CN116458974A

CN116458974A - Ultrasonic guided puncture system, control method thereof, electronic device and storage medium

Info

Publication number: CN116458974A
Application number: CN202310403224.6A
Authority: CN
Inventors: 张国栓; 韩志平; 郑建明; 刘巧玲
Original assignee: Hebei Deep Intelligent Medical Technology Co ltd
Current assignee: Hebei Deep Intelligent Medical Technology Co ltd
Priority date: 2023-04-14
Filing date: 2023-04-14
Publication date: 2023-07-21

Abstract

The application provides an ultrasonic guided puncture system, a control method thereof, electronic equipment and a storage medium. The ultrasound guided puncture system comprises: an ultrasonic probe, a puncture unit and a control subsystem; wherein, the puncture unit includes: a puncture needle and a puncture needle positioning bracket; the puncture needle positioning bracket is detachably arranged on the ultrasonic probe; the ultrasonic probe is in communication connection with the control subsystem and is used for sending pose information and ultrasonic detection information to the control subsystem; the control subsystem is used for generating a planned puncture path according to the pose information of the ultrasonic probe, the ultrasonic detection information and the ultrasonic probe information, and generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe. According to the scheme, the puncture efficiency is improved by planning the puncture path, meanwhile, operation prompt information is generated by comprehensively planning the puncture path and the pose information of the real-time ultrasonic probe, the operation accuracy is improved, and misoperation is avoided, so that the working efficiency and possible bad symptoms are reduced.

Description

Ultrasonic guided puncture system, control method thereof, electronic device and storage medium

Technical Field

The present disclosure relates to the field of ultrasound medical technology, and in particular, to an ultrasound guided puncture system, a control method thereof, an electronic device, and a storage medium.

Background

The ultrasonic guided puncture technology is a clinical technology for puncturing an in-vivo lesion or target under the monitoring and guiding of a real-time ultrasonic image, and specifically comprises the steps of accurately penetrating a puncture needle into lesion tissues to treat or suck out and cut out a small amount of cells or tissues to perform pathological examination under the guiding of ultrasonic, so that the damage to surrounding tissues is avoided to the greatest extent, puncture parts and puncture paths can be immediately observed after puncture, bleeding and other phenomena possibly occurring are timely found, and the puncture parts and the puncture paths are treated in the shortest time to avoid causing more serious complications. At present, an operator is required to repeatedly observe the real-time relative position of the puncture needle and the target object continuously, and repeatedly observe the ultrasonic image to guide puncture, so that the problem that the operator cannot accurately position a puncture path and the working efficiency is low exists.

Disclosure of Invention

The embodiment of the application provides an ultrasonic guided puncture system, a control method thereof, electronic equipment and a storage medium, so as to solve the problem that an operator cannot accurately position a puncture path in the actual operation process of an ultrasonic guided puncture technology and the working efficiency is low.

In a first aspect, embodiments of the present application provide an ultrasound guided puncture system comprising: an ultrasonic probe, a puncture unit and a control subsystem;

wherein, the puncture unit includes: a puncture needle and a puncture needle positioning bracket; the puncture needle positioning bracket is detachably arranged on the ultrasonic probe;

the ultrasonic probe is in communication connection with the control subsystem and is used for sending pose information and ultrasonic detection information to the control subsystem;

the control subsystem is used for generating a planned puncture path according to pose information of the ultrasonic probe, ultrasonic detection information and ultrasonic probe information, and generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe.

In one possible implementation, the ultrasound probe is a biplane probe; wherein the biplane probe is one or more of a biplane linear array probe, a biplane convex array probe and a biplane-convex linear probe;

the control subsystem is also used for generating a first probe image display interface, a second probe image display interface and a puncture path display interface according to the ultrasonic detection information.

In a second aspect, an embodiment of the present application provides a method for controlling an ultrasound-guided puncture system, including:

Acquiring pose information, ultrasonic detection information and ultrasonic probe information of an ultrasonic probe;

generating a planned puncture path according to pose information of the ultrasonic probe, ultrasonic detection information and ultrasonic probe information, and generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe.

In one possible implementation manner, the generating a planned puncture path according to pose information of the ultrasonic probe, ultrasonic detection information and ultrasonic probe information includes:

acquiring a pre-constructed ultrasonic probe model according to the ultrasonic probe information;

determining an ultrasonic probe image according to pose information of the ultrasonic probe and the ultrasonic probe model;

acquiring an ultrasonic image according to the ultrasonic detection information, and determining the position of a target puncture object according to the ultrasonic image;

generating a planned puncture path according to the ultrasonic probe image, the ultrasonic image and the target puncture object position; the method comprises the steps of generating a planned puncture path, wherein the generation of the planned puncture path comprises planning puncture points, planning puncture angles and planning puncture depths.

In one possible implementation, the generating a planned puncture path according to the ultrasound probe image, the ultrasound image, and the target puncture object position includes:

Determining a target puncture range according to the ultrasonic image, the target puncture object position and a preset puncture angle range;

filtering the puncture range with the obstacle according to the ultrasonic image and the target puncture range to obtain a safe puncture range;

determining a plurality of planned puncture points in the safe puncture range, and determining a plurality of candidate puncture paths by taking the planned puncture points as starting points and the target puncture object positions as end points;

and sequencing the multiple candidate puncture paths according to the sequence of the planned puncture depths from small to large, and selecting the candidate puncture path sequenced in the front or first position as the planned puncture path.

In one possible implementation, the method further includes:

and generating a first probe image display interface and a second probe image display interface according to the ultrasonic detection information, and generating a puncture path display interface according to the pose information of the ultrasonic probe, the ultrasonic detection information and the ultrasonic probe information.

In one possible implementation manner, the generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe includes:

when the angle and position information of the ultrasonic probe are determined to be consistent with the planned puncture point and the planned puncture angle according to the pose information of the ultrasonic probe in real time, puncture prompt information is generated;

And when the puncture depth of the ultrasonic probe is determined to be consistent with the planned puncture depth according to the real-time pose information of the ultrasonic probe, generating puncture success prompt information.

In one possible implementation manner, the generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe further includes:

determining relation data of position difference between the real-time position of the ultrasonic probe and the planned penetration position corresponding to the planned penetration path according to the pose information of the real-time ultrasonic probe;

generating an ultrasonic probe movement planning path according to the relation data;

and generating indication graphical information according to the ultrasonic probe movement planning path, and displaying the indication graphical information in a puncture path display interface.

determining real-time puncture information according to the pose information of the real-time ultrasonic probe and the planned puncture path; wherein the real-time puncture information comprises real-time puncture depth or real-time puncture depth and real-time puncture angle;

and generating operation prompt information according to the real-time puncture information, and the planned puncture angle and/or the planned puncture depth.

In one possible implementation, the method further includes:

and generating pre-prompt information when the difference value between the real-time puncture depth and the planned puncture depth is smaller than a set threshold value.

In one possible implementation, the ultrasound probe information includes a probe type;

correspondingly, the acquiring the pre-constructed ultrasonic probe model according to the ultrasonic probe information comprises the following steps: acquiring a corresponding ultrasonic probe model according to the type of the probe;

or the ultrasonic probe information comprises probe type, puncture needle information and the positional relationship between the probe and the puncture needle;

correspondingly, the acquiring the pre-constructed ultrasonic probe model according to the ultrasonic probe information comprises the following steps: and acquiring a corresponding ultrasonic probe model according to the probe type, the puncture needle information and the position relation between the probe and the puncture needle.

In one possible implementation manner, after generating the operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe, the method further includes:

generating and displaying prompt display information and/or controlling a prompt module to play a prompt instruction according to the operation prompt information; and/or the number of the groups of groups,

and sending the operation prompt information to the ultrasonic probe so that the ultrasonic probe can display prompt display information and/or control a prompt module to play a prompt instruction.

In a third aspect, embodiments of the present application provide a control device of an ultrasound-guided puncture system, including:

the acquisition module is used for acquiring pose information, ultrasonic detection information and ultrasonic probe information of the ultrasonic probe;

the generating module is used for generating a planned puncture path according to the pose information of the ultrasonic probe, the ultrasonic detection information and the ultrasonic probe information, and generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe.

In one possible implementation manner, the generating module is specifically configured to:

In a possible implementation manner, the generating module is further configured to generate a first probe image display interface and a second probe image display interface according to the ultrasonic detection information, and generate a puncture path display interface according to the pose information, the ultrasonic detection information and the ultrasonic probe information of the ultrasonic probe.

In one possible implementation manner, the generating module is further configured to:

correspondingly, the generating module is specifically used for acquiring a corresponding ultrasonic probe model according to the type of the probe;

correspondingly, the generating module is specifically used for acquiring a corresponding ultrasonic probe model according to the type of the probe, the information of the puncture needle and the position relation between the probe and the puncture needle.

In a possible implementation manner, the system further comprises a prompt control module, which is used for generating and displaying prompt display information according to the operation prompt information and/or controlling the prompt module to play a prompt instruction; and/or the number of the groups of groups,

In a fourth aspect, embodiments of the present application provide an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect or any one of the possible implementations of the first aspect, when the computer program is executed by the processor.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method as described above in the first aspect or any one of the possible implementations of the first aspect.

The embodiment of the application provides an ultrasonic guided puncture system, a control method thereof, electronic equipment and a storage medium, wherein a planned puncture path is generated according to pose information of an ultrasonic probe, ultrasonic detection information and ultrasonic probe information through a control subsystem of the ultrasonic guided puncture system, and a guiding path is generated before puncture operation to assist an operator in accurately and rapidly positioning the puncture path. The puncture depth is determined based on the real-time pose information of the ultrasonic probe in the puncture process, and the operator is reminded to observe the puncture part in time based on the operation prompt information. According to the scheme, the puncture efficiency is improved by planning the puncture path, meanwhile, operation prompt information is generated by comprehensively planning the puncture path and the pose information of the real-time ultrasonic probe, the operation accuracy is improved, and misoperation is avoided, so that the working efficiency and possible bad symptoms are reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an ultrasound guided lancing system according to one embodiment of the present application;

FIG. 2 is a schematic diagram of an ultrasound probe and a lancing unit according to one embodiment of the present application;

FIG. 3 is a schematic diagram of a first probe image display interface and a second probe image display interface provided in an embodiment of the present application;

FIG. 4 is a flowchart of an implementation of a method for controlling an ultrasound guided lancing system according to an embodiment of the present application;

FIG. 5 is a schematic structural view of a control device of an ultrasound guided puncture system according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The terms first, second and the like in the description and in the claims of the embodiments and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present application described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

The term "plurality" means two or more, unless otherwise indicated. The character "/" indicates that the front and rear objects are an "or" relationship. For example, A/B represents: a or B. The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

The words used in this application are merely for describing embodiments and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (the) are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, when used in this application, the terms "comprises," "comprising," and/or "includes," and variations thereof, mean that the stated features, integers, steps, operations, elements, and/or components are present, but that the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements.

In this application, each embodiment focuses on the differences from other embodiments, and the same similar parts between the embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following description will be made with reference to the accompanying drawings by way of specific embodiments.

Fig. 1 is a schematic structural view of an ultrasound guided puncture system according to an embodiment of the present application. As shown in fig. 1, an ultrasound guided puncture system comprising: an ultrasonic probe, a penetration unit and a control subsystem.

Wherein, the puncture unit includes: a puncture needle and a puncture needle positioning bracket; the puncture needle positioning bracket is detachably arranged on the ultrasonic probe. Fig. 2 shows a schematic structural diagram of an ultrasonic probe according to an embodiment.

The ultrasonic probe is in communication connection with the control subsystem and is used for sending pose information and ultrasonic detection information to the control subsystem.

The control subsystem is used for generating a planned puncture path according to the pose information of the ultrasonic probe, the ultrasonic detection information and the ultrasonic probe information, and generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe.

In this embodiment, the puncture path is planned, i.e., the puncture path generated primarily by the important organs and the large vascular nerves is avoided according to the lesion tissue position before the puncture needle is inserted into the skin tissue.

The method comprises the steps of generating operation prompt information according to a planned puncture path and real-time pose information of an ultrasonic probe, wherein the operation prompt information comprises operation prompt information before a puncture needle penetrates into skin tissues and/or operation prompt information after the puncture needle penetrates into skin tissues and reaches into lesion tissues.

Wherein, the operation prompt information before the puncture needle penetrates into skin tissue is mainly used for guiding an operator to accurately determine or position the puncture point.

The operation prompt information which reaches the lesion tissue after penetrating the skin tissue is mainly used for prompting an operator that the puncture needle reaches the focus, paying attention to observe the puncture part and the puncture path, and avoiding the symptoms of damage or bleeding of surrounding tissues caused by misoperation. After penetrating into skin tissues, operators can also judge the penetration depth and the position relation between the puncture needle and pathological tissues based on the display picture by themselves, so that the operators are prevented from being concentrated on the operation process and being interrupted by the operation prompt information.

In a preferred embodiment, generating the operation prompt from the planned penetration path and the real-time pose information of the ultrasound probe includes operation prompts before the penetration needle penetrates the skin tissue and operation prompts after penetrating the skin tissue to reach within the lesion tissue. The embodiment is suitable for operators with less clinical operation experience, and the operation prompt information assists the puncture operation of the operators to be carried out, so that the tension emotion of the operators can be reduced.

Optionally, the control subsystem is further configured to receive operation prompt information configuration information, so as to be convenient for selecting a prompt type of the operation prompt information based on experience, usage habit or actual requirement.

In one possible implementation, the ultrasound probe is a biplane probe; the biplane probe is one or more of a biplane linear array probe, a biplane convex array probe and a biplane-convex linear probe.

In the implementation mode, ultrasonic image information acquisition based on two probes can be realized by utilizing the biplane probe, so that the scanning efficiency of organ tissues and the accuracy of scanning results are improved, and the accuracy of puncturing operation is further improved. The linear array probe is mainly used for scanning a shallow structure, for example: it can be used for examining blood vessel, lung, muscle and bone, nerve and eye. The convex array probe has a larger arcuate contact surface, allows ultrasound to penetrate deeper structures and has higher lateral resolution, and is typically used for scanning deep organs, such as for heart, lung, abdomen, etc. The design of the biplane one-convex linear probe can realize acquisition of two ultrasonic images in an orthogonal relationship, integrates the characteristics of the convex array and the linear array, effectively displays the cross-section image, can more accurately judge whether the puncture needle enters the target tissue in the puncture process, can more clearly display the image field of view by the linear array, monitors the target tissue organ and the needle insertion track, and improves the puncture accuracy.

In this embodiment, the ultrasound probe type is selected according to specific diagnosis requirements, and the scanning efficiency and accuracy can be further improved based on the biplane probe, so that the puncture accuracy is further improved.

On the basis that the ultrasonic probe adopts the biplane probe, the control subsystem is also used for generating a first probe image display interface, a second probe image display interface and a puncture path display interface according to ultrasonic detection information.

According to different types of the biplane probes, the types of interfaces displayed by the first probe image display interface and the second probe image display interface are different. When the biplane probe type is a biplane linear array probe, the first probe image display interface and the second probe image display interface both display sagittal plane images; when the type of the biplane probe is a biplane convex array probe, the first probe image display interface and the second probe image display interface both display cross-section images; when the biplane probe type is a biplane-convex one-line probe, the first probe image display interface and the second probe image display interface display a cross-sectional image and a sagittal image, respectively.

In addition, the puncture path display interface is a display interface which is comprehensively generated according to the planned puncture path planned in advance, the image model of the ultrasonic probe and the ultrasonic image determined according to the ultrasonic detection information. In addition, in the puncturing operation process, according to the actual position of the ultrasonic probe, a real-time image of the ultrasonic probe is further generated, so that an operator can more intuitively check operation information and check whether the actual puncturing path deviates from a planned puncturing path.

As shown in fig. 3, a display interface corresponding to a biplane linear array probe is exemplarily shown, and sagittal images can be acquired from two different angles based on the biplane linear array probe, so that operators can conveniently view richer information.

In the implementation mode, the control subsystem simultaneously generates the first probe image display interface, the second probe image display interface and the puncture path display interface, so that the operator can conveniently view the puncture operation image in a multi-angle and omnibearing manner, and the puncture operation accuracy of the operator is improved.

In other embodiments, the ultrasound probe may be a single plane probe or other probe type such as a phased array probe.

The above embodiments have been described primarily with respect to ultrasound guided puncture systems. The following are embodiments of the control methods for an ultrasound guided puncture system provided herein.

Fig. 4 is a flowchart of an implementation of a control method of an ultrasound guided puncture system according to another embodiment of the present application, as shown in fig. 4, the method includes the following steps:

s401, pose information, ultrasonic detection information and ultrasonic probe information of an ultrasonic probe are acquired.

The control method execution body provided by the embodiment of the application is a control subsystem. The pose information of the ultrasonic probe is acquired based on a gyroscope sensor arranged in the ultrasonic probe. The control subsystem is in communication connection with the ultrasonic probe in a wired connection or wireless connection mode, and obtains pose information and ultrasonic detection information of the ultrasonic probe.

In addition, the ultrasound probe information may be determined based on device information or device identification uploaded by the ultrasound probe or entered by the user based on options or input boxes raised by the control subsystem.

S402, generating a planned puncture path according to pose information of the ultrasonic probe, ultrasonic detection information and ultrasonic probe information, and generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe.

The method comprises the steps of generating a planned route before an operator controls a puncture needle to penetrate skin tissue, and prompting the operator to stop moving the ultrasonic probe and puncture at the current position when the operator comprehensively plans a puncture path and real-time pose information of the ultrasonic probe judges that the ultrasonic probe accords with a puncture position.

In addition, in the puncturing process, whether the displacement occurs is judged according to the planned puncturing path and the real-time pose information of the ultrasonic probe, and when the ultrasonic probe reaches the pathological tissue, an operator is timely reminded to stop the puncturing process, so that the damage to surrounding tissues is avoided.

In the embodiment, a planned puncture path is generated according to pose information of an ultrasonic probe, ultrasonic detection information and ultrasonic probe information through a control subsystem of an ultrasonic guided puncture system, and a guiding path is generated before puncture operation, so that an operator is assisted to accurately and quickly position the puncture path. The puncture depth is determined based on the real-time pose information of the ultrasonic probe in the puncture process, and the operator is reminded to observe the puncture part in time based on the operation prompt information. According to the scheme, the puncture efficiency is improved by planning the puncture path, meanwhile, operation prompt information is generated by comprehensively planning the puncture path and the pose information of the real-time ultrasonic probe, the operation accuracy is improved, and misoperation is avoided, so that the working efficiency and possible bad symptoms are reduced.

In a possible implementation manner, in step S402, generating a planned puncture path according to pose information of an ultrasound probe, ultrasound detection information, and ultrasound probe information includes:

s4021, acquiring a pre-constructed ultrasonic probe model according to ultrasonic probe information;

s4022, determining an ultrasonic probe image according to pose information of the ultrasonic probe and an ultrasonic probe model;

s4023, acquiring an ultrasonic image according to ultrasonic detection information, and determining the position of a target puncture object according to the ultrasonic image;

s4024, generating a planned puncture path according to the ultrasonic probe image, the ultrasonic image and the target puncture object position; wherein, generating the planned puncture path includes planning a puncture point, planning a puncture angle, and planning a puncture depth.

Wherein, a three-dimensional model of the ultrasonic probe model is preset in the control subsystem. The actual space state of the ultrasonic probe can be perceived and constructed according to the pose information of the ultrasonic probe and the three-dimensional model. The target puncture object is target lesion tissue. The target lesion tissue may be entered by the operator based on case information (e.g., by selecting a target region on a real-time ultrasound probe image, by interface or option input, etc.), or by the system based on a comparison of the ultrasound probe image and a healthy reference image.

In addition, the planned puncture point in the planned puncture path is the penetration position (i.e. penetration point) of the puncture needle in contact with the skin; the planned puncture angle is an oblique insertion angle of the puncture needle penetrated by the puncture point; the planned penetration depth is the distance information between the target penetration object and the penetration point.

In a specific implementation process, an ultrasonic detection image and an ultrasonic probe model are constructed under different coordinate systems. For example: the ultrasonic probe image is built based on the ultrasonic probe position, the ultrasonic vibrator unit position or the ultrasonic echo signal acquisition unit position as the origin of coordinates, and the ultrasonic probe model is built by taking the midpoint of the gyroscope as the origin of coordinates. In order to generate a planned puncture path by integrating an ultrasonic probe image, an ultrasonic image and a target puncture object position and improve the accuracy of the planned puncture path, the ultrasonic detection information and the ultrasonic probe model need to be patterned in the same coordinate system. Optionally, a certain point of the ultrasonic probe is selected as an origin to reconstruct coordinates of the ultrasonic detection image and the ultrasonic probe model, and then image fusion is performed based on the ultrasonic detection image and the ultrasonic probe model after reconstructing the coordinates.

Step S4024 generates a planned puncture path according to the ultrasound probe image, the ultrasound image, and the target puncture object position, including:

Determining a target puncture range according to the ultrasonic image, the target puncture object position and the preset puncture angle range;

determining a plurality of planned puncture points in a safe puncture range, and determining a plurality of candidate puncture paths by taking the planned puncture points as starting points and the target puncture object positions as end points;

In the specific implementation process, the puncture needle and the skin are kept at a certain acute angle to perform the penetration operation in order to reduce the puncture difficulty. The ring-like target penetration range can be determined from the ultrasound image, the target penetration object position, and the preset penetration angle range. Further, when the target puncture target is a deep organ tissue, it is necessary to perform the puncture operation while avoiding a blood vessel or other tissue, and therefore, the puncture range in which an obstacle is filtered from the target puncture range is obtained as a safe puncture range, that is, the safe puncture range is obtained while avoiding a blood vessel or other tissue. Further, a plurality of planned puncture points are determined by selecting a common puncture position according to the safe puncture range and the operation habit of an operator, and each candidate puncture path is further sequenced according to the planned puncture depth, so that the execution time of the puncture process is reduced. In one possible implementation, the planned puncture path with the smallest planned puncture depth is selected as the target puncture path, or a plurality of planned puncture paths are displayed, and an operator selects an item target puncture path.

In the embodiment, the relative image information of the ultrasonic probe is determined according to the pose information of the ultrasonic probe and the ultrasonic probe model, and the relative image information of the ultrasonic probe and the organ tissue is unified with the ultrasonic image, so that the fusion information of the ultrasonic probe model and the ultrasonic image is realized, and the relative position relationship between the ultrasonic probe and the organ tissue is determined based on the ultrasonic probe and the ultrasonic image by the convenient control subsystem. In addition, a display interface can be generated based on fusion information of the ultrasonic probe model and the ultrasonic image, so that a user can conveniently and intuitively check the relative position relationship between the ultrasonic probe and the organ tissue, and the puncture control accuracy is improved.

In one possible implementation, the method further includes:

The ultrasonic probe is a biplane probe, and the types of display pictures of the first probe image display interface and the second probe image display interface are different according to the different types of the biplane probe. Reference is made in detail to the foregoing embodiments, which are not repeated here.

In addition, a puncture path display interface is generated according to pose information, ultrasonic detection information and ultrasonic probe information of the ultrasonic probe

In a possible implementation manner, in step S402, generating operation prompt information according to the planned puncture path and the pose information of the real-time ultrasonic probe includes:

when the angle and position information of the ultrasonic probe are determined to be consistent with the planned puncture point and the planned puncture angle according to the real-time pose information of the ultrasonic probe, puncture prompt information is generated;

Wherein, according to the position appearance information of real-time ultrasonic probe, confirm that ultrasonic probe's angle and position information are unanimous with planning puncture point and planning puncture angle, include: the ultrasonic probe reaches a state that the planned penetration position coincides with the planned penetration position, and the ultrasonic probe is on an extension line of the planned penetration position along the planned penetration angle.

In this embodiment, the planned penetration location, i.e. the location of the needle tip of the puncture needle, is fitted to the location of the ultrasound probe at the time of planning the puncture point. Before puncturing, the operator can avoid the contact between the needle and the skin to scratch the skin when adjusting the position of the ultrasonic probe, and the operator is prompted to control the ultrasonic probe to approach the skin when the ultrasonic probe is near the planned penetration position, preferably, the planned penetration position is on an extension line, so that the puncturing accuracy can be improved.

In one possible implementation manner, the operation prompt information is generated according to the planned puncture path and the real-time pose information of the ultrasonic probe, and the method further includes:

The planned penetration point is the penetration position of the puncture needle in contact with the skin, and the planned penetration position is the position information of the ultrasonic probe (including the whole puncture unit) corresponding to the planned penetration point. The indication graphic information is static or dynamic arrow information or dynamic graphic information determined by integrating an arrow and an ultrasonic probe model, so that an operator can conveniently and rapidly adjust the ultrasonic probe to a planned penetration position based on the graphic information.

In the embodiment, the ultrasonic probe movement planning path is generated based on the real-time pose information of the ultrasonic probe and the planning puncture path, so that an operator can be intuitively guided to adjust the position of the ultrasonic probe, and the operation efficiency is improved.

determining real-time puncture information according to the pose information of the real-time ultrasonic probe and the planned puncture path; wherein, the real-time puncture information comprises real-time puncture depth or real-time puncture depth and real-time puncture angle;

and generating operation prompt information according to the real-time puncture information, the planned puncture angle and/or the planned puncture depth.

Optionally, the method further comprises: and determining a puncture depth difference value according to the real-time puncture depth and the planned puncture depth.

In the specific implementation process, the puncture operation interface is subjected to proportional amplification, and operation prompt information is generated according to the real-time puncture information, the planned puncture angle and/or the planned puncture depth, and the real-time puncture depth and the real-time puncture angle are displayed on the display interface, so that an operator can know or master the puncture depth more clearly.

In this embodiment, the operation prompt information is generated according to the real-time puncture information, the planned puncture angle and/or the planned puncture depth, so that an operator can know or master the puncture depth more clearly, and the operation progress and the next specific operation can be determined. In addition, displaying the real-time puncture angle and planning the puncture angle facilitates the operator to know whether an offset occurs to make a timely adjustment.

In one possible implementation, the method further includes:

and when the difference value between the real-time puncture depth and the planned puncture depth is smaller than a set threshold value, generating pre-prompt information.

In this embodiment, in view of the fact that the ultrasound image display includes the processes of calculation, generation and the like, unavoidable delay information exists, and when the real-time puncture depth approaches to the planned puncture depth, pre-prompt is performed, so that an operator can be facilitated to slow down the puncture speed, and the situation that the puncture depth exceeds the planned puncture depth due to untimely information feedback is avoided.

In different embodiments, the manner in which the system builds the ultrasound probe model in advance is different. Specifically, an ultrasonic probe model is built according to different pertinence of puncture accuracy requirements and puncture needle types.

correspondingly, step S4021 obtains a pre-constructed ultrasound probe model according to the ultrasound probe information, including: and acquiring a corresponding ultrasonic probe model according to the probe type.

In this embodiment, the method is mainly aimed at the situation that the requirements on the puncture accuracy are low, the types of the puncture needles corresponding to the types of the probes are less or single, or the positional relationship between the probes and the puncture needles is single.

In another possible implementation, the ultrasound probe information includes probe type, needle information, and probe-needle positional relationship; wherein, probe and pjncture needle positional relationship includes: the puncture needle is perpendicular to the probe

Correspondingly, step S4021 obtains a pre-constructed ultrasound probe model according to the ultrasound probe information, including: and acquiring a corresponding ultrasonic probe model according to the probe type, the puncture needle information and the position relation between the probe and the puncture needle.

Wherein the needle information includes needle diameter and/or length, and in particular embodiments, needle diameter includes different regular needle shapes of 5mm, 10mm, 15mm, 25mm, 35mm, etc. In addition, the positional relationship of the probe to the needle includes in-plane and out-of-plane.

In this embodiment, mainly for the situation that the puncture accuracy requirement is higher or the types of the puncture needles corresponding to the probe types are rich, by correspondingly constructing the ultrasonic probe model for different combinations of the ultrasonic probe and the puncture needles, higher-accuracy puncture control can be realized.

In different embodiments, after the operation prompt information is generated, the prompt mode is different according to the operation prompt information, and optionally, the control subsystem and the probe prompt, or the control subsystem and the probe prompt at the same time.

In one possible implementation manner, after generating the operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe, the method further comprises:

generating and displaying prompt display information and/or controlling a prompt module to play a prompt instruction according to the operation prompt information.

In the implementation mode, the operation subsystem prompts an operator through a popup window or a message bar, or prompts the operator through a voice playing mode, or prompts the operator through a combination of a display mode and a voice mode. Wherein, display the suggestion still includes carrying out the suggestion through the mode that lights corresponding pilot lamp.

and sending the operation prompt information to the ultrasonic probe so that the ultrasonic probe displays prompt display information and/or controls the prompt module to play a prompt instruction.

In the implementation mode, the ultrasonic probe prompts an operator through a popup window or a message bar, or prompts the operator through a voice playing mode, or prompts the operator through a combination of a display mode and a voice mode. Wherein, display the suggestion still includes carrying out the suggestion through the mode that lights corresponding pilot lamp.

In other implementations, the control subsystem may also be communicatively coupled to an external portable device, prompted by the external portable device, for example: the prompt is carried out by the wrist strap type equipment of the operator.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

The following are device embodiments of the present application, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.

Fig. 5 is a schematic structural diagram of a control device of an ultrasound guided puncture system according to an embodiment of the present application, as shown in fig. 5, the control device of the ultrasound guided puncture system includes:

the acquisition module 501 is used for acquiring pose information, ultrasonic detection information and ultrasonic probe information of the ultrasonic probe;

the generating module 502 is configured to generate a planned puncture path according to pose information of the ultrasonic probe, ultrasonic detection information, and ultrasonic probe information, and generate operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe.

In one possible implementation, the generating module 502 is specifically configured to:

acquiring a pre-constructed ultrasonic probe model according to ultrasonic probe information;

determining an ultrasonic probe image according to pose information of the ultrasonic probe and an ultrasonic probe model;

generating a planned puncture path according to the ultrasonic probe image, the ultrasonic image and the target puncture object position; wherein, generating the planned puncture path includes planning a puncture point, planning a puncture angle, and planning a puncture depth.

In a possible implementation manner, the generating module 502 is further configured to generate a first probe image display interface and a second probe image display interface according to the ultrasonic detection information, and generate a puncture path display interface according to pose information of the ultrasonic probe, the ultrasonic detection information, and the ultrasonic probe information.

In one possible implementation, the generating module 502 is further configured to:

correspondingly, the generating module 502 is specifically configured to obtain a corresponding ultrasonic probe model according to the probe type;

or the ultrasonic probe information comprises probe type, puncture needle information and the positional relationship between the probe and the puncture needle; wherein, probe and pjncture needle positional relationship includes: the puncture needle is perpendicular to the probe

Correspondingly, the generating module 502 is specifically configured to obtain a corresponding ultrasonic probe model according to the probe type, the puncture needle information and the positional relationship between the probe and the puncture needle.

In one possible implementation manner, the system further comprises a prompt control module, which is used for generating and displaying prompt display information according to the operation prompt information and/or controlling the prompt module to play a prompt instruction; and/or the number of the groups of groups,

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps of the control method embodiments of the respective ultrasound-guided puncture systems described above, such as step S401 to step S402 shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules 501 to 502 shown in fig. 5.

By way of example, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used to describe the execution of the computer program 62 in the electronic device 6. For example, the computer program 62 may be partitioned into modules 301 to 303 shown in fig. 3.

The electronic device 6 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The electronic device 6 may include, but is not limited to, a processor 60, a memory 61. It will be appreciated by those skilled in the art that fig. 6 is merely an example of the electronic device 6 and is not meant to be limiting as the electronic device 6 may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.

The processor 60 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or a memory of the electronic device 6. The memory 61 may be an external storage device of the electronic device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the electronic device 6. The memory 61 is used for storing the computer program and other programs and data required by the electronic device. The memory 61 may also be used for temporarily storing data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and 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 solution. 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.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program, when executed by a processor, may implement the steps of the method embodiments of controlling the ultrasound guided puncture system. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. An ultrasound guided puncture system, comprising: an ultrasonic probe, a puncture unit and a control subsystem;

2. The ultrasound guided penetration system of claim 1, wherein the ultrasound probe is a biplane probe; wherein the biplane probe is one or more of a biplane linear array probe, a biplane convex array probe and a biplane-convex linear probe;

3. A control method for the ultrasound guided puncture system according to claim 1 or 2, comprising:

4. The control method according to claim 3, wherein the generating a planned puncture path from pose information of the ultrasound probe, ultrasound probe information, and ultrasound probe information includes:

5. The control method according to claim 4, characterized by further comprising:

6. The control method according to claim 4, wherein generating operation prompt information according to the planned puncture path and the real-time pose information of the ultrasonic probe comprises:

7. The control method according to claim 4, characterized in that the ultrasonic probe information includes a probe type;

8. The control method according to any one of claims 3 to 7, characterized by further comprising, after the generating operation prompt information from the planned puncture path and the pose information of the real-time ultrasound probe:

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the control method according to any of the preceding claims 3-8 when the computer program is executed.

10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the control method according to any one of the preceding claims 3 to 8.