Automatic puncture control method and system

Abstract

The present invention relates to the field of puncture control technology, and provides an automatic puncture control method and system, including providing a first spatial positioning device for monitoring respiratory and cardiac phases; collecting image data of the object to be punctured, and formulating a puncture path to guide subsequent punctures based on the image data; after obtaining a puncture execution instruction, executing a puncture instruction cycle at a fixed time interval until a puncture cancellation instruction is obtained or the current puncture depth is greater than or equal to the planned puncture depth, at which time the execution of the puncture instruction cycle is stopped; wherein the puncture instruction cycle is to read the position information of the first spatial positioning device in real time within a fixed time interval, and compare it with the position information of the first spatial positioning device on the image data; if the respiratory phase and cardiac phase are consistent with the image data, the puncture operation is performed within the current fixed time interval; otherwise, the puncture operation is not allowed to be performed. This solves the problem of difficulty in controlling the puncture timing due to factors such as the patient's respiration and heartbeat.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture control, and in particular to an automatic puncture control method and system. Background Art

[0002] The combined use of a robotic arm and a puncture actuator is common in current CT or MR imaging-guided thoracic and abdominal surgical puncture procedures. The puncture actuator is fixed to the end position of the robotic arm, and the robotic arm controls the needle insertion position and angle, while the puncture actuator executes the puncture until the needle reaches the lesion, thus completing the entire puncture process.

[0003] Specifically, during the procedure, the patient first undergoes an imaging scan. The surgeon then outlines a suitable puncture path on the image based on the size and location of the lesion and the surrounding anatomical structures. A navigation program or the surgeon manually controls the robotic arm to the appropriate puncture location outside the body and adjusts the puncture angle. The navigation program or the surgeon manually controls the puncture actuator to continue the puncture until the needle reaches the lesion.

[0004] Generally speaking, puncture surgery is a minimally invasive surgery, which has the advantages of less surgical pain, fewer postoperative complications, and faster healing of surgical wounds.

[0005] However, minimally invasive surgery also has its drawbacks. The biggest drawback is the indirectness of obtaining lesion information. Therefore, the surgeon has various limitations when obtaining the corresponding lesion information during the operation. Taking chest and abdominal tumor ablation as an example, the surgeon needs to perform ablation after puncturing the corresponding ablation needle to the designated location of the lesion. However, since the corresponding lesions are hidden in the body, they are not directly visible to the surgeon with the naked eye during minimally invasive surgery. Therefore, many times, imaging (such as CT, etc.) and navigation positioning methods are combined with auxiliary response methods to help doctors perform ablation needle puncture. Due to the influence of the human heartbeat and respiration, the entire puncture process is not continuous, and the patient's real-time heartbeat, respiration and other disturbance factors must be eliminated to perform the entire puncture process.

[0006] During the puncture process of image-guided navigation puncture surgery of the chest and abdomen, due to factors such as human respiration and heartbeat, the puncture target and sensitive organs that should be avoided often do not match the image position. Therefore, not all moments during the puncture process are suitable for puncture. Therefore, doctors usually use respiratory gating to solve this problem. That is, doctors use experience to judge whether the current patient's respiratory phase and heartbeat phase are consistent with the position reflected by the image, so as to determine whether the position of the patient's organs and tissues is consistent with the position reflected by the image. In this process, in the case of automatic puncture, the doctor must control the puncture actuator to puncture or stop while paying attention to the patient's respiration and heartbeat to determine the corresponding phase status. This is obviously a considerable burden for the doctor. Such an operation is very dependent on the doctor's experience and in many cases, it is easy to cause puncture deviation. Summary of the Invention

[0007] In view of the above problems, the purpose of the present invention is to provide an automatic puncture control method and system to solve the problem that the puncture timing is difficult to control due to factors such as the patient's breathing and heartbeat.

[0008] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0009] An automatic puncture control method comprises the following steps:

[0010] A first spatial positioning device for monitoring respiratory phase and cardiac phase is provided, wherein the first spatial positioning device is provided at a location on the subject to be punctured that changes position with respiration and heartbeat;

[0011] Acquiring image data of the object to be punctured, and formulating a puncture path to guide the subsequent puncture process based on the image data;

[0012] After the puncture execution instruction is obtained, the puncture instruction loop is executed at a fixed time interval until the puncture cancellation instruction is obtained or the current puncture depth is greater than or equal to the planned puncture depth, and then the execution of the puncture instruction loop is stopped;

[0013] The puncture instruction loop is to read the position information of the first spatial positioning device in real time within each fixed time interval, and compare it with the position information of the first spatial positioning device on the image data; if the respiratory phase and the cardiac phase are consistent with the image data, the puncture operation is performed within the current fixed time interval; otherwise, the puncture operation is not allowed to be performed.

[0014] Furthermore, the position information of the first spatial positioning device specifically includes six position parameters, namely, three coordinate axes X, Y, and Z, and changes in rotation angles around the three coordinate axes X, Y, and Z; the changes in the respiratory phase are judged based on the position parameters related to the respiratory phase, and the changes in the cardiac phase are judged based on the position parameters related to the cardiac phase.

[0015] Furthermore, each of the fixed time intervals is specifically:

[0016] Obtaining the respiratory motion cycle of the object to be punctured, determining the relative displacement change of the first spatial positioning device during the respiratory motion cycle, dividing the respiratory motion cycle into equal parts according to the relative displacement, and each time interval after the equal division is the fixed time interval; within the fixed time interval, the relative displacement between the start time and the end time of the fixed time interval is relatively fixed.

[0017] Furthermore, before executing the puncture execution instruction, the method further includes:

[0018] Selecting a position relatively fixed to the object to be punctured, setting a second spatial positioning device, and monitoring the spatial physical position of the object to be punctured by the second spatial positioning device;

[0019] A third spatial positioning device is bound to the puncture actuator that performs the puncture operation. The position of the puncture actuator is monitored by the third spatial positioning device, and the position information of the puncture needle is calculated based on the fixed connection relationship between the puncture actuator and the puncture needle.

[0020] Furthermore, the puncture path formulated based on the image data is specifically:

[0021] The basic position information includes the percutaneous puncture point and the target puncture point, and the basic parameter information including the puncture depth parameter and the puncture angle parameter calculated based on the basic position information.

[0022] Furthermore, before executing the puncture instruction, the method further includes: pre-movement of the puncture execution mechanism, specifically:

[0023] Fixing the puncture actuator on the robotic arm, and installing the puncture needle on the puncture actuator;

[0024] Based on the puncture path, the posture of the robotic arm and the position and angle of the puncture needle are adjusted so that the direction of the puncture needle coincides with the puncture path and the needle tip of the puncture needle stays near the percutaneous puncture point corresponding to the puncture path.

[0025] Furthermore, during the execution of the puncture instruction loop, the current puncture depth of the puncture needle is calculated by monitoring the position information of the third spatial positioning device and compared with the puncture depth parameter in the puncture path. If the current puncture depth is greater than or equal to the puncture depth preset in the puncture depth parameter, the puncture operation is stopped and the puncture instruction loop is exited.

[0026] An automatic puncture control system, comprising: a space observation device, a space positioning device, an image acquisition device, navigation software, a robotic arm, a puncture actuator and a puncture needle;

[0027] The space observation device is used to observe the position information of the space positioning device and transmit the acquired position information of the space positioning device to the navigation software;

[0028] The spatial positioning device at least includes a first spatial positioning device provided at a location on the object to be punctured that changes position with respiration and heartbeat, the first spatial positioning device being used to monitor respiratory phase and cardiac phase;

[0029] The image acquisition device is used to acquire image data of the object to be punctured before executing the puncture execution instruction, and transmit the acquired image data to the navigation software;

[0030] The navigation software is used to formulate a puncture path to guide the subsequent puncture process based on the image data, and after obtaining the puncture execution instruction, execute the puncture instruction loop at a fixed time interval until the puncture cancellation instruction is obtained or the current puncture depth is greater than or equal to the planned puncture depth, and then stop executing the puncture instruction loop; wherein, the puncture instruction loop is to read the position information of the first spatial positioning device in real time within each fixed time interval, and compare it with the position information of the first spatial positioning device on the image data. If the respiratory phase and the cardiac phase are consistent with the image data, the puncture operation is performed within the current fixed time interval; otherwise, the puncture operation is not allowed to be performed.

[0031] Furthermore, the spatial positioning device further includes:

[0032] a second spatial positioning device, the second spatial positioning device being disposed at a position relatively fixed to the object to be punctured, and monitoring the spatial physical position of the object to be punctured by the second spatial positioning device;

[0033] The third spatial positioning device is bound to the puncture actuator that performs the puncture operation. The position of the puncture actuator is monitored by the third spatial positioning device, and the position information of the puncture needle is calculated based on the fixed connection relationship between the puncture actuator and the puncture needle.

[0034] A computer-readable storage medium stores computer code. When the computer code is executed, the above method is performed.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention establishes a puncture instruction loop that automatically compares the current respiratory and cardiac phases with those in the image data within each loop. Only when the phases in the current image data match is the puncture allowed to proceed within the fixed time interval of the current loop. Otherwise, the loop continues to wait for the next loop until a puncture cancellation command is received or the current puncture depth is greater than or equal to the planned puncture depth, at which point the puncture instruction loop is terminated. This solves the problem of discrepancies between the puncture target and sensitive organs to be avoided, often due to factors such as the patient's respiration and heartbeat. This often results in inconsistencies between the puncture target and the image location, making it difficult to puncture at all times. Often, doctors need to pay attention to the puncture angle and depth while also monitoring the patient's respiration and heartbeat. This multitasking approach reduces the accuracy of image navigation, further increasing the difficulty of the surgery and the risk to the patient. The above-mentioned technical solution of the present invention can avoid these technical problems, reducing the difficulty of the surgery and improving surgical accuracy and reducing surgical risks, thereby protecting the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is an overall flow chart of an automatic puncture control method of the present invention;

[0038] Figure 2 This is a specific operation flow chart of an automatic puncture control method of the present invention;

[0039] Figure 3 This is a schematic diagram of puncture execution determination in an automatic puncture control method of the present invention. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0042] First embodiment

[0043] like Figure 1 As shown, this embodiment provides an automatic puncture control method, comprising the following steps:

[0044] S1: Setting a first spatial positioning device for monitoring respiratory phase and cardiac phase, wherein the first spatial positioning device is set at a part of the object to be punctured whose position changes with breathing and heartbeat.

[0045] Specifically, to monitor respiratory and cardiac phases, the technical solution of the present invention requires a first spatial positioning device, capable of being read in real time by a spatial observation device, to be installed on the subject to be punctured, at a location where the relative spatial position changes significantly due to respiration and heartbeat. The first spatial positioning device can be an infrared patch attached to the subject to be punctured, or an optical marker, for example. The present invention imposes no restrictions on the specific form or shape of the first spatial positioning device; it only requires that the first spatial positioning device be capable of being read by the spatial observation device, including six position parameters, including the three coordinate axes (X, Y, and Z) and the change in spin angle around these three axes.

[0046] The respiratory phase and cardiac phase are judged by the first spatial positioning device, specifically: the change of the respiratory phase is judged according to the position parameters related to the respiratory phase, and the change of the cardiac phase is judged according to the position parameters related to the cardiac phase. For example, when the subject to be punctured is lying flat, the first spatial positioning device is horizontally attached to the abdomen, with the direction from the left side to the right side of the lying body as the X-axis, the direction of the chest perpendicular to the lying body as the Y-axis, and the direction from the feet to the head of the lying body as the Z-axis. Under the influence of breathing, the changes in the Y and Z coordinate values ​​and the spin angle value around the Y-axis direction are the most obvious. Under the influence of heartbeat, the change in the spin angle value around the X-axis direction is the most obvious. By judging the changes in the six position parameters of the first positioning device, the changes in the respiratory phase and cardiac phase can be monitored simultaneously.

[0047] Furthermore, since step S1 is the preparation stage for executing the automatic puncture control of the present invention, in addition to setting the first spatial positioning device on the object to be punctured, a second spatial positioning device and a third spatial positioning device may also be set, specifically:

[0048] Second spatial positioning device:

[0049] A position that remains relatively fixed with respect to the object to be punctured is selected, and a second spatial positioning device is set. The purpose of setting the spatial positioning device is, firstly, that the position information of the second spatial positioning device can be observed by the spatial observation device, thereby monitoring the spatial physical position of the object to be punctured; secondly, since the second spatial positioning device remains relatively fixed with respect to the object to be punctured, the coordinate information of the first spatial positioning device and the third spatial positioning device can be subsequently converted from the coordinate system of the spatial observation device to the coordinate system of the second spatial positioning device through a conversion matrix using the second spatial positioning device as a reference, thereby solving the problem that the spatial observation device itself may move during the automatic puncture process, resulting in inaccurate reading of the position information of multiple spatial positioning devices.

[0050] The third space positioning device:

[0051] A third spatial positioning device is bound to the puncture actuator that performs the puncture operation. The position of the puncture actuator is monitored by the third spatial positioning device. Since the puncture needle is rigidly connected to the puncture actuator, the position information of the puncture needle is subsequently calculated based on the fixed connection relationship between the puncture actuator and the puncture needle.

[0052] Furthermore, during the preparation phase for automatic puncture control, in order to coordinate the positioning of the spatial positioning device and to plan the subsequent puncture path, the following preparations are required for automatic puncture execution: spatial observation equipment, image acquisition equipment, navigation software, a robotic arm, a puncture actuator, and a puncture needle. It is essential to ensure that the image data of the object to be punctured, captured by the image acquisition equipment, can be transmitted to the navigation software, and that during the puncture, the position and posture information of the puncture needle can be captured by the spatial observation equipment and transmitted to the navigation software in real time. Furthermore, the observation angle of the spatial observation equipment must be adjusted to ensure that the spatial observation equipment can obtain the position information of all spatial positioning devices throughout the entire puncture procedure.

[0053] S2: Acquire image data of the object to be punctured, and formulate a puncture path to guide the subsequent puncture process based on the image data.

[0054] Specifically, after the automated puncture preparations are complete, image data of the subject to be punctured is captured and sent to the workstation hosting the navigation software. Using the navigation software, the physician will determine a puncture path relative to the captured image data based on the respiratory and cardiac phases, guiding the subsequent puncture process. Typically, the puncture path includes at least basic location information, including the percutaneous puncture point and the target puncture point, as well as basic parameter information, including puncture depth and angle, calculated from this basic location information.

[0055] Furthermore, after the puncture path planning is completed, it also includes pre-movement of the puncture actuator, specifically: fixing the puncture actuator on the robotic arm, and installing the puncture needle on the puncture actuator; the navigation software will adjust the posture of the robotic arm and the position and angle of the puncture needle based on the puncture path, so that the direction of the puncture needle coincides with the puncture path, and the needle tip of the puncture needle stays near the puncture percutaneous point corresponding to the puncture path.

[0056] S3: After the puncture execution instruction is obtained, the puncture instruction loop is executed at a fixed time interval until the puncture cancellation instruction is obtained or the current puncture depth is greater than or equal to the planned puncture depth, and the execution of the puncture instruction loop is stopped; wherein, the puncture instruction loop is to read the position information of the first spatial positioning device in real time within each of the fixed time intervals, and compare it with the position information of the first spatial positioning device on the image data; if the respiratory phase and the cardiac phase are consistent with the image data, the puncture operation is performed within the current fixed time interval; otherwise, the puncture operation is not allowed to be performed.

[0057] Specifically, step S3 is the automatic puncture execution stage, which is also the most critical step of the present invention:

[0058] like Figure 2 As shown in the figure, during the automatic puncture stage, the doctor sends a puncture execution instruction or a puncture cancellation instruction by clicking the puncture or stop button on the navigation software. After receiving the puncture execution instruction from the doctor, the navigation software will also perform the puncture based on whether the respiratory phase and cardiac phase are within the allowed range. The specific description is as follows:

[0059] After the doctor issues a puncture execution command, the navigation software will start a puncture instruction loop to determine whether the puncture actuator is allowed to perform puncture. That is, at every fixed time interval, the navigation software will determine whether the current situation allows the puncture actuator to perform puncture. If puncture is allowed within the current fixed time interval, the puncture actuator will perform the puncture operation within the current fixed time interval until the next fixed time interval arrives to end the puncture operation. If puncture is not allowed within the current fixed time interval, the puncture actuator will stop working until the next time period allowing puncture arrives.

[0060] After the doctor issues a puncture cancellation command, any puncture action of the puncture actuator will stop, and at the same time, the puncture instruction loop of the navigation software for determining whether to allow the puncture actuator to perform the puncture will stop circulating.

[0061] In the puncture instruction cycle that determines whether the puncture actuator is allowed to perform puncture, for each action, the navigation software will read the position information of the first spatial positioning device through the spatial observation device, and compare it with the position information of the first spatial positioning device on the image data of the object to be punctured previously collected, so as to monitor the changes in the respiratory phase and heartbeat phase. If the respiratory phase and heartbeat phase are consistent with the image data, the puncture actuator is allowed to perform puncture. As long as one of the respiratory and heartbeat phases does not match the image data, the puncture actuator will not be allowed to perform puncture. That is, in a puncture instruction cycle, if Figure 3 As shown, the puncture execution mechanism is allowed to perform puncture only when the three conditions of having a puncture execution instruction, the same respiratory phase position, and the same cardiac phase position are met at the same time. Otherwise, it is necessary to wait for the next instruction cycle.

[0062] During the puncture instruction loop for determining whether to allow the puncture actuator to proceed with puncture, the navigation software will continuously monitor the current puncture depth reported by the puncture actuator and compare it with the puncture depth parameter recorded in the puncture path. If the current puncture depth is greater than or equal to the planned puncture depth parameter, the puncture action will be stopped and the puncture instruction loop for determining whether to allow the puncture actuator to proceed with puncture will be exited. The specific method for determining the current puncture depth is: during the execution of the puncture instruction loop, the current puncture depth of the puncture needle is calculated by monitoring the position information of the third spatial positioning device.

[0063] Furthermore, in this embodiment, the fixed time interval within the puncture instruction cycle is explained as follows: obtaining the respiratory cycle of the subject to be punctured, determining the relative displacement change of the first spatial positioning device during the respiratory cycle, dividing the respiratory cycle into equal parts based on the relative displacement, and each time interval after the equal division is the fixed time interval; within the fixed time interval, the relative displacement between the start and end times of the fixed time interval is relatively fixed. For example, relative to the heartbeat, the relative displacement of the human body during respiratory movement is relatively large, so the respiratory phase requirement is prioritized, and the heartbeat factor is considered on top of the respiratory phase requirement. Calculated at a human respiratory rate of 15 breaths per minute, the actual time for 1 / 4 cycle from the equilibrium point to the extreme point (assuming a sine wave is used to simulate the positional changes of human respiratory-related tissues, then the highest peak and lowest trough of the sine wave will be considered the extreme points that the relevant tissues can reach with respiratory movement, and the middle position between the highest peak and the lowest trough will be considered the equilibrium point of respiratory movement) is about 1 second. However, due to the relatively large range of movement, 1 / 4 of this process is used as an empirical value for determining the cycle interval, that is, 60 seconds / 15 / 4 / 4 = 0.25 seconds. This example is an empirical value calculated by combining breathing and heartbeat. In actual use, it is not necessarily 0.25 seconds and can be set based on the operator's experience.

[0064] Second embodiment

[0065] This embodiment provides an automatic puncture control system, comprising: a space observation device, a space positioning device, an image acquisition device, navigation software, a robotic arm, a puncture actuator, and a puncture needle;

[0066] The space observation device is used to observe the position information of the space positioning device and transmit the acquired position information of the space positioning device to the navigation software;

[0067] The spatial positioning device at least includes a first spatial positioning device provided at a location on the object to be punctured that changes position with respiration and heartbeat, the first spatial positioning device being used to monitor respiratory phase and cardiac phase;

[0068] The image acquisition device is used to acquire image data of the object to be punctured before executing the puncture execution instruction, and transmit the acquired image data to the navigation software;

[0069] The navigation software is used to formulate a puncture path to guide the subsequent puncture process based on the image data, and after obtaining the puncture execution instruction, execute the puncture instruction loop at a fixed time interval until the puncture cancellation instruction is obtained or the current puncture depth is greater than or equal to the planned puncture depth, and then stop executing the puncture instruction loop; wherein, the puncture instruction loop is to read the position information of the first spatial positioning device in real time within each fixed time interval, and compare it with the position information of the first spatial positioning device on the image data. If the respiratory phase and the cardiac phase are consistent with the image data, the puncture operation is performed within the current fixed time interval; otherwise, the puncture operation is not allowed to be performed.

[0070] Furthermore, the spatial positioning device further includes:

[0071] a second spatial positioning device, the second spatial positioning device being disposed at a position relatively fixed to the object to be punctured, and monitoring the spatial physical position of the object to be punctured by the second spatial positioning device;

[0072] The third spatial positioning device is bound to the puncture actuator that performs the puncture operation. The position of the puncture actuator is monitored by the third spatial positioning device, and the position information of the puncture needle is calculated based on the fixed connection relationship between the puncture actuator and the puncture needle.

[0073] A computer-readable storage medium stores computer code. When the computer code is executed, the above-described method is performed. A person skilled in the art will appreciate that all or part of the steps in the various methods of the above-described embodiments can be performed by a program instructing related hardware. The program can be stored in a computer-readable storage medium. The storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0074] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0075] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic puncture control system, characterized in that: include: Space observation equipment, space positioning devices, image acquisition equipment, navigation software, robotic arms, puncture actuators and puncture needles; The space observation device is used to observe the position information of the space positioning device and transmit the acquired position information of the space positioning device to the navigation software; The spatial positioning device at least includes a first spatial positioning device provided at a location on the object to be punctured that changes position with respiration and heartbeat, the first spatial positioning device being used to monitor respiratory phase and cardiac phase; The image acquisition device is used to acquire image data of the object to be punctured before executing the puncture execution instruction, and transmit the acquired image data to the navigation software; The navigation software is used to formulate a puncture path to guide the subsequent puncture process based on the image data, and after obtaining the puncture execution instruction, execute the puncture instruction loop at a fixed time interval until the puncture cancellation instruction is obtained or the current puncture depth is greater than or equal to the planned puncture depth, and then stop executing the puncture instruction loop; wherein, the puncture instruction loop is to read the position information of the first spatial positioning device in real time within each fixed time interval, and compare it with the position information of the first spatial positioning device on the image data. If the respiratory phase and the cardiac phase are consistent with the image data, the puncture operation is performed within the current fixed time interval; otherwise, the puncture operation is not allowed to be performed.

2. The automatic puncture control system according to claim 1, characterized in that: Also includes: The position information of the first spatial positioning device specifically includes six position parameters: three coordinate axes X, Y, and Z and changes in spin angles around the three coordinate axes X, Y, and Z; The change of the respiratory phase is determined according to the position parameter related to the respiratory phase, and the change of the cardiac phase is determined according to the position parameter related to the cardiac phase.

3. The automatic puncture control system according to claim 1, characterized in that: In the navigation software, each of the fixed time intervals is specifically: Acquiring a respiratory motion cycle of the subject to be punctured, determining a relative displacement change of the first spatial positioning device during the respiratory motion cycle, and dividing the respiratory motion cycle into equal parts according to the relative displacement, wherein each time interval after the equal division is the fixed time interval; Within the fixed time interval, the relative displacement between the start time and the end time of the fixed time interval is relatively fixed.

4. The automatic puncture control system according to claim 1, characterized in that: The spatial positioning device further includes: a second spatial positioning device, the second spatial positioning device being disposed at a position relatively fixed to the object to be punctured, and monitoring the spatial physical position of the object to be punctured by the second spatial positioning device; The third spatial positioning device is bound to the puncture actuator that performs the puncture operation. The position of the puncture actuator is monitored by the third spatial positioning device, and the position information of the puncture needle is calculated based on the fixed connection relationship between the puncture actuator and the puncture needle.

5. The automatic puncture control system according to claim 4, characterized in that: In the navigation software, the puncture path formulated based on the image data is specifically: The basic position information includes the percutaneous puncture point and the target puncture point, and the basic parameter information including the puncture depth parameter and the puncture angle parameter calculated based on the basic position information.

6. The automatic puncture control system according to claim 4, characterized in that: In the navigation software, before executing the puncture instruction, it also includes: pre-movement of the puncture execution mechanism, specifically: Fixing the puncture actuator on the robotic arm, and installing the puncture needle on the puncture actuator; Based on the puncture path, the posture of the robotic arm and the position and angle of the puncture needle are adjusted so that the direction of the puncture needle coincides with the puncture path and the needle tip of the puncture needle stays near the percutaneous puncture point corresponding to the puncture path.

7. The automatic puncture control system according to claim 5, characterized in that: Also includes: In the navigation software, during the execution of the puncture instruction loop, the current puncture depth of the puncture needle is calculated by monitoring the position information of the third spatial positioning device and compared with the puncture depth parameter in the puncture path. If the current puncture depth is greater than or equal to the puncture depth preset in the puncture depth parameter, the puncture operation is stopped and the puncture instruction loop is exited.

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