Puncture tissue identification and transmembrane event control method and system based on force sense and image fusion

By fusing multimodal information from force perception and ultrasound images, the system can identify tissue layers in real time during the puncture process and drive control strategies. This solves the problems of reliance on operator experience and instability of single-modal perception in puncture operations, achieving high stability and safety in the puncture process. It is suitable for delicate procedures such as percutaneous puncture and renal intervention.

CN121845696APending Publication Date: 2026-04-14BEIJING EASY SURG MEDICAL TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202512027755.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-12-30
Publication Date
2026-04-14

AI Technical Summary

Technical Problem

Current puncture procedures rely on the operator's experience, single-modal perception is unstable, ultrasound imaging is easily affected by noise and obstruction, and the accuracy of tissue layer identification is insufficient, making it difficult to meet the application requirements of percutaneous puncture, renal intervention, etc., which require precise tissue layer identification and safe control of capsule penetration.

Method used

By simultaneously acquiring force signals from the tip of the puncture needle, real-time ultrasound image sequences, and robotic arm pose data, and combining features such as tissue stiffness, force change rate, texture characteristics, tissue boundaries, and optical flow displacement, the system enables real-time identification of each tissue layer during the puncture process and makes a reliable determination when capsule penetration occurs. An event-driven control strategy is used to adjust the puncture speed, rotation mode, and path compensation.

Benefits of technology

It significantly improves the stability, safety, and operational precision of the puncture process, enhances the clinical safety of percutaneous puncture, biopsy sampling, and interventional therapy, and is suitable for complex tissue structures and dynamic deformation scenarios.

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Abstract

The invention discloses a puncture tissue recognition and transmembrane event control method and system based on force sense and image fusion, and the method comprises the steps: collecting a force signal at the tail end of a puncture needle, a real-time ultrasonic image sequence and the pose data of a mechanical arm, and carrying out the timestamp alignment to construct a synchronous data set; on the basis, tissue stiffness, a force change rate, extreme value features, texture features, envelope boundary features and optical flow displacement features are extracted, the tissue level where the puncture needle is located is recognized through multi-modal fusion, and a membrane penetrating event is detected in combination with the force sense extreme value features and envelope boundary fracture; according to the tissue level and the transmembrane event, event driving control strategies such as constant-speed propulsion, deceleration early warning, rotation assistance, transmembrane braking and path compensation are automatically triggered, so that the puncture process is accurately regulated and controlled. The accuracy of puncture tissue recognition and the reliability of transmembrane event judgment can be remarkably improved, and the safety and stability of puncture operation are improved.
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