Ultrasonic puncture guidance system and method

Abstract

The present invention provides an ultrasonic puncture guidance system and method, including: an ultrasonic probe for obtaining an ultrasonic image of a patient, having a probe portion and a handle portion, and a fixing member on the handle portion; a camera device for capturing a real-time image containing a puncture needle; a laser emitting device, which is arranged on the side of the fixing member facing the probe portion; a processing module, including: a first processing unit, which is used to obtain a puncture position and a target puncture angle according to ultrasonic image processing and control the laser emitting device to emit a visible light beam to illuminate the puncture position to guide medical staff to move the puncture needle tip to the puncture position; a second processing unit, which is used to obtain a current puncture angle according to real-time image and puncture position processing and guide medical staff to adjust to the target puncture angle. The beneficial effect is that the system and method obtain the puncture position, target puncture angle and current puncture angle through ultrasonic image and real-time image processing and guide medical staff to adjust the puncture needle position and current puncture angle.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture needle guidance, and in particular to an ultrasonic puncture guidance system and method. Background Art

[0002] Currently, the marking of puncture points is still in the manual judgment stage. For many beginners, it is impossible to accurately determine the puncture point and puncture angle, which may lead to problems such as incorrect puncture point and inability to accurately reach the lesion location. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides an ultrasonic puncture guidance system, comprising:

[0004] An ultrasonic probe, used for acquiring an ultrasonic image of a patient, the ultrasonic probe comprising a probe portion and a handle portion, and a fixing member is disposed on the handle portion;

[0005] a camera device, disposed on a side of the fixing member facing the probe portion, for continuously capturing and outputting a real-time image containing a puncture needle;

[0006] a laser emitting device, disposed on a side of the fixing member facing the probe portion;

[0007] A processing module, connected to the ultrasound probe, the camera device and the laser emitting device respectively, comprising:

[0008] a first processing unit, configured to obtain a puncture position and a target puncture angle at which the puncture needle penetrates the patient's skin surface according to the ultrasonic image processing and control the laser emitting device to emit a visible light beam to illuminate the puncture position to guide medical personnel to move the tip of the puncture needle to the puncture position;

[0009] A second processing unit is connected to the first processing unit, and is used to obtain a current puncture angle of the puncture needle according to the real-time image and the puncture position, and guide medical personnel to adjust the current puncture angle to the target puncture angle according to the target puncture angle and the current puncture angle.

[0010] Preferably, the first processing unit includes:

[0011] a first processing subunit, configured to establish a spatial coordinate system, wherein the spatial coordinate system takes the center point of the bottom surface of the probe portion as the origin, takes a straight line parallel to the handle portion and intersecting the origin as the Z axis of the spatial coordinate system, and takes a straight line parallel to the fixing member and intersecting the origin as the X axis of the spatial coordinate system;

[0012] A storage subunit, used to store the pre-trained puncture point prediction model associated with each ultrasonic scanning part and the puncture length corresponding to at least one preset depth associated with each ultrasonic scanning part;

[0013] a second processing subunit, connected to the storage subunit, for obtaining the corresponding ultrasound scanning part according to the ultrasound image processing, inputting the ultrasound image into the puncture point prediction model corresponding to the ultrasound scanning part, processing to obtain the corresponding lesion puncture point in the ultrasound image, and the current depth of the lesion puncture point processed according to the ultrasound image, and matching in the first storage subunit to obtain the corresponding puncture length;

[0014] A third processing subunit is connected to the first processing subunit and the second processing subunit respectively, and is used to convert the pixel coordinates of the lesion puncture point in the ultrasound image into spatial coordinates in the spatial coordinate system, and obtain the spatial coordinates of the puncture position in the spatial coordinate system and the corresponding target puncture angle according to the spatial coordinates of the lesion puncture point and the corresponding puncture length, and output a position signal representing the spatial coordinates of the puncture position to control the laser emitting device to emit the visible light beam to irradiate the puncture position to guide medical staff.

[0015] Preferably, the second processing unit includes:

[0016] a fourth processing subunit, configured to obtain the spatial coordinates of the imaging device in the spatial coordinate system according to the pre-measured size data of the imaging device and the ultrasonic probe, and obtain a vertical distance between the imaging device and the surface of the puncture needle according to the real-time image processing;

[0017] A fifth processing subunit is connected to the fourth processing subunit and is used to obtain the current puncture angle according to the spatial coordinates of the camera device, the spatial coordinates of the puncture position and the vertical distance.

[0018] Preferably, the second processing unit further includes a sixth processing subunit, connected to the fifth processing subunit, for obtaining a difference value based on the current puncture angle and the target puncture angle to guide medical personnel to adjust the current puncture angle to the target puncture angle.

[0019] Preferably, the ultrasonic puncture guidance system also includes a prompt device, which is arranged on the ultrasonic probe and connected to the processing module. The sixth processing subunit pre-stores a plurality of intervals arranged according to numerical values ​​and a prompt operation corresponding to each interval. The sixth processing subunit matches the difference with each interval and when the corresponding interval is successfully matched, controls the prompt device to execute the prompt operation corresponding to the interval to guide medical staff to adjust the current puncture angle to the target puncture angle.

[0020] Preferably, the ultrasonic puncture guidance system also includes a display module, connected to the processing module, for receiving the ultrasonic image, the real-time image and the difference and displaying them to guide medical personnel to adjust the current puncture angle of the puncture needle to the target puncture angle.

[0021] Preferably, an ultrasonic puncture guidance method is applied to the ultrasonic puncture guidance system, and specifically comprises the following steps:

[0022] Step S1, the ultrasonic puncture guidance system acquires an ultrasonic image of the patient and obtains a puncture position and a target puncture angle of the puncture needle penetrating into the patient's skin surface according to the ultrasonic image processing;

[0023] Step S2, the ultrasonic puncture guidance system emits a visible light beam to illuminate the puncture position on the patient's skin surface to guide the medical staff to move the tip of the puncture needle to the puncture position;

[0024] In step S3, the ultrasonic puncture guidance system acquires a real-time image including the puncture needle and obtains a current puncture angle of the puncture needle according to the real-time image and the puncture position, and guides medical personnel to adjust the current puncture angle of the puncture needle to the target puncture angle according to the target puncture angle and the current puncture angle.

[0025] Preferably, a spatial coordinate system is pre-established in the ultrasonic puncture system, wherein the spatial coordinate system takes the center point of the bottom surface of the probe portion as the origin, takes a straight line parallel to the handle portion and intersecting the origin as the Z axis of the spatial coordinate system, takes a straight line parallel to the fixing member and intersecting the origin as the X axis of the spatial coordinate system, and stores a puncture point prediction model associated with each ultrasonic scanning part obtained by pre-training and a puncture length corresponding to at least one preset depth associated with each ultrasonic scanning part, then step S1 comprises:

[0026] Step S11, the ultrasonic puncture guidance system obtains the corresponding ultrasonic scanning part according to the ultrasonic image processing, inputs the ultrasonic image into the puncture point prediction model corresponding to the ultrasonic scanning part, processes to obtain the corresponding lesion puncture point in the ultrasonic image, and the current depth of the lesion puncture point processed according to the ultrasonic image, and matches to obtain the corresponding puncture length;

[0027] In step S12, the ultrasonic puncture guidance system converts the pixel coordinates of the lesion puncture point in the ultrasonic image into spatial coordinates in the spatial coordinate system, and obtains the spatial coordinates of the puncture position in the spatial coordinate system and the corresponding target puncture angle according to the spatial coordinates of the lesion puncture point and the corresponding puncture length, and outputs a position signal representing the spatial coordinates of the puncture position to control the laser emitting device to emit the visible light beam to illuminate the puncture position to guide medical staff.

[0028] Preferably, step S3 comprises:

[0029] Step S31, the ultrasonic puncture guidance system obtains the spatial coordinates of the imaging device in the spatial coordinate system according to the pre-measured size data of the imaging device and the ultrasonic probe, and obtains a vertical distance between the imaging device and the surface of the puncture needle according to the real-time image processing;

[0030] Step S32: the ultrasonic puncture guidance system obtains the current puncture angle according to the spatial coordinates of the imaging device, the spatial coordinates of the puncture position and the vertical distance.

[0031] Preferably, after executing step S32, the following steps are further included:

[0032] In step S33, the ultrasonic puncture guidance system obtains a difference value according to the current puncture angle and the target puncture angle to guide the medical staff to adjust the current puncture angle to the target puncture angle.

[0033] The above technical solution has the following advantages or beneficial effects: the system and method obtain the precise lesion puncture point, puncture length and target puncture angle through ultrasonic image processing, and emit a visible light beam through a laser transmitter to illuminate the puncture position on the patient's skin surface to guide medical staff to move the tip of the puncture needle to the puncture position, and obtain the current puncture angle based on the real-time image and puncture position processing, and guide medical staff to adjust the current puncture angle to the target puncture angle based on the current puncture angle and the target puncture angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The structural principle diagram of the system in the preferred embodiment of the present invention is as follows;

[0035] Figure 2 A flowchart of the steps of the method in a preferred embodiment of the present invention;

[0036] Figure 3 The specific flow chart of step S1 in the preferred embodiment of the present invention;

[0037] Figure 4 The specific flow chart of step S3 in the preferred embodiment of the present invention;

[0038] Figure 5 This is a structural diagram of Embodiment 1 in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0040] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, an ultrasonic puncture guidance system is provided. Figure 1 As shown, including:

[0041] An ultrasonic probe 1, used for acquiring an ultrasonic image of a patient, the ultrasonic probe 1 comprises a probe portion and a handle portion, and a fixing member is disposed on the handle portion;

[0042] A camera device 2, disposed on a side of the fixing member facing the probe portion, for continuously capturing and outputting a real-time image containing a puncture needle;

[0043] A laser emitting device 3, arranged on a side of the fixing member facing the probe portion;

[0044] A processing module 4, connected to the ultrasound probe 1, the camera device 2 and the laser emitting device 3, respectively, includes:

[0045] A first processing unit 41, used to obtain a puncture position and a target puncture angle of the puncture needle penetrating the patient's skin surface according to ultrasound image processing and control the laser emitting device to emit a visible light beam to illuminate the puncture position to guide medical staff to move the tip of the puncture needle to the puncture position;

[0046] A second processing unit 42 is connected to the first processing unit 41, and is used to obtain a current puncture angle of the puncture needle according to the real-time image and the puncture position, and guide the medical staff to adjust the current puncture angle to the target puncture angle according to the target puncture angle and the current puncture angle.

[0047] In a preferred embodiment of the present invention, the first processing unit 41 includes:

[0048] a first processing subunit 411, for establishing a spatial coordinate system, wherein the spatial coordinate system takes the center point of the bottom surface of the probe portion as the origin, takes the straight line parallel to the handle portion and intersecting the origin as the Z axis of the spatial coordinate system, and takes the straight line parallel to the fixing member and intersecting the origin as the X axis of the spatial coordinate system;

[0049] A storage subunit 412, used to store the pre-trained puncture point prediction model associated with each ultrasonic scanning part and the puncture length corresponding to at least one preset depth associated with each ultrasonic scanning part;

[0050] a second processing subunit 413, connected to the storage subunit 412, for obtaining a corresponding ultrasound scanned part according to ultrasound image processing, inputting the ultrasound image into a puncture point prediction model corresponding to the ultrasound scanned part, processing to obtain a corresponding lesion puncture point in the ultrasound image, and a current depth of the lesion puncture point obtained according to the ultrasound image processing, and matching in the first storage subunit 412 to obtain a corresponding puncture length;

[0051] A third processing subunit 414 is respectively connected to the first processing subunit 411 and the second processing subunit 413, and is used to convert the pixel coordinates of the lesion puncture point in the ultrasound image into spatial coordinates in the spatial coordinate system, and obtain the spatial coordinates of the puncture position in the spatial coordinate system and the corresponding target puncture angle according to the spatial coordinates of the lesion puncture point and the corresponding puncture length, and output a position signal representing the spatial coordinates of the puncture position to control the laser emitting device 3 to emit a visible light beam to irradiate the puncture position to guide medical staff.

[0052] Specifically, in this embodiment, considering that the ultrasound probe may move frequently, which may cause the spatial coordinate system to change, the origin, X-axis direction, Y-axis direction, and Z-axis direction of the spatial coordinate system are kept unchanged after the spatial coordinate system is established.

[0053] Specifically, in this embodiment, the distance between the lesion puncture point and the X-axis of the space coordinate system can be obtained according to ultrasound image processing as the current depth.

[0054] Specifically, in this embodiment, a puncture point prediction model is established by collecting puncture points determined by medical staff according to different ultrasound scanning sites during previous puncture processes, and the corresponding lesion puncture point can be obtained each time an ultrasound image is input into the puncture point prediction model.

[0055] Preferably, medical staff can determine whether the lesion puncture point is accurate based on actual conditions, and when medical staff need to change the lesion puncture point, they only need to specify a mark point in the ultrasound image, and the third processing subunit 414 will use the mark point as the lesion puncture point to calculate the target puncture angle.

[0056] Specifically, in this embodiment, the center point of the bottom surface of the ultrasound probe 1 is displayed in real time in the ultrasound image, the pixel distance between the lesion puncture point and the center point is obtained based on ultrasound image processing, and the pixel distance is converted into a spatial distance to obtain the spatial coordinates of the lesion puncture point in the spatial coordinate system.

[0057] In a preferred embodiment of the present invention, the second processing unit 42 includes:

[0058] a fourth processing subunit 421, configured to obtain the spatial coordinates of the imaging device 2 in the spatial coordinate system according to the pre-measured size data of the imaging device 2 and the ultrasonic probe 1, and obtain a vertical distance between the imaging device 2 and the surface of the puncture needle according to real-time image processing;

[0059] A fifth processing subunit 422 is connected to the fourth processing subunit 421 and is used to obtain the current puncture angle according to the spatial coordinates of the camera device 2, the spatial coordinates of the puncture position and the vertical distance.

[0060] Specifically, in this embodiment, since the size of the ultrasonic probe 1 can be obtained by measurement, the spatial coordinates of the imaging position 2 in the spatial coordinate system can be obtained based on the measured size data.

[0061] In a preferred embodiment of the present invention, the second processing unit 42 also includes a sixth processing subunit 423, which is connected to the fifth processing subunit 422 and is used to obtain a difference based on the current puncture angle and the target puncture angle to guide medical staff to adjust the current puncture angle to the target puncture angle.

[0062] In a preferred embodiment of the present invention, the ultrasonic puncture guidance system also includes a prompt device 5, which is arranged on the ultrasonic probe 1 and connected to the processing module 4. The sixth processing subunit 423 pre-stores a plurality of intervals arranged according to numerical values ​​and a prompt operation corresponding to each interval. The sixth processing subunit 423 matches the difference with each interval and when the corresponding interval is successfully matched, controls the prompt device 5 to execute the prompt operation corresponding to the interval to guide medical staff to adjust the current puncture angle to the target puncture angle.

[0063] Specifically, in this embodiment, the prompt device 5 may be a sound prompt device, which performs a sound prompt of a corresponding frequency according to the interval in which the difference value is successfully matched, so that the frequency of the sound prompt increases as the difference value decreases.

[0064] Preferably, the difference between the upper limit and the lower limit of each interval does not necessarily need to remain equal. When the difference is small, more intervals can be set accordingly to more accurately remind medical staff of the difference between the current puncture angle and the target puncture angle. When the difference is large, fewer intervals can be set accordingly.

[0065] Preferably, the prompt device 5 may also be a prompt light, which is lit with a corresponding intensity or flashes with a corresponding frequency according to the interval in which the difference is successfully matched.

[0066] In a preferred embodiment of the present invention, the ultrasonic puncture guidance system also includes a display module 6, connected to the processing module 4, for receiving and displaying ultrasonic images, real-time images and differences to guide medical personnel to adjust the current puncture angle of the puncture needle to the target puncture angle.

[0067] Specifically, in this embodiment, the display module 6 is a display screen for displaying the ultrasonic image, the real-time image and the difference value in real time, so that the medical staff can intuitively see the difference between the current puncture angle and the target puncture angle and make more precise adjustments.

[0068] Preferably, when the medical staff inserts the puncture needle into the patient's skin surface, the position of the puncture needle can be observed through an ultrasound image.

[0069] In a preferred embodiment of the present invention, an ultrasonic puncture guidance method is applied to an ultrasonic puncture guidance system, such as Figure 2 As shown, the specific steps include:

[0070] Step S1, the ultrasonic puncture guidance system acquires an ultrasonic image of the patient and obtains a puncture position and a target puncture angle of the puncture needle penetrating the patient's skin surface according to the ultrasonic image processing;

[0071] Step S2, the ultrasonic puncture guidance system emits a visible light beam to illuminate the puncture position on the patient's skin surface to guide the medical staff to move the tip of the puncture needle to the puncture position;

[0072] In step S3, the ultrasonic puncture guidance system obtains a real-time image including the puncture needle and obtains a current puncture angle of the puncture needle according to the real-time image and the puncture position, and guides the medical staff to adjust the current puncture angle of the puncture needle to the target puncture angle according to the target puncture angle and the current puncture angle.

[0073] In a preferred embodiment of the present invention, a spatial coordinate system is pre-established in the ultrasonic puncture system, with the center point of the bottom surface of the probe portion as the origin, a straight line parallel to the handle portion and intersecting the origin as the Z axis, and a straight line parallel to the fixing member and intersecting the origin as the X axis, and the puncture point prediction model associated with each ultrasonic scanning part obtained in advance and the puncture length corresponding to at least one preset depth associated with each ultrasonic scanning part are stored, then step S1 is as follows: Figure 3 As shown, including:

[0074] Step S11, the ultrasonic puncture guidance system obtains the corresponding ultrasonic scanning part according to the ultrasonic image processing, inputs the ultrasonic image into the puncture point prediction model corresponding to the ultrasonic scanning part, processes and obtains the corresponding lesion puncture point in the ultrasonic image, and the current depth of the lesion puncture point processed according to the ultrasonic image, and matches and obtains the corresponding puncture length;

[0075] In step S12, the ultrasonic puncture guidance system converts the pixel coordinates of the lesion puncture point in the ultrasonic image into spatial coordinates in the spatial coordinate system, and obtains the spatial coordinates of the puncture position in the spatial coordinate system and the corresponding target puncture angle according to the spatial coordinates of the lesion puncture point and the corresponding puncture length, and outputs a position signal representing the spatial coordinates of the puncture position to control the laser emitting device to emit a visible light beam to illuminate the puncture position to guide medical staff.

[0076] In a preferred embodiment of the present invention, Figure 4 As shown, step S3 includes:

[0077] Step S31, the ultrasonic puncture guidance system obtains the spatial coordinates of the imaging device 2 in the spatial coordinate system according to the pre-measured size data of the imaging device 2 and the ultrasonic probe 1, and obtains a vertical distance between the imaging device 2 and the surface of the puncture needle according to real-time image processing;

[0078] Step S32, the ultrasonic puncture guidance system obtains the current puncture angle according to the spatial coordinates of the camera device 2, the spatial coordinates of the puncture position and the vertical distance.

[0079] In a preferred embodiment of the present invention, after executing step S32, the method further includes:

[0080] In step S33, the ultrasonic puncture guidance system obtains a difference value based on the current puncture angle and the target puncture angle to guide the medical staff to adjust the current puncture angle to the target puncture angle.

[0081] Specifically, in embodiment 1:

[0082] The positional relationship among the ultrasonic probe 1, the imaging device 2, the laser emitting device 3 and the prompting device 5 is as follows: Figure 5As shown, let the origin of the spatial coordinate system be point O, let the lesion puncture point be point A, let the puncture position be point B, let the shooting point of the camera device 2 be point C. In this embodiment, point O, point A, point B and point C are in the same plane, the spatial coordinates of point A in the spatial coordinate system are obtained by ultrasonic image processing, and the AO length H is obtained according to the spatial coordinates of point A and point O, and the target puncture angle α is obtained according to the puncture length L and the AO length H. The vertical distance between point C and the surface of the puncture needle is obtained by real-time image processing taken by the camera device 2 as L3 and the distance between point C and the X-axis of the spatial coordinate system as L1, and the BC length L2 is obtained according to the spatial coordinates of point C on the camera device 2 and the spatial coordinates of point B at the puncture position. The angle between BC and the X-axis of the spatial coordinate system and the angle between BC and the puncture needle are calculated by the angle calculation formula, and the sum of the two angle values ​​is the complementary angle of the current puncture angle β, and the value of the current puncture angle β is obtained.

[0083] Preferably, in the first embodiment, the camera device 2 is located in front of and above the puncture needle. When the camera device 2 is directly above the puncture needle, the current puncture angle β can be obtained by simply obtaining the distance from point C vertically downward to the puncture needle based on real-time image processing and combining the spatial coordinates of point C and point B.

[0084] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. An ultrasonic puncture guidance system, characterized in that: include: An ultrasonic probe, used for acquiring an ultrasonic image of a patient, the ultrasonic probe comprising a probe portion and a handle portion, and a fixing member is disposed on the handle portion; a camera device, disposed on a side of the fixing member facing the probe portion, for continuously capturing and outputting a real-time image containing a puncture needle; a laser emitting device, disposed on a side of the fixing member facing the probe portion; A processing module, connected to the ultrasound probe, the camera device and the laser emitting device respectively, comprising: a first processing unit, configured to obtain a puncture position and a target puncture angle at which the puncture needle penetrates the patient's skin surface according to the ultrasonic image processing and control the laser emitting device to emit a visible light beam to illuminate the puncture position to guide medical personnel to move the tip of the puncture needle to the puncture position; a second processing unit, connected to the first processing unit, for obtaining a current puncture angle of the puncture needle according to the real-time image and the puncture position, and guiding the medical staff to adjust the current puncture angle to the target puncture angle according to the target puncture angle and the current puncture angle; A spatial coordinate system is pre-established in the ultrasonic puncture guidance system, with the center point of the bottom surface of the probe portion as the origin, a straight line parallel to the handle portion and intersecting the origin as the Z axis, and a straight line parallel to the fixing member and intersecting the origin as the X axis; The second processing unit comprises: a fourth processing subunit, configured to obtain the spatial coordinates of the imaging device in the spatial coordinate system according to the pre-measured size data of the imaging device and the ultrasonic probe, and obtain a vertical distance between the imaging device and the surface of the puncture needle according to the real-time image processing; A fifth processing subunit is connected to the fourth processing subunit and is used to obtain the current puncture angle according to the spatial coordinates of the camera device, the spatial coordinates of the puncture position and the vertical distance.

2. The ultrasonic puncture guidance system according to claim 1, characterized in that: The first processing unit comprises: a first processing subunit, configured to establish a spatial coordinate system, wherein the spatial coordinate system takes the center point of the bottom surface of the probe portion as the origin, takes a straight line parallel to the handle portion and intersecting the origin as the Z axis of the spatial coordinate system, and takes a straight line parallel to the fixing member and intersecting the origin as the X axis of the spatial coordinate system; A storage subunit, used to store the pre-trained puncture point prediction model associated with each ultrasonic scanning part and the puncture length corresponding to at least one preset depth associated with each ultrasonic scanning part; a second processing subunit, connected to the storage subunit, for obtaining the corresponding ultrasound scanning part according to the ultrasound image processing, inputting the ultrasound image into the puncture point prediction model corresponding to the ultrasound scanning part, processing to obtain the corresponding lesion puncture point in the ultrasound image, and the current depth of the lesion puncture point processed according to the ultrasound image, and matching in the storage subunit to obtain the corresponding puncture length; A third processing subunit is connected to the first processing subunit and the second processing subunit respectively, and is used to convert the pixel coordinates of the lesion puncture point in the ultrasound image into spatial coordinates in the spatial coordinate system, and obtain the spatial coordinates of the puncture position in the spatial coordinate system and the corresponding target puncture angle according to the spatial coordinates of the lesion puncture point and the corresponding puncture length, and output a position signal representing the spatial coordinates of the puncture position to control the laser emitting device to emit the visible light beam to irradiate the puncture position to guide medical staff.

3. The ultrasonic puncture guidance system according to claim 1, characterized in that: The second processing unit also includes a sixth processing subunit, connected to the fifth processing subunit, for obtaining a difference value based on the current puncture angle and the target puncture angle to guide medical personnel to adjust the current puncture angle to the target puncture angle.

4. The ultrasonic puncture guidance system according to claim 3, characterized in that: The ultrasonic puncture guidance system also includes a prompt device, which is arranged on the ultrasonic probe and connected to the processing module. The sixth processing subunit pre-stores a plurality of intervals arranged according to numerical values ​​and a prompt operation corresponding to each of the intervals. The sixth processing subunit matches the difference with each of the intervals and when the corresponding interval is successfully matched, controls the prompt device to execute the prompt operation corresponding to the interval to guide medical staff to adjust the current puncture angle to the target puncture angle.

5. The ultrasonic puncture guidance system according to claim 3, characterized in that: The ultrasonic puncture guidance system also includes a display module connected to the processing module, which is used to receive the ultrasonic image, the real-time image and the difference and display them to guide medical personnel to adjust the current puncture angle of the puncture needle to the target puncture angle.

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