Ultrasound-guided puncture posture monitoring method and device

Abstract

The embodiment of the present application provides a method and device for monitoring the puncture posture under ultrasound guidance. The method for monitoring the puncture posture under ultrasound guidance includes: using the probe of the ultrasonic transducer and the skin surface in contact with the scanning part as the probe plane; obtaining the first angle between the central axis of the puncture needle and the probe plane, and obtaining the second angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer; comparing the first angle and the second angle with the reference value respectively, and outputting the comparison result. The monitoring device and monitoring method in the embodiment of the present application can monitor the angle between the puncture needle and the skin surface of the puncture part, and can monitor whether the puncture needle is always in the ultrasonic plane. By acquiring the two types of data in real time, comparing them with the relevant reference values ​​already existing in the background computer, and giving feedback on the monitoring results, it is possible to provide operational guidance to medical workers and reduce the risk of patient injury.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a method and device for monitoring puncture posture under ultrasound guidance. Background Art

[0002] Ultrasound-guided puncture has relatively clear instructions and requirements on the patient's position, the direction and height of the medical staff relative to the patient, the operation site, and the angle between the operation tool and the patient's operation site. For example, when opening a peripheral vein, the angle between the intravenous puncture needle and the patient's skin, the angle of insertion of the puncture needle for peripheral arterial blood sampling or catheterization, the puncture needle must be perpendicular to the skin during spinal anesthesia, and the ultrasound probe is often tilted and rotated to change the angle of the ultrasound probe during ultrasound scanning.

[0003] However, in actual operations, the movements and postures of medical workers using medical instruments (such as ultrasound probes, puncture needles, etc.) during medical operations do not necessarily meet the corresponding requirements, thereby increasing the risk of injury to patients. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide an ultrasound-guided puncture posture monitoring device to monitor whether the use posture of medical workers meets the operation requirements, so as to guide medical workers to perform standardized operations and reduce the risk of patient injury.

[0005] The present application embodiment provides a method for monitoring puncture posture under ultrasound guidance, comprising:

[0006] The probe plane is the skin surface where the probe of the ultrasonic transducer contacts the scanning part;

[0007] Acquire a first angle between the central axis of the puncture needle and the probe plane, and acquire a second angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer;

[0008] The first angle and the second angle are compared with reference values ​​respectively, and the comparison results are output.

[0009] In the above implementation process, the first angle can monitor the angle between the puncture needle and the skin surface of the puncture site, and the second angle can monitor whether the puncture needle is always in the ultrasonic plane. By acquiring the data of the first angle and the second angle in real time and comparing them with the relevant reference values ​​already existing in the background computer, correct feedback is given if they are within the normal reference value range, and warning feedback is given if they exceed the normal reference value, thereby guiding medical workers to perform operations and reducing the risk of patient injury.

[0010] In the actual operation of the ultrasonic transducer, the ultrasonic plane and the probe plane can be arranged tilted or vertically. In the implementation of the embodiment of the present application, the ultrasonic plane is vertical to the probe plane.

[0011] In the above implementation process, the ultrasound plane is perpendicular to the probe plane. First, it conforms to the usual usage habits of the ultrasonic transducer. Secondly, when establishing the relationship between the puncture needle, the ultrasound plane and the probe plane, the ultrasound plane is perpendicular to the probe plane, which is convenient for simplifying the relationship between the three. When associating with other reference systems, the association relationship is relatively simplified compared to the inclination of the ultrasound plane and the probe plane.

[0012] In a possible implementation, obtaining a first angle between the central axis of the puncture needle and the probe plane includes:

[0013] A first three-degree-of-freedom acceleration sensor is arranged on the operating handle of the puncture needle, and a second three-degree-of-freedom acceleration sensor is arranged on the ultrasonic transducer;

[0014] Acquire a first coordinate information set corresponding to the central axis of the puncture needle in a first three-degree-of-freedom acceleration sensor;

[0015] Acquire a second coordinate information set corresponding to the central section of the short axis of the ultrasonic transducer and a third coordinate information set corresponding to the probe plane in the second three-degree-of-freedom acceleration sensor;

[0016] The first coordinate information set, the second coordinate information set, and the third coordinate information set are projected into the absolute coordinate system. According to the angle a between the central axis of the puncture needle and the horizontal direction in the absolute coordinate system and the angle b between the projection of the central section of the short axis of the ultrasonic transducer and the horizontal direction, the angle between the central axis of the puncture needle and the probe plane, i.e., the first angle, is calculated.

[0017] In a possible implementation, obtaining a second angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer includes:

[0018] Acquire a fourth coordinate information set corresponding to a central section of a long axis of the ultrasonic transducer in the second three-degree-of-freedom acceleration sensor;

[0019] According to the relationship between the second three-degree-of-freedom acceleration sensor coordinate system and the first three-degree-of-freedom acceleration sensor coordinate system, a fifth coordinate information set corresponding to the coordinate information set of the central axis of the puncture needle in the second three-degree-of-freedom acceleration sensor coordinate system is obtained;

[0020] The angle between the central axis of the puncture needle and the central section of the long axis of the ultrasonic transducer, ie, the second angle, is calculated according to the fourth coordinate information set and the fifth coordinate information set.

[0021] In one implementation, a first three-degree-of-freedom angular velocity sensor is further provided on the operating handle of the puncture needle to obtain the angular acceleration of the puncture needle around its central axis.

[0022] In the above implementation process, the rotation angle of the puncture needle can be obtained through the first three-degree-of-freedom angular velocity sensor, so that the rotation posture of the puncture needle can be monitored and data can be collected.

[0023] In a possible implementation, a second three-degree-of-freedom angular velocity sensor is provided on the ultrasonic transducer to obtain the angular velocity of the ultrasonic plane.

[0024] In the above implementation process, the second three-degree-of-freedom angular velocity sensor can be used to monitor whether the ultrasound plane rotates. Usually in the ultrasound process, the ultrasound transducer is not moved or rotated after the position is found, so the acquired ultrasound plane can be used as a reference plane.

[0025] In a possible implementation, a force sensor is further provided on the operating handle of the puncture needle to obtain the resistance generated by the skin tissue on the top and the needle wall of the puncture needle when the puncture needle is inserted into the skin tissue.

[0026] In the above implementation process, the resistance of the skin tissue to the tip of the puncture needle and the needle wall is indirectly obtained through the force sensor, and the puncture force that needs to be applied to the skin tissue during puncture can be inferred.

[0027] According to another aspect of the present application, there is also provided a device for monitoring puncture posture under ultrasound guidance, comprising an ultrasound transducer and a puncture needle; and

[0028] A first three-degree-of-freedom acceleration sensor is disposed on the operating handle of the puncture needle and is used to establish a first coordinate information set corresponding to the central axis of the puncture needle;

[0029] A second three-degree-of-freedom acceleration sensor is disposed on the ultrasonic transducer and is used to establish a second coordinate information set corresponding to a central cross section of a short axis of the ultrasonic transducer;

[0030] a computing module, which is in communication connection with the first three-degree-of-freedom acceleration sensor and the second three-degree-of-freedom acceleration sensor, and is used to calculate a first angle between the central axis of the puncture needle and the probe plane, and a second angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer, and to compare the first angle and the second angle with reference values ​​respectively and output the comparison results;

[0031] The probe plane is the skin surface where the probe of the ultrasonic transducer contacts the scanning part.

[0032] In a possible implementation, the ultrasound-guided puncture posture monitoring device further includes a first three-degree-of-freedom angular velocity sensor disposed on the operating handle of the puncture needle to obtain the angular acceleration of the puncture needle around its central axis.

[0033] In a possible implementation, the ultrasound-guided puncture posture monitoring device includes a second three-degree-of-freedom angular velocity sensor disposed on the ultrasonic transducer to obtain the angular velocity of the ultrasonic plane.

[0034] In a possible implementation, the ultrasound-guided puncture posture monitoring device further includes a force sensor, which is disposed on the operating handle of the puncture needle to obtain the resistance generated by the skin tissue on the top and the needle wall of the puncture needle when the puncture needle is inserted into the skin tissue.

[0035] In a possible implementation, the ultrasound-guided puncture posture monitoring device further includes a data acquisition box for collecting angular velocity information of the puncture needle and resistance information generated by the skin tissue on the puncture needle tip and needle wall.

[0036] It can be seen from the above technical solutions that the monitoring device and the monitoring method in the embodiment of the present application can monitor the angle between the puncture needle and the skin surface at the puncture site, and can monitor whether the puncture needle is always in the ultrasonic plane. By acquiring the two types of data in real time, comparing them with the relevant reference values ​​already existing in the background computer, and giving feedback on the monitoring results, it is possible to provide operational guidance to medical workers and reduce the risk of patient injury. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 This is a status diagram of ultrasound-guided puncture;

[0039] Figure 2 A flow chart of a method for monitoring puncture posture under ultrasound guidance provided in an embodiment of the present application;

[0040] Figure 3 The projection diagram of the ultrasonic transducer and the puncture needle in the absolute coordinate system is shown;

[0041] Figure 4 A schematic diagram of the structure of the ultrasound-guided puncture posture monitoring device shown in an embodiment of the present application is shown;

[0042] Figure 5 It is a schematic diagram of the structure of a puncture needle according to an embodiment of the present application.

[0043] Icon: 100 - ultrasonic transducer; 200 - puncture needle; 210 - needle body; 220 - needle fixing piece; 230 - holding handle; 240 - force sensor; 300 - first three-degree-of-freedom acceleration sensor; 400 - second three-degree-of-freedom acceleration sensor; 500 - data acquisition box. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0045] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] Figure 1 This is a state diagram of ultrasound-guided puncture. Figure 1 , the ultrasonic plane of the ultrasonic transducer 100 is a fan-shaped section S. The ultrasonic transducer 100 includes a long-axis central section S1 and a short-axis central section S2. The ultrasonic plane formed in the long-axis central section is called the long-axis ultrasonic plane, and the ultrasonic plane formed in the short-axis central section is called the short-axis ultrasonic plane. During ultrasound-guided puncture, the puncture needle 200 usually needs to be kept in the ultrasonic plane of the ultrasonic transducer 100 so as to observe the puncture status of the puncture needle 200. There are clear requirements for the direction, position and height of the puncture needle 200 inserted into the skin surface under ultrasound guidance. The inventor of the present application provides a monitoring method, which can monitor whether the puncture needle 200 is located in the ultrasonic plane, and whether the direction, position and height of the puncture needle 200 inserted into the skin surface meet the operating requirements, so as to guide medical workers to perform standardized operations.

[0047] Figure 2 This is a flow chart of a method for monitoring puncture posture under ultrasound guidance provided in an embodiment of the present application. Figure 2 The ultrasound-guided puncture posture monitoring method includes the following steps:

[0048] S101: The skin surface where the probe of the ultrasonic transducer 100 contacts the scanning part is used as the probe plane.

[0049] In one implementation, the ultrasound plane is perpendicular to the probe plane, that is, the long-axis central section S1 and the short-axis central section S2 of the ultrasound transducer 100 are both perpendicular to the skin surface of the part to be scanned.

[0050] S102: Acquire a first angle between the central axis of the puncture needle 200 and the probe plane, and acquire a second angle between the central axis of the puncture needle 200 and the ultrasonic plane of the ultrasonic transducer 100 .

[0051] In a possible implementation, a first three-degree-of-freedom acceleration sensor is provided on the operating handle of the puncture needle 200. When the first three-degree-of-freedom acceleration sensor is fixedly mounted on the operating handle of the puncture needle 200, the relative positional relationship between the first three-degree-of-freedom acceleration sensor and the central axis of the puncture needle 200 will be determined. Each point in the central axis of the puncture needle 200 will be associated with the reference system defined by the first three-degree-of-freedom acceleration sensor itself, and through this association, the motion trajectory and motion direction of the first three-degree-of-freedom acceleration sensor can be regarded as the motion trajectory and motion direction of the puncture needle 200.

[0052] A second three-degree-of-freedom acceleration sensor is provided on the ultrasonic transducer 100. When the second three-degree-of-freedom acceleration sensor is fixedly mounted on the ultrasonic transducer 100, the relative positional relationship between the second three-degree-of-freedom acceleration sensor and the central axis of the ultrasonic transducer 100 (the intersection of the long-axis central section S1 and the short-axis central section S2) will be determined. Each point of the central axis of the ultrasonic transducer 100 will be associated with the reference system defined by the first three-degree-of-freedom acceleration sensor itself, and through this association, the motion trajectory and motion direction of the second three-degree-of-freedom acceleration sensor can be regarded as the motion trajectory and motion direction of the ultrasonic transducer 100. Since the ultrasonic plane is located in the long-axis central section S1 or the short-axis central section S2, the motion trajectory and motion direction of the ultrasonic plane are also identical to the motion trajectory and motion direction of the second three-degree-of-freedom acceleration sensor.

[0053] By associating the reference system of the first three-degree-of-freedom acceleration sensor with the reference system of the second three-degree-of-freedom acceleration sensor, the puncture needle 200 and the ultrasonic transducer 100 are associated. In the embodiment of the present application, the reference system of the first three-degree-of-freedom acceleration sensor and the reference system of the second three-degree-of-freedom acceleration sensor are associated in the horizontal direction.

[0054] In a possible implementation, obtaining a first angle between the central axis of the puncture needle 200 and the probe plane includes:

[0055] Acquire a coordinate information set corresponding to the central axis of the puncture needle 200 in the first three-degree-of-freedom acceleration sensor, recorded as a first coordinate information set;

[0056] The coordinate information set corresponding to the short axis center section of the ultrasonic transducer 100 in the second three-degree-of-freedom acceleration sensor is obtained, which is recorded as the second coordinate information set, and the coordinate information set corresponding to the probe plane is recorded as the third coordinate information set. Since the probe plane is perpendicular to the ultrasonic plane, and since the position of the probe in the ultrasonic transducer 100 is fixed and has a fixed positional relationship with the short axis center section of the ultrasonic transducer 100, the position of the probe plane can also be mapped in the coordinate system of the second three-degree-of-freedom acceleration sensor, and the corresponding coordinate information set is obtained.

[0057] Project the first coordinate information set, the second coordinate information set, and the third coordinate information set into the absolute system coordinates. Figure 3 The projection diagram of the ultrasonic transducer and the puncture needle in the absolute coordinate system is shown. Figure 3 , according to the angle a between the central axis L1 of the puncture needle 200 and the horizontal direction L in the absolute coordinate system and the angle b between the projection L2 of the short axis central section of the ultrasonic transducer 100 and the horizontal direction L, the angle between the central axis of the puncture needle 200 and the probe plane L3, i.e. the first angle c, is calculated. The relationship between c and a and b is: c = a + b - 90°.

[0058] In a possible implementation, obtaining the second angle between the central axis of the puncture needle 200 and the probe plane includes:

[0059] Obtaining a coordinate information set corresponding to the central section of the long axis of the ultrasonic transducer 100 in the second three-degree-of-freedom acceleration sensor, recorded as a fourth coordinate set;

[0060] According to the relationship between the second three-degree-of-freedom acceleration sensor coordinate system and the first three-degree-of-freedom acceleration sensor coordinate system, the coordinate information set corresponding to the coordinate information set of the central axis of the puncture needle 200 in the second three-degree-of-freedom acceleration sensor coordinate system is obtained, which is recorded as the fifth coordinate set. According to the fourth coordinate information set and the fifth coordinate information set, the angle between the central axis of the puncture needle 200 and the central section S1 of the long axis of the ultrasonic transducer 100 is calculated, that is, the second angle.

[0061] S103: Compare the first angle and the second angle with reference values ​​respectively, and output the comparison results.

[0062] In the above implementation process, the first angle can monitor the angle between the puncture needle 200 and the skin surface of the puncture site, and the second angle can monitor whether the puncture needle 200 is always in the ultrasonic plane. By acquiring the data of the first angle and the second angle in real time and comparing them with the relevant reference values ​​already existing in the background computer, correct feedback is given if they are within the normal reference value range, and warning feedback is given if they exceed the normal reference value, and correction compensation prompts are given, so as to guide medical workers to operate and reduce the risk of patient injury.

[0063] In a possible implementation, a first three-degree-of-freedom angular velocity sensor is further provided on the operating handle of the puncture needle 200 to obtain the angular acceleration of the puncture needle 200 around its central axis.

[0064] In the above implementation process, the rotation angle of the puncture needle 200 can be obtained through the first three-degree-of-freedom angular velocity sensor, so that the rotation posture of the puncture needle 200 can be monitored and data can be collected.

[0065] In a possible implementation, a second three-degree-of-freedom angular velocity sensor is provided on the ultrasonic transducer 100 to obtain the angular velocity of the ultrasonic plane.

[0066] In the above implementation process, the second three-degree-of-freedom angular velocity sensor can be used to monitor whether the ultrasonic plane rotates. Usually in the ultrasonic process, the ultrasonic transducer 100 will no longer move or rotate after the position is found, so the acquired ultrasonic plane can be used as a reference plane. After the ultrasonic plane is determined not to rotate, the ultrasonic plane can be used to determine the puncture position of the puncture needle. The specific implementation process is: since the puncture needle needs to be always in the ultrasonic plane, the puncture position of the puncture needle needs to be parallel to the ultrasonic plane and located in the same plane. The puncture needle needs to be constantly swung before puncture. When the degree of the second angle is 0°, the puncture needle is located in the ultrasonic plane. At this time, the puncture needle contacts the skin without swinging, and the contact point can be used as the puncture position of the puncture needle. The process of finding the puncture position of the puncture needle is also the process of finding the zero of the second angle.

[0067] There are also requirements for force changes during the puncture operation, such as the breakthrough feeling of breaking through the skin, the breakthrough feeling of puncturing blood vessels, the breakthrough feeling of puncturing tissue fascia, the breakthrough feeling of puncturing ligaments, the resistance of encountering bones, etc. Therefore, in a possible implementation, a force sensor is also provided on the operating handle of the puncture needle 200 to obtain the resistance generated by the skin tissue to the top and the needle wall of the puncture needle 200 when the puncture needle 200 is inserted into the skin tissue.

[0068] In the above implementation process, the resistance of the skin tissue to the top and the needle wall of the puncture needle 200 is indirectly obtained through the force sensor, and the puncture force that needs to be applied to the skin tissue during puncture can be inferred.

[0069] In one possible implementation, the rotational posture (such as angular velocity) of the puncture needle 200 and the puncture force data applied by the puncture needle 200 (obtained from the resistance generated by the skin tissue to the top and the needle wall of the puncture needle 200) can be collected. The collection of this data can be used by artificial intelligence to imitate and learn the puncture posture and technique of the puncture needle 200.

[0070] According to another aspect of the present application, a device for monitoring puncture posture under ultrasound guidance is also provided. Figure 4 FIG. 1 shows a schematic diagram of the structure of the ultrasound-guided puncture posture monitoring device shown in an embodiment of the present application. Figure 5 FIG. 1 is a schematic diagram of the structure of a puncture needle according to an embodiment of the present application. Figure 4 and Figure 5 As shown, the ultrasound-guided puncture posture monitoring device includes an ultrasonic transducer 100, a puncture needle 200, a first three-degree-of-freedom acceleration sensor 300, a second three-degree-of-freedom acceleration sensor 400 and a computing module (not shown in the figure).

[0071] The present application does not specifically limit the installation location of the computing module, which may include but is not limited to being installed on the ultrasonic transducer 100, on the operating handle of the puncture needle 200, or on a remote computer.

[0072] The first three-degree-of-freedom acceleration sensor 300 is disposed on the operating handle of the puncture needle 200 and is used to establish a first coordinate information set corresponding to the central axis of the puncture needle 200. The motion trajectory and motion direction of the first three-degree-of-freedom acceleration sensor 300 can be regarded as the motion trajectory and motion direction of the puncture needle 200.

[0073] The second three-degree-of-freedom acceleration sensor 400 is disposed on the ultrasonic transducer 100 and is used to establish a second coordinate information set corresponding to the short-axis central section of the ultrasonic transducer 100. The motion trajectory and motion direction of the second three-degree-of-freedom acceleration sensor 400 can be regarded as the motion trajectory and motion direction of the ultrasonic transducer 100.

[0074] The computing module is connected to the first three-degree-of-freedom acceleration sensor 300 and the second three-degree-of-freedom acceleration sensor 400 for communication, and is used to calculate the first angle between the central axis of the puncture needle 200 and the probe plane, and the second angle between the central axis of the puncture needle 200 and the ultrasonic plane of the ultrasonic transducer 100, and to compare the first angle and the second angle with reference values ​​and output the comparison results. The calculation method of the first angle and the second angle refers to the above calculation method, which will not be repeated here.

[0075] In a possible implementation, the ultrasound-guided puncture posture monitoring device further includes a first three-degree-of-freedom angular velocity sensor disposed on the operating handle of the puncture needle 200 to obtain the angular acceleration of the puncture needle 200 around its central axis.

[0076] In one possible implementation, the first three-degree-of-freedom angular velocity sensor and the first three-degree-of-freedom angular velocity sensor may be integrated in one device. As another implementation, the first three-degree-of-freedom acceleration sensor 300 and the first three-degree-of-freedom angular velocity sensor in the present application may also be replaced by a six-degree-of-freedom attitude sensor (including a three-degree-of-freedom angular velocity sensor and a three-degree-of-freedom angular velocity sensor).

[0077] In a possible implementation, the ultrasound-guided puncture posture monitoring device further includes a second three-degree-of-freedom angular velocity sensor disposed on the ultrasonic transducer 100 to obtain the angular velocity of the ultrasound plane. In a possible implementation, the second three-degree-of-freedom angular velocity sensor and the second three-degree-of-freedom angular velocity sensor may be integrated in one device. As another implementation, the second three-degree-of-freedom acceleration sensor 400 and the second three-degree-of-freedom angular velocity sensor in the present application may also be replaced by a six-degree-of-freedom posture sensor (including a three-degree-of-freedom angular velocity sensor and a three-degree-of-freedom angular velocity sensor).

[0078] See also Figure 5 The puncture needle 200 includes a needle body 210, a needle fixture 220 and a gripping handle 230. A force sensor 240 is provided between the gripping handle 230 and the needle fixture 220, and the resistance generated by the skin tissue to the top and the needle wall of the puncture needle 200 when the puncture needle 200 is inserted into the skin tissue is obtained through the force sensor 240. A second three-degree-of-freedom angular velocity sensor and / or a second three-degree-of-freedom angular velocity sensor are provided in the gripping handle, or a six-degree-of-freedom attitude sensor is directly provided.

[0079] It should be noted that the coordinate system conversion and corresponding relationship calculation between the first three-degree-of-freedom acceleration sensor, the second three-degree-of-freedom acceleration sensor, the first three-degree-of-freedom angular velocity sensor and the second three-degree-of-freedom angular velocity sensor are common knowledge to those skilled in the art and are not elaborated in detail here. The working principle and calculation method of the six-degree-of-freedom attitude sensor are also common knowledge and are not elaborated in detail here.

[0080] In a possible implementation, the ultrasound-guided puncture posture monitoring device further includes a data acquisition box 500, see Figure 4 , used to collect the angular velocity information of the puncture needle 200 and the resistance information generated by the skin tissue on the top and needle wall of the puncture needle 200.

[0081] It can be seen from the above technical solutions that the monitoring device and the monitoring method in the embodiment of the present application can monitor the angle between the puncture needle 200 and the skin surface at the puncture site, and can monitor whether the puncture needle 200 is always in the ultrasonic plane. By acquiring the two types of data in real time, comparing them with the relevant reference values ​​already existing in the background computer, and giving feedback on the monitoring results, it is possible to provide operational guidance to medical workers and reduce the risk of patient injury.

[0082] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0083] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0084] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for monitoring puncture posture under ultrasound guidance, characterized in that: include: The probe plane is the skin surface where the probe of the ultrasonic transducer contacts the scanning part; Acquire a first angle between the central axis of the puncture needle and the probe plane, and acquire a second angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer; Compare the first angle and the second angle with reference values ​​respectively, and output the comparison results; The ultrasound plane is perpendicular to the probe plane; The step of obtaining the first angle between the central axis of the puncture needle and the probe plane comprises: A first three-degree-of-freedom acceleration sensor is arranged on the operating handle of the puncture needle, and a second three-degree-of-freedom acceleration sensor is arranged on the ultrasonic transducer; Acquire a first coordinate information set corresponding to the central axis of the puncture needle in a first three-degree-of-freedom acceleration sensor; Acquire a second coordinate information set corresponding to the central section of the short axis of the ultrasonic transducer and a third coordinate information set corresponding to the probe plane in the second three-degree-of-freedom acceleration sensor; The first coordinate information set, the second coordinate information set, and the third coordinate information set are projected into the absolute coordinate system, and the angle between the central axis of the puncture needle and the probe plane, i.e., the first angle, is calculated according to the angle a between the central axis of the puncture needle and the horizontal direction in the absolute coordinate system and the angle b between the projection of the central section of the short axis of the ultrasonic transducer and the horizontal direction; The step of obtaining the second angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer comprises: Acquire a fourth coordinate information set corresponding to a central section of a long axis of the ultrasonic transducer in the second three-degree-of-freedom acceleration sensor; According to the relationship between the second three-degree-of-freedom acceleration sensor coordinate system and the first three-degree-of-freedom acceleration sensor coordinate system, a fifth coordinate information set corresponding to the coordinate information set of the central axis of the puncture needle in the second three-degree-of-freedom acceleration sensor coordinate system is obtained; The angle between the central axis of the puncture needle and the central section of the long axis of the ultrasonic transducer, ie, the second angle, is calculated according to the fourth coordinate information set and the fifth coordinate information set.

2. The ultrasound-guided puncture posture monitoring method according to claim 1, characterized in that: A first three-degree-of-freedom angular velocity sensor is also arranged on the operating handle of the puncture needle to obtain the angular acceleration of the puncture needle around its central axis.

3. The ultrasound-guided puncture posture monitoring method according to claim 2, characterized in that: A second three-degree-of-freedom angular velocity sensor is arranged on the ultrasonic transducer to obtain the angular velocity of the ultrasonic plane.

4. The ultrasound-guided puncture posture monitoring method according to claim 3, characterized in that: A force sensor is also arranged on the operating handle of the puncture needle to obtain the resistance generated by the skin tissue to the top and the needle wall of the puncture needle when the puncture needle is inserted into the skin tissue.

5. A device using the ultrasound-guided puncture posture monitoring method according to any one of claims 1 to 4, comprising an ultrasonic transducer and a puncture needle, characterized in that: Also includes: A first three-degree-of-freedom acceleration sensor is disposed on the operating handle of the puncture needle and is used to establish a first coordinate information set corresponding to the central axis of the puncture needle; A second three-degree-of-freedom acceleration sensor is disposed on the ultrasonic transducer and is used to establish a second coordinate information set corresponding to a central cross section of a short axis of the ultrasonic transducer; a computing module, which is in communication connection with the first three-degree-of-freedom acceleration sensor and the second three-degree-of-freedom acceleration sensor, and is used to calculate a first angle between the central axis of the puncture needle and the probe plane, and a second angle between the central axis of the puncture needle and the ultrasonic plane of the ultrasonic transducer, and to compare the first angle and the second angle with reference values ​​respectively and output the comparison results; The probe plane is the skin surface where the probe of the ultrasonic transducer contacts the scanning part; The puncture needle comprises a needle body and a needle fixing member, and the needle fixing member is used for fixing the needle body.

6. The ultrasound-guided puncture posture monitoring device according to claim 5, characterized in that: It also includes a first three-degree-of-freedom angular velocity sensor arranged on the operating handle of the puncture needle to obtain the angular acceleration of the puncture needle around its central axis.

7. The ultrasound-guided puncture posture monitoring device according to claim 6, characterized in that: It also includes a second three-degree-of-freedom angular velocity sensor arranged on the ultrasonic transducer to obtain the angular velocity of the ultrasonic plane.

8. The ultrasound-guided puncture posture monitoring device according to any one of claims 5 to 7, characterized in that: It also includes a force sensor, which is arranged on the operating handle of the puncture needle to obtain the resistance generated by the skin tissue to the top and the needle wall of the puncture needle when the puncture needle is inserted into the skin tissue.

9. The ultrasound-guided puncture posture monitoring device according to claim 8, characterized in that: It also includes a data acquisition box for collecting the angular velocity information of the puncture needle and the resistance information generated by the skin tissue to the top and the needle wall of the puncture needle.

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