Puncture Guidance System, Puncture Guidance Method, Device and Storage Medium

Abstract

The present application relates to a puncture guiding system, a puncture guiding method, a device and a storage medium. The system includes: a controller, a camera device and a light guiding device; the controller is configured to control the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target; the camera device is configured to collect the position information of the puncture needle in real time and send the position information of the puncture needle to the controller; the controller is further configured to obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, so as to guide the puncture needle to reach the puncture target. Using the present system can improve the puncture accuracy of interventional puncture surgery.

Description

Technical Field

[0001] This application relates to the field of puncture technology, and in particular, to a puncture guidance system, a puncture guidance method, a device, and a storage medium. Background Art

[0002] Percutaneous interventional surgery is a minimally invasive treatment surgery using modern high-tech means. Under the guidance of a medical imaging device, a puncture needle is introduced into the human body to diagnose and locally treat pathological conditions in the body.

[0003] In traditional technology, in an interventional puncture surgery guided by conventional Computed Tomography (CT) images, the position information and angle information of the puncture are generally determined by a device made by the hospital for auxiliary positioning. For example, a self-made grid is used for positioning and a self-made protractor is used for measuring angles to complete the interventional puncture surgery.

[0004] However, the traditional interventional puncture surgery has the problem of inaccurate puncture. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a puncture guidance system, a puncture guidance method, a device, and a storage medium that can improve the puncture accuracy of interventional puncture surgery.

[0006] In a first aspect, this application provides a puncture guidance system, which includes: a controller, a camera device, and a light guidance device;

[0007] The controller is configured to control the light guidance device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target;

[0008] The camera device is configured to collect the position information of the puncture needle in real time and send the position information of the puncture needle to the controller;

[0009] The controller is further configured to obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guidance device to guide the puncture needle to reach the puncture target.

[0010] In one embodiment, the controller is configured to obtain an angle deviation value between the direction of the light beam emitted by the light guidance device and the puncture path according to the direction of the light beam emitted by the light guidance device;

[0011] Adjust the angle information of the puncture needle according to the angle deviation value.

[0012] In one embodiment, the controller is further configured to, when the light beam coincides with the tail of the puncture needle, perform a risk assessment on the puncture path of the puncture needle according to the angle information of the puncture needle.

[0013] In one embodiment, the controller is configured to determine a distance value between the puncture needle and an organ or a blood vessel within a preset range of the puncture path according to the angle information of the puncture needle, and perform a risk assessment on the puncture path according to the distance value.

[0014] In one embodiment, the controller is a controller disposed in the imaging device, and the imaging device includes an imaging device supporting an interventional puncture device.

[0015] In a second aspect, the present application provides a puncture guiding method, which is applied to the puncture guiding system as described in the first aspect. The method includes:

[0016] Controlling the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target;

[0017] Obtaining the angle information of the puncture needle according to the position information of the puncture needle, and adjusting the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target; wherein, the position information of the puncture needle is collected in real time by the imaging device.

[0018] In one embodiment, the adjusting the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device includes:

[0019] Obtaining an angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device;

[0020] Adjusting the angle information of the puncture needle according to the angle deviation value.

[0021] In one embodiment, the method further includes:

[0022] When the light beam coincides with the tail of the puncture needle, determining a distance value between the puncture needle and an organ or a blood vessel within a preset range of the puncture path according to the angle information of the puncture needle;

[0023] Performing a risk assessment on the puncture path according to the distance value.

[0024] In a third aspect, the present application provides a puncture guiding device, and the device includes:

[0025] A control module, configured to control the light guiding device to emit a light beam according to the position information of the puncture insertion point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target;

[0026] An adjustment module, configured to obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, so as to guide the puncture needle to reach the puncture target; wherein, the position information of the puncture needle is collected in real time by an imaging device.

[0027] In a fourth aspect, the present application provides a controller, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0028] Control the light guiding device to emit a light beam according to the position information of the puncture insertion point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target;

[0029] Obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, so as to guide the puncture needle to reach the puncture target; wherein, the position information of the puncture needle is collected in real time by an imaging device.

[0030] In a fifth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0031] Control the light guiding device to emit a light beam according to the position information of the puncture insertion point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target;

[0032] Obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, so as to guide the puncture needle to reach the puncture target; wherein, the position information of the puncture needle is collected in real time by an imaging device.

[0033] The above-mentioned puncture guiding system, puncture guiding method, device and storage medium. The puncture guiding system includes a controller, a camera device and a light guiding device. The controller can control the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target. The puncture needle can be guided to move to the puncture target through this light beam. The camera device can collect the position information of the puncture needle in real time and send the position information of the puncture needle to the controller, so that the controller can obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target. During this puncture process, the position information of the puncture needle can be accurately obtained through the camera device, so that the controller can accurately obtain the angle information of the puncture needle according to the position information of the puncture needle, and further the controller can accurately adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, and accurately guide the puncture needle to reach the puncture target through this light beam, thereby improving the puncture accuracy of the interventional puncture operation. Description of the Drawings

[0034] Figure 1 Schematic diagram of the puncture guiding system in one embodiment;

[0035] Figure 2 Flow schematic diagram of the puncture guiding method in one embodiment;

[0036] Figure 3 Flow schematic diagram of the puncture guiding method in another embodiment;

[0037] Figure 4 Flow schematic diagram of the puncture guiding method in another embodiment;

[0038] Figure 5 Structural block diagram of the puncture guiding device in one embodiment;

[0039] Figure 6 Internal structure diagram of the controller in one embodiment;

[0040] Description of the Reference Numerals:

[0041] Puncture guiding system: 01;

[0042] Controller: 10;

[0043] Camera device: 20;

[0044] Light guiding device: 30. Detailed Description of the Embodiments

[0045] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to 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.

[0046] In one embodiment, as Figure 1 shown, a puncture guiding system 01 is provided, and the system includes: a controller 10, an imaging device 20, and a light guiding device 30; the controller 10 is configured to control the light guiding device 30 to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target; the imaging device 20 is configured to collect the position information of the puncture needle in real time and send the position information of the puncture needle to the controller 10; the controller 10 is further configured to obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device 30, so as to guide the puncture needle to reach the puncture target.

[0047] Among them, the imaging device 20 can be a 3D camera, a video camera, a zoom lens, etc., and the light guiding device 30 can be a laser positioning lamp, etc., as long as it can emit a light beam. Optionally, the controller 10 can be a controller disposed in the imaging device or a controller connected to the imaging device. Optionally, the above imaging device includes an imaging device supporting an interventional puncture device, for example, a Computed Tomography (CT) device, a Magnetic Resonance Imaging (MRI) device, a radiotherapy device, a Digital Subtraction Angiography (DSA) device, etc. Optionally, the controller 10 and the imaging device 20 can be connected wirelessly or by wire. Optionally, the controller 10 and the light guiding device 30 can be connected wirelessly or by wire. Specifically, after the controller 10 obtains the position information of the puncture entry point and the position information of the puncture target point, it can control the light guiding device 30 to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target point, and guide the puncture needle to move to the puncture target through the light beam. The imaging device 20 collects the position information of the puncture needle in real time, and sends the position information of the puncture needle to the controller 10 through the connection with the controller 10, so that the controller 10 obtains the angle information of the puncture needle according to the position information of the puncture needle, and adjusts the obtained angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device 30, and guides the puncture needle to the puncture target through the light beam emitted by the light guiding device 30. Optionally, the controller can generate a puncture path of the puncture needle according to the position information of the puncture entry point and the position information of the puncture target point, and control the light guiding device to emit a light beam along the puncture path according to the puncture path. Optionally, the controller 10 can search for the target area in the tomographic image based on the tomographic image scanned by the clinical protocol, and calibrate the target point in the center of the target area, that is, the above puncture target point; calibrate the entry point at a suitable position on the body surface, that is, the puncture entry point. Optionally, the controller 10 can elongate the direction of the light beam emitted by the light guiding device according to the angle information of the puncture needle, or, alternatively, can shorten the direction of the light beam emitted by the light guiding device according to the angle information of the puncture needle. Optionally, the above imaging device 10 can include one or multiple. In this embodiment, the number of imaging devices is not limited. It can be understood that when the imaging device 10 includes multiple, after each imaging device 10 sends the position information of the puncture needle collected in real time to the controller 10, the controller 10 can fuse the position information of the puncture needle collected by each imaging device to obtain the position information of the puncture needle. It can be understood that in this embodiment, the angle information of the light beam corresponding to the position where the puncture needle is located is the angle information of the puncture needle.

[0048] The above-mentioned puncture guiding system includes a controller, an imaging device, and a light guiding device. The controller can control the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target. The puncture needle can be guided to move to the puncture target through this light beam. The imaging device can collect the position information of the puncture needle in real time and send the position information of the puncture needle to the controller, so that the controller can obtain the angle information of the puncture needle according to the position information of the puncture needle and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target. During this puncture process, the imaging device can accurately obtain the position information of the puncture needle, so that the controller can accurately obtain the angle information of the puncture needle according to the position information of the puncture needle, and further the controller can accurately adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, and accurately guide the puncture needle to reach the puncture target through this light beam, thereby improving the puncture accuracy of the interventional puncture surgery.

[0049] In the scenario where the controller adjusts the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target, in one embodiment, the above-mentioned controller 10 is used to obtain the angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device; and adjust the angle information of the puncture needle according to the angle deviation value.

[0050] It can be understood that the puncture needle moves along a preset puncture path during the movement. If the puncture needle deviates from the preset puncture path during the movement, an angle deviation value will be generated between the puncture needle and the puncture path. Specifically, the controller 10 can obtain the angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device during the process of the puncture needle moving along the puncture path, and adjust the angle information of the puncture needle according to this deviation value. Optionally, the controller 10 can adjust the angle information of the puncture needle to be along the direction of the puncture path according to the angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path, so as to guide the puncture needle to reach the puncture target along the puncture path.

[0051] In this embodiment, the controller can accurately obtain the angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device, so that the angle information of the puncture needle can be accurately adjusted according to the angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path, and further the puncture needle can be accurately guided to reach the puncture target according to the direction of the light beam emitted by the light guiding device, improving the puncture accuracy of the interventional puncture surgery.

[0052] In the scenario where the above-mentioned puncture needle reaches the puncture target, if the puncture needle enters the puncture target, the controller can also perform a risk assessment on the puncture path of the puncture needle according to the angle information of the puncture needle. On the basis of the above-mentioned embodiment, in one embodiment, the above-mentioned controller 10 is further configured to perform a risk assessment on the puncture path of the puncture needle according to the angle information of the puncture needle when the light beam coincides with the tail of the puncture needle.

[0053] Specifically, the above-mentioned controller 10 can determine that the light beam emitted by the light guiding device coincides with the tail of the puncture needle when it determines that the puncture needle reaches the puncture target according to the position information of the puncture needle sent by the imaging device 20. In the case where it is determined that the light beam emitted by the light guiding device coincides with the tail of the puncture needle, a risk assessment is performed on the puncture path of the puncture needle according to the angle information of the puncture needle. Optionally, the controller 10 can determine whether the light beam emitted by the light guiding device coincides with the tail of the puncture needle according to the image information of the puncture needle collected in real time by the imaging device. Further, as an optional implementation manner, the controller 10 can determine the distance value between the puncture needle and the organs or blood vessels within the preset range of the puncture path according to the angle information of the puncture needle, and then perform a risk assessment on the puncture path according to the distance value between the puncture needle and the organs or blood vessels within the preset range of the puncture path. It can be understood that when the distance value between the puncture needle and the organs or blood vessels within the preset range of the puncture path is less than the preset threshold, it means that the puncture needle is relatively close to the organs or blood vessels within the preset range of the puncture path, and the puncture risk is relatively high according to this puncture path; when the distance value between the puncture needle and the organs or blood vessels within the preset range of the puncture path is greater than or equal to the preset threshold, it means that the puncture needle is far from the organs or blood vessels within the preset range of the puncture path, and the puncture will not touch the organs or blood vessels within the preset range of the puncture path according to this puncture path, and the puncture risk is relatively low.

[0054] In this embodiment, the controller can perform a risk assessment on the puncture path of the puncture needle according to the angle information of the puncture needle when the light beam emitted by the light guiding coincides with the tail of the puncture needle, so as to ensure the safety of the puncture and not touch the organs or blood vessels within the preset range of the puncture path during the puncture process, ensuring the safety of the puncture.

[0055] In one embodiment, as Figure 2 shown, a puncture guiding method is provided. Taking the method applied to the Figure 1 shown puncture guiding system as an example for illustration, it includes the following steps:

[0056] S201, controlling the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target.

[0057] Among them, the light guiding device can be a laser positioning lamp or the like, as long as it can emit a light beam. Optionally, the controller can be a controller disposed within the imaging device or a controller connected to the imaging device. Optionally, the above-mentioned imaging device includes an imaging device supporting an interventional puncture device, such as a Computed Tomography (CT) device, a Magnetic Resonance Imaging (MRI) device, a radiotherapy device, a Digital Subtraction Angiography (DSA) device, and so on. Optionally, the controller and the light guiding device can be connected wirelessly or by wire. Specifically, after the controller obtains the position information of the puncture entry point and the position information of the puncture target point, it can control the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target point, and guide the puncture needle to move to the puncture target through the light beam. Optionally, the controller can generate a puncture path of the puncture needle according to the position information of the puncture entry point and the position information of the puncture target point, and control the light guiding device to emit a light beam along the puncture path according to the puncture path. Optionally, the controller can search for a target area in the tomographic image based on the tomographic image scanned according to the clinical protocol, and calibrate the target point, that is, the above-mentioned puncture target point, at the center of the target area; and calibrate the entry point, that is, the puncture entry point, at an appropriate position on the body surface.

[0058] S202. Obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target; wherein, the position information of the puncture needle is collected in real time by the imaging device.

[0059] Among them, the imaging device 20 can be a 3D camera, a video camera, a zoom lens, etc. Specifically, during the process of the puncture needle traveling along the emitted light beam, the controller can obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target point. Among them, the position information of the puncture needle is collected in real time by the imaging device. Optionally, the controller 10 can elongate the direction of the light beam emitted by the light guiding device according to the angle information of the puncture needle, or can also shorten the direction of the light beam emitted by the light guiding device according to the angle information of the puncture needle. Optionally, the above imaging device 10 can include one or multiple. In this embodiment, the number of imaging devices is not limited. It can be understood that when the imaging device 10 includes multiple ones, after each imaging device 10 sends the position information of the puncture needle collected in real time to the controller 10, the controller 10 can fuse the position information of the puncture needle collected by each imaging device to obtain the position information of the puncture needle. It can be understood that in this embodiment, the angle information of the light beam corresponding to the position where the puncture needle is located is the angle information of the puncture needle.

[0060] In the above puncture guiding method, the controller can control the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target point. Through this light beam, the puncture needle can be guided to move to the puncture target point. The imaging device can, during the movement of the puncture needle, collect the position information of the puncture needle in real time and send the position information of the puncture needle to the controller, so that the controller can obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target point. During this puncture process, the position information of the puncture needle can be accurately obtained through the imaging device, so that the controller can accurately obtain the angle information of the puncture needle according to the position information of the puncture needle, and further the controller can accurately adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, and accurately guide the puncture needle to reach the puncture target point through this light beam, thereby improving the puncture accuracy of the interventional puncture operation.

[0061] Further, in one embodiment, as Figure 3 shown, adjusting the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device in S202 above includes:

[0062] S301, obtaining the angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device.

[0063] It can be understood that the puncture needle moves along a preset puncture path during the movement. If the puncture needle deviates from the preset puncture path during the movement, an angular deviation value will be generated between the puncture needle and the puncture path. Specifically, the controller can obtain the angular deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device during the process of the puncture needle traveling along the puncture path.

[0064] S302. Adjust the angular information of the puncture needle according to the angular deviation value.

[0065] Optionally, the controller can adjust the angular information of the puncture needle to be along the direction of the puncture path according to the angular deviation value between the direction of the light beam emitted by the light guiding device and the puncture path, so as to guide the puncture needle to reach the puncture target along the puncture path.

[0066] In this embodiment, the controller can accurately obtain the angular deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device. Thus, the angular information of the puncture needle can be accurately adjusted according to the angular deviation value between the direction of the light beam emitted by the light guiding device and the puncture path. Furthermore, the puncture needle can be accurately guided to reach the puncture target according to the direction of the light beam emitted by the light guiding device, improving the puncture accuracy of the interventional puncture operation.

[0067] In the scenario where the puncture needle reaches the puncture target, if the puncture needle enters the puncture target, the controller can also perform a risk assessment on the puncture path of the puncture needle. On the basis of the above embodiment, in one embodiment, as Figure 4 shown, the above method further includes:

[0068] S401. When the light beam coincides with the tail of the puncture needle, determine the distance value between the puncture needle and the organs or blood vessels within the preset range of the puncture path according to the angular information of the puncture needle.

[0069] Specifically, the controller can determine that the light beam emitted by the light guiding device coincides with the tail of the puncture needle when determining that the puncture needle reaches the puncture target according to the position information of the puncture needle sent by the imaging device. When it is determined that the light beam emitted by the light guiding device coincides with the tail of the puncture needle, the distance value between the puncture needle and the organs or blood vessels within the preset range of the puncture path is determined according to the angular information of the puncture needle. Optionally, the controller can determine whether the light beam emitted by the light guiding device coincides with the tail of the puncture needle according to the image information of the puncture needle collected by the imaging device in real time.

[0070] S402. Perform a risk assessment on the puncture path according to the distance value.

[0071] It can be understood that in this embodiment, when the distance value between the puncture needle and an organ or blood vessel within the preset range of the puncture path is less than the preset threshold, it indicates that the puncture needle is relatively close to the organ or blood vessel within the preset range of the puncture path, and the risk of puncture along this puncture path is relatively high; when the distance value between the puncture needle and an organ or blood vessel within the preset range of the puncture path is greater than or equal to the preset threshold, it indicates that the puncture needle is far from the organ or blood vessel within the preset range of the puncture path, and puncturing along this puncture path will not touch the organ or blood vessel within the preset range of the puncture path, and the puncture risk is relatively low.

[0072] In this embodiment, when the light beam emitted by the light guide coincides with the tail of the puncture needle, the controller can determine the distance value between the puncture needle and an organ or blood vessel within the preset range of the puncture path according to the angle information of the puncture needle, and perform a risk assessment on the puncture path of the puncture needle based on this distance value, so as to ensure the safety of puncture, not touch the organ or blood vessel within the preset range of the puncture path during the puncture process, and ensure the safety of puncture.

[0073] It should be understood that although Figures 2 - 4 the steps in the flowchart of Figures 2 - 4 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover,

[0074] In one embodiment, as Figure 5 shown, a puncture guiding device is provided, including: a control module and an adjustment module, where:

[0075] The control module is configured to control the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target point; the light beam is used to guide the puncture needle to move to the puncture target point.

[0076] The adjustment module is configured to obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target point; wherein, the position information of the puncture needle is collected in real time by the imaging device.

[0077] The puncture guiding device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here.

[0078] Based on the above embodiments, optionally, the above adjustment module includes: an acquisition unit and an adjustment unit, where:

[0079] The acquisition unit is configured to obtain an angular deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device.

[0080] The adjustment unit is configured to adjust the angular information of the puncture needle according to the angular deviation value.

[0081] The puncture guiding device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0082] Based on the above embodiments, optionally, the above device further includes: a determination module and an evaluation module, where:

[0083] The determination module is configured to determine a distance value between the puncture needle and an organ or blood vessel within a preset range of the puncture path according to the angular information of the puncture needle when the light beam coincides with the tail of the puncture needle.

[0084] The evaluation module is configured to perform a risk assessment on the puncture path according to the distance value.

[0085] The puncture guiding device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0086] For the specific limitations of the puncture guiding device, reference can be made to the limitations on the puncture guiding method in the above text, which will not be elaborated here. Each module in the above puncture guiding device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0087] In one embodiment, a controller is provided, and its internal structure diagram can be as Figure 6As shown in the figure. The computer device 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 computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it realizes a puncture guidance method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or buttons, trackballs, or touchpads provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0088] Those skilled in the art can understand that Figure 6 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0089] In one embodiment, a controller is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0090] Control the light guiding device to emit a light beam according to the position information of the puncture insertion point and the position information of the puncture target point; the light beam is used to guide the puncture needle to move to the puncture target point;

[0091] Obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target point; wherein, the position information of the puncture needle is collected in real time by an imaging device.

[0092] For the controller provided in the above embodiment, its implementation principle and technical effects are similar to those of the above method embodiment, and will not be elaborated here.

[0093] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the following steps are implemented:

[0094] Control the light guiding device to emit a light beam according to the position information of the puncture insertion point and the position information of the puncture target point; the light beam is used to guide the puncture needle to move to the puncture target point;

[0095] Obtain the angular information of the puncture needle according to the position information of the puncture needle, and adjust the angular information of the puncture needle according to the direction of the light beam emitted by the light guiding device to guide the puncture needle to reach the puncture target point; wherein, the position information of the puncture needle is collected in real time by an imaging device.

[0096] For the computer-readable storage medium provided in the above embodiment, its implementation principle and technical effects are similar to those of the above method embodiment, and will not be elaborated here.

[0097] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 above method embodiments. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include at least one of non-volatile and volatile memories. 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. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0098] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered as the scope described in this specification.

[0099] The above-described embodiments only represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A puncture guiding system, characterized in that, The system includes: a controller, an imaging device, and a light guiding device; The controller is configured to control the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target; The imaging device is configured to collect the position information of the puncture needle in real time and send the position information of the puncture needle to the controller; The controller is further configured to obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, so as to guide the puncture needle to reach the puncture target; The controller is further configured to, when the light beam coincides with the tail of the puncture needle, perform a risk assessment on the puncture path of the puncture needle according to the angle information of the puncture needle.

2. The puncture guiding system according to claim 1, wherein The controller is configured to obtain the angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device; Adjust the angle information of the puncture needle according to the angle deviation value.

3. The puncture guiding system according to claim 1 or 2, characterized in that, The controller is further configured to determine whether the light beam emitted by the light guiding device coincides with the tail of the puncture needle according to the image information of the puncture needle collected by the imaging device in real time.

4. The puncture guiding system according to claim 3, wherein, The controller is configured to determine the distance value between the puncture needle and an organ or blood vessel within a preset range of the puncture path according to the angle information of the puncture needle, and perform a risk assessment on the puncture path according to the distance value.

5. The puncture guiding system according to claim 1, wherein, The controller is a controller disposed in the imaging device, and the imaging device includes an imaging device supporting an interventional puncture device.

6. A puncture guiding method, characterized in that, The method is applied to the puncture guiding system according to any one of claims 1-5, and the method includes: Controlling the light guiding device to emit a light beam according to the position information of the puncture entry point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target; Obtaining the angle information of the puncture needle according to the position information of the puncture needle, and adjusting the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, so as to guide the puncture needle to reach the puncture target; wherein, the position information of the puncture needle is collected by the imaging device in real time; When the light beam coincides with the tail of the puncture needle, performing a risk assessment on the puncture path of the puncture needle according to the angle information of the puncture needle.

7. The method according to claim 6, characterized in that, The adjusting the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device includes: Obtaining the angle deviation value between the direction of the light beam emitted by the light guiding device and the puncture path according to the direction of the light beam emitted by the light guiding device; Adjusting the angle information of the puncture needle according to the angle deviation value.

8. The method according to claim 6 or 7, characterized in that The method further includes: When the light beam coincides with the tail of the puncture needle, determining the distance value between the puncture needle and an organ or blood vessel within a preset range of the puncture path according to the angle information of the puncture needle; Performing a risk assessment on the puncture path according to the distance value.

9. A puncture guiding device, characterized in that, The device includes: A control module, configured to control the light guiding device to emit a light beam according to the position information of the puncture insertion point and the position information of the puncture target; the light beam is used to guide the puncture needle to move to the puncture target; An adjustment module, configured to obtain the angle information of the puncture needle according to the position information of the puncture needle, and adjust the angle information of the puncture needle according to the direction of the light beam emitted by the light guiding device, so as to guide the puncture needle to reach the puncture target; wherein, the position information of the puncture needle is collected in real time by an imaging device; in the case where the light beam coincides with the tail of the puncture needle, a risk assessment is performed on the puncture path of the puncture needle according to the angle information of the puncture needle.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 6 to 8 are implemented.

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