Ultrasonic-guided out-of-plane positioning and guiding method, equipment and medium

Abstract

The invention provides an ultrasonic-guided out-of-plane positioning and guiding method, system and device, a medium and a program product, and relates to the field of intelligent medical treatment. The method comprises the steps that an ultrasonic image containing a to-be-punctured target C is obtained, and the distance between the to-be-punctured target C and skin A is measured according to the image; the projection point of the edge midpoint of the detection end of the narrow surface of the ultrasonic probe in the transverse axis direction of the ultrasonic probe is a point A; acquiring one half of the length of the narrow surface of the ultrasonic probe as AB; lines of the AB and the AC are perpendicular to each other; calculating a predicted puncture depth BC according to AB and AC; the line segment AD is equal to the line segment AC on the basis that the image extends to the point D in the reverse direction of the AC; making a line segment DE perpendicular to the line segment AD, wherein the length of the line segment DE is twice that of the line segment AB; the puncture needle punctures the target object to be punctured in the directions of the point E and the point B, and the puncture depth is the BC length. The method calculates the predicted needle insertion depth through the right triangle function principle, does not need to calculate the needle insertion angle, is simple and effective, and is high in success rate.

Description

Technical Field

[0001] The present invention relates to the field of intelligent medical treatment, and more specifically, to an ultrasound-guided out-of-plane positioning guidance method, device, medium and program product. Background Art

[0002] In the current ultrasound-guided puncture, the in-plane method and out-of-plane method are mainly used for puncture. In the in-plane method, the puncture needle body is parallel to the long-axis side (long side of the rectangle) of the ultrasound probe. The long-axis detection image of the sound beam can fully display the needle insertion path, which makes it easy to control the depth of the needle tip. In the out-of-plane method, the puncture needle body is parallel to the short-axis side (short side of the rectangle) of the ultrasound probe. A more complete anatomical structure perspective can be obtained, which is easy to visualize and quickly search.

[0003] At present, both of the above two puncture techniques have certain defects. For example, in the in-plane method, the ultrasound probe has its long axis of the sound beam parallel to the blood vessel distribution direction of the object, and its sound beam plane cannot obtain a good anatomical perspective. Once the needle insertion direction deviates from the sound beam plane, the middle of the needle body becomes the only visible part, which makes the operator misjudge it as the needle tip position. Therefore, it is necessary to rely on the operation technique to strictly ensure the parallelism of the needle insertion, which requires high operation skills and a high error rate. In the out-of-plane method, the ultrasound probe has its long axis of the sound beam perpendicular to the blood vessel distribution direction of the subject's trunk or limbs. Although it can obtain a good anatomical perspective, it cannot illuminate the complete needle body of the indwelling needle perpendicular to it. Its sound beam image can only capture a small section of the needle tip, so it cannot show the complete needle insertion path. In the initial needle insertion process, the operator's technique and experience are required to determine the needle insertion position, angle and depth. There are also defects such as high operation skills and a high error rate. If the initial needle insertion position and angle deviate and cannot reach the target blood vessel, the needle can only be pulled out for repeated puncture, which increases the patient's pain and operation difficulty, and there is a risk of causing complications.

[0004] Traditional positioning methods require estimating the needle insertion angle for positioning. For example, 202310308633.8 discloses an ultrasonic indwelling needle positioning guidance system and method, which sets a positioning guidance system that can be set and fixed on the outside of the limb of the puncture object and fix the ultrasonic probe, and uses the travel and angle adjustment systems respectively set on the detection bracket and the positioning bracket to obtain the needle insertion angle and coordinate distance required for different blood vessel depths through function conversion, and adjust the scales of the travel seat and the angle seat. Since the axis of the angle scale coincides with the axis of the sliding track of the angle seat, the indwelling needle body can always ensure that it points to the needle insertion point, and since the travel seat adjustment mechanism can match and adjust the travel scale of the distance from the needle insertion point in the middle area of ​​the sound beam, an accurate needle insertion posture can be obtained and the puncture operation can be performed. However, its use steps are too complicated and it is very inconvenient to use clinically. 202010065104.6 discloses an ultrasonic out-of-plane puncture stand that is set perpendicularly to the side end of the ultrasonic probe. The puncture stand includes a stretching piece for measuring the lateral distance between the puncture stand and the center of the ultrasonic probe, and a second fixing piece for movably setting the puncture needle. The second fixing piece is used to directly observe and adjust the needle insertion angle and puncture distance in real time. During use, the puncture stand needs to calculate the needle insertion angle and then the needle insertion depth. In actual use, it is necessary to consider information in two dimensions. If the needle insertion angle deviates, the needle insertion depth is also affected. Therefore, it cannot completely solve the problem of difficult out-of-plane puncture under ultrasonic guidance, and it is still impossible to accurately locate the target to be measured. Therefore, a positioning guidance method and a corresponding adapter device that are easy to operate and have a high puncture success rate are needed. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an ultrasound-guided out-of-plane positioning guidance method, device, medium and program product; the method of the present invention calculates the expected needle insertion depth through the function principle of a right triangle, without calculating the needle insertion angle, is simple and effective, easy to understand and master, and has high accuracy, convenient adjustment, and is suitable for promotion.

[0006] The first aspect of the present application discloses an ultrasound-guided out-of-plane positioning guidance method, the method comprising: 101, obtaining an ultrasound image including a target object C to be punctured, and measuring the distance AC between the target object C to be punctured and the skin A according to the ultrasound image; the projection point of the midpoint of the edge of the detection end of the narrow surface of the ultrasound probe in the horizontal axis direction of the ultrasound probe is point A; obtaining a fixed distance AB which is half the length of the narrow surface of the ultrasound probe; the line where AB is located and the line where AC is located are perpendicular to each other; 102, according to AB and AC, calculating the expected puncture depth BC by the Pythagorean theorem; 103, based on the ultrasound image, extending in the opposite direction of AC to point D, the length of line segment AD is equal to the length of line segment AC; 104, making a line segment DE perpendicular to line segment AD, the length of line segment DE is equal to twice the length of line segment AB; 105, based on the ultrasound image, the puncture needle punctures the target object to be punctured along the direction determined by points E and B, and the puncture depth is the length of BC.

[0007] In some embodiments, between 104 and 105, the method further includes: the Doppler ultrasound diagnostic instrument generates a puncture positioning guide path according to point E, point B in the ultrasound image, and the calculated estimated puncture depth BC, and the puncture needle performs precise puncture according to the puncture positioning guide path; optionally, the method for generating the puncture positioning guide path includes: converting the two-dimensional ultrasound image into a perspective two-dimensional model by the Doppler ultrasound diagnostic instrument; the Doppler ultrasound diagnostic instrument generates the puncture positioning guide path in the perspective two-dimensional model in combination with the position of the target object to be punctured and the estimated puncture depth; wherein the puncture positioning guide path is used to guide the puncture needle to puncture the target object to be punctured.

[0008] Optionally, the method further includes: when the puncture needle deviates from the puncture positioning guide path, generating and displaying deviation prompt information.

[0009] In some embodiments, the 101 includes: an ultrasonic probe is placed vertically above the skin of the target object to be punctured, the ultrasonic probe obtains information of the target object to be punctured, and transmits the information to a Doppler ultrasonic diagnostic instrument; the Doppler ultrasonic diagnostic instrument generates an enhanced two-dimensional ultrasonic image with the obtained information, and directly calculates the distance between the target object to be punctured C and the skin in the two-dimensional ultrasonic image according to the actual inspection position of the ultrasonic probe and the position of the target object to be punctured; optionally, the ultrasonic probe and the Doppler ultrasonic diagnostic instrument are connected by wire or wirelessly.

[0010] In some embodiments, the method is implemented by an adapter, which includes a marking seat installed on the ultrasonic probe; the cross-section of the wide surface of the ultrasonic probe is defined as cross-section one; the upper end plane of the marking seat is parallel to cross-section one, and the height of the marking seat is a fixed distance AB; the point E in 104 is determined by the upper end plane of the marking seat; optionally, the adapter also includes a measuring ruler arranged between the ultrasonic probe and the marking seat, the marking seat and the measuring ruler form a sliding fit, and the measuring ruler is fixedly installed on the surface of the ultrasonic probe; the cross-section of the wide surface of the measuring ruler is defined as cross-section two, and cross-section two is parallel to cross-section one; optionally, scale lines are set on the surface of the measuring ruler, and the 0 scale line is located at the second end of the ultrasonic probe, and the second end is the detection end; the 0 scale line is flush with the edge of the detection end.

[0011] In some embodiments, point D in 103 is determined based on a measuring ruler and a marking seat, and a determination method includes: sliding the marking seat relative to the measuring ruler based on AC, and the distance between point D where the marking seat is located after sliding and the 0 scale line on the surface of the measuring ruler is equal to AC; optionally, a side of the marking seat close to the 0 scale line is located at point D.

[0012] In some embodiments, the method further includes: determining the height of the marking seat according to whether there is a gap between the upper surface of the measuring ruler and the surface of the ultrasonic probe; if there is a gap, the height of the marking seat is equal to the sum of AB and the distance of the gap; if there is no gap, the height of the marking seat is equal to AB.

[0013] In some embodiments, the measuring ruler is fixed to the surface of the ultrasonic probe through a fixing seat; at least one fixing seat is provided, the lower surface of the fixing seat is adapted to the surface of the position where the ultrasonic probe is located, the height of the fixing seat is determined according to the thickness of the position where the ultrasonic probe is installed, and the height of the fixing seat ensures that the second section is parallel to the first section.

[0014] The second aspect of the present application discloses a computer device, which includes: a memory and a processor; the memory is used to store a computer program; and the processor executes the computer program to implement the steps of the above method.

[0015] A third aspect of the present application discloses a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0016] A fourth aspect of the present application discloses a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0017] The present application has the following beneficial effects: 1. The present application innovatively discloses an ultrasound-guided out-of-plane positioning guidance method, which is directly operated in the ultrasound image, determines the first reference point E (directly determined by the marking seat during the operation) at the distance from the detection end of the narrow surface of the ultrasound probe in the ultrasound image, and then uses the point located at the edge of the ultrasound probe as the second reference point, and determines the puncture direction of the puncture needle based on the first reference point and the second reference point. The puncture needle directly punctures the predetermined puncture distance along the puncture direction to achieve precise positioning. The principle is simpler and easier to understand, the operation is more precise and flexible, and it can completely solve the ultrasound-guided plane 1. The problem of difficulty in external puncture; 2. The present application innovatively sets an adapter that can be installed on the ultrasonic probe on the outside of the wide surface of the ultrasonic probe. The adapter is installed on the ultrasonic probe through a fixing seat. By setting the thickness of the fixing frame, it is ensured that the section where the wide surface of the measuring ruler is located is always parallel to the section one, thereby ensuring that the puncture direction of the guide puncture needle can be determined by the marking seat and the measuring ruler; by determining the puncture direction in this way, the traditional method of determining the needle insertion direction by the angle between the puncture needle and the ultrasonic probe is abandoned. There are problems such as inaccurate relationship between angle and depth in actual operation, difficult to control, inconvenient to adjust, difficult to understand, and difficult to learn. The guide frame has a simple and effective structure, is easy to operate, is more flexible during the operation, has a high success rate of one-time puncture, and promotes the promotion and application of out-of-plane puncture; 3. The present application also takes into account whether there is a gap between the measuring ruler and the ultrasonic probe, and the relationship between the thickness of the measuring ruler and the needle insertion direction and depth, to further ensure more accurate positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a schematic diagram of a method flow chart provided by the first aspect of an embodiment of the present invention; Figure 2 It is a schematic diagram of an ultrasound-guided out-of-plane positioning guidance system provided by the second aspect of an embodiment of the present invention; Figure 3 is a schematic diagram of a computer device provided by an embodiment of the present invention; Figure 4 is a schematic diagram of the architecture of an exemplary computing device provided by an embodiment of the present invention; Figure 5 is a schematic diagram of a storage medium provided by an embodiment of the present invention; Figure 6 is a schematic diagram of an adapter provided by an embodiment of the present invention being fixed to an ultrasound probe; Figure 7 is a schematic diagram of a case where the number of the fixing seat provided in the embodiment of the present invention is one; Figure 8is a schematic diagram of a case where two fixing seats are provided in an embodiment of the present invention; Fig. 9 is a schematic diagram of simulated needle insertion during operation of an ultrasound probe provided by an embodiment of the present invention; Fig.10 It is a schematic diagram of simulated needle insertion when changing the puncture depth provided by an embodiment of the present invention.

[0020] In the figure, 1, ultrasonic probe; 2, fixing seat; 21, first fixing ring; 22, second fixing ring; 3, measuring ruler; 4, marking seat. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0022] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] Figure 1 It is a flow chart of an ultrasound-guided out-of-plane positioning guidance method provided by an embodiment of the present invention. Specifically, the method includes the following steps: 101: Acquire an ultrasound image containing a target object C to be punctured, and measure the distance AC between the target object C to be punctured and the skin A according to the ultrasound image; the projection point of the midpoint of the edge of the detection end of the narrow surface of the ultrasound probe in the horizontal axis direction of the ultrasound probe is point A; obtain half of the length of the narrow surface of the ultrasound probe as a fixed distance AB; the line where AB is located and the line where AC is located are perpendicular to each other; in some embodiments, half of the length of the narrow surface of the ultrasound probe AB is calculated according to the ultrasound probe model, and the length is b1.

[0025] In some embodiments, the 101 includes: an ultrasonic probe is placed vertically above the skin of the target object to be punctured, the ultrasonic probe obtains information of the target object to be punctured, and transmits the information to a Doppler ultrasonic diagnostic instrument; the Doppler ultrasonic diagnostic instrument generates an enhanced two-dimensional ultrasonic image with the obtained information, and directly calculates the distance between the target object to be punctured C and the skin in the two-dimensional ultrasonic image according to the actual inspection position of the ultrasonic probe and the position of the target object to be punctured; in some embodiments, the target object to be punctured includes: tumors, blood vessels and other targets.

[0026] In some embodiments, the fixed distance AB is directly related to the model of the ultrasound probe. For example, the 4C probe we commonly use, the puncture needle enters close to the edge of the probe at point B, the ultrasound plane is the midpoint of the probe, and the distance between the two, i.e., the length of line segment b1, is 1 cm. The puncture needle always enters close to the edge of the probe, so this distance will not change. b1=1cm; similarly, when the distance of line segment AC is extended upward by 1 times, b2=2cm.

[0027] 102: Calculate the expected puncture depth BC based on AB and AC using the Pythagorean theorem; in some embodiments, the calculation method can be obtained by the doctor using a simple trigonometric function quick lookup table or a function calculator specially provided with the method, or the result can be directly calculated using the function calculation program provided by the Doppler ultrasound diagnostic instrument itself.

[0028] 103: Based on the ultrasound image, extend in the opposite direction of AC to point D, and the length of line segment AD is equal to the length of line segment AC; 104: Make a line segment DE perpendicular to line segment AD, and the length of line segment DE is equal to twice the length of line segment AB; in some embodiments, between 104 and 105, the method also includes: the Doppler ultrasound diagnostic instrument generates a puncture positioning guide path according to point E and point B in the ultrasound image, and the calculated estimated puncture depth BC, and the puncture needle performs precise puncture according to the puncture positioning guide path; optionally, the method for generating the puncture positioning guide path includes: converting the two-dimensional ultrasound image into a perspective two-dimensional model through the Doppler ultrasound diagnostic instrument; the Doppler ultrasound diagnostic instrument generates the puncture positioning guide path in the perspective two-dimensional model in combination with the position of the target object to be punctured and the estimated puncture depth; wherein the puncture positioning guide path is used to guide the puncture needle to puncture the target object to be punctured.

[0029] Optionally, the method further includes: generating and displaying deviation prompt information when the puncture needle deviates from the puncture positioning guide path. It is understandable that medical staff may make mistakes during manual operation. During the operation, when the puncture needle deviates from the puncture guiding path, generating and displaying deviation prompt information can avoid manual mistakes and improve work efficiency.

[0030] 105: Based on the ultrasound image, the puncture needle punctures the target object along the direction determined by point E and point B, and the puncture depth is the length BC.

[0031] In some embodiments, when the puncture needle reaches the target, the cross-section of the puncture needle tip can be observed on the ultrasound image, thereby achieving precise puncture.

[0032] Optionally, the ultrasonic probe is connected to the Doppler ultrasonic diagnostic instrument by wire or wirelessly.

[0033] In some embodiments, the method is implemented by an adapter, such as Figure 6 As shown, the adapter includes a marker seat mounted on the ultrasonic probe; the cross-section of the wide surface of the ultrasonic probe is defined as cross-section one; the upper end plane of the marker seat is parallel to cross-section one, and the height of the marker seat is a fixed distance AB; the point E in 104 is determined by the upper end plane of the marker seat; optionally, the adapter also includes a measuring ruler arranged between the ultrasonic probe and the marker seat, the marker seat and the measuring ruler form a sliding fit, and the measuring ruler is fixedly installed on the surface of the ultrasonic probe; the cross-section of the wide surface of the measuring ruler is defined as cross-section two, and cross-section two is parallel to cross-section one; optionally, as Figure 6 As shown, the surface of the measuring ruler is provided with scale lines, the 0 scale line is located at the second end of the ultrasonic probe, and the second end is the detection end; the 0 scale line is flush with the edge of the detection end.

[0034] In some embodiments, point D in 103 is determined based on a measuring ruler and a marking seat, and a determination method includes: sliding the marking seat relative to the measuring ruler based on AC, and the distance between point D where the marking seat is located after sliding and the 0 scale line on the surface of the measuring ruler is equal to AC; optionally, a side of the marking seat close to the 0 scale line is located at point D.

[0035] In some embodiments, the method further includes: determining the height of the marking seat according to whether there is a gap between the upper surface of the measuring ruler and the surface of the ultrasonic probe; if there is a gap, the height of the marking seat is equal to the sum of AB and the distance of the gap; if there is no gap, the height of the marking seat is equal to AB.

[0036] In some embodiments, the height of the marking seat needs to take into account the thickness of the measuring ruler; if there is a gap, the height of the marking seat is equal to the sum of AB, the thickness of the measuring ruler and the gap distance; if there is no gap, the height of the marking seat is equal to the sum of AB and the thickness of the measuring ruler.

[0037] In some embodiments, the measuring ruler is fixed to the surface of the ultrasonic probe through a fixing seat; at least one fixing seat is provided, the lower surface of the fixing seat is adapted to the surface of the position where the ultrasonic probe is located, the height of the fixing seat is determined according to the thickness of the position where the ultrasonic probe is installed, and the height of the fixing seat ensures that the second section is parallel to the first section.

[0038] In some more specific embodiments, Figure 6 and Figure 7 As shown, the fixing seat is provided as one, which is provided between the first end and the second end of the ultrasonic probe; the lower surface of the fixing seat is provided as a curved surface adapted to the surface of the ultrasonic probe, and the upper surface of the fixing seat is provided as a plane parallel to the second section. Specifically, the fixing seat is provided as a block, the lower surface of the block is provided as a curved surface adapted to the installation position of the ultrasonic probe, and the upper surface of the block is provided as a plane convenient for fixing the measuring ruler.

[0039] In some more specific embodiments, Figure 6 and Figure 8 As shown, the fixing seat is provided with two, including a first fixing ring arranged near the first end of the ultrasonic probe and a second fixing ring arranged near the second end of the ultrasonic probe; the thickness of the first fixing ring and the second fixing ring connecting the measuring ruler side is determined according to the thickness of the position where the fixing ring is installed on the ultrasonic probe, and the thickness of the first fixing ring and the second fixing ring connecting the measuring ruler side ensures that the plane where the measuring ruler arranged at the upper end of the first fixing ring and the second fixing ring is located is parallel to the section one; more specifically, connecting columns of different heights are arranged at the upper ends of the first fixing ring and the second fixing ring to ensure that the plane of the measuring ruler is parallel to the section one.

[0040] In some embodiments, the connection method between the marking seat and the measuring ruler includes: friction sliding connection, and connection by setting fasteners.

[0041] In another specific embodiment, the friction sliding connection is specifically that straight plates having friction with the long side of the measuring ruler are respectively arranged on both sides of the marking seat, and the relative position between the marking seat and the measuring ruler is fixed by moving the marking seat and the straight plates, and the straight plates cover the long side of the measuring ruler. This connection method is not shown in the attached drawings. The fastener is set as a screw. When the marking seat slides to the corresponding position, the relative position between the marking seat and the measuring ruler is fixed by tightening the screw. The fastener is as follows: Figure 6 Of course, in some examples, there are many ways to implement the connection mode, which cannot be exhaustively listed in this application.

[0042] In some embodiments, the connection between the measuring ruler and the fixing base includes an integral connection or a detachable connection.

[0043] Fig. 9The ultrasonic probe provided in at least one embodiment of the present invention and a schematic diagram of simulated needle insertion during operation, wherein the horizontal line is recorded as the display section; when in use, the ultrasonic probe and the guide frame are integrated, the bracket and the probe are integrated, the midpoint line of the probe ultrasonic beam is assumed to be the longitudinal axis DAC, and the longitudinal axis is also tilted when the probe is tilted. Taking the angle of the narrower side of the ultrasonic probe as the front view as an example, during the puncture process outside the ultrasonic guidance plane, the AB line segment of the probe and the 90° of ∠BAC are fixed, and the ultrasonic probe contacts the skin so that the operator can see the internal structure of the human body, find the puncture target, and insert the needle along the short axis of the probe. The method of use is as follows: Step 1, obtain the model of the ultrasonic probe, the projection point of the midpoint of the edge of the detection end of the narrow surface of the ultrasonic probe in the horizontal axis direction of the ultrasonic probe is point A, and the detection point of the wide surface of the ultrasonic probe is point The transmission point of the end edge in the horizontal axis direction of the ultrasonic probe is point B. According to the ultrasonic probe model, the length AB, which is half the length of the side of the ultrasonic probe, is calculated and recorded as b1. The plane where the AB line is located is the horizontal axis of the probe surface. Step 2, determine whether there is a gap between the upper surface of the measuring ruler and the detection end surface of the ultrasonic probe; determine the height b2 of the marking seat and the measuring ruler in the vertical direction according to whether there is a gap, so as to determine point E; specifically, if there is a gap, b2 is equal to b1+gap distance; if there is no gap, b2 is equal to b1; in some embodiments, the height of the marking seat needs to take into account the thickness of the measuring ruler; if there is a gap, the height of the marking seat is equal to the sum of AB, the thickness of the measuring ruler and the gap distance; if there is no gap, the height of the marking seat is equal to the sum of AB and the thickness of the measuring ruler.

[0044] Step 3, using an ultrasonic machine to measure the distance a1 between the target object to be punctured (tumor or blood vessel or other target object) and the skin, the position of the target object to be punctured is point C, and a1 is equal to the distance between point A and point C; Step 3, sliding the position of the marking seat relative to the measuring ruler so that the marking seat is located at a2 of the measuring ruler, and a2 is equal to a1; that is, the side of the marking seat close to the detection end is located at point D, and the distance between point D and point A is a2; Step 4, using the function calculation program of the background dedicated calculation module to use the Pythagorean theorem, calculate the length of c1 according to a1 and b1, the length of c1 is the distance between point B and point C of the target object to be punctured, that is, the length that the puncture needle needs to puncture; Step 5, puncture the puncture needle along the direction determined by point E and point B, from point B to c1 length, to reach the target object to be punctured; Fig.10As shown in the figure, assuming that the puncture depths are 3cm, 6cm, and 10cm respectively, the corresponding lines are C3 (blue line), C6 (black line), and C10 (red line). Make extension lines from C3, C6, and C10 through point B respectively. Then extend the line segment AC upward by 1 times, and make a right angle base at 3cm, 6cm, and 10cm of the longitudinal axis of the ultrasound probe, intersecting with it, to obtain the b2 line segment. Conclusion: No matter what the puncture depth is, as long as the length of the b2 line segment made on the same length of the longitudinal axis of the ultrasound probe is equal. Since the length of the b line segment is always constant and equal to 1cm, the length of the b2 line segment is equal to 2cm.

[0045] Principle of use: The transcutaneous ultrasound-guided out-of-plane puncture is extended by 1 time on the longitudinal axis of the ultrasound probe outside the skin. For example, if the puncture depth is 6cm, the point D is found on the longitudinal axis at a height of 6cm measured outside the skin; a 2cm right-angle base is made at point D to find point E; through points E and B, deep puncture can accurately find point C (our puncture target point). Taking the puncture depth (line segment a) as 6cm as an example, it is known that the length of line segment b is 1cm. The formula for calculating the side length of the triangle is a²+b²=c², so BC= ≈6.08cm. By puncturing 6.08cm deeper through points E and B, point C can be accurately found. This calculation applies to any puncture depth in the figure. In actual operation, sometimes human ribs, blood vessels, organs, etc. are sandwiched between the ultrasound probe and the puncture target. If they are just on the vertical line, it is necessary to avoid them and insert the needle in another place. At this time, there will be a certain angle (tilt) with the skin, which will cause the contact area between the probe surface and the skin to decrease, but the reduction is generally not more than 1 / 3 of the probe area (too little contact will make the internal structure of the human body invisible); that is to say, the probe can be tilted, but not too much, and the probe surface must be in contact with the skin for at least 2 / 3. The calculation method is fixed for the probe, and the calculation method remains unchanged when the probe is tilted with the skin. The AC distance will increase after tilting. If the puncture is changed from vertical to tilted, the pre-puncture depth needs to be measured again.

[0046] Figure 3 is a schematic diagram of a computer device provided by an embodiment of the present invention, such as Figure 3 As shown, the device may include: one or more processors, and one or more memories; wherein the memories store computer-readable codes, and when the computer-readable codes are run by the one or more processors, the method described above may be executed.

[0047] The processor in this embodiment can be an integrated circuit chip with signal processing capabilities. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, operations and logic block diagrams in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can be an X86 architecture or an ARM architecture.

[0048] In general, various example embodiments of the present disclosure may be implemented in hardware or dedicated circuits, software, firmware, logic, or any combination thereof. Certain aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that may be executed by a controller, microprocessor, or other computing device. When various aspects of the disclosed embodiments are illustrated or described as block diagrams, flow charts, or using some other graphical representation, it will be understood that the blocks, devices, systems, techniques, or methods described herein may be implemented in hardware, software, firmware, dedicated circuits or logic, general purpose hardware or controllers or other computing devices, or some combination thereof as non-limiting examples.

[0049] For example, the method or device according to the embodiment of the present disclosure may also be implemented by Figure 4 The architecture of the computing device 3000 shown in FIG. Figure 4 As shown, the computing device 3000 may include a bus 3010, one or more CPUs 3020, a read-only memory (ROM) 3030, a random access memory (RAM) 3040, a communication port 3050 connected to a network, an input / output component 3060, a hard disk 3070, etc. The storage device in the computing device 3000, such as ROM 3030 or hard disk 3070, may store various data or files used for processing and / or communication of the method provided by the present disclosure and program instructions executed by the CPU. The computing device 3000 may also include a user interface 3080. Of course, Figure 4 The architecture shown is only exemplary and can be omitted according to actual needs when implementing different devices. Figure 4 One or more components of a computing device are shown.

[0050] The embodiment of the present invention also provides a computer-readable storage medium, such as Figure 5As shown, it is a schematic diagram of a storage medium provided by an embodiment of the present invention, and a computer readable instruction 4010 is stored on the computer storage medium 4020. When the computer readable instruction 4010 is executed by the processor, the method according to the embodiment of the present disclosure described with reference to the above figures can be executed. The computer readable storage medium in the embodiment of the present disclosure can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus random access memory (DR RAM). It should be noted that the memory of the methods described herein is intended to include, but is not limited to, these and any other suitable types of memory. It should be noted that the memory of the methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0051] The embodiments of the present disclosure further provide a computer program product or system, including a computer program, which implements the steps of the above method when executed by a processor.

[0052] In some embodiments, this embodiment also discloses an ultrasound-guided out-of-plane positioning guidance system, such as Figure 2As shown, the system includes: a parameter acquisition module 201, which is used or configured to acquire an ultrasound image containing a target object C to be punctured, and measure the distance AC between the target object C to be punctured and the skin A according to the ultrasound image; the projection point of the midpoint of the edge of the detection end of the narrow surface of the ultrasound probe in the horizontal axis direction of the ultrasound probe is point A; half of the length of the narrow surface of the ultrasound probe is obtained as a fixed distance AB; the line where AB is located and the line where AC is located are perpendicular to each other; a puncture depth calculation module 202, which is used or configured to calculate the expected puncture depth BC according to AB and AC by the Pythagorean theorem; a line segment extension operation module 203, which is used or configured to extend to point D in the opposite direction of AC based on the ultrasound image, and the length of line segment AD is equal to the length of line segment AC; a line segment perpendicular line operation module 204, which is used or configured to make a line segment DE perpendicular to line segment AD, and the length of line segment DE is equal to twice the length of line segment AB; a puncture implementation module 205, which is used or configured to puncture the target object to be punctured with a puncture needle along the direction determined by points E and B based on the ultrasound image, and the puncture depth is the length of BC.

[0053] In some embodiments, between 204 and 205, the system further includes: a puncture positioning guide path generation module, which is used for or configured as a Doppler ultrasound diagnostic instrument to generate a puncture positioning guide path according to point E and point B in the ultrasound image and the calculated estimated puncture depth BC, and the puncture needle performs precise puncture according to the puncture positioning guide path; a deviation prompt information module, which is used for or configured to generate and display deviation prompt information when the puncture needle deviates from the puncture positioning guide path.

[0054] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0055] In general, various example embodiments of the present disclosure may be implemented in hardware or dedicated circuits, software, firmware, logic, or any combination thereof. Certain aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that may be executed by a controller, microprocessor, or other computing device. When various aspects of the disclosed embodiments are illustrated or described as block diagrams, flow charts, or using some other graphical representation, it will be understood that the blocks, devices, systems, techniques, or methods described herein may be implemented in hardware, software, firmware, dedicated circuits or logic, general purpose hardware or controllers or other computing devices, or some combination thereof as non-limiting examples.

[0056] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0057] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0058] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple 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.

[0059] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0060] The exemplary embodiments of the present disclosure described in detail above are merely illustrative and not restrictive. It should be understood by those skilled in the art that various modifications and combinations may be made to these embodiments or their features without departing from the principles and spirit of the present disclosure, and such modifications should fall within the scope of the present disclosure.

Claims

1. An ultrasound-guided out-of-plane positioning guidance method, characterized in that: The method comprises: 101, obtaining an ultrasound image including a target object C to be punctured, and measuring a distance AC between the target object C to be punctured and the skin A according to the ultrasound image; the projection point of the midpoint of the edge of the detection end of the narrow surface of the ultrasound probe in the horizontal axis direction of the ultrasound probe is point A; obtaining a fixed distance AB which is half of the length of the narrow surface of the ultrasound probe; the line where AB is located and the line where AC is located are perpendicular to each other; 102, according to AB and AC, calculating an estimated puncture depth BC by the Pythagorean theorem; 103, based on the ultrasound image, extending in the opposite direction of AC to point D, the length of line segment AD is equal to the length of line segment AC; 104, making a line segment DE perpendicular to line segment AD, the length of line segment DE is equal to twice the length of line segment AB; 105, based on the ultrasound image, the puncture needle punctures the target object to be punctured along the direction determined by points E and B, and the puncture depth is the length of BC.

2. The ultrasound-guided out-of-plane positioning guidance method according to claim 1, characterized in that: Between 104 and 105, the method further includes: the Doppler ultrasound diagnostic instrument generates a puncture positioning guide path according to point E, point B in the ultrasound image, and the calculated estimated puncture depth BC, and the puncture needle performs precise puncture according to the puncture positioning guide path; optionally, the method for generating the puncture positioning guide path includes: converting the two-dimensional ultrasound image into a perspective two-dimensional model by the Doppler ultrasound diagnostic instrument; the Doppler ultrasound diagnostic instrument generates the puncture positioning guide path in the perspective two-dimensional model in combination with the position of the target object to be punctured and the estimated puncture depth; wherein the puncture positioning guide path is used to guide the puncture needle to puncture the target object to be punctured; optionally, the method further includes: when the puncture needle deviates from the puncture positioning guide path, generating and displaying deviation prompt information.

3. The ultrasound-guided out-of-plane positioning guidance method according to claim 1, characterized in that: The 101 includes: an ultrasonic probe is vertically placed above the skin of the target object to be punctured, the ultrasonic probe obtains information of the target object to be punctured, and transmits the information to a Doppler ultrasonic diagnostic instrument; the Doppler ultrasonic diagnostic instrument generates an enhanced two-dimensional ultrasonic image with the obtained information, and directly calculates the distance between the target object to be punctured C and the skin in the two-dimensional ultrasonic image according to the actual inspection position of the ultrasonic probe and the position of the target object to be punctured; optionally, the ultrasonic probe and the Doppler ultrasonic diagnostic instrument are connected by wire or wirelessly.

4. The ultrasound-guided out-of-plane positioning guidance method according to any one of claims 1 to 3, characterized in that: The method is implemented through an adapter, which includes a marking seat installed on the ultrasonic probe; the cross-section of the wide surface of the ultrasonic probe is defined as cross-section one; the upper end plane of the marking seat is parallel to cross-section one, and the height of the marking seat is a fixed distance AB; the point E in 104 is determined by the upper end plane of the marking seat; optionally, the adapter also includes a measuring ruler arranged between the ultrasonic probe and the marking seat, the marking seat and the measuring ruler form a sliding fit, and the measuring ruler is fixedly installed on the surface of the ultrasonic probe; the cross-section of the wide surface of the measuring ruler is defined as cross-section two, and cross-section two is parallel to cross-section one; optionally, scale lines are set on the surface of the measuring ruler, and the 0 scale line is located at the second end of the ultrasonic probe, and the second end is the detection end; the 0 scale line is flush with the edge of the detection end.

5. The ultrasound-guided out-of-plane positioning guidance method according to claim 4, characterized in that: The point D in 103 is determined based on the measuring ruler and the marking seat, and the determination method includes: based on the AC, the position of the marking seat relative to the measuring ruler is slid, and the distance between the point D where the sliding marking seat is located and the 0 scale line on the surface of the measuring ruler is equal to AC; optionally, the side of the marking seat close to the 0 scale line is located at point D.

6. The ultrasound-guided out-of-plane positioning guidance method according to claim 4, characterized in that: The method also includes: determining the height of the marking seat according to whether there is a gap between the upper surface of the measuring ruler and the surface of the ultrasonic probe; if there is a gap, the height of the marking seat is equal to the sum of AB and the distance of the gap; if there is no gap, the height of the marking seat is equal to AB.

7. The ultrasound-guided out-of-plane positioning guidance method according to claim 4, characterized in that: The measuring ruler is fixed on the surface of the ultrasonic probe through a fixing seat; at least one fixing seat is provided, the lower surface of the fixing seat is adapted to the surface of the position where the ultrasonic probe is located, the height of the fixing seat is determined according to the thickness of the position where the ultrasonic probe is installed, and the height of the fixing seat ensures that the second section is parallel to the first section.

8. A computer device, characterized in that: The device comprises: a memory and a processor; the memory is used to store a computer program; the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

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