Puncture navigator, puncture path planning method and puncture navigation system

Abstract

The present application relates to a puncture navigator, a puncture path planning method and a puncture navigation system. The puncture navigator includes: a puncture needle rotating device and a probe fixing device, wherein the puncture needle rotating device is connected to the probe fixing device, wherein the puncture needle rotating device is used to fix the puncture needle and control the movement of the puncture needle to adjust the position of the puncture needle; the probe fixing device is used to fix the ultrasound probe, and the ultrasound probe is used to collect the position information of the puncture needle. The movement of the puncture needle can be controlled by the puncture needle rotating device, which expands the movement range of the puncture needle, so that the ultrasound probe can accurately collect the position information of the puncture needle to effectively puncture the target point and improve the puncture efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of ultrasonic puncture, and in particular to a puncture navigator, a puncture path planning method and a puncture navigation system. Background Art

[0002] With the development of ultrasound technology and puncture technology, there have emerged technologies such as ultrasound indirect guided puncture, ultrasound puncture frame guided puncture and ultrasound guided manual puncture. By puncturing the lesion site of the object to be tested, the lesion site of the object to be tested can be inspected and sampled.

[0003] In traditional technology, the puncture needle is fixed to the ultrasound probe by mechanical components. The doctor operates the ultrasound probe to scan and image the surface of the object to be tested. The doctor then adjusts the puncture needle according to the acquired ultrasound image to ensure that the puncture needle can reach the lesion and achieve puncture.

[0004] However, the traditional puncture method has the problem of low puncture efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a puncture navigator, a puncture path planning method and a puncture navigation system that can improve the puncture efficiency in order to address the above technical problems.

[0006] In a first aspect, an embodiment of the present disclosure provides a puncture navigator, the puncture navigator comprising: a puncture needle rotating device and a probe fixing device, the puncture needle rotating device is connected to the probe fixing device, wherein:

[0007] The puncture needle rotating device is used to fix the puncture needle and control the movement of the puncture needle to adjust the position of the puncture needle;

[0008] The probe fixing device is used to fix the ultrasonic probe, and the ultrasonic probe is used to collect the position information of the puncture needle.

[0009] In one embodiment, the puncture needle rotating device comprises: a puncture needle holder, a connector and a steering gear, wherein the puncture needle holder is connected to the steering gear via the connector; wherein,

[0010] The puncture needle holder is used to fix the puncture needle;

[0011] The steering gear is used to control the movement of the puncture needle support through the connector to adjust the position of the puncture needle.

[0012] In one embodiment, the steering gear includes: a first rotating assembly, a second rotating assembly and a third rotating assembly, wherein:

[0013] The first rotating assembly is used to control the puncture needle holder to rotate about a first direction and to control the puncture needle holder to translate along the first direction;

[0014] The second rotating assembly is used to control the puncture needle holder to rotate about a second direction and to control the puncture needle holder to translate along the second direction;

[0015] The third rotating assembly is used to control the puncture needle support to rotate around a third direction.

[0016] In one embodiment, the first rotating assembly includes a first rotating shaft and a first sliding rod, the first sliding rod is connected to the first rotating shaft, the first rotating shaft is used to control the puncture needle holder to rotate around the first direction, and the first sliding rod is used to control the puncture needle holder to translate along the first direction;

[0017] The second rotating assembly includes a second rotating shaft and a second sliding rod, the second sliding rod is connected to the second rotating shaft, the second rotating shaft is used to control the puncture needle holder to rotate around the second direction, and the second sliding rod is used to control the puncture needle holder to translate along the second direction.

[0018] In one embodiment, the steering gear further comprises: a fourth rotating assembly, wherein:

[0019] The fourth rotating assembly is used to control the puncture needle support to translate along the third direction, and / or to control the puncture needle support to rotate around the second direction.

[0020] In one embodiment, the puncture navigator further includes: a power supply, which is disposed on the probe fixing device and is used to supply power to the puncture needle rotating device.

[0021] In one embodiment, the puncture needle support and the steering gear are detachably connected.

[0022] In one embodiment, the connector is a retractable connector.

[0023] In a second aspect, an embodiment of the present disclosure provides a puncture path planning method, the method comprising:

[0024] Get the position of the puncture target point;

[0025] The position of the puncture target point is converted into a preset three-dimensional coordinate system; the three-dimensional coordinate system is a coordinate system with the puncture needle as the origin;

[0026] The moving trajectory of the puncture needle is calculated in the preset three-dimensional coordinate system to obtain the puncture path.

[0027] In a third aspect, an embodiment of the present disclosure provides a puncture navigation system, comprising: the puncture navigator, ultrasound probe, ultrasound host and display as described in the first aspect; wherein:

[0028] The ultrasonic probe is used to collect ultrasonic data of the puncture target point and transmit the ultrasonic data to the ultrasonic host;

[0029] The ultrasound host is used to calculate the position of the puncture target point according to the ultrasound data, convert the position of the puncture target point into three-dimensional coordinates and transmit them to the display, and transmit the puncture target point to the puncture navigator;

[0030] The puncture navigator is used to calculate the puncture trajectory of the puncture needle according to the puncture target point, and transmit the puncture trajectory to the display;

[0031] The display is used to display the position of the puncture target point and the puncture trajectory.

[0032] The above-mentioned puncture navigator, puncture path planning method and puncture navigation system, the puncture navigator includes a puncture needle rotating device and a probe fixing device, the puncture needle rotating device is connected to the probe fixing device, the puncture needle rotating device is used to fix the puncture needle and control the movement of the puncture needle to adjust the position of the puncture needle, the probe fixing device is used to fix the ultrasonic probe, the ultrasonic probe is used to collect the puncture needle position information, the puncture needle movement can be controlled by the puncture needle rotating device, the movement range of the puncture needle is expanded, so that the ultrasonic probe can accurately collect the position information of the puncture needle to effectively puncture the target point, thereby improving the puncture efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of a puncture navigator in one embodiment;

[0034] Figure 1a A schematic diagram of a puncture needle adjustment process in one embodiment;

[0035] Figure 1b is a schematic structural diagram of a puncture navigator in another embodiment;

[0036] Figure 2 is a schematic structural diagram of a puncture navigator in one embodiment;

[0037] Figure 2a is a schematic structural diagram of a steering gear in one embodiment;

[0038] Figure 3 A schematic diagram of an application environment of a puncture path planning method in an embodiment;

[0039] Figure 4A schematic diagram of a flow chart of a puncture path planning method in one embodiment;

[0040] Figure 4a is a schematic diagram of a bounding box in one embodiment;

[0041] Figure 4b is a schematic diagram of a perspective projection model in one embodiment;

[0042] Figure 4c A schematic diagram of the conversion between the original coordinate system and the puncture needle coordinate system in one embodiment;

[0043] Figure 5 A schematic diagram of a flow chart of a puncture path planning method in another embodiment;

[0044] Figure 6 is a structural block diagram of a puncture path planning device in one embodiment;

[0045] Figure 7 A schematic diagram of the internal structure of an ultrasound host in one embodiment;

[0046] Figure 8 is a schematic structural diagram of a puncture navigation system in one embodiment;

[0047] Description of reference numerals:

[0048] Puncture needle rotating device: 100; Puncture needle support: 1001;

[0049] Connector: 1002; Servo: 1003;

[0050] First rotating assembly: 10031; First rotating axis: 100311;

[0051] First slide bar: 100312; Second rotating assembly: 10032;

[0052] Second rotating axis: 100321; Second sliding bar: 100322;

[0053] The third rotating assembly: 10033; The fourth rotating assembly: 10034;

[0054] Probe fixing device: 200; First clamp: 2001;

[0055] Second clip: 2002; Flexible circuit board: 2003;

[0056] Puncture needle: 300; Ultrasound probe: 400;

[0057] Power supply:500. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] Figure 1 The structure diagram of a puncture navigation device provided by an embodiment is shown in FIG. Figure 1 As shown, the puncture navigator includes: a puncture needle rotating device 100 and a probe fixing device 200, wherein the puncture needle rotating device 100 is connected to the probe fixing device 200, wherein the puncture needle rotating device 100 is used to fix the puncture needle 300 and control the movement of the puncture needle 300 to adjust the position of the puncture needle 300; the probe fixing device 200 is used to fix the ultrasonic probe 400, and the ultrasonic probe 400 is used to collect the puncture needle position information.

[0060] Specifically, the puncture navigator includes a puncture needle rotating device 100 and a probe fixing device 200, and the puncture needle rotating device 100 is connected to the probe fixing device 200. The puncture needle rotating device 100 is used to fix the puncture needle 300 and control the movement of the puncture needle 300 to adjust the position of the puncture needle 300, and the probe fixing device 200 is used to fix the ultrasound probe 400, and the ultrasound probe 400 is used to collect the position information of the puncture needle 300. Optionally, the puncture needle rotating device 100 can control the puncture needle 300 to rotate and translate in three directions of XYZ to adjust the position of the puncture needle 300. Figure 1a For example, assuming that the puncture needle 300 points to the positive direction of X at the default position of the origin, and the coordinates of the target point are P (x, y, z), you can choose to translate the target point on the X axis by a distance of x, and then rotate the puncture needle by an angle α to achieve the puncture needle pointing to the target point P; similarly, you can first translate the target point along the Y axis by a distance of y or along the Z axis by a distance of z, and then rotate the target point P around the Y axis by an angle or around the Z axis. For example, the rotation matrix of the target point P along the X axis, Y axis, and Z axis is shown in equations (1), (2), and (3):

[0061]

[0062]

[0063]

[0064] Optionally, the puncture needle rotating device 100 may be fixedly connected to the probe fixing device 200, or may be detachably connected. Optionally, the puncture needle rotating device 100 may be a snap-on rotating device. Further, the puncture navigator provided in the present application may also include: Figure 1bThe main control unit, 5G communication unit, voltage stabilizing unit, driving unit, protection unit and puncture needle are shown, wherein the core of the main control unit adopts ARM chip, the main control unit controls the mechanical unit through the driving unit, and communicates with the ultrasonic diagnostic instrument and tablet through the 5G communication unit, the protection unit limits the movement of the mechanical unit, and the voltage stabilizing unit provides power for the main control unit.

[0065] In this embodiment, the puncture navigator includes a puncture needle rotating device and a probe fixing device. The puncture needle rotating device is connected to the probe fixing device. The puncture needle rotating device is used to fix the puncture needle and control the movement of the puncture needle to adjust the position of the puncture needle. The probe fixing device is used to fix the ultrasonic probe for collecting the puncture needle position information. The puncture needle movement can be controlled by the puncture needle rotating device, which expands the movement range of the puncture needle, so that the ultrasonic probe can accurately collect the position information of the puncture needle to effectively puncture the target point, thereby improving the puncture efficiency.

[0066] Based on the above embodiments, Figure 2 As shown, in one embodiment, the puncture needle rotating device 100 includes: a puncture needle holder 1001, a connector 1002 and a servo 1003, wherein the puncture needle holder 1001 is connected to the servo 1003 via the connector 1002; wherein the puncture needle holder 1001 is used to fix the puncture needle 300; and the servo 1003 is used to control the movement of the puncture needle holder 1001 via the connector 1002 to adjust the position of the puncture needle 300.

[0067] Specifically, the puncture needle rotating device 100 comprises: a puncture needle holder 1001, a connector 1002 and a steering gear 1003, wherein the puncture needle holder 1001 is connected to the steering gear 1003 via the connector 1002; wherein the puncture needle holder 1001 is used to fix the puncture needle 300, and the steering gear 1003 is used to control the movement of the puncture needle holder 1001 to adjust the position of the puncture needle 300 via the connector 1002, that is, the movement of the puncture needle holder 1001 is controlled by the steering gear 1003. Optionally, as Figure 2aAs shown, the steering engine 1003 includes: a first rotating component 10031, a second rotating component 10032 and a third rotating component 10033, wherein the first rotating component 10031 is used to control the puncture needle support 1001 to rotate around a first direction and control the puncture needle support 1001 to translate along the first direction; the second rotating component 10032 is used to control the puncture needle support 1001 to rotate around a second direction and control the puncture needle support 1001 to translate along the second direction; the third rotating component 10033 is used to control the puncture needle support 1001 to rotate around a third direction; wherein the angle between the first direction, the second direction and the third direction is 90 degrees. It can be understood that, as an achievable manner, the first direction can be the Z-axis direction, the second direction can be the X-axis direction, and the third direction can be the Y-axis direction. Of course, the first direction can also be the Z-axis direction, the second direction can also be the X-axis direction, and the third direction can be the Y-axis direction. This embodiment does not limit the XYZ directions represented by the first direction, the second direction and the third direction. Optionally, in this embodiment, the first rotating component 10031, the second rotating component 10032 and the third rotating component 10033 can all be rotating shafts, or can all be rotating rods. Figure 2a The first rotating assembly 10031 includes a first rotating shaft 100311 and a first sliding bar 100312, the first sliding bar 100312 is connected to the first rotating shaft 100311, the first rotating shaft 100311 is used to control the puncture needle holder 1001 to rotate around the first direction, and the first sliding bar 100312 is used to control the puncture needle holder 1001 to translate along the first direction; the second rotating assembly 10032 includes a second rotating shaft 100321 and a second sliding bar 100322, the second sliding bar 100322 is connected to the second rotating shaft 100321, the second rotating shaft 100321 is used to control the puncture needle holder 1001 to rotate around the second direction, and the second sliding bar 100322 is used to control the puncture needle holder 1001 to translate along the second direction.

[0068] In this embodiment, the puncture needle rotating device includes a puncture needle holder, a connector and a servo. The puncture needle holder is connected to the servo through the connector. The puncture needle holder is used to fix the puncture needle. The servo is used to control the movement of the puncture needle holder through the connector to adjust the position of the puncture needle. The position of the puncture needle can be adjusted by the servo to expand the movement range of the puncture needle, so that the ultrasonic probe can accurately collect the position information of the puncture needle to effectively puncture the target point and improve the puncture efficiency.

[0069] Based on the above examples, please continue to refer to Figure 2aIn one embodiment, the servo 1003 further includes: a fourth rotating assembly 10034, wherein the fourth rotating assembly 10034 is used to control the puncture needle support 1001 to translate along a third direction, and / or control the puncture needle support 1001 to rotate around a second direction.

[0070] Specifically, the servo 1003 further includes a fourth rotating assembly 10034, which is used to control the translation of the puncture needle holder 1001 along the third direction, and / or control the rotation of the puncture needle holder 1001 around the second direction. Optionally, the fourth rotating assembly 10034 can be a rotating shaft or a rotating rod. Optionally, the angle between the second direction and the third direction is 90 degrees. Optionally, the second direction can be the X-axis direction, and the third direction can be the Y-axis direction. Optionally, the puncture needle holder 1001 and the servo 1003 are detachably connected. Optionally, the connector 1002 is a retractable connector.

[0071] In this embodiment, the servo also includes a fourth rotating component, which controls the puncture needle holder to translate along the third direction, and / or controls the puncture needle holder to rotate around the second direction. The servo can adjust the position of the puncture needle to expand the movement range of the puncture needle, so that the ultrasonic probe can accurately collect the position information of the puncture needle to effectively puncture the target point, thereby improving the puncture efficiency.

[0072] Based on the above examples, please continue to refer to Figure 2 In one embodiment, the puncture navigator further includes: a power supply 500 , which is disposed on the probe fixing device 200 , and is used to supply power to the puncture needle rotating device 100 .

[0073] Specifically, the puncture navigator further includes a power supply 500, which is disposed on the probe fixing device 200 and is used to supply power to the puncture needle rotating device 100. Optionally, the power supply 500 may be a lithium-ion battery. Figure 1b The voltage regulator unit shown in .

[0074] In this embodiment, the puncture navigator also includes a power supply arranged on the probe fixing device, which can supply power to the puncture needle rotating device to ensure the normal operation of the puncture needle rotating device. The movement of the puncture needle can be controlled by the puncture needle rotating device, thereby expanding the movement range of the puncture needle, so that the ultrasonic probe can accurately collect the position information of the puncture needle to effectively puncture the target point, thereby improving the puncture efficiency.

[0075] Based on the above examples, please continue to refer to Figure 2In one embodiment, the probe fixing device 200 includes a first clamp 2001 and a second clamp 2002 , and the first clamp 2001 and the second clamp 2002 are used to fix the ultrasonic probe 400 .

[0076] Specifically, the probe fixing device 200 of the puncture navigator includes a first clip 2001 and a second clip 2002, and the first clip 2001 and the second clip 2002 are used to fix the ultrasonic probe 400. Optionally, the probe fixing device 200 also includes a flexible circuit board 2003, which is arranged on the probe fixing device 2002, and the flexible circuit board 2003 is connected to the power supply 500 and the steering gear 1003 respectively.

[0077] In this embodiment, the probe fixing device of the puncture navigator includes a first clamp and a second clamp. The first clamp and the second clamp can fix the ultrasound probe, thereby ensuring that the ultrasound probe can work safely and stably.

[0078] The puncture path planning method provided in this application can be applied to Figure 3 In the application environment shown. The ultrasound host is connected to the probe through a cable, and is connected to the tablet and the puncture navigator through a 5G module; the puncture navigator is fixed to the probe through a puncture stand. Among them, the processor of the ultrasound host is used to provide computing and control capabilities. The probe connection port included in the ultrasound host is used to communicate with the ultrasound probe through a network connection. Optionally, the ultrasound host can be a server, a personal computer, a personal digital assistant, or other terminal devices, such as a tablet computer, a mobile phone, etc., or a cloud or remote server. The embodiment of the present application does not limit the specific form of the ultrasound host.

[0079] In one embodiment, Figure 4 As shown, a puncture path planning method is provided, which is applied to Figure 3 The ultrasonic host in the example is used to illustrate, including the following steps:

[0080] S401, obtaining the position of the puncture target point.

[0081] Specifically, the ultrasound host obtains the position of the puncture target point. It should be noted that before performing a three-dimensional puncture, the user can select a three-dimensional puncture mode in the ultrasound host. In this mode, the ultrasound host performs three-dimensional imaging of the volume data collected by the probe, and performs depth imaging of the surface relative to the parallel plane of the probe to the user. The collected volume data is converted to the world coordinate system through the three transformations of translation, rotation, and scaling through the open source OpenGL database application program interface API. In the world coordinate system, the corresponding volume data is converted to the observation coordinate system through the view transformation. The observation coordinate system is converted to the clipping space through the projection transformation, and finally to the screen coordinate system through the viewport transformation. The user selects the target to be punctured on the subject's body, and the ultrasound host back-projects the acquired target point to obtain the position of the puncture target point. Among them, the back-projection can use the back-projection application program interface API of the open source glu library to convert the target point from the screen coordinate system to the three-dimensional space coordinate system. In the three-dimensional reconstruction process, the following can be used. Figure 4a The bounding box shown is used to reconstruct the three-dimensional data; the process of projection transformation can be carried out as follows Figure 4b In addition, when reconstructing three-dimensional data, the lower left corner vertex of the front face of the cube is used as the origin, so the three-dimensional coordinates of the puncture target point obtained at this time are still based on the lower left corner vertex of the cube as the origin, and the coordinate system of the puncture navigation is the three-dimensional space coordinates with the midpoint of the Z axis of the left face of the cube as the origin. The two coordinate origins are as follows Figure 4c As shown, therefore, it is necessary to perform coordinate transformation on the acquired position of the puncture target point, from the coordinate with O as the origin to the coordinate with O' as the origin, and the converted coordinates x', y', z' and the original coordinates x, y, z satisfy x'=x, y'=1-y, z'=z-0.5, and then recalculate the acquired position of the puncture target point according to the transformation method of the coordinate system.

[0082] S402, converting the position of the puncture target point into a preset three-dimensional coordinate system; the three-dimensional coordinate system is a coordinate system with the puncture needle as the origin.

[0083] Specifically, the ultrasound host converts the acquired position of the puncture target point into a preset three-dimensional coordinate system, wherein the three-dimensional coordinate system is a coordinate system with the puncture needle as the origin. Optionally, the ultrasound host can use a mapping method to map the acquired position of the puncture target point into the preset three-dimensional coordinate system with the puncture needle as the origin.

[0084] S403, calculating the moving trajectory of the puncture needle in a preset three-dimensional coordinate system to obtain a puncture path.

[0085] Specifically, the ultrasound host calculates the moving trajectory of the puncture needle in the above-mentioned preset three-dimensional coordinate system to obtain the puncture path. It can be understood that the straight line from the position of the puncture needle to the puncture target point is the moving trajectory of the puncture needle, and the puncture path can be obtained by calculating the straight line from the position of the puncture needle to the puncture target point.

[0086] As an optional implementation, the specific process of the ultrasound host determining the puncture path of the puncture needle can be found in Figure 5 The flowchart shown ( Figure 5 The ultrasonic diagnostic instrument in the embodiment is the ultrasonic host described in this embodiment. Figure 5 The implementation principle of the method steps in can refer to the implementation principle of S401-S403 above, which will not be repeated here.

[0087] In this embodiment, the ultrasound host obtains the position of the puncture target point and converts the position of the puncture target point into a preset three-dimensional coordinate system with the puncture needle as the origin. The movement trajectory of the puncture needle can be calculated in the preset three-dimensional coordinate system to obtain the puncture path. The puncture navigator can determine whether there is tissue that is not suitable for puncture on the puncture path. If there is tissue that is not suitable for puncture, the puncture navigator can readjust the position of the puncture needle to effectively puncture the target point and improve the puncture efficiency.

[0088] It should be understood that although Figure 4-5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 4-5 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0089] In one embodiment, Figure 6 As shown, a puncture path planning device is provided, comprising: an acquisition module, a conversion module and a calculation module, wherein:

[0090] The acquisition module is used to obtain the position of the puncture target point.

[0091] The conversion module is used to convert the position of the puncture target point into a preset three-dimensional coordinate system; the three-dimensional coordinate system is a coordinate system with the puncture needle as the origin.

[0092] The calculation module is used to calculate the movement trajectory of the puncture needle in a preset three-dimensional coordinate system to obtain the puncture path.

[0093] The puncture path planning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0094] For the specific definition of the puncture path planning device, please refer to the definition of the puncture path planning method above, which will not be repeated here. Each module in the above-mentioned puncture path planning device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the ultrasonic imaging device in the form of hardware, or can be stored in the memory of the ultrasonic imaging device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0095] In one embodiment, an ultrasound host is provided. The ultrasound host may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The ultrasound host includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the ultrasound host is used to provide computing and control capabilities. The memory of the ultrasound host includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the ultrasound host is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a puncture path planning method is implemented. The display screen of the ultrasound host can be a liquid crystal display screen or an electronic ink display screen, and the input device of the ultrasound host can be a touch layer covering the display screen, or a button, trackball or touchpad set on the housing of the ultrasound imaging device, or an external keyboard, touchpad or mouse, etc.

[0096] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the present application scheme, and does not constitute a limitation on the ultrasound host to which the present application scheme is applied. The specific ultrasound host may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0097] In one embodiment, an ultrasound host is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0098] Get the position of the puncture target point;

[0099] The position of the puncture target point is converted into a preset three-dimensional coordinate system; the three-dimensional coordinate system is a coordinate system with the puncture needle as the origin;

[0100] The moving trajectory of the puncture needle is calculated in a preset three-dimensional coordinate system to obtain the puncture path.

[0101] The implementation principle and technical effect of the ultrasound host provided in the above embodiment are similar to those of the above method embodiment, and will not be repeated here.

[0102] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0103] Get the position of the puncture target point;

[0104] The position of the puncture target point is converted into a preset three-dimensional coordinate system; the three-dimensional coordinate system is a coordinate system with the puncture needle as the origin;

[0105] The moving trajectory of the puncture needle is calculated in a preset three-dimensional coordinate system to obtain the puncture path.

[0106] The computer-readable storage medium provided in the above embodiment has similar implementation principles and technical effects as those of the above method embodiment, and will not be described in detail here.

[0107] In one embodiment, Figure 8 As shown, a puncture navigation system is provided, the puncture navigation system comprising: Figure 1 , Figure 2 and Figure 2a The puncture navigator, ultrasound probe, ultrasound host and display are shown; wherein: the ultrasound probe is used to collect ultrasound data of the puncture target point and transmit the ultrasound data to the ultrasound host; the ultrasound host is used to calculate the position of the puncture target point according to the ultrasound data, convert the position of the puncture target point into three-dimensional coordinates and transmit it to the display, and transmit the puncture target point to the puncture navigator; the puncture navigator is used to calculate the puncture trajectory of the puncture needle according to the puncture target point, and transmit the puncture trajectory to the display; the display is used to display the position of the puncture target point and the puncture trajectory.

[0108] Specifically, the working principle of the puncture navigation system provided in this embodiment is described in the above embodiment, and this embodiment will not be repeated here. Optionally, the ultrasound host transmits the puncture target point to the puncture navigator via the 5G network; the ultrasound host transmits the position of the puncture target point to the display via the 5G network.

[0109] In this embodiment, the puncture navigation system includes a puncture navigator, an ultrasound probe, an ultrasound host and a display. The ultrasound probe is used to collect ultrasound data of the puncture target point and transmit the ultrasound data to the ultrasound host. The ultrasound host can calculate the position of the puncture target point based on the ultrasound data, convert the position of the puncture target point into three-dimensional coordinates and transmit them to the display. The puncture navigator can calculate the puncture trajectory of the puncture needle based on the puncture target point, and transmit the puncture trajectory to the display so that the display displays the position of the puncture target point and the puncture trajectory. The target point can then be effectively punctured based on the position of the puncture target point and the puncture trajectory, thereby improving the puncture efficiency.

[0110] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0111] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A puncture navigation device, characterized in that: The puncture navigator comprises: a puncture needle rotating device and a probe fixing device, wherein the puncture needle rotating device is connected to the probe fixing device, and the puncture needle rotating device comprises: a puncture needle bracket, a connector and a steering gear, wherein the puncture needle bracket is connected to the steering gear via the connector, and the connector is a retractable connector; the steering gear comprises: a first rotating assembly, a second rotating assembly, a third rotating assembly and a fourth rotating assembly, wherein, The puncture needle holder is used to fix the puncture needle; The servo is used to control the movement of the puncture needle holder to adjust the position of the puncture needle through the connector; the first rotating assembly is used to control the puncture needle holder to rotate around a first direction and control the puncture needle holder to translate along the first direction; the second rotating assembly is used to control the puncture needle holder to rotate around a second direction and control the puncture needle holder to translate along the second direction; the third rotating assembly is used to control the puncture needle holder to rotate around a third direction; the fourth rotating assembly is used to control the puncture needle holder to translate along the third direction; wherein the angle between the first direction, the second direction and the third direction is 90 degrees; The probe fixing device is used to fix the ultrasonic probe, and the ultrasonic probe is used to collect the position information of the puncture needle; The puncture navigator is used to calculate the puncture trajectory of the puncture needle according to the puncture target point, and transmit the puncture trajectory to the display.

2. The puncture navigation device according to claim 1, characterized in that: The first rotating assembly includes a first rotating shaft and a first sliding rod, the first sliding rod is connected to the first rotating shaft, the first rotating shaft is used to control the puncture needle holder to rotate around the first direction, and the first sliding rod is used to control the puncture needle holder to translate along the first direction; The second rotating assembly includes a second rotating shaft and a second sliding rod, the second sliding rod is connected to the second rotating shaft, the second rotating shaft is used to control the puncture needle holder to rotate around the second direction, and the second sliding rod is used to control the puncture needle holder to translate along the second direction.

3. The puncture navigation device according to claim 2, characterized in that: The fourth rotating assembly is also used to control the puncture needle support to rotate around the second direction.

4. The puncture navigator according to any one of claims 1 to 3, characterized in that: The puncture navigator further comprises: a power supply, which is arranged on the probe fixing device and is used to supply power to the puncture needle rotating device.

5. The puncture navigation device according to claim 1, characterized in that: The puncture needle support and the steering gear are detachably connected.

6. The puncture navigation device according to claim 4, characterized in that: The probe fixing device comprises a first clamp and a second clamp, and the first clamp and the second clamp are used to fix the ultrasound probe.

7. The puncture navigation device according to claim 6, characterized in that: The probe fixing device further comprises a flexible circuit board, which is arranged on the probe fixing device and is connected to the power supply and the steering gear respectively.

8. A puncture path planning method, characterized in that: The puncture path planning method is applied to the puncture navigator according to any one of claims 1 to 7; the method comprises: Get the position of the puncture target point; The position of the puncture target point is converted into a preset three-dimensional coordinate system; the three-dimensional coordinate system is a coordinate system with the puncture needle as the origin; The moving trajectory of the puncture needle is calculated in the preset three-dimensional coordinate system to obtain the puncture path.

9. A puncture navigation system, characterized in that: The puncture navigation system comprises: a puncture navigator, an ultrasound probe, an ultrasound host and a display according to any one of claims 1 to 7; wherein: The ultrasonic probe is used to collect ultrasonic data of the puncture target point and transmit the ultrasonic data to the ultrasonic host; The ultrasound host is used to calculate the position of the puncture target point according to the ultrasound data, convert the position of the puncture target point into three-dimensional coordinates and transmit them to the display, and transmit the puncture target point to the puncture navigator; The puncture navigator is used to calculate the puncture trajectory of the puncture needle according to the puncture target point, and transmit the puncture trajectory to the display; The display is used to display the position of the puncture target point and the puncture trajectory.

10. The puncture navigation system according to claim 9, characterized in that: The ultrasound host transmits the puncture target point to the puncture navigator via the 5G network; the ultrasound host transmits the position of the puncture target point to the display via the 5G network.

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