Puncture method and system based on ultrasonic guidance

Abstract

The invention provides a puncture method and system based on ultrasonic guidance, and relates to a data processing technology, and the method comprises the steps: constructing a part model corresponding to a puncture part, determining a partition scanning line of the part model, controlling ultrasonic equipment to carry out the segmented scanning of the puncture part based on the partition scanning line, and obtaining a segmented scanning graph; the method comprises the following steps: acquiring segmented scanning graphs, determining the segmented scanning graphs meeting puncture conditions as sub-adaptive graphs, splicing adjacent sub-adaptive graphs to obtain a spliced puncture graph, judging the blood vessel form of veins in the spliced puncture graph to obtain candidate puncture graphs, and selecting the candidate puncture graphs to obtain a puncture guide graph. The puncture point location of the puncture vein in the puncture guide map is determined based on the proximal direction, and accurate positioning during vein puncture can be achieved under ultrasonic guidance.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a puncture method and system based on ultrasound guidance. Background Art

[0002] With the development of science and technology, medical imaging technology is also advancing rapidly. Visual operation technology has begun to be applied to the puncture of difficult veins, and ultrasound-based venometers have gradually appeared on the market to facilitate vein puncture.

[0003] However, in the existing technology, ultrasound-guided puncture mainly relies on manual operation, requiring the physician to control the ultrasound probe and puncture needle at the same time, and match the image with the anatomical structure in real time. Due to the complex morphology of blood vessels, large individual differences, and the need to dynamically adjust the position of the probe and needle tip during the operation, even with the support of ultrasound guidance, accurate puncture still faces great challenges. Specifically, in the process of real-time adjustment of the probe angle and puncture path, any slight deviation may cause the needle tip to fail to accurately reach the target blood vessel, and even cause puncture failure or complications. For example, path deviation may cause the needle tip to mistakenly enter the surrounding tissue or nerves, causing adverse consequences such as pain, hematoma or nerve damage, while incorrect needle tip positioning may cause the puncture process to be repeated, increasing the patient's pain and infection risk.

[0004] Therefore, how to achieve accurate positioning during venipuncture under ultrasound guidance has become an urgent problem to be solved. Summary of the Invention

[0005] The embodiments of the present invention provide a puncture method and system based on ultrasound guidance, which can achieve precise positioning during venipuncture under ultrasound guidance.

[0006] A first aspect of the present invention provides a puncture method based on ultrasound guidance, comprising: Constructing a site model corresponding to the puncture site, determining a partition scanning line of the site model, and controlling the ultrasound device to perform segmented scanning on the puncture site based on the partition scanning line to obtain a segmented scanning image; Determining the segmented scan images that meet the puncture condition as sub-adaptation images, and splicing adjacent sub-adaptation images to obtain a spliced ​​puncture image; The vascular morphology of the veins in the spliced ​​puncture map is judged to obtain candidate puncture maps, the candidate puncture maps are selected to obtain a puncture guide map, and the puncture point of the puncture vein in the puncture guide map is determined based on the proximal direction.

[0007] Optionally, in a possible implementation of the first aspect, determining a partitioned scan line of the part model, and controlling an ultrasound device to perform a segmented scan of the puncture part based on the partitioned scan line to obtain a segmented scan image includes: Determine the central axis of the part model, and construct partition vertical lines perpendicular to the central axis based on preset intervals; intercepting the partition vertical line according to the edge contour line of the part model to obtain a partition scanning line; The shortest partition scan line is selected as a reference scan line, and a dividing line parallel to the central axis is continuously constructed based on the scanning distance of the ultrasound device to divide the reference scan line, starting from one end point of the reference scan line, until the remaining distance of the reference scan line is less than or equal to the scanning distance, thereby obtaining multiple dividing lines; Dividing the partition scan line according to the dividing line to obtain a plurality of sub-scan lines; The ultrasonic device is controlled to perform segmented scanning on the puncture site at the sub-scanning line based on a preset scanning group to obtain a segmented scanning image corresponding to each sub-scanning line, wherein the preset scanning group includes a preset height, a preset direction and a preset angle.

[0008] Optionally, in a possible implementation of the first aspect, determining the segmented scan image that meets the puncture condition as a sub-adaptation image, and splicing adjacent sub-adaptation images to obtain a spliced ​​puncture image includes: When it is determined that the vein diameter of the scanned vein in the segmented scan image is greater than the puncture diameter threshold, the corresponding scanned vein is used as the adapted vein, and the segmented scan image where the adapted vein is located is determined as the sub-adapted image; The upper and lower adjacent sub-adaptation graphs are spliced ​​together to obtain a spliced ​​puncture graph.

[0009] Optionally, in a possible implementation of the first aspect, performing vascular morphology judgment on the veins in the spliced ​​puncture image to obtain candidate puncture images, selecting the candidate puncture images to obtain a puncture guidance image, and determining the puncture point of the puncture vein in the puncture guidance image based on the proximal direction includes: Performing a vascular length determination on the adapted veins in the spliced ​​puncture map to obtain a primary screening puncture map, and performing a vascular continuity determination on the adapted veins in the primary screening puncture map to obtain a candidate puncture map; Obtaining the vein depth and vein diameter of the adapted vein in the candidate puncture map, and selecting the candidate puncture map based on the vein depth and vein diameter to obtain a puncture guide map; The retention length of the retention device is determined, and the qualified veins in the puncture guide map are divided based on the retention length and the proximal direction to obtain puncture veins and retention veins, and the puncture point is determined at the puncture veins.

[0010] Optionally, in a possible implementation of the first aspect, determining the vessel length of the veins in the spliced ​​puncture map to obtain a primary screening puncture map, and determining the vessel continuity of the adapted veins in the primary screening puncture map to obtain a candidate puncture map include: Obtaining the number of splicing sub-adaptation maps in the spliced ​​puncture map, and when determining that the splicing number is greater than or equal to a preset splicing number, using the corresponding spliced ​​puncture map as a primary screening puncture map; Determine the common edges of the spliced ​​sub-adaptation graphs in the primary screening puncture graph and the vein pixels corresponding to the adaptation veins as adaptation pixels; Counting the adjacent adapted pixel points in the primary screening puncture image to obtain a plurality of adapted pixel point sets, and identifying each of the adapted pixel point sets to obtain a spliced ​​vein corresponding to the adapted pixel point set; When there is a spliced ​​vein passing through all common edges, the corresponding spliced ​​vein is regarded as a qualified vein, and the corresponding primary screening puncture diagram is regarded as a candidate puncture diagram.

[0011] Optionally, in a possible implementation of the first aspect, the selecting the candidate puncture images according to the vein depth and vein diameter to obtain the puncture guidance image includes: Sort the candidate puncture images in ascending order based on vein depth to obtain a depth sequence, and number the candidate puncture images in the depth sequence to obtain a depth number of each candidate puncture image; Sort the candidate puncture images in descending order according to vein diameter to obtain a diameter sequence, and number the candidate puncture images in the diameter sequence to obtain a diameter number of each candidate puncture image; A screening number is obtained based on the sum of the depth number and the diameter number of each candidate puncture image, and the candidate puncture image with the smallest screening number is selected as the puncture guide image.

[0012] Optionally, in a possible implementation of the first aspect, dividing the qualified veins in the puncture guide map based on the indwelling length and the proximal direction to obtain puncture veins and indwelling veins, and determining the puncture point at the puncture veins includes: Obtaining a puncture length based on a difference between a vein length of a qualified vein in the puncture guide map and the indwelling length; Determining the endpoints of the qualified vein as the starting endpoint and the ending endpoint in sequence based on the proximal direction, and determining the position point on the qualified vein at the puncture length from the starting endpoint as the first dividing point; Determine the vein segment between the starting endpoint and the first dividing point on the qualified vein as the puncture vein, and determine the vein segment between the first dividing point and the ending endpoint as the indwelling vein; Obtaining the vein depth corresponding to the qualified vein; if the vein depth is less than a depth threshold, determining that the qualified vein is a superficial vein; and determining a puncture point at the superficial vein; If the vein depth is greater than or equal to a depth threshold, the qualified vein is determined to be a deep vein, and a puncture point is determined at the puncture vein of the deep vein.

[0013] Optionally, in a possible implementation of the first aspect, if the vein depth is less than a depth threshold, determining that the qualified vein is a superficial vein, and determining a puncture point at the puncture vein of the superficial vein include: If the vein depth is less than the depth threshold, determining that the qualified vein is a superficial vein; Any point at the puncture vein in the superficial vein is selected as the puncture point.

[0014] Optionally, in a possible implementation of the first aspect, if the vein depth is greater than or equal to a depth threshold, determining that the qualified vein is a deep vein, and determining a puncture point at the puncture vein of the deep vein include: If the vein depth is greater than or equal to a depth threshold, determining that the qualified vein is a deep vein; Determine that there is no vascular soft tissue blocking the puncture vein of the deep vein, and use the point with the largest diameter on the puncture vein of the deep vein as the puncture point; Determining that there is a puncture vein of the deep vein blocked by the vascular soft tissue, and defining the vein segment within the blocking range of the vascular soft tissue as the blocking vein; The obstructing vein located on the puncture vein is eliminated to obtain the remaining vein, and the point with the largest diameter on the remaining vein is determined as the puncture point.

[0015] A second aspect of the present invention provides an ultrasound-guided puncture system, comprising: a construction module, configured to construct a site model corresponding to the puncture site, determine a partition scanning line of the site model, and control the ultrasound device to perform segmented scanning of the puncture site based on the partition scanning line to obtain a segmented scanning image; a splicing module, configured to determine the segmented scan images that meet the puncture conditions as sub-adaptation images, and splice adjacent sub-adaptation images to obtain a spliced ​​puncture image; The determination module is used to determine the vascular morphology of the veins in the spliced ​​puncture map to obtain candidate puncture maps, select the candidate puncture maps to obtain a puncture guide map, and determine the puncture point of the puncture vein in the puncture guide map based on the proximal direction.

[0016] According to a third aspect of the present invention, an electronic device is provided, comprising: a memory, a processor, and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the first aspect of the present invention and various methods that may be involved in the first aspect.

[0017] The beneficial effects of the present invention are as follows: 1. The present invention can achieve comprehensive coverage of the puncture site by constructing a site model corresponding to the puncture site and performing segmented scanning of the puncture site based on the partitioned scanning lines, thereby avoiding the problems of missed scans or repeated scanning that may occur in traditional ultrasonic scanning. Specifically, the central axis can be determined, the partitioned vertical lines can be constructed, and the partitioned scanning lines can be intercepted according to the edge contour lines to ensure that the scanning area accurately fits the shape of the actual puncture site. The shortest partitioned scanning line can be selected as the reference scanning line, and the dividing line can be constructed based on the scanning distance of the ultrasonic device, which is further refined into multiple sub-scanning lines. The ultrasonic device is controlled to perform segmented scanning according to a preset scanning group (including a preset height, preset direction, and preset angle), thereby ensuring the comprehensiveness and standardization of vascular detection and providing an accurate imaging basis for subsequent puncture operations.

[0018] 2. By screening and splicing the acquired segmented scan images, the present invention can effectively reduce interference from irrelevant information, improve processing efficiency and the accuracy of puncture point judgment. Sub-adaptive images are screened according to puncture conditions (such as the vein diameter being greater than the puncture diameter threshold), and then adjacent sub-adaptive images are spliced ​​to obtain a spliced ​​puncture image. In this process, images that are useless for puncture operation guidance, such as those with thin or discontinuous blood vessels, can be excluded, reducing the amount of data processing. At the same time, it can ensure that the spliced ​​image can continuously and accurately present tissue information such as blood vessels, providing a clear and accurate image basis for subsequent vascular morphology judgment.

[0019] 3. The present invention can judge the vascular morphology of the veins in the spliced ​​puncture map, comprehensively consider factors such as vein length, depth, and diameter, select the best puncture guidance map from the candidate puncture maps, and determine the puncture point based on the proximal direction, which can effectively improve the success rate and safety of the puncture.

[0020] 4. When determining the puncture point, the present invention can determine the puncture point according to the depth of the qualified vein and the situation, and adopt different positioning strategies for superficial veins and deep veins, which can improve the adaptability and accuracy of the puncture operation. For superficial veins, any point can be selected on the puncture vein as the puncture point. For deep veins, if there is no vascular soft tissue blocking the puncture vein, the point with the largest diameter on the puncture vein is used as the puncture point. If there is vascular soft tissue blocking, the blocking vein is removed and the point with the largest diameter on the remaining vein is determined as the puncture point. This method of scientifically determining the puncture point based on the depth of the vein and the blocking of the vascular soft tissue not only conforms to the natural flow direction of the blood, but also reduces the risk of blood backflow, etc., can improve the success rate and safety of the puncture, and reduce the risk of various complications caused by improper selection of puncture points. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flow chart of an ultrasound-guided puncture method provided by the present invention; Figure 2 A schematic diagram of the present invention for dividing qualified veins into puncture veins and indwelling veins; Figure 3 This is a schematic structural diagram of an ultrasound-guided puncture system provided by the present invention; Figure 4 A schematic diagram of the hardware structure of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, 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. 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 ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0023] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0024] See also Figure 1 , is a flow chart of a puncture method based on ultrasound guidance provided by an embodiment of the present invention, Figure 1The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, the user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDAs) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S3, as follows: S1, constructing a site model corresponding to the puncture site, determining a partition scanning line of the site model, and controlling the ultrasound device to perform segmented scanning on the puncture site based on the partition scanning line to obtain a segmented scanning image.

[0025] Among them, the puncture site refers to the site where the patient needs to undergo intravenous puncture. For example, when the patient needs to undergo intravenous puncture on the left upper limb, the corresponding puncture site can be the left upper limb. The site model refers to the model corresponding to the puncture site. For example, when the patient's puncture site is the left upper limb, the corresponding site model can be the left upper limb model. The partition scan line refers to the multiple dividing lines when dividing the site model into regions. The ultrasound equipment refers to the detection equipment used for ultrasonic detection of the puncture site, for example, it can be an ultrasound detection head. The segmented scan image refers to the ultrasound image corresponding to each region.

[0026] Ultrasound-guided venipuncture is widely used in clinical practice, especially for puncturing difficult veins (such as deep veins, small veins, or veins in obese patients). Traditional venipuncture relies on the operator's practical experience, has a high failure rate, and is prone to complications. Advances in medical imaging technology have enabled ultrasound devices to provide real-time vascular visualization, significantly improving puncture success rates. However, due to the complex vascular morphology, large individual differences, and the need to dynamically adjust the probe and needle tip position during the procedure, accurate puncture remains a significant challenge. This solution uses a corresponding site model to divide the puncture site into regions. This allows the ultrasound detection device to acquire ultrasound images corresponding to each region, thus avoiding problems such as missed scans and duplicate scans during ultrasound scanning of the puncture site, ensuring comprehensive and standardized vascular detection. Furthermore, after acquiring ultrasound images corresponding to each region, this solution can stitch the corresponding ultrasound images together, taking into account the continuity of the vascular structure, and make appropriate judgments on the vascular morphology in the stitched images to ensure that the final puncture site is the optimal puncture location.

[0027] Specifically, when a patient needs to undergo a puncture operation, a corresponding part model can be constructed based on the actual part where the patient needs to undergo venous puncture. The large size of the constructed part model is the same as the actual puncture part of the patient. For example, if the patient needs to undergo venous puncture on the left upper limb, a left upper limb model is constructed. This part model is a digital representation of the puncture part and provides a basic framework for subsequent partition scanning. It can simulate the general shape and structure of the puncture part, making the scanning operation more targeted and systematic. After the part model is constructed, the model can be divided into regions to determine multiple partition scanning lines. The partition scanning lines can be The puncture site is reasonably divided into multiple areas to ensure that subsequent scans can cover all areas where blood vessels may exist at the puncture site to avoid omissions. The ultrasound equipment (such as the ultrasound probe) is controlled to perform segmented scans of the puncture site according to the determined partition scanning lines. The ultrasound equipment performs ultrasound detection on each area in turn according to the partition, and converts the detected tissue and blood vessel information into images to obtain segmented scan images corresponding to each area. Each segmented scan image reflects the ultrasound image of a specific area of ​​the puncture site. These images together constitute a comprehensive ultrasound information record of the puncture site, providing a rich data basis for subsequent analysis.

[0028] In some embodiments, the step S1 of "determining the partitioned scan lines of the part model, and controlling the ultrasound device to perform segmented scanning on the puncture part based on the partitioned scan lines to obtain a segmented scan image" includes the following steps: S11, determining a central axis of the part model, and constructing partition vertical lines perpendicular to the central axis based on a preset interval distance.

[0029] Specifically, in the constructed part model, its corresponding central axis can be determined. The central axis is a key line that runs through the center of the model and can reflect the overall direction of the part. Taking the left upper limb part model as an example, its shape is similar to a cylinder. The central axis can be set as a straight line extending along the longitudinal center of the limb. After determining the central axis, a series of partition vertical lines perpendicular to the central axis can be constructed based on the preset interval distance. The partition vertical lines can evenly divide the puncture site into multiple parts along the central axis, laying the foundation for subsequent more detailed area division and scanning path planning. Each partition vertical line intersects with the central axis at right angles to ensure uniform division of the puncture site in the horizontal direction.

[0030] Among them, the central axis refers to the baseline that runs through the geometric center of the part model and reflects its overall direction. The preset interval distance refers to the pre-defined fixed distance between two adjacent partition vertical lines. The partition vertical line refers to the cutting line that intersects perpendicularly with the central axis and is arranged at a preset interval distance.

[0031] S12, intercepting the partition vertical line according to the edge contour line of the part model to obtain a partition scan line.

[0032] Since the part model has an irregular edge contour, the length of the constructed partition vertical line may exceed the actual part range. Therefore, the partition vertical line needs to be intercepted according to the edge contour line of the part model. The specific operation is to intercept the vertical line from the intersection of the partition vertical line and the edge contour line of the part model, and retain the line segment part located inside the part model. These intercepted line segments are the partition scanning lines. Through this step, the partition scanning lines are accurately fitted to the actual shape of the puncture site, ensuring that subsequent scans can cover the real tissue and blood vessel areas, avoiding invalid scanning and scanning blind spots.

[0033] Among them, the edge contour line refers to the outer boundary line of the part model, which is formed by connecting all visible edge points on the model surface. The partition scan line refers to the partial partition vertical line located between the edge contour lines of the part model after being truncated by the edge contour line.

[0034] S13, select the shortest partition scan line as the baseline scan line, take one end point of the baseline scan line as the starting point, and continuously construct dividing lines parallel to the central axis based on the scanning distance of the ultrasound equipment to divide the baseline scan line until the remaining distance of the baseline scan line is less than or equal to the scanning distance, thereby obtaining multiple dividing lines.

[0035] Among all the partition scan lines, the shortest one is selected as the reference scan line. The shortest scan line is selected as the reference because it can represent a relatively narrow area at the puncture site. Division based on this is more universal and representative, and can adapt to the scanning requirements of different widths and narrow areas at the puncture site. Taking one side endpoint of the reference scan line (such as the left endpoint) as the starting point, according to the scanning distance of the ultrasound device (that is, the straight-line distance that the ultrasound probe can cover in one scan), a division line is constructed along the direction parallel to the central axis until the remaining length of the reference scan line is less than or equal to the scanning distance of the ultrasound device. In this way, the reference scan line is divided into several segments, and multiple division lines can be obtained. These division lines provide a basis for the subsequent division of the partition scan lines.

[0036] Among them, the reference scanning line refers to the shortest partition scanning line, the scanning distance refers to the length corresponding to the coverage range of the ultrasonic equipment during a single scan, the dividing line refers to the line parallel to the central axis that can divide the reference scanning line, and the remaining distance refers to the length of the reference scanning line that is not covered by the dividing line and has not yet met the single scanning coverage range (that is, less than or equal to the scanning distance) after the dividing line is constructed multiple times based on the scanning distance of the ultrasonic equipment during the process of dividing the reference scanning line.

[0037] S14, dividing the partition scan line according to the dividing line to obtain a plurality of sub-scan lines.

[0038] Specifically, based on the obtained dividing lines, each partitioned scan line is divided according to the same length ratio and direction. Because the dividing lines are generated based on the reference scan line and have a unified division standard, the consistency and rationality of the division of all partitioned scan lines can be guaranteed. Each small line segment obtained after the division is called a sub-scan line. These sub-scan lines further refine the scanning area, allowing the ultrasound device to perform precise scanning in smaller units, thereby improving the scanning detail and image quality. Among them, sub-scan lines are segmented lines obtained by cutting the partitioned scan line along the dividing line.

[0039] S15, controlling the ultrasonic device to perform segmented scanning on the puncture site at the sub-scanning line based on a preset scanning group to obtain a segmented scanning image corresponding to each sub-scanning line, wherein the preset scanning group includes a preset height, a preset direction, and a preset angle.

[0040] Specifically, the preset scanning group includes three key parameters: preset height, preset direction, and preset angle. The preset height refers to the vertical distance between the ultrasound probe and the skin surface of the puncture site, which affects the clarity and resolution of the ultrasound image. The preset direction is the direction of the ultrasound probe during scanning, ensuring that the scan can be carried out along the predetermined path. The preset angle determines the angle between the ultrasound probe and the surface of the puncture site. Different angles can obtain blood vessel and tissue information at different levels. The settings of these parameters are optimized and adjusted based on clinical experience and the performance characteristics of the ultrasound equipment to obtain the best scan image. The ultrasound equipment is controlled according to the parameter requirements of the preset scanning group to scan the puncture site area corresponding to each sub-scan line in turn. Segmented scan images corresponding to each sub-scan line can be obtained. Each segmented scan image records the ultrasound image information of a specific sub-area of ​​the puncture site in detail. All segmented scan images together constitute complete and detailed ultrasound image data of the puncture site, providing rich and accurate information for subsequent image screening and puncture point determination.

[0041] Among them, the preset scanning group refers to a set of pre-configured ultrasound scanning parameters, which includes three core dimensions: height, direction, and angle. The preset height refers to the vertical distance between the ultrasound probe's sound beam emission surface and the skin surface of the puncture site. The preset direction refers to the direction of the ultrasound probe during scanning. The preset angle refers to the angle between the ultrasound probe and the surface of the puncture site.

[0042] Through the above implementation, a comprehensive scan of the puncture site can be achieved, ensuring the comprehensiveness and standardization of blood vessel detection, thereby providing an accurate imaging basis for subsequent puncture operations.

[0043] S2, determining the segmented scanning images that meet the puncture condition as sub-adaptation images, and splicing adjacent sub-adaptation images to obtain a spliced ​​puncture image.

[0044] Among them, the puncture condition refers to the diameter of the vein being greater than a certain diameter threshold, the sub-adaptation image refers to the segmented scanning image that meets the puncture condition, and the spliced ​​puncture image refers to the image obtained by splicing the ultrasound images corresponding to multiple adjacent areas that meet the puncture condition.

[0045] After completing the segmented scan of the puncture site, the large number of segmented scan images obtained contain rich but complex information. Some of these images may have limited guiding value for the puncture operation due to reasons such as thin blood vessels and unclear display. If all images are processed directly, it will not only increase the computational burden, but may also affect the accuracy of the final puncture point judgment due to interference from irrelevant information. Therefore, the segmented scan images can be screened and integrated to extract information that is truly valuable for puncture.

[0046] Specifically, all acquired segmented scan images can be analyzed, and segmented scan images that meet the puncture conditions can be screened out according to pre-set puncture conditions and determined as sub-fitting images. The puncture conditions may include factors such as the diameter of the blood vessel. Only segmented scan images that meet the puncture conditions can be considered as images that are valuable for determining the puncture point. Other images that do not meet the conditions will be excluded, thereby reducing the amount of data for subsequent processing and improving processing efficiency. Adjacent sub-fitting images can then be spliced. Since the sub-fitting images are ultrasonic image records of areas adjacent to the puncture site, the images of these adjacent areas can be integrated together through image stitching technology to form a complete spliced ​​puncture image, ensuring that the spliced ​​image can continuously and accurately present tissue information such as blood vessels, providing a clear and complete image basis for subsequent vascular morphology judgment.

[0047] Based on the above embodiment, the specific implementation of step S2 may be: S21, when it is determined that the vein diameter of the scanned vein in the segmented scanned image is greater than the puncture diameter threshold, the corresponding scanned vein is used as the adapted vein, and the segmented scanned image where the adapted vein is located is determined as the sub-adapted image.

[0048] Specifically, a puncture diameter threshold can be pre-set based on clinical practice experience and the needs of different puncture scenarios. This threshold is a key indicator for judging whether a vein is suitable for puncture. It is usually determined based on the minimum vein diameter that can smoothly perform the puncture operation and ensure the effect of infusion or blood drawing. Each segmented scan image obtained is carefully analyzed, and image processing technology is used to identify the veins displayed in the image. For each identified vein, its diameter can be measured, and the measurement result is compared with the pre-set puncture diameter threshold. When the diameter of a vein is found to be greater than the threshold, the vein is marked as an adapted vein. At the same time, the segmented scan image containing this adapted vein is determined as a sub-adaptive image. Through this screening process, images with too thin blood vessels that are not suitable for puncture can be excluded, effectively reducing the amount of data for subsequent processing and improving processing efficiency.

[0049] Among them, scanning vein refers to the venous vessel structure identified by ultrasonic segmented scanning images, vein diameter refers to the corresponding diameter of the vein, puncture diameter threshold refers to the pre-set minimum value of vein diameter, which is used to determine whether the blood vessel is suitable for puncture operation, and adapted vein refers to the blood vessel whose vein diameter exceeds the puncture diameter threshold, which is a candidate target for puncture operation.

[0050] S22, splicing the upper and lower adjacent sub-adaptation graphs to obtain a spliced ​​puncture graph.

[0051] Specifically, among the screened sub-fitting images, which sub-fitting images are adjacent to each other are determined based on their positional relationship in the original segmented scanning process. This adjacent relationship is based on the layout of the partition scan lines and sub-scan lines, ensuring that the adjacent sub-fitting images correspond to continuous tissue areas anatomically. The upper and lower adjacent sub-fitting images are aligned, and the aligned sub-fitting images can be spliced ​​through image fusion technology to ensure that the blood vessel and tissue information in the spliced ​​image is continuous and natural. The final spliced ​​puncture image is a complete image containing a continuous vascular structure, which can provide a clear and accurate basis for subsequent vascular morphology judgment and puncture point determination.

[0052] Through the above implementation, it can be ensured that the spliced ​​image can continuously and accurately present tissue information such as blood vessels, thereby providing a clear and accurate image basis for subsequent vascular morphology judgment.

[0053] S3, performing vascular morphology judgment on the veins in the spliced ​​puncture image to obtain candidate puncture images, selecting the candidate puncture images to obtain a puncture guide image, and determining the puncture point of the puncture vein in the puncture guide image based on the proximal direction.

[0054] Among them, when judging the vascular morphology, the length and depth of the veins in the spliced ​​puncture map can be judged accordingly. The candidate puncture map refers to the spliced ​​puncture map in which there are veins with a length that meets the requirements and are continuous. The puncture guide map refers to the candidate puncture map corresponding to the vein with the smallest vein depth and the largest vein diameter. The proximal direction refers to the direction of blood flow toward the heart. The puncture vein refers to the vein selected as the puncture target in the spliced ​​puncture map. The puncture point refers to the specific puncture position determined on the puncture vein.

[0055] Perform a comprehensive vascular morphology judgment on the veins in the spliced ​​puncture map, accurately judge the length and depth of the veins, and screen out the spliced ​​puncture maps with continuous veins that meet certain standards based on the judgment results. These candidate puncture maps contain areas that may be suitable for venous puncture. Perform in-depth analysis and comprehensive comparison on the candidate puncture maps, considering multiple dimensions such as vascular depth and vascular diameter. Among them, focus on selecting the candidate puncture map corresponding to the vein with the smallest vein depth and the largest vein diameter, and determine it as the puncture guide map. This puncture guide map may contain the vascular information that is most conducive to successful puncture, which can provide guidance for puncture. The process provides the clearest and most accurate operation guidance to ensure that the puncture operation is both safe and efficient. According to the proximal direction (i.e., towards the heart), the puncture point of the puncture vein is accurately determined in the puncture guide map. The proximal direction is selected to determine the puncture point because it can conform to the natural flow of blood, ensuring that the blood can flow smoothly into the blood vessels after puncture, effectively reducing the risks of blood backflow and thrombosis. During the specific operation, the specific shape and position of the blood vessels in the puncture guide map are combined to accurately mark the best puncture point, providing a clear target for the venous puncture operation, thereby significantly improving the success rate and safety of the puncture, and reducing the risk of various complications caused by improper puncture point selection.

[0056] Based on the above embodiment, the specific implementation of step S3 may be: S31, determining the vessel length of the adapted vein in the spliced ​​puncture map to obtain a primary screening puncture map, and determining the vessel continuity of the adapted vein in the primary screening puncture map to obtain a candidate puncture map.

[0057] Specifically, the length of the adapted vein (the vein whose diameter meets the threshold) in the spliced ​​puncture image is judged, and the spliced ​​puncture images with the required length are screened out and determined as the initial screening puncture images. This step can exclude veins that are too short and avoid puncture failure or difficulty in retention due to insufficient blood vessel length. In the initial screening puncture image, the continuity of the adapted vein is further evaluated. Since the ultrasound image may be interfered by vascular branches, the continuity of the vein in the image can be confirmed through morphological analysis. During the specific operation, the vein is detected for interruption, and the image corresponding to the vein with good continuity is retained as the candidate puncture image, thereby ensuring that the subsequently selected vascular path is smooth and reducing the risk of the puncture catheter getting stuck during the puncture process.

[0058] Among them, the initial screening puncture diagram refers to the spliced ​​puncture diagram corresponding to the adapted vein whose blood vessel length meets the requirements.

[0059] Based on the above embodiment, the specific implementation of step S31 may be: S311, obtaining the number of splicing sub-adaptation maps in the spliced ​​puncture map, and when it is determined that the number of splicing sub-adaptation maps is greater than or equal to a preset number of splicing sub-adaptation maps, using the corresponding spliced ​​puncture map as a primary screening puncture map.

[0060] Specifically, in the obtained spliced ​​puncture image, the number of splices of the sub-fitting images (segmented scanning images that meet the puncture conditions) can be counted, and the sub-fitting images that constitute the spliced ​​puncture image can be identified and counted. The preset number of splices is a threshold set based on clinical experience and research on the vascular distribution characteristics of the puncture site. For example, for a more complex puncture site, the preset number of splices may be set to 5, which means that only when the spliced ​​puncture image contains 5 or more sub-fitting images can it contain sufficiently long and complete vascular information. The obtained number of splices is compared with the preset number of splices. When the number of splices is greater than or equal to the preset number of splices, it means that the spliced ​​puncture image contains relatively rich vascular information, and there may be an adapted vein with a length that meets the requirements. It can be used as a preliminary screening puncture image. This step performs a preliminary screening of the spliced ​​puncture image as a whole, excluding those images with too few factor adaptation images and a high probability of not containing suitable blood vessels, thereby reducing the amount of data for subsequent processing.

[0061] The number of stitching refers to the number of sub-fitting images, and the preset number of stitching refers to a pre-set threshold value of the number of sub-fitting images, which can be used to determine whether the stitched puncture image contains sufficient blood vessel information.

[0062] S312, determining the common edges of the spliced ​​sub-adaptation graphs in the primary screening puncture graph and the vein pixels corresponding to the adaptation veins as adaptation pixels.

[0063] In the initial screening puncture image, the boundaries formed when stitching together the sub-adaptation maps can be analyzed. Since the sub-adaptation maps record ultrasound images of adjacent areas at the puncture site, there will be overlapping boundaries during stitching. These overlapping boundaries are called common edges. In the initial screening puncture image, the pixels corresponding to the adapted veins (veins with a diameter that meets the threshold) can be extracted and marked as adapted pixels. Common edges refer to the overlapping edges formed when stitching together adjacent sub-adaptation maps, and adapted pixels refer to the pixels corresponding to the adapted veins in the initial screening puncture image.

[0064] S313: Count the adjacent adapted pixel points in the primary screening puncture image to obtain a plurality of adapted pixel point sets, and identify each of the adapted pixel point sets to obtain a spliced ​​vein corresponding to the adapted pixel point set.

[0065] In the primary screening biopsy image, the adapted pixels are analyzed and adjacent adapted pixels are grouped to obtain multiple adapted pixel sets. Adjacent pixels are determined based on their spatial positional relationship within the image. For example, in a two-dimensional image, pixels that are adjacent in the vertical, horizontal, and vertical directions are considered adjacent. By traversing all adapted pixels and classifying them according to their adjacency, multiple different adapted pixel sets can be formed. Each adapted pixel set is analyzed and identified. If the pixels in a set can form an uninterrupted path through a series of adjacent connections, then the set is considered to correspond to a spliced ​​vein segment. Spliced ​​veins refer to continuous vascular segments in the primary screening biopsy image identified through analysis and identification of adapted pixel sets. These spliced ​​veins may be part of a complete vessel or a segment of a vessel formed by splicing different sub-adapted images. Accurately identifying spliced ​​veins clearly presents the morphology and direction of the vessel in the image. Spliced ​​veins refer to continuous vascular segments in the primary screening biopsy image identified through analysis and identification of adapted pixel sets.

[0066] S314: When there is a spliced ​​vein passing through all common edges, the corresponding spliced ​​vein is regarded as a qualified vein, and the corresponding primary screening puncture diagram is regarded as a candidate puncture diagram.

[0067] Specifically, it is possible to check whether each spliced ​​vein passes through all common edges. If a spliced ​​vein can pass through the common edges of all sub-adaptation graphs in the initial screening puncture graph, it means that the vein is continuous in the entire spliced ​​area without any interruption, and it can be regarded as a qualified vein. This judgment process can ensure that the screened blood vessels have good continuity within the image range and meet the requirements of the puncture operation for blood vessel integrity. When a spliced ​​vein (i.e., a qualified vein) that passes through all common edges is found in the initial screening puncture graph, it means that the initial screening puncture graph contains a blood vessel with a length that meets the requirements and good continuity, and it can be determined as a candidate puncture graph. The candidate puncture graph can enter the subsequent evaluation link for further screening of the best puncture guide graph, providing a reliable image basis for the puncture operation.

[0068] Among them, qualified veins refer to splicing veins that pass through all common edges.

[0069] S32, obtaining the vein depth and vein diameter of the adapted vein in the candidate puncture map, and selecting the candidate puncture map based on the vein depth and vein diameter to obtain a puncture guide map.

[0070] Specifically, for each suitable vein in the candidate puncture map, the vertical depth of the suitable vein from the skin surface, i.e., the vein depth, can be calculated with the help of the echo time information of the ultrasound image, and the vein diameter corresponding to the suitable vein in the candidate puncture map can be measured. Veins with smaller depths are given priority to reduce tissue damage in the puncture path, while veins with larger diameters are preferred to improve the puncture success rate and reduce the risk of thrombosis. Therefore, the candidate puncture map with the smallest vein depth and the largest vein diameter can be used as a puncture guide map.

[0071] Among them, vein depth refers to the vertical distance from the center of the adapted vein to the skin surface, and vein diameter refers to the corresponding diameter of the adapted vein.

[0072] In some embodiments, the step S32 of "selecting the candidate puncture images based on the vein depth and vein diameter to obtain a puncture guide image" includes the following steps: S321 , sorting the candidate puncture images in ascending order based on the vein depth to obtain a depth sequence, and numbering the candidate puncture images in the depth sequence to obtain a depth number of each candidate puncture image.

[0073] Specifically, for each matching vein in the candidate puncture map, its depth can be calculated using echo time information from the ultrasound image. Ultrasound waves emitted by the ultrasound device are reflected by different tissues. Based on the return echo time and the known and relatively stable propagation speed of ultrasound in human tissue, the vertical distance from the center of the vein to the skin surface, i.e., the vein depth, can be accurately calculated. All candidate puncture maps are sorted in ascending order by the depth of their matching veins, from smallest to largest. This intuitively places candidate puncture maps with shallower depths at the top of the sequence, as shallower veins are more accessible, minimizing damage to tissues such as muscle and fascia, and reducing puncture difficulty and risk. The candidate puncture maps in the sorted depth sequence are numbered sequentially, starting with 1, with the candidate with the smallest depth receiving 1, the next smallest receiving 2, and so on. This numbering (depth number) represents the relative merits of each candidate puncture map in terms of vein depth.

[0074] The depth sequence refers to a sequence obtained by arranging each candidate puncture image in ascending order according to the vein depth, and the depth number refers to the number corresponding to each candidate puncture image in the depth sequence.

[0075] S322 , sorting the candidate puncture images in descending order according to vein diameters to obtain a diameter sequence, and numbering the candidate puncture images in the diameter sequence to obtain a diameter number of each candidate puncture image.

[0076] Specifically, all candidate puncture diagrams are arranged in descending order according to the diameter of the adapted vein, that is, the vein diameter, that is, arranged from the largest vein diameter to the smallest vein diameter. This is because veins with larger vein diameters are more convenient for the insertion of puncture needles or catheters, which can improve the success rate of puncture. At the same time, larger diameters also help reduce the risk of thrombosis. Therefore, veins with larger diameters are given priority. The candidate puncture diagrams in the sorted diameter sequence are numbered in sequence, starting from 1. The candidate puncture diagram with the largest diameter is numbered 1, the second largest diameter is numbered 2, and so on. This number (diameter number) can reflect the relative order of merit of each candidate puncture diagram in the vein diameter dimension.

[0077] The diameter sequence refers to a sequence obtained by arranging each candidate puncture image in descending order according to the vein diameter, and the diameter number refers to a number corresponding to each candidate puncture image in the diameter sequence.

[0078] S323: Obtain a screening number based on the sum of the depth number and the diameter number of each candidate puncture image, and select the candidate puncture image with the smallest screening number as the puncture guide image.

[0079] Specifically, for each candidate puncture image, its depth number and diameter number are added together to obtain a comprehensive screening number. This screening number comprehensively considers the two key factors of vein depth and vein diameter. The smaller the value, the better the comprehensive performance of the candidate puncture image in the two dimensions of depth and diameter. For example, if the depth number of a candidate puncture image is 3 and the diameter number is 2, then its screening number is 5. Among the screening numbers of all candidate puncture images, the candidate puncture image with the smallest value is selected as the puncture guide image. The vein corresponding to this puncture guide image achieves the best balance in depth and diameter, which can not only reduce tissue damage along the puncture path, but also improve the success rate and safety of the puncture operation, and can provide the most ideal image guidance for actual venous puncture operations.

[0080] The screening number refers to the sum of the depth number and the diameter number corresponding to the candidate puncture image.

[0081] Through the above implementation, tissue damage along the puncture path can be reduced, while the success rate and safety of the puncture operation can be improved, thereby providing the most ideal image guidance for actual venipuncture operations.

[0082] S33, determining the retention length of the retention device, dividing the qualified veins in the puncture guide map based on the retention length and the proximal direction to obtain puncture veins and retention veins, and determining the puncture point at the puncture veins.

[0083] Specifically, the required indwelling length can be determined based on the type of indwelling device to be used (such as ordinary intravenous catheters, central venous catheters) in combination with clinical guidelines. For example, peripheral intravenous catheters usually need to be indwelled for 3-5 cm, and central venous catheters need to be indwelled for 10-15 cm. Ensure that the catheter can be firmly placed in the blood vessel without affecting blood circulation. In the puncture guide diagram, the proximal direction of the qualified vein is clearly defined, that is, the direction of blood flow toward the heart. This direction is determined based on the physiological characteristics of human blood vessels to ensure that the puncture and indwelling operations conform to blood flow and reduce the risk of blood backflow and thrombosis. For example, in arm vein puncture, the proximal direction is usually from the wrist to the shoulder, with the indwelling length as the benchmark. Start measuring from the distal end of the qualified vein (the end away from the heart), and divide the vein into two sections at the position that meets the indwelling length. The vein segment close to the distal end is determined as the "puncture vein", which is the path for the puncture needle to enter the blood vessel from the skin. The vein segment closer to the proximal end is determined as the "indwelling vein" to accommodate the indwelling device. During the division process, it is necessary to ensure that the length of the indwelling vein is sufficient to accommodate the indwelling device and leave a certain safety margin. At the same time, ensure that the path of the puncture vein is clear, without obvious bends or narrowing, to facilitate the puncture operation. After analyzing the puncture vein segment, you can give priority to the part with relatively thick blood vessel diameter as the puncture candidate point to improve the puncture success rate and reduce complications.

[0084] Among them, the indwelling device refers to a medical device implanted in the human blood vessels and retained for a long time, used in scenarios such as continuous intravenous infusion and hemodialysis. The retention length refers to the length of the part of the indwelling device retained in the blood vessel. The proximal direction refers to the direction in which venous blood flows back to the heart, which is the reference direction of the implantation path of the indwelling device. The puncture vein refers to the venous segment that can be punctured when the puncture needle enters the blood vessel from the skin. The indwelling vein refers to the blood vessel segment that accommodates the indwelling device.

[0085] In some embodiments, step S33 of "dividing the qualified veins in the puncture guide map based on the indwelling length and the proximal direction to obtain puncture veins and indwelling veins, and determining the puncture point at the puncture veins" includes the following steps: S331: Obtain a puncture length based on the difference between the vein length of the qualified vein in the puncture guide map and the indwelling length.

[0086] Specifically, the length of a qualified vein, i.e., the vein length, can be obtained from the puncture guide map. The puncture length can be calculated based on the difference between the vein length and the indwelling length of the indwelling device. The vein length refers to the length of a qualified vein, and the puncture length refers to the length of the punctured vein.

[0087] S332: Determine the endpoints of the qualified vein as a starting endpoint and an ending endpoint in sequence based on the proximal direction, and determine a position point on the qualified vein at a puncture length from the starting endpoint as a first dividing point.

[0088] Specifically, along the proximal direction, the two endpoints of the qualified vein can be determined as the starting endpoint and the ending endpoint respectively, that is, the end away from the heart is set as the starting endpoint, and the end close to the heart is set as the ending endpoint, so as to determine the direction reference of the vein. Starting from the starting endpoint, measure along the qualified vein toward the ending endpoint, and determine the first dividing point at a position equal to the puncture length from the starting endpoint. This point is the key mark to distinguish between the puncture vein and the indwelling vein. Its precise positioning ensures the accuracy of the subsequent vein segment division. For example, if the puncture length is calculated to be 2 cm, then the point 2 cm measured from the starting endpoint along the vein direction is marked as the first dividing point.

[0089] Among them, the starting endpoint refers to the endpoint of the vein on the qualified vein, far away from the heart, the ending endpoint refers to the endpoint of the vein on the qualified vein, close to the heart, and the first dividing point refers to the location point where the qualified vein is divided into puncture vein and indwelling vein.

[0090] S333: Determine the vein segment between the starting endpoint and the first dividing point on the qualified vein as the puncture vein, and determine the vein segment between the first dividing point and the ending endpoint as the indwelling vein.

[0091] Specifically, the starting endpoint and the first dividing point are used as boundaries, and the venous segment between the two is defined as a puncture vein. The venous segment between the first dividing point and the ending endpoint can be determined as an indwelling vein, which is used to accommodate an indwelling device.

[0092] See also Figure 2 , which is a schematic diagram of dividing qualified veins into puncture veins and indwelling veins provided by an embodiment of the present invention, such as Figure 2 As shown in , in the proximal direction, the lower endpoint on the qualified vein can be determined as the starting endpoint, the upper endpoint can be determined as the ending endpoint, and the position point equal to the puncture length from the starting endpoint can be determined as the first dividing point. The vein segment between the starting endpoint and the first dividing point is the puncture vein, and the vein segment between the first dividing point and the ending endpoint is the indwelling vein.

[0093] S334, obtaining the vein depth corresponding to the qualified vein. If the vein depth is less than a depth threshold, the qualified vein is determined to be a superficial vein, and a puncture point is determined at the puncture vein of the superficial vein.

[0094] Specifically, the vein depth corresponding to a qualified vein can be obtained and compared with a pre-set depth threshold. If the vein depth is less than the depth threshold, the qualified vein is determined to be a superficial vein, and the puncture point can be determined at the superficial vein puncture site. The depth threshold refers to a pre-set vein depth critical value used to distinguish between superficial veins and deep veins. A superficial vein refers to a qualified vein whose vein depth is less than the depth threshold.

[0095] In some embodiments, the step S334 of "if the vein depth is less than the depth threshold, determining that the qualified vein is a superficial vein, and determining the puncture point at the puncture vein of the superficial vein" includes the following steps: S3341: If the vein depth is less than the depth threshold, determine that the qualified vein is a superficial vein.

[0096] Specifically, if the vein depth of the qualified vein is less than the depth threshold, then the qualified vein can be determined to be a superficial vein.

[0097] S3342: Select any point on the puncture vein in the superficial vein as the puncture point.

[0098] Specifically, in the determined superficial vein, a point located at the puncture vein can be arbitrarily selected as the puncture point.

[0099] S335: If the vein depth is greater than or equal to the depth threshold, the qualified vein is determined to be a deep vein, and a puncture point is determined at the puncture vein of the deep vein.

[0100] Specifically, if the vein depth is greater than or equal to the depth threshold, the vein is determined to be a deep vein. Due to the deep location and complex surrounding tissue structure of the deep vein, the puncture operation is relatively difficult and risky, and it is necessary to determine the puncture point more carefully at the deep vein puncture vein.

[0101] In some embodiments, the specific implementation of step S335 may be: S3351: If the vein depth is greater than or equal to a depth threshold, determine that the qualified vein is a deep vein.

[0102] Specifically, if the vein depth of the qualified vein is greater than or equal to a depth threshold, then the qualified vein can be determined to be a deep vein.

[0103] S3352: Determine that there is no vascular soft tissue blocking the puncture vein of the deep vein, and use the point with the largest diameter on the puncture vein of the deep vein as the puncture point.

[0104] Specifically, it is possible to identify whether there is other vascular soft tissue above the deep vein puncture vein, such as other superficial veins, fascia, fat, and other tissues that block the vein. If it is determined that there is no vascular soft tissue blocking the deep vein puncture vein segment, then the point with the largest diameter on this vein segment can be found as the puncture point. Choosing a location with a large diameter for puncture can, on the one hand, facilitate the smooth entry of the puncture needle into the blood vessel and improve the success rate of puncture. On the other hand, a larger diameter can reduce the friction between the puncture needle and the blood vessel wall, reducing the risk of vascular damage and thrombosis. Among them, vascular soft tissue refers to anatomical structures that exist on the deep vein puncture path and may constitute a physical obstruction or interference with the puncture operation.

[0105] S3353: Determine that there is a puncture vein of the deep vein blocked by the vascular soft tissue, and define the vein segment within the blocking range of the vascular soft tissue as the blocking vein.

[0106] Specifically, when ultrasound images determine that a deep vein segment is obscured by soft tissue, the obstruction range is further determined, and the vein segment within the obstruction range is marked as an obscured vein. This segment of the vein is covered by soft tissue, making it difficult to directly observe and manipulate during puncture. Forced puncture may damage the obscured tissue or cause puncture failure, so the obscured vein needs to be removed in subsequent processing. An obscured vein refers to a vein segment within the obscuration range of soft tissue.

[0107] S3354: Eliminate the obstructing vein on the puncture vein to obtain the remaining vein, and determine the point with the largest diameter on the remaining vein as the puncture point.

[0108] In the punctured vein segment, the identified obstructed vein is removed from the overall segment to obtain the remaining vein segment. This operation is to eliminate the obstructed and unfavorable puncture area and focus on the operable vein area. In the remaining vein segment, the point with the largest diameter is found again by measuring the tube diameter and other methods as the puncture point. Similar to the unobstructed situation, the location with the largest diameter in the remaining vein segment is selected to ensure that the puncture needle has enough space to enter the blood vessel while avoiding obstructing tissue, thereby maximizing the safety and success rate of the puncture and ensuring a smooth puncture operation. The remaining vein refers to the part of the puncture vein that remains after removing the obstructed vein.

[0109] Through the above-mentioned implementation, the success rate and safety of the puncture operation can be improved.

[0110] In actual applications, when the user moves the needle tip on the arm, the needle tip can be displayed in real time in the part model, so as to determine the puncture point more accurately. The puncture point can also be located with the help of features such as moles and joint centers on the arm, and then the point can be mapped by infrared rays to facilitate puncture by medical staff.

[0111] In some other embodiments, the puncture point may be determined by the following steps: A1. If the qualified vein is a deep vein, the corresponding part model is determined as the first model.

[0112] If the qualified vein is a deep vein, the corresponding constructed part model can be determined as the first model. The first model refers to the corresponding constructed part model when the qualified vein is a deep vein.

[0113] A2, obtaining virtual feature points and virtual puncture points in the first model, and performing coordinate processing on the first model to determine the relative position relationship between the virtual feature points and the virtual puncture points.

[0114] Specifically, points with obvious features can be selected in the part model as virtual feature points, such as the center point of a joint, a mole on the arm, a wound, etc. These points are easy to identify at the actual puncture site and can be used as a reference for spatial positioning. In addition, on the first model, the optimal puncture point, i.e., the virtual puncture point, can be determined based on clinical needs and vascular conditions. After coordinate processing of the first model, the coordinates corresponding to the virtual feature point and the coordinates corresponding to the virtual puncture point can be obtained. Thus, by calculating the geometric relationship (such as angle and distance) between the virtual feature point and the virtual puncture point, a relative position relationship between the two can be established. The relative position relationship can serve as a key basis for subsequent actual puncture point positioning. Among them, the virtual feature point refers to a landmark point with obvious features selected in the three-dimensional anatomical model, the virtual puncture point refers to the optimal puncture position determined on the three-dimensional vein model, and the relative position relationship refers to the spatial geometric relationship between the virtual feature point and the virtual puncture point.

[0115] Based on the above embodiment, the relative position relationship between the virtual feature point and the virtual puncture point can be determined by the following steps: A21, calculates based on the coordinates of the virtual feature point and the coordinates of the virtual puncture point to obtain the direction vector and the positioning distance.

[0116] Specifically, based on the coordinates of the virtual feature point and the coordinates of the virtual puncture point, a direction vector pointing from the virtual feature point to the virtual puncture point is obtained by a vector calculation method. For example, when the coordinates corresponding to the virtual feature point are (x1, y1) and the coordinates corresponding to the virtual puncture point are (x2, y2), the corresponding direction vector can be expressed as (x2-x1, y2-y1). This direction vector describes the direction information from the virtual feature point to the virtual puncture point. The direction vector has clear direction and length information. It describes the directional relationship of the virtual puncture point relative to the virtual feature point, and the coordinate information can be used to calculate the positioning distance between the virtual feature point and the virtual puncture point through a distance formula (such as a distance formula in three-dimensional space). Among them, the direction vector refers to a mathematical quantity that describes the spatial orientation of the virtual positioning line, including angle and modulus information.

[0117] A22: Determine a positioning angle corresponding to the virtual puncture point according to the direction vector.

[0118] Specifically, based on the obtained direction vector, the positioning angle corresponding to the virtual puncture point can be determined. The positioning angle can describe the directional deviation of the virtual puncture point relative to the virtual feature point. By calculating the angle between the direction vector and a specific coordinate axis (such as the X-axis or Y-axis), the positioning angle of the virtual puncture point can be obtained. Similarly, based on the direction vector, the positioning distance between the virtual puncture point and the virtual feature point can be determined. The positioning distance represents the distance between the virtual puncture point and the virtual feature point. The positioning distance can be determined by calculating the modulus of the direction vector (i.e., the length of the vector). Among them, the positioning angle refers to the angle between the direction vector of the virtual puncture point relative to the virtual feature point and a specific coordinate axis (such as the X-axis or Y-axis), and the positioning distance refers to the distance between the virtual puncture point and the virtual feature point.

[0119] A23: Obtain a relative positional relationship between the virtual puncture point and the virtual feature point according to the positioning angle and the positioning distance.

[0120] According to the determined positioning angle and positioning distance, the relative position relationship between the virtual puncture point and the virtual feature point can be obtained. In the actual puncture operation, the position of the puncture point can be accurately determined based on the relative position relationship and the actual part feature point corresponding to the virtual feature point found on the patient's body surface. For example, after the actual part feature point corresponding to the virtual feature point is found on the patient's body surface, the specific position of the puncture point relative to the actual part feature point can be determined based on the positioning angle and positioning distance in the relative position relationship, thereby achieving precise positioning from the virtual model to the actual puncture site.

[0121] A3, obtaining a part feature point on the first part corresponding to the virtual feature point, and determining a point on the first part corresponding to the virtual puncture point as the puncture point based on the relative position relationship and the part feature point.

[0122] At the actual puncture site of the patient's limb, i.e., the first site, the corresponding actual site feature point can be found based on the virtual feature point determined in the site model. For example, in the site model of the arm, if the virtual feature point is the center point of the elbow joint, the position of the center point of the elbow joint can be determined at the actual first site. This position is the corresponding site feature point. Combined with the relative position relationship between the obtained virtual feature point and the virtual puncture point, the point corresponding to the virtual puncture point is determined on the first site as the puncture point based on the found site feature point. Specifically, based on the angle and distance information in the relative position relationship, starting from the site feature point, the position of the puncture point is determined according to the corresponding positioning angle and positioning distance. For example, if the positioning angle in the relative position relationship is 30 degrees with the X-axis and the positioning distance is 2 cm, starting from the site feature point, move 2 cm in the direction of the angle of 30 degrees with the X-axis to determine the puncture point.

[0123] The site feature point refers to a position point on the puncture site corresponding to the virtual feature point.

[0124] A4, controlling the positioning device to position and guide the puncture point.

[0125] Specifically, a special emitting device can be used to emit a single guiding ray to the location of the determined puncture point. The emitting device can be a laser emitting device or an infrared device, which can project the laser point to the target position more accurately to achieve the positioning of the puncture point. For example, when using a laser emitting device, a laser point can be emitted to the puncture point. According to the emitted laser point, the puncture position can be located more accurately.

[0126] The positioning device refers to a device that can be used to generate and emit laser points.

[0127] A5. If the qualified vein is a superficial vein, the corresponding part model is determined to be the second model, and the model segment corresponding to the puncture vein on the second model is determined to be the virtual puncture segment.

[0128] When the qualified vein is a superficial vein, the corresponding constructed site model can be determined as the second model. On the second model, a model segment corresponding to the actual position of the puncture vein can be found and determined as the virtual puncture segment.

[0129] The second model refers to the corresponding part model constructed when the qualified vein is a superficial vein, and the virtual puncture segment refers to the model segment corresponding to the puncture vein in the second model.

[0130] A6, respectively determining the endpoints of the virtual puncture segment as a first virtual end and a second virtual end, and performing coordinate processing on the second model to determine a first positional relationship between the virtual feature point and the first virtual end, and a second positional relationship between the virtual feature point and the second virtual end.

[0131] Specifically, the two endpoints of the virtual puncture segment can be determined respectively and marked as the first virtual end and the second virtual end. These endpoints have clear positions on the virtual puncture segment and are the basis for the subsequent determination of the actual puncture endpoints. By coordinate processing the second model, the coordinates corresponding to the first virtual end, the second virtual end and the virtual feature point can be obtained. The relative position relationship between the virtual feature point and the first virtual end, that is, the first position relationship, and the relative position relationship between the virtual feature point and the second virtual end, that is, the second position relationship, can be calculated. The position relationship includes information such as angle and distance. For example, the direction vector between the virtual feature point and the endpoint is calculated using a vector calculation method, so that the angle and distance information can be obtained to determine the position relationship.

[0132] Among them, the first virtual end refers to one of the endpoints of the virtual puncture segment, the second virtual end refers to the other endpoint of the virtual puncture segment other than the first virtual end, the first positional relationship refers to the relative positional relationship between the virtual feature point and the first virtual end, and the second positional relationship refers to the relative positional relationship between the virtual feature point and the second virtual end.

[0133] A7: Based on the first positional relationship and the part feature point, determine a point on the first part corresponding to the first virtual end as a first puncture endpoint.

[0134] Based on the obtained first positional relationship and the site feature points determined at the first site, the point on the first site corresponding to the first virtual end can be determined as the first puncture endpoint. Specifically, based on the angle and distance information in the first positional relationship, starting from the site feature points, the position of the first puncture endpoint is determined according to the corresponding direction and distance. The first puncture endpoint refers to the actual location point on the puncture site corresponding to the first virtual end.

[0135] A8: Based on the second positional relationship and the part feature point, determine the point on the first part corresponding to the second virtual end as the second puncture endpoint.

[0136] Based on the second positional relationship and the site feature points, the point on the first site corresponding to the second virtual end can be determined as the second puncture endpoint. Similarly, based on the angle and distance information in the second positional relationship and starting from the site feature points, the position of the second puncture endpoint can be determined. The second puncture endpoint refers to the actual location point on the puncture site corresponding to the second virtual end.

[0137] A9, connecting the first puncture endpoint and the second puncture endpoint to obtain a puncture guide wire, and controlling the positioning device to position the puncture guide wire.

[0138] Specifically, a straight line can be formed by connecting the first and second puncture endpoints. This straight line is the puncture guide line. Any point on the puncture guide line can be determined as the final puncture point, and a positioning device can be used to continuously emit laser points toward the puncture guide line to locate the puncture guide line. The puncture guide line refers to the line segment between the first and second puncture endpoints, and any point on the puncture guide line can be used as the final puncture point.

[0139] Through the above implementation, the puncture point can be determined more accurately, thereby improving the success rate of the puncture operation.

[0140] See also Figure 3 , is a schematic structural diagram of a puncture system based on ultrasound guidance provided by an embodiment of the present invention. The data processing system of the puncture system based on ultrasound guidance includes: a construction module, configured to construct a site model corresponding to the puncture site, determine a partition scanning line of the site model, and control the ultrasound device to perform segmented scanning of the puncture site based on the partition scanning line to obtain a segmented scanning image; a splicing module, configured to determine the segmented scan images that meet the puncture conditions as sub-adaptation images, and splice adjacent sub-adaptation images to obtain a spliced ​​puncture image; The determination module is used to determine the vascular morphology of the veins in the spliced ​​puncture map to obtain candidate puncture maps, select the candidate puncture maps to obtain a puncture guide map, and determine the puncture point of the puncture vein in the puncture guide map based on the proximal direction.

[0141] Figure 3 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0142] See also Figure 4 , is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention, the electronic device 40 includes: a processor 41, a memory 42 and a computer program; wherein The memory 42 is used to store the computer program, which may also be a flash memory. The computer program is, for example, an application program or a functional module for implementing the above method.

[0143] The processor 41 is configured to execute the computer program stored in the memory to implement the various steps performed by the device in the above method. For details, please refer to the relevant description in the above method embodiment.

[0144] Optionally, the memory 42 may be independent or integrated with the processor 41 .

[0145] When the memory 42 is a device independent of the processor 41, the device may further include: The bus 43 is used to connect the memory 42 and the processor 41 .

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A puncture method based on ultrasound guidance, characterized in that: include: Constructing a site model corresponding to the puncture site, determining a partition scanning line of the site model, and controlling the ultrasound device to perform segmented scanning on the puncture site based on the partition scanning line to obtain a segmented scanning image; Determining the segmented scan images that meet the puncture condition as sub-adaptation images, and splicing adjacent sub-adaptation images to obtain a spliced ​​puncture image; The vascular morphology of the veins in the spliced ​​puncture map is judged to obtain candidate puncture maps, the candidate puncture maps are selected to obtain a puncture guide map, and the puncture point of the puncture vein in the puncture guide map is determined based on the proximal direction.

2. The method according to claim 1, characterized in that Determining the partitioned scanning lines of the part model, controlling the ultrasound device to perform segmented scanning on the puncture part based on the partitioned scanning lines, and obtaining a segmented scanning image, including: Determine the central axis of the part model, and construct partition vertical lines perpendicular to the central axis based on preset intervals; intercepting the partition vertical line according to the edge contour line of the part model to obtain a partition scanning line; The shortest partition scan line is selected as a reference scan line, and a dividing line parallel to the central axis is continuously constructed based on the scanning distance of the ultrasound device to divide the reference scan line, starting from one end point of the reference scan line, until the remaining distance of the reference scan line is less than or equal to the scanning distance, thereby obtaining multiple dividing lines; Dividing the partition scan line according to the dividing line to obtain a plurality of sub-scan lines; The ultrasonic device is controlled to perform segmented scanning on the puncture site at the sub-scanning line based on a preset scanning group to obtain a segmented scanning image corresponding to each sub-scanning line, wherein the preset scanning group includes a preset height, a preset direction and a preset angle.

3. The method according to claim 1, characterized in that The step of determining the segmented scan images that meet the puncture condition as sub-adaptation images and splicing adjacent sub-adaptation images to obtain a spliced ​​puncture image includes: When it is determined that the vein diameter of the scanned vein in the segmented scan image is greater than the puncture diameter threshold, the corresponding scanned vein is used as the adapted vein, and the segmented scan image where the adapted vein is located is determined as the sub-adapted image; The upper and lower adjacent sub-adaptation graphs are spliced ​​together to obtain a spliced ​​puncture graph.

4. The method according to claim 3, characterized in that The step of determining the vascular morphology of the veins in the spliced ​​puncture map to obtain candidate puncture maps, selecting the candidate puncture maps to obtain a puncture guide map, and determining the puncture point of the puncture vein in the puncture guide map based on the proximal direction includes: Performing a vascular length determination on the adapted veins in the spliced ​​puncture map to obtain a primary screening puncture map, and performing a vascular continuity determination on the adapted veins in the primary screening puncture map to obtain a candidate puncture map; Obtaining the vein depth and vein diameter of the adapted vein in the candidate puncture map, and selecting the candidate puncture map based on the vein depth and vein diameter to obtain a puncture guide map; The retention length of the retention device is determined, and the qualified veins in the puncture guide map are divided based on the retention length and the proximal direction to obtain puncture veins and retention veins, and the puncture point is determined at the puncture veins.

5. The method according to claim 4, characterized in that The determining of the vessel length of the veins in the spliced ​​puncture map to obtain a primary screening puncture map, and determining the vessel continuity of the adapted veins in the primary screening puncture map to obtain a candidate puncture map, include: Obtaining the number of splicing sub-adaptation maps in the spliced ​​puncture map, and when determining that the splicing number is greater than or equal to a preset splicing number, using the corresponding spliced ​​puncture map as a primary screening puncture map; Determine the common edges of the spliced ​​sub-adaptation graphs in the primary screening puncture graph and the vein pixels corresponding to the adaptation veins as adaptation pixels; Counting the adjacent adapted pixel points in the primary screening puncture image to obtain a plurality of adapted pixel point sets, and identifying each of the adapted pixel point sets to obtain a spliced ​​vein corresponding to the adapted pixel point set; When there is a spliced ​​vein passing through all common edges, the corresponding spliced ​​vein is regarded as a qualified vein, and the corresponding primary screening puncture diagram is regarded as a candidate puncture diagram.

6. The method according to claim 4, characterized in that The step of selecting the candidate puncture maps based on the vein depth and vein diameter to obtain a puncture guide map includes: Sort the candidate puncture images in ascending order based on vein depth to obtain a depth sequence, and number the candidate puncture images in the depth sequence to obtain a depth number of each candidate puncture image; Sort the candidate puncture images in descending order according to vein diameter to obtain a diameter sequence, and number the candidate puncture images in the diameter sequence to obtain a diameter number of each candidate puncture image; A screening number is obtained based on the sum of the depth number and the diameter number of each candidate puncture image, and the candidate puncture image with the smallest screening number is selected as the puncture guide image.

7. The method according to claim 4, characterized in that The method of dividing the qualified veins in the puncture guide map based on the indwelling length and the proximal direction to obtain puncture veins and indwelling veins, and determining the puncture points at the puncture veins, includes: Obtaining a puncture length based on a difference between a vein length of a qualified vein in the puncture guide map and the indwelling length; Determining the endpoints of the qualified vein as the starting endpoint and the ending endpoint in sequence based on the proximal direction, and determining the position point on the qualified vein at the puncture length from the starting endpoint as the first dividing point; Determine the vein segment between the starting endpoint and the first dividing point on the qualified vein as the puncture vein, and determine the vein segment between the first dividing point and the ending endpoint as the indwelling vein; Obtaining the vein depth corresponding to the qualified vein; if the vein depth is less than a depth threshold, determining that the qualified vein is a superficial vein; and determining a puncture point at the superficial vein; If the vein depth is greater than or equal to a depth threshold, the qualified vein is determined to be a deep vein, and a puncture point is determined at the puncture vein of the deep vein.

8. The method according to claim 7, characterized in that If the vein depth is less than the depth threshold, the qualified vein is determined to be a superficial vein, and a puncture point is determined at the puncture vein of the superficial vein, including: If the vein depth is less than the depth threshold, determining that the qualified vein is a superficial vein; Any point at the puncture vein in the superficial vein is selected as the puncture point.

9. The method according to claim 7, characterized in that If the vein depth is greater than or equal to a depth threshold, the qualified vein is determined to be a deep vein, and a puncture point is determined at the puncture vein of the deep vein, including: If the vein depth is greater than or equal to a depth threshold, determining that the qualified vein is a deep vein; Determine that there is no vascular soft tissue blocking the puncture vein of the deep vein, and use the point with the largest diameter on the puncture vein of the deep vein as the puncture point; Determining that there is a puncture vein of the deep vein blocked by the vascular soft tissue, and defining the vein segment within the blocking range of the vascular soft tissue as the blocking vein; The obstructing vein located on the puncture vein is eliminated to obtain the remaining vein, and the point with the largest diameter on the remaining vein is determined as the puncture point.

10. A puncture system based on ultrasound guidance, characterized in that: include: a construction module, configured to construct a site model corresponding to the puncture site, determine a partition scanning line of the site model, and control the ultrasound device to perform segmented scanning of the puncture site based on the partition scanning line to obtain a segmented scanning image; a splicing module, configured to determine the segmented scan images that meet the puncture conditions as sub-adaptation images, and splice adjacent sub-adaptation images to obtain a spliced ​​puncture image; The determination module is used to determine the vascular morphology of the veins in the spliced ​​puncture map to obtain candidate puncture maps, select the candidate puncture maps to obtain a puncture guide map, and determine the puncture point of the puncture vein in the puncture guide map based on the proximal direction.

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