, the needle entry point, and the puncture path based on the coordinate transformation relationship to obtain the current position coordinates, target point coordinates, and needle entry point based on the robot coordinate system Coordinates and puncture path coordinates;

During the process of implanting the medical robot into the patient, the medical robot is navigated and controlled based on the coordinates of the current position, the coordinates of the target point, the coordinates of the needle insertion point and the coordinates of the puncture path.

Optionally, the medical images include part, all or fusion images of CT images, MRI images and PET-CT images.

Optionally, the navigation control of the medical robot based on the coordinates of the target point, the coordinates of the needle insertion point and the coordinates of the puncture path includes the steps of:

Calculating the coordinates of the target point, the coordinates of the needle insertion point, and the coordinates of the puncture path to obtain the needle insertion path, needle holding angle posture, and maximum puncture depth of the puncture needle to the needle insertion point;

The medical robot is controlled based on the current position of the puncture needle, the needle insertion path, the needle holding angle posture and the maximum puncture depth.

Optionally, also include the steps:

The effect of the implantation is verified, and if the requirements are met, the implantation is terminated, and if the requirements are not met, the implantation operation is re-implemented from the acquisition of the medical image and the treatment plan information.

An implant control device for radioactive particles, which is applied to electronic equipment, and is used for navigation control of a medical robot in an interventional operating room, the interventional operating room is equipped with medical imaging equipment and image acquisition equipment, and the puncture needle of the medical robot is in the On a puncture plane perpendicular to the examination table of the medical imaging equipment, the implant control device includes:

The image recognition module is configured to perform image recognition based on the registration plate image of the registration plate on the puncture plane collected by the image acquisition device, to obtain perspective transformation parameters;

The image transformation module is configured to perform perspective transformation on the 3D real-scene image collected by the image acquisition device based on the perspective transformation parameters, to obtain a simulated image of the 3D real-scene image;

The position marking module is configured to mark the initial position of the puncture needle held by the medical robot in the simulated image to obtain the current position of the puncture needle;

The image acquisition module is configured to acquire the medical image of the patient on the examination bed and the treatment plan information of the radioactive seed implantation planning system, the medical image is marked with at least the target point, the needle insertion point, the puncture path, the number of paths, Needle depth, position, activity and quantity of implanted particles;

An image registration module configured to perform registration processing on the medical image and the simulated image to obtain a coordinate transformation relationship between the robot coordinate system of the medical robot and the medical image;

A coordinate transformation module configured to perform coordinate transformation on the current position, the target point, the needle insertion point, and the puncture path based on the coordinate transformation relationship to obtain the current position coordinates based on the robot coordinate system, Target point coordinates, needle insertion point coordinates and puncture path coordinates;

The implant execution module is configured to, during the process of implanting the medical robot on the patient, perform the medical robot based on the coordinates of the current position, the coordinates of the target point, the coordinates of the needle insertion point and the coordinates of the puncture path. The robot performs navigation control.

Optionally, the medical images include part, all or fusion images of CT images, MRI images and PET-CT images.

Optionally, the navigation execution module includes:

A data calculation unit, configured to calculate the coordinates of the target point, the coordinates of the needle insertion point, and the coordinates of the puncture path, and obtain the needle insertion path and needle holding angle posture of the puncture needle reaching the needle insertion point and maximum puncture depth;

A puncture control unit, configured to control the medical robot based on the current position of the puncture needle, the needle insertion path, the needle holding angle posture and the maximum puncture depth.

Optionally, also include:

The verification treatment module is configured to verify the effect of the implantation, and if the requirements are met, the implantation is terminated, and if the requirements are not met, the implantation operation is re-implemented from the acquisition of the medical image and the treatment plan information.

An electronic device includes at least one processor and memory coupled to the processor, wherein:

said memory is used to store computer programs or instructions;

The processor is used to execute the computer program or instructions, so that the electronic device can implement the method for controlling the implantation of radioactive particles as described above.

A storage medium, applied to an electronic device, the storage medium is used to carry one or more computer programs, so that when the one or more computer programs are executed by the electronic device, the electronic device can realize the above The implantation control method.

It can be seen from the above technical solution that this application discloses a radioactive particle implantation control method, device, electronic equipment and storage medium. The method and device specifically perform image recognition based on the image of the registration plate on the puncture plane, and obtain Perspective transformation parameters; based on the perspective transformation parameters, the perspective transformation is performed on the three-dimensional real scene image to obtain a simulated image; based on the simulated image, the initial position of the puncture needle held by the robot is marked in the simulated image; the medical image of the patient on the examination bed is obtained; The medical image and the simulated image are image-registered to obtain the coordinate transformation relationship between the robot coordinate system and the medical image; based on the coordinate transformation relationship, the target point, needle insertion point and puncture path, needle insertion depth, Information such as the position, activity, and quantity of the implanted particles is transformed into multiple parameters such as target point coordinates, needle insertion point coordinates, and puncture path coordinates based on the robot coordinate system; Navigation controls. This scheme does not depend on the experience and status of the operator, thereby improving the implantation accuracy of radioactive particles.

In addition, this solution does not require custom-made special surgical instruments, the operation is convenient and smooth, the equipment is easy to install and deploy, and the purchase and operation costs are low. It is a cost-effective intelligent medical auxiliary device that is more suitable for deployment in primary hospitals. And no marking device is set in the operation area, which reduces the risk of infection during operation; the navigation effect can be checked in real time, and the operation feedback during operation is real-time.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic layout diagram of an interventional operating room according to an embodiment of the present application;

Fig. 2 is a flowchart of a radioactive particle implantation control method according to an embodiment of the present application;

FIG. 3 is a conceptual diagram of a real scene of a registration plate image according to an embodiment of the present application;

Fig. 4 is the simulated image of the embodiment of the present application;

Fig. 5 is a flow chart of another radioactive particle implantation control method according to the embodiment of the present application;

Fig. 6 is a block diagram of a control device for implanting radioactive particles according to an embodiment of the present application;

Fig. 7 is a block diagram of another radioactive particle implantation control device according to the embodiment of the present application;

FIG. 8 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The solution disclosed in this application is applied to an interventional operating room, and is used for implementing navigation control on a medical robot in the operating room during implantation of radioactive particles to a patient. The interventional operating room involved in this application is equipped with a medical robot E, a medical imaging device A, an image acquisition device G and a planar laser emitter B, as shown in FIG. 1 . The planar laser emitter here is used to help the operator to establish a puncture plane F visually in the interventional operating room. The interventional operating room is equipped with computers, workstations or servers, and is physically connected to the above-mentioned medical robots, medical imaging equipment, image acquisition equipment and planar laser emitters, so as to realize the interaction of signals, data and information.

The medical imaging device A here is preferably a CT scanning device, the examination bed C of the CT scanning device is perpendicular to the puncture plane, and the puncture plane is located on the patient D on the examination bed. The image acquisition device can be an ordinary industrial-grade camera, and the industrial-grade camera is equipped with a fixed-focus optical lens. Based on the above configuration, the present application discloses the following embodiments, so that the medical robot in the above-mentioned interventional operating room implements navigation control on the puncture path when implanting radioactive particles on the patient.

Embodiment one

Fig. 2 is a flow chart of a method for controlling implantation of radioactive particles according to an embodiment of the present application.

As shown in FIG. 2 , the method for controlling implantation of radioactive particles in this embodiment is applied to electronic equipment, which is a computer, workstation or server configured in the interventional operating room and connected to the above-mentioned equipment. The implant control method specifically includes the following steps:

S1. Perform image recognition processing based on the registration plate image.

That is, image recognition is performed on the image of the registration plate obtained by shooting the registration plate on the puncture plane based on the image acquisition device, so as to obtain a simulated image of a three-dimensional real scene image corresponding to the image of the registration plate. The purpose of the calibration process here is to obtain the perspective transformation parameters of the perspective transformation matrix as the basis for establishing the transformation relationship between the robot coordinate system and the CT scan image coordinate system.

S2. Perform perspective transformation on the 3D real-scene image based on the perspective transformation parameters.

That is, the perspective transformation is performed on the three-dimensional real-scene image collected by the image acquisition device based on the above-mentioned perspective transformation parameters to obtain a simulated image of the three-dimensional real-scene image.

As shown in Figure 3, the puncture plane is set on the examination bed of the CT scanning equipment, and the light surface emitted by the planar laser emitter is coplanar with the CT tomographic plane; 2.4m away, about 80cm away from the center line of the examination bed, and about 2.2m high) place the image acquisition device, and connect it to the workstation through the network cable interface;

Place the registration plate H on the examination table at the planned puncture position. Identify the squares in the registration plate with software, and obtain the parameters of the perspective transformation matrix through software calculation. The conceptual diagram of the real scene of the puncture plane taken by the image acquisition device G in FIG. 3 from a top view, that is, the image of the registration plate. The puncture needle registration plate is placed on the examination bed, coplanar with the puncture plane, and its center is a white square; when the image acquisition device shoots from a top view, the square in the image is not a standard square, but a rhombus;

Fig. 4 is a simulated image of the three-dimensional real scene image obtained after perspective transformation in Fig. 3. After the perspective transformation process, the square of the registration plate in Fig. 4 is transformed from a rhombus into a square, that is, the three-dimensional image corresponding to the registration plate image is obtained. A simulated image of a real image.

S3. Mark the initial position of the puncture needle in the simulation image.

That is, the initial position of the puncture needle is marked in the above simulation image, so as to obtain the current position of the puncture needle.

S4. Obtain the medical image of the patient.

Before each puncture operation, obtain medical images obtained through various medical image acquisition methods. The medical images carry the target points, needle insertion points, puncture paths, and needle insertion points planned by doctors or other professionals through the TPS planning system. Information such as depth, activity and quantity of implanted particle locations. The medical images here include but are not limited to one or more of CT images, MRI images and PET-CT images.

The medical image is to detect the patient on the examination bed on the spot, and during the detection process, the laser positioning line that comes with the CT imaging equipment is used to paste the corresponding positioning mark on the puncture plane, so that the obtained CT image can generate corresponding feature points. The positioning mark does not need to be pasted on the patient's body.

S5. Perform image registration processing on the medical image of the patient including the treatment plan information and the simulated image of the three-dimensional real scene.

Through the transformation relationship between the robot coordinate system of the medical robot and the coordinate system of the medical image. The specific plan is as follows:

First, select two first feature points (A0, B0) in the patient's medical image, and then select two second feature points (A1, B1) corresponding to the actual positions of A0, B0 in the simulated image of the 3D real scene, and carry out Image scaling, rotation, and translation operations, and registration processing of medical images containing radioactive particle implantation planning system information medical images and 3D real-scene simulation images, that is, to realize the preliminary correspondence between medical images and 3D real-scene simulation images ;

Then, according to the marked position of the puncture needle held by the medical robot in the simulated image of the 3D real scene, the transformation relationship between the robot coordinate system and the medical image coordinate system is obtained. Here, the medical image coordinate system refers to the coordinate system of the medical image obtained based on the puncture plane.

S6. Perform position transformation on the target point, the needle insertion point and the puncture path.

Since the transformation relationship between the coordinate system of the medical image and the robot coordinate system is based on the above-mentioned transformation relationship, after the medical image is obtained, the position of the target point on the medical image, the position of the needle insertion point and The position of the puncture path is transformed to obtain the coordinates of the target point, the coordinates of the needle insertion point and the coordinates of the puncture path based on the robot coordinate system.

S7, performing navigation control on the medical robot during the implantation process.

When performing puncture, first move the examination table, and move the selected puncture level, that is, the puncture position, to the puncture plane (laser surface F), so that the laser line on the puncture plane coincides with the marking points on the selected puncture level; The position of the puncture needle held by the medical robot in the real scene image is its initial position.

During the implantation of radioactive particles, firstly, the current position of the puncture needle held by the robot can be marked in the CT scan image of the selected puncture level; Through the calculation, parameters such as the movement path of the puncture needle to the needle insertion point, the angle and posture of the needle holding, the maximum puncture depth, and the step-by-step withdrawal position (particle position) are obtained.

Then, the operator can select the needle insertion plan according to the surgical requirements, and then issue operating instructions to the robot to drive the puncture needle to drive the radioactive particles to the corresponding needle insertion position, and the puncture needle is automatically aligned to the planned angle, and continue to press Motion path and maximum penetration depth to perform puncture work on the patient.

When the puncture needle penetrates to 1/2 or 1/3 of the predetermined depth, repeat the CT scan verification, if the angle and needle entry point meet the requirements of puncture accuracy, continue to puncture to the predetermined depth and implant radioactive particles; otherwise, carry out Appropriate adjustments.

It can be seen from the above technical solution that this embodiment provides a method for controlling the implantation of radioactive particles, which is applied to electronic equipment. The method is specifically based on image recognition based on the image of the registration plate on the puncture plane to obtain perspective transformation parameters; based on The perspective transformation parameter performs perspective transformation on the 3D real image to obtain a simulated image; based on the simulated image, the initial position of the puncture needle held by the robot is marked in the simulated image; the medical image of the patient on the examination bed and the implantation plan of radioactive particles are obtained System (TPS) treatment plan-related information, the medical image is marked with information such as target point, needle entry point and puncture path, path number, needle depth, implanted particle position, activity, quantity, etc.; the image and Simulate the image for image registration processing to obtain the coordinate transformation relationship between the robot coordinate system and the medical image; based on the coordinate transformation relationship, the target point, needle insertion point and puncture path, needle insertion depth, and implanted particle position on the medical image , activity, quantity and other information are transformed into multiple parameters based on the robot coordinate system, such as target point coordinates, needle insertion point coordinates, and puncture path coordinates; and during the implantation process, the medical robot is navigated and controlled based on the aforementioned multiple parameters. This scheme does not depend on the experience and status of the operator, thereby improving the implantation accuracy of radioactive particles. .

After actual experiments, it was found that this scheme improves the positioning accuracy due to the direct registration based on medical images and 3D real scenes; no identification device is set in the operation area, which reduces the risk of infection; it can check the navigation effect in real time, and the intraoperative operation feedback is real-time. And no marking device is set in the operation area, which reduces the risk of infection during operation; the navigation effect can be checked in real time, and the operation feedback during operation is real-time.

In addition, this solution does not require custom-made special surgical instruments, the operation is convenient and smooth, the equipment is easy to install and deploy, and the purchase and operation costs are low. It is a cost-effective intelligent medical auxiliary device that is more suitable for deployment in primary hospitals. The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.

In addition, in a specific implementation manner of this embodiment, the following steps are also included, as shown in FIG. 5 , S8, performing implant quality verification after surgery.

That is, the implantation quality of the implanted radioactive seeds is detected through CT images, that is, the implantation position, implantation quantity, etc. If the verification results meet the requirements of the preoperative plan, the operation is ended, and if the requirements are not met, a supplementary plan is designated again. And repeat steps S4-S7 until the requirements are met.

Although operations are depicted in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or to be performed in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous.

It should be understood that the various steps described in the method implementations of the present disclosure may be executed in different orders, and/or executed in parallel. Additionally, method embodiments may include additional steps and/or omit performing illustrated steps. The scope of the present disclosure is not limited in this regard.

Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, or combinations thereof, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and This includes conventional procedural programming languages—such as C or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or, alternatively, can be connected to external computers.

Embodiment two

Fig. 6 is a block diagram of a device for controlling implantation of radioactive particles according to an embodiment of the present application.

As shown in FIG. 6 , the implant control device of this embodiment is applied to electronic equipment, and the electronic equipment is a computer, a workstation or a server configured in the interventional operating room and connected to the above-mentioned equipment. The navigation control device can be understood as the above-mentioned electronic device itself or its functional modules, specifically including an image recognition module 10, an image transformation module 20, a position labeling module 30, an image acquisition module 40, an image registration module 50, a coordinate transformation module 60 and an implant Enter the execution module 70.

The image recognition module is used for image recognition processing based on the registration plate image.

That is, image recognition is performed on the image of the registration plate obtained by shooting the registration plate on the puncture plane based on the image acquisition device, so as to obtain a simulated image of a three-dimensional real scene image corresponding to the image of the registration plate. The purpose of the calibration process here is to obtain the perspective transformation parameters of the perspective transformation matrix as the basis for establishing the transformation relationship between the robot coordinate system and the CT scan image coordinate system.

The image transformation module is used for performing perspective transformation on the three-dimensional real-scene image based on the perspective transformation parameters.

That is, the perspective transformation is performed on the three-dimensional real-scene image collected by the image acquisition device based on the above-mentioned perspective transformation parameters to obtain a simulated image of the three-dimensional real-scene image.

As shown in Figure 3, the puncture plane is set on the examination bed of the CT scanning equipment, and the light surface emitted by the planar laser emitter is coplanar with the CT tomographic plane; 2.4m away, about 80cm away from the center line of the examination bed, and about 2.2m high) place the image acquisition device, and connect it to the workstation through the network cable interface;

Place the registration plate H on the examination table at the planned puncture position. Identify the squares in the registration plate with software, and obtain the parameters of the perspective transformation matrix through software calculation. The conceptual diagram of the real scene of the puncture plane taken by the image acquisition device G in FIG. 3 from a top view, that is, the image of the registration plate. The puncture needle registration plate is placed on the examination bed, coplanar with the puncture plane, and its center is a white square; when the image acquisition device shoots from a top view, the square in the image is not a standard square, but a rhombus;

Fig. 4 is a simulated image of the three-dimensional real scene image obtained after perspective transformation in Fig. 3. After the perspective transformation process, the square of the registration plate in Fig. 4 is transformed from a rhombus into a square, that is, the three-dimensional image corresponding to the registration plate image is obtained. A simulated image of a real image.

The position marking module is used to mark the initial position of the puncture needle in the simulation image.

That is, the initial position of the puncture needle is marked in the above simulation image, so as to obtain the current position of the puncture needle.

The image acquisition module is used to acquire the patient's medical image and information related to the treatment plan of the radioactive seed implantation planning system (TPS). Implant particle location, activity, quantity and other information.

Before each puncture operation, obtain medical images obtained through various medical image acquisition methods. The medical images carry the target points, needle insertion points, puncture paths, and needle insertion planned by doctors or other professionals through the TPS planning system. Depth, implanted particle location, activity and quantity and other information. The medical images here include but are not limited to one or more of CT images, MRI images and PET-CT images.

The medical image is to detect the patient on the examination bed on the spot, and during the detection process, the laser positioning line that comes with the CT imaging equipment is used to paste the corresponding positioning mark on the puncture plane, so that the obtained CT image can generate corresponding feature points. The positioning mark does not need to be pasted on the patient's body.

The medical registration module is used to perform image registration processing on the patient's medical image containing treatment plan information and the simulated image of the 3D real scene.

Through the transformation relationship between the robot coordinate system of the medical robot and the coordinate system of the medical image. The specific plan is as follows:

First, select two first feature points (A0, B0) in the patient's medical image, and then select two second feature points (A1, B1) corresponding to the actual positions of A0, B0 in the simulated image of the 3D real scene, and carry out Image scaling, rotation, and translation operations, and registration processing of medical images containing radioactive particle implantation planning system information medical images and 3D real-scene simulation images, that is, to realize the preliminary correspondence between medical images and 3D real-scene simulation images ;

Then, according to the marked position of the puncture needle held by the medical robot in the simulated image of the 3D real scene, the transformation relationship between the robot coordinate system and the medical image coordinate system is obtained. Here, the medical image coordinate system refers to the coordinate system of the medical image obtained based on the puncture plane.

The coordinate transformation module is used for position transformation of the target point, needle insertion point and puncture path.

Since the transformation relationship between the coordinate system of the medical image and the robot coordinate system is based on the above-mentioned transformation relationship, after the medical image is obtained, the position of the target point on the medical image, the position of the needle insertion point and The position of the puncture path is transformed to obtain the coordinates of the target point, the coordinates of the needle insertion point and the coordinates of the puncture path based on the robot coordinate system.

The implant execution module is used for navigation control of the medical robot during the puncture process.

When puncturing and implanting radioactive particles, first move the examination table, and move the selected puncture level, that is, the puncture position, to the puncture plane (laser plane F), so that the laser line on the puncture plane coincides with the marking point on the selected puncture level; At this time, the position of the puncture needle held by the medical robot in the real scene image of the working surface is its initial position. The module includes a data calculation unit and a puncture control unit.

In the process of implanting radioactive particles, the data calculation unit is used to mark the current position of the puncture needle held by the robot in the CT scan image of the selected puncture level; and based on the target point coordinates, needle insertion point coordinates and puncture The path coordinates are calculated to obtain parameters such as the movement path of the puncture needle to the needle insertion point, the angle and posture of the needle holding, and the maximum puncture depth.

Then, the operator can select the needle insertion plan according to the surgical requirements, and then issue an operation command to the robot to send the puncture needle to the corresponding needle insertion position. The puncture control unit of the puncture needle is used to automatically align to the planned angle, and Continue puncturing the patient according to the path of motion and maximum penetration.

When the puncture needle penetrates to 1/2 or 1/3 of the predetermined depth, repeat the CT scan verification. If the angle and needle entry point meet the requirements of puncture accuracy, continue to puncture to the predetermined depth and complete the implantation; otherwise, perform appropriate procedures. Adjustment.

It can be seen from the above technical solution that this embodiment provides a method for controlling the implantation of radioactive particles, which is applied to electronic equipment. The device is specifically used for image recognition based on the image of the registration plate on the puncture plane to obtain perspective transformation parameters; Based on the perspective transformation parameters, perform perspective transformation on the 3D real scene image to obtain a simulated image; based on the simulated image, mark the initial position of the puncture needle held by the robot in the simulated image; obtain the medical image of the patient on the examination bed and the implantation of radioactive particles Planning System (TPS) treatment plan-related information, the medical image is marked with information such as target point, needle entry point and puncture path, path number, needle depth, implanted particle position, activity, quantity, etc.; Perform image registration processing with the simulated image to obtain the coordinate transformation relationship between the robot coordinate system and the medical image; Point coordinates, needle insertion point coordinates, puncture path coordinates and other parameters; and during the implantation process, the medical robot is navigated and controlled based on the aforementioned multiple parameters. This scheme does not depend on the experience and status of the operator, thereby improving the implantation accuracy of radioactive particles.

In addition, in a specific implementation manner of this embodiment, a verification processing module 80 is also included, as shown in FIG. 7 ,

The verification treatment module is used to implement implant quality verification after operation.

That is, the implantation quality of the implanted radioactive seeds is detected through CT images, that is, the implantation position, implantation quantity, etc. If the verification results meet the requirements of the preoperative plan, the operation is ended, and if the requirements are not met, a supplementary plan is designated again. And repeat steps S4-S7 until the requirements are met.

The units involved in the embodiments described in the present disclosure may be implemented by software or by hardware. Wherein, the name of the unit does not constitute a limitation of the unit itself under certain circumstances, for example, the first obtaining unit may also be described as "a unit for obtaining at least two Internet Protocol addresses".

The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), System on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

Embodiment three

FIG. 8 is a block diagram of an electronic device according to an embodiment of the present application.

Referring now to FIG. 8 , it shows a schematic structural diagram of an electronic device suitable for implementing an embodiment of the present disclosure. The terminal equipment in the embodiment of the present disclosure may include but not limited to such as mobile phone, notebook computer, digital broadcast receiver, PDA (personal digital assistant), PAD (tablet computer), PMP (portable multimedia player), vehicle terminal (such as mobile terminals such as car navigation terminals) and fixed terminals such as digital TVs, desktop computers and the like. The electronic device shown in FIG. 6 is only an example, and should not limit the functions and application scope of the embodiments of the present disclosure.

As shown in FIG. 6, an electronic device may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 601, which may be loaded into a random access memory according to a program stored in a read-only memory (ROM) 602 or from a storage device 608. (RAM) 603 to execute various appropriate actions and processing. In the RAM 603, various programs and data necessary for the operation of the electronic device are also stored. The processing device 601 , ROM 602 and RAM 603 are connected to each other through a bus 604 . An input/output (I/O) interface 605 is also connected to the bus 604 .

Typically, the following devices can be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speaker, vibration an output device 607 such as a computer; a storage device 608 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While FIG. 6 shows an electronic device having various means, it should be understood that implementing or having all of the means shown is not a requirement. More or fewer means may alternatively be implemented or provided.

When the program in this embodiment is executed, the electronic device can implement the method for controlling the implantation of radioactive particles provided in Embodiment 1. The method is specifically to perform image calibration based on the image of the registration plate located on the puncture plane to obtain a simulated image; based on the registration plate image and the simulated image, the image registration process is performed to obtain the transformation relationship between the robot coordinate system of the medical robot and the medical image coordinate system; the medical image of the patient on the examination bed and the radioactive particle implantation planning system (TPS ) treatment plan-related information, the medical images are marked with information such as target points, needle insertion points and puncture paths, number of paths, depth of needle insertion, position of implanted particles, activity, quantity, etc.; The positions of the needle insertion point and the puncture path on the medical image are transformed to obtain multiple parameters such as target point coordinates, needle insertion point coordinates, and puncture path coordinates based on the robot coordinate system; The robot performs navigation control. This scheme does not depend on the experience and status of the operator, thereby improving the implantation accuracy of radioactive particles.

Embodiment Four

This embodiment provides a computer-readable storage medium, which carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device can implement the information disclosed in this application. The implantation control method in the radioactive particles, the method is specifically based on the image recognition of the registration plate image on the puncture plane to obtain the perspective transformation parameters; based on the perspective transformation parameters, the perspective transformation is performed on the three-dimensional real scene image to obtain the simulated image; The image marks the initial position of the puncture needle held by the robot in the simulated image; obtains the medical image of the patient on the examination bed; performs image registration processing on the medical image and the simulated image, and obtains the coordinate system of the robot relative to the medical image. Coordinate transformation relationship; based on the coordinate transformation relationship, the target point, needle insertion point, and puncture path on the medical image are transformed into multiple parameters such as target point coordinates, needle insertion point coordinates, and puncture path coordinates based on the robot coordinate system; During the process, the medical robot is navigated and controlled based on the aforementioned multiple parameters. This scheme does not depend on the experience and status of the operator, thereby improving the implantation accuracy of radioactive particles.

It should be noted that the above-mentioned computer-readable storage medium in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

Having described preferred embodiments of embodiments of the present invention, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, the appended claims are intended to be construed to cover the preferred embodiment and all changes and modifications which fall within the scope of the embodiments of the present invention.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

The technical solution provided by the present invention has been introduced in detail above, and the principles and implementation methods of the present invention have been explained by using specific examples in this paper. The description of the above embodiments is only used to help understand the method and core idea of the present invention; At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as limiting the present invention.

Claims (10)

1. A radioactive particle implantation control method is applied to electronic equipment and used for navigation control of a medical robot in an interventional operation room, the interventional operation room is provided with a medical imaging device and an image acquisition device, and a puncture needle of the medical robot is positioned on a puncture plane perpendicular to an examination bed of the medical imaging device, and the implantation control method comprises the following steps:

performing image recognition based on the registration plate image of the registration plate on the puncture plane, which is acquired by the image acquisition equipment, to obtain a perspective transformation parameter;

carrying out perspective transformation on the three-dimensional live-action image acquired by the image acquisition equipment based on the perspective transformation parameters to obtain a simulated image of the three-dimensional live-action image;

marking the initial position of the puncture needle clamped by the medical robot in the simulated image to obtain the current position of the puncture needle;

acquiring medical images of a patient on the examination bed and treatment plan information of a radioactive particle implantation planning system, wherein at least a target point, an injection point, a puncture path, path quantity, injection depth, an implanted particle position, activity and quantity are marked on the medical images;

registering the medical image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system of the medical robot and the medical image;

performing coordinate transformation on the current position, the target point, the needle feeding point and the puncture path based on the coordinate transformation relation to obtain a current position coordinate, a target point coordinate, a needle feeding point coordinate and a puncture path coordinate based on the robot coordinate system;

and in the process of implanting the patient by the medical robot, performing navigation control on the medical robot based on the current position coordinate, the target point coordinate, the needle feeding point coordinate and the puncture path coordinate.

2. The robotic implant control method of claim 1, wherein the medical images include partial, full, or fused images of CT images, MRI images, and PET-CT images.

3. The implant control method according to claim 1, wherein the navigation control of the medical robot based on the target point coordinates, the needle insertion point coordinates, and the puncture path coordinates comprises the steps of:

resolving the target point coordinate, the needle feeding point coordinate and the puncture path coordinate to obtain a needle feeding path, a needle holding angle posture and a maximum puncture depth of the puncture needle reaching the needle feeding point;

and controlling the medical robot based on the current position of the puncture needle, the needle inserting path, the needle holding angle posture and the maximum puncture depth.

4. The implant control method according to any one of claims 1 to 3, further comprising the steps of:

and verifying the implantation effect, finishing implantation if the implantation effect meets the requirement, and restarting implantation operation from the acquisition of the medical image and the treatment plan information if the implantation effect does not meet the requirement.

5. An implantation control device of radioactive seeds, applied to an electronic device, for performing navigation control on a medical robot in an interventional operating room, wherein the interventional operating room is provided with a medical imaging device and an image acquisition device, and a puncture needle of the medical robot is positioned on a puncture plane perpendicular to an examining table of the medical imaging device, the implantation control device comprises:

the image identification module is configured to perform image identification on the basis of a registration plate image of a registration plate on the puncture plane, which is acquired by the image acquisition equipment, so as to obtain a perspective transformation parameter;

the image transformation module is configured to perform perspective transformation on the three-dimensional live-action image acquired by the image acquisition equipment based on the perspective transformation parameters to obtain a simulated image of the three-dimensional live-action image;

the position marking module is configured to mark the initial position of the puncture needle clamped by the medical robot in the simulated image to obtain the current position of the puncture needle;

an image acquisition module configured to acquire a medical image of a patient on the examination table and treatment plan information of a radioactive particle implantation planning system, wherein at least a target point, an injection point, a puncture path, a path number, an injection depth, an implanted particle position, an activity and a quantity are marked on the medical image;

an image registration module configured to perform registration processing on the medical image and the simulation image to obtain a coordinate transformation relation between a robot coordinate system of the medical robot and the medical image;

the coordinate transformation module is configured to perform coordinate transformation on the current position, the target point, the needle feeding point and the puncture path based on the coordinate transformation relation to obtain a current position coordinate, a target point coordinate, a needle feeding point coordinate and a puncture path coordinate based on the robot coordinate system;

and the implantation execution module is configured to perform navigation control on the medical robot based on the current position coordinate, the target point coordinate, the needle feeding point coordinate and the puncture path coordinate in the process of implanting the patient by the medical robot.

6. The implant control device of claim 5, wherein the medical image comprises a partial, full, or fused image of a CT image, an MRI image, and a PET-CT image.

7. The implant control device of claim 5, wherein the navigation execution module comprises:

the data calculating unit is used for calculating the target point coordinate, the needle feeding point coordinate and the puncture path coordinate to obtain a needle feeding path, a needle holding angle posture and a maximum puncture depth of the puncture needle reaching the needle feeding point;

and the puncture control unit is used for controlling the medical robot based on the current position of the puncture needle, the needle inserting path, the needle holding angle posture and the maximum puncture depth.

8. The implant control device of any one of claims 5-7, further comprising:

and the verification treatment module is configured to verify the implantation effect, finish implantation if the requirement is met, and restart implantation operation from the acquisition of the medical image and the treatment plan information if the requirement is not met.

9. An electronic device comprising at least one processor and a memory coupled to the processor, wherein:

the memory is for storing a computer program or instructions;

the processor is configured to execute the computer program or instructions to enable the electronic device to implement the implantation control method according to any of claims 1 to 4.

10. A storage medium applied to an electronic device, wherein the storage medium is used to carry one or more computer programs, so that when the one or more computer programs are executed by the electronic device, the electronic device can be enabled to implement the implantation control method according to any one of claims 1 to 4.

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