Real-time feature extraction for medical puncture needle depth monitoring system

Abstract

The present invention discloses a medical puncture surgical puncture needle insertion depth monitoring system with real-time feature extraction, including a puncture syringe mounted on a mechanical arm, the top of the puncture syringe is fixedly connected to a curved hook trachea, and one end of the curved hook trachea is connected to an inflation pipeline, and a peristaltic pump is sleeved on the inflation pipeline; the present invention relates to the field of medical device technology. The medical puncture surgical puncture needle insertion depth monitoring system with real-time feature extraction can autonomously extract and calculate the depth of the puncture needle entering the human body according to the continuously dynamically captured surgical images during the puncture process, and display the value in real time on the system software interface. The doctor judges the depth of the puncture needle entering the human body based on the value so as to achieve the effect of the puncture needle accurately reaching the target area without multiple confirmations, which greatly improves the efficiency of medical puncture surgery and shortens the operation time.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a medical puncture surgery puncture needle insertion depth monitoring system with real-time feature extraction. Background Art

[0002] Puncture, a common surgical term in medicine, is a diagnostic and treatment technique that involves inserting a puncture needle into a body cavity to extract secretions for testing, injecting gas or contrast agent into the body cavity for angiography, or injecting drugs into the body cavity. The purpose of puncture is to draw blood for testing, blood transfusion, infusion, and insert a catheter for angiography. It is divided into: brain or spinal cavity puncture (subdural puncture, ventricular puncture, cerebral vascular puncture, and lumbar puncture), chest body cavity puncture (pleural cavity puncture and pericardial puncture), abdominal body cavity and organ puncture (abdominal puncture, liver puncture, kidney puncture, bladder puncture, and uterine puncture).

[0003] Existing medical percutaneous puncture surgery mostly relies on infrared optical ball positioning systems (this type of system belongs to the category of distance monitoring mode) to monitor the puncture needle. The system relies on infrared cameras to track the spatial position of the optical positioning ball in real time to determine the insertion depth of the puncture needle. This type of distance monitoring system has many hardware modules, is bulky, complex to deploy, inconvenient to operate, has low accuracy, and slow response. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a medical puncture surgery needle insertion depth monitoring system with real-time feature extraction, which solves the problems that the monitoring of puncture needles during existing medical percutaneous puncture surgery mostly relies on infrared optical ball positioning systems. Such distance monitoring systems have many hardware modules, large size, complicated deployment, inconvenient operation, low accuracy and slow response.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a medical puncture surgical needle insertion depth monitoring system with real-time feature extraction, comprising a puncture syringe installed on a robotic arm, the top of the puncture syringe is fixedly connected to a curved hook trachea, and one end of the curved hook trachea is connected to an inflation pipeline, and a peristaltic pump is sleeved on the inflation pipeline.

[0006] The puncture needle cylinder comprises an iron syringe, and an iron piston is slidably connected inside the iron syringe, an iron puncture needle sleeve is movably connected to the bottom of the iron piston, and the iron puncture needle sleeve is detachably sleeved on the puncture needle head, the iron syringe is installed on the movable end of the mechanical arm through an iron fixing frame that is fixedly sleeved externally, and an electromagnet connected to the iron fixing frame is installed inside the movable end of the mechanical arm.

[0007] The iron puncture needle sleeve is a rectangular structure with chamfered edges, and the outer surface is slidably connected to the inner surface of the iron syringe. The iron puncture needle sleeve includes two half sleeves of the same structure, and the inner side of the sleeve is provided with a built-in groove adapted to the puncture needle head. One side of the contact surface of the two sleeves is fixedly connected with two upper and lower plug blocks, and the other side of the contact surface of the two sleeves is provided with a slot adapted to the plug block.

[0008] Preferably, a 2D camera is fixedly connected to the bottom of the movable end of the robotic arm via a plastic metal hose, the puncture needle comprises a needle tube and a needle head fixedly connected to the top thereof, a plurality of rows of marking lines are equidistantly provided on the surface of the needle tube, and two adjacent rows of marking lines are staggered left and right and marked with different colors.

[0009] Preferably, the outer sleeve of the needle tube is provided with a positioning structure, which includes a rubber disk, and a medical double-sided adhesive tape is pasted on the bottom of the rubber disk, and a positioning cylinder is fixedly connected to the top of the rubber disk. A silicone plug is clamped at the center of the positioning cylinder, and the needle tube can pass through the silicone plug.

[0010] Preferably, the outside of the puncture needle barrel is provided with an isolation cover, which includes a plastic tube, and the surface of the plastic tube is evenly provided with hollow holes, and the upper and lower ends of the plastic tube are clamped with two spliced ​​semicircular covers, and every two of the spliced ​​semicircular covers constitute a complete circular cover and are tightly mounted on the outside of the puncture needle barrel.

[0011] Preferably, the upper and lower ends of the outer side of the puncture needle tube and the upper and lower ends of the inner side of the plastic tube are integrally processed with a plurality of positioning protrusions, and the inner and outer sides of the spliced ​​semicircular cover are provided with annular grooves engaged with the positioning protrusions.

[0012] Preferably, the peristaltic pump and the mechanical arm are both mounted on a bracket, the bracket body is arched, and the two ends of the bottom are in the form of horizontal plates fixed to the operating table, and a suspension assembly is provided on the sliding sleeve of the bracket to suspend the puncture syringe.

[0013] Preferably, the suspension assembly includes a sliding sleeve arranged outside the arched part of the bracket, and a pull rope is hung on the bottom of the sliding sleeve through a hanging ring, one end of the pull rope is bound to the hook air pipe, and the other end of the pull rope is folded in half and locked by a spring lock.

[0014] Preferably, the top of the bracket is evenly provided with corrugated grooves, the inside of the sleeve is slidably connected with a slider, and the bottom of the slider is provided with a corrugated protrusion adapted to the corrugated groove, and a spring is crimped between the top of the slider and the top of the inner surface of the sleeve.

[0015] Preferably, the inflation pipeline includes a branch pipe connected to one end of the bent hook air pipe and a main pipe passing through the peristaltic pump, and the branch pipe is connected to one end of the main pipe through a three-way valve. The main pipe is bound to the robotic arm, and a filter box is fixedly connected to the left side of the bracket, and the other end of the main pipe is connected to the right side of the filter box.

[0016] Beneficial Effects

[0017] The present invention provides a medical puncture surgical needle insertion depth monitoring system with real-time feature extraction. Compared with the prior art, it has the following beneficial effects:

[0018] (1) This real-time feature extraction medical puncture needle insertion depth monitoring system uses a 2D camera to replace the infrared optical positioning ball and distance sensor to capture the puncture process of the puncture needle in real time. Compared with the traditional mode, the high-resolution camera has the characteristics of high imaging quality and easy information capture. Only a small 2D camera combined with AI algorithm can realize the traditional monitoring mode; using the 2D machine vision calibration algorithm, the camera is calibrated before the system leaves the factory, and the calibration accuracy error is ≤0.01mm. After the calibration is completed, the system does not need to be calibrated again on site, and can be directly deployed and used on site, which greatly improves the doctor's accuracy when performing puncture surgery. The system can automatically extract and calculate the depth of the puncture needle entering the human body according to the continuously captured surgical images during the puncture process, and display the value in real time on the system software interface. The doctor can judge the depth of the puncture needle entering the human body based on the value so as to achieve the effect of the puncture needle accurately reaching the target area without multiple confirmations, which greatly improves the efficiency of medical puncture surgery and shortens the operation time.

[0019] (2) The medical puncture needle insertion depth monitoring system with real-time feature extraction can quickly connect the puncture needle by setting a detachable iron puncture needle cover, and can be connected to the iron piston by magnetic attraction, so as to facilitate the installation of the puncture needle and perform puncture. After the puncture, the puncture needle can be quickly and conveniently separated without affecting subsequent operations. The separation process has little impact on the puncture needle, which can avoid causing large shaking and withdrawal to it, thereby avoiding secondary injury to the patient.

[0020] (3) The real-time feature extraction medical puncture needle insertion depth monitoring system sets several rows of marking lines on the needle tube, and uses staggered and color distinction to make the puncture needle have multiple feature points, which facilitates multi-point comparison positioning and improves the accuracy of displacement positioning.

[0021] (4) The medical puncture surgical needle insertion depth monitoring system with real-time feature extraction is configured with a positioning structure sleeved outside the needle tube, which can be adhered to the surface of the body. The silicone plug in the positioning structure can apply resistance to the needle tube, thereby preventing the needle tube from accidentally slipping out after puncture, thereby ensuring stability during use.

[0022] (5) The real-time feature extraction medical puncture needle insertion depth monitoring system installs an isolation cover on the outer surface of the puncture syringe to isolate a space outside the syringe, thereby preventing steel surgical instruments from being adsorbed onto the surface of the puncture syringe and causing collision when approaching, thereby avoiding shaking of the puncture needle, and also improving the safety of use. The isolation cover is easy to disassemble and install, and is easy to use.

[0023] (6) The medical puncture surgical needle insertion depth monitoring system with real-time feature extraction can suspend the puncture syringe on the bracket by setting a suspension component to prevent the puncture syringe and the isolation cover on it from being too heavy and bending the mechanical arm, thereby ensuring the control accuracy of the mechanical arm and reducing the shaking. At the same time, the suspension component can slide on the bracket to adjust the position and has a self-limiting function, which can adapt to the change of the puncture syringe position and has strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a front view of the overall structure of the present invention;

[0025] Figure 2 It is a front view of the local structure of the present invention;

[0026] Figure 3 It is a partial cross-sectional view of the puncture needle cartridge of the present invention;

[0027] Figure 4 It is a schematic diagram of the splicing of the iron puncture needle sleeve and the puncture needle of the present invention;

[0028] Figure 5 It is a three-dimensional diagram of the iron puncture needle sleeve of the present invention;

[0029] Figure 6 An exploded view of the positioning structure of the present invention;

[0030] Figure 7 is a cross-sectional view of the isolation cover of the present invention;

[0031] Figure 8 It is a cross-sectional view of the suspension assembly and the local structure of the bracket of the present invention.

[0032] In the figure: 1. Robotic arm; 2. Puncture needle; 21. Iron needle; 22. Iron piston; 23. Iron puncture needle sleeve; 231. Card sleeve; 232. Built-in groove; 233. Insert block; 234. Slot; 24. Iron fixing frame; 3. Hook air pipe; 4. Inflatable pipeline; 41. Branch pipe; 42. Main pipe; 43. Three-way valve; 44. Filter box; 5. Peristaltic pump; 6. Puncture needle; 61. Needle tube; 62. Needle; 63. Marking line; 7. Suspension assembly; 71. Sliding sleeve; 72. Hanging ring; 73. Draw rope; 74. Spring lock; 75. Sliding block; 76. Corrugated bump; 77. Spring; 8. Positioning structure; 81. Rubber disc; 82. Medical double-sided adhesive tape; 83. Positioning cylinder; 84. Silicone plug; 9. Isolation cover; 91. Plastic cylinder; 92. Hollow hole; 93. Spliced ​​semicircular cover; 95. Positioning bump; 94. Ring groove; 10. Bracket; 101. Corrugated groove; 11. Plastic metal hose; 12. 2D camera. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The present invention provides a technical solution: a method for monitoring the insertion depth of a puncture needle in a medical puncture operation by real-time feature extraction, which specifically comprises the following steps:

[0035] Step 1: first locate the patient's affected area, then adjust the puncture device to move the puncture needle 6 to above the affected area;

[0036] Step 2: Input data into the computer according to the detected depth of the affected part (target area), and control the puncture needle 6 to slowly penetrate into the body;

[0037] Step 3: During the puncture process, start the 2D camera 12 to capture the video of the puncture process of the puncture needle 6 in real time, analyze and anchor the feature points of the puncture needle 6 on each image of 60 frames per second, calculate the displacement distance of the puncture needle 6 on two adjacent images, and obtain the travel distance of the puncture needle 6, that is, the puncture depth, until the puncture reaches the target area, and then separate the puncture needle 6 for subsequent surgical operations.

[0038] A 2D camera 12 is used to replace the infrared optical positioning ball and distance sensor to capture the puncture process of the puncture needle in real time during surgery. Compared with the traditional mode, the high-resolution camera has the characteristics of high imaging quality and easy information capture. Only a compact 2D camera 12 is needed, combined with the AI ​​algorithm to realize the traditional monitoring mode; using the 2D machine vision calibration algorithm, the camera is calibrated before the system leaves the factory, and the calibration accuracy error is ≤0.01mm. After the calibration is completed, the system does not need to be calibrated again on site, and can be directly deployed and used on site, which greatly improves the positioning accuracy of the puncture needle when the doctor is performing the puncture operation; using 2 D machine vision machine learning algorithm pre-learns and builds models for puncture needles of different specifications and models. When doctors use it, they only need to select the model of the puncture needle to perform corresponding feature recognition, without the need to repeatedly learn and build models. At the same time, the system can autonomously extract and calculate the depth of the puncture needle entering the human body based on the continuously captured dynamic surgical images during the puncture process, and display the value in real time on the system software interface. Doctors judge the depth of the puncture needle entering the human body based on the value so that the puncture needle can accurately reach the target area without multiple confirmations, greatly improving the efficiency of medical puncture surgery and shortening the operation time.

[0039] See also Figure 1-2 The embodiment of the present invention also discloses a medical puncture surgical puncture needle puncture system with real-time feature extraction, including a puncture syringe 2 installed on a robotic arm 1, a curved hook trachea 3 is fixedly connected to the top of the puncture syringe 2, and one end of the curved hook trachea 3 is connected to an inflation pipeline 4, a peristaltic pump 5 is sleeved on the inflation pipeline 4, and the peristaltic pump 5 is set to supply air, which is relatively stable and slow, thereby ensuring that the puncture needle 6 performs puncture steadily and slowly.

[0040] The inflation pipeline 4 includes a branch pipe 41 connected to one end of the hook air pipe 3 and a main pipe 42 that passes through the peristaltic pump 5, and the branch pipe 41 is connected to one end of the main pipe 42 through a three-way valve 43. The main pipe 42 is bound to the robotic arm 1. A filter box 44 is fixedly connected to the left side of the bracket 10, and the other end of the main pipe 42 is connected to the right side of the filter box 44.

[0041] See also Figure 3 The puncture needle cylinder 2 includes an iron needle cylinder 21, and the iron piston 22 is slidably connected inside the iron needle cylinder 21, and the bottom of the iron piston 22 is movably connected to the iron puncture needle sleeve 23, and the iron puncture needle sleeve 23 is detachably sleeved on the head of the puncture needle 6. The iron syringe 21 is installed on the movable end of the mechanical arm 1 through an iron fixing frame 24 fixedly sleeved outside, and an electromagnet connected to the iron fixing frame 24 is installed inside the movable end of the mechanical arm 1.

[0042] See also Figure 4-5The iron puncture needle sleeve 23 is a rectangular structure with chamfered edges as a whole. A gap is left between the rectangular iron puncture needle sleeve 23 and the cylindrical iron syringe 21, so that the iron puncture needle sleeve 23 can slide out of the iron syringe 21 without being sucked by air pressure, and the outer surface is slidably connected to the inner surface of the iron syringe 21. The iron puncture needle sleeve 23 includes two half-ferrules 231 of the same structure, and the inner side of the ferrule 231 is provided with a built-in groove 232 that is compatible with the head of the puncture needle 6. One side of the contact surface of the two ferrules 231 is fixedly connected with two upper and lower plug blocks 233, and the other side of the contact surface of the two ferrules 231 is provided with a slot 234 that is compatible with the plug block 233.

[0043] By providing a detachable iron puncture needle sleeve 23, the puncture needle 6 can be quickly connected, and at the same time, it can be connected to the iron piston 22 by magnetic attraction, so that the puncture needle 6 can be installed conveniently and punctured. After the puncture, the puncture needle 6 can be quickly and conveniently separated without affecting subsequent operations. The separation process has little impact on the puncture needle 6, which can avoid causing large shaking and withdrawal to it, and avoid secondary injury to the patient.

[0044] See also Figure 2 and 4 The bottom of the movable end of the robot arm 1 is fixedly connected to a 2D camera 12 through a plastic metal hose 11. The puncture needle 6 includes a needle tube 61 and a needle head 62 fixedly connected to the top thereof. A plurality of rows of marking lines 63 are equidistantly provided on the surface of the needle tube 61. Two adjacent rows of marking lines 63 are staggered left and right and marked with different colors.

[0045] By providing a plurality of rows of marking lines 63 on the needle tube 61 and distinguishing them by staggering and color, the puncture needle 6 has a plurality of characteristic points, which facilitates multi-point comparative positioning and improves the accuracy of displacement positioning.

[0046] See also Figure 6 The outer sleeve of the needle tube 61 is provided with a positioning structure 8, which includes a rubber disc 81, and a medical double-sided adhesive tape 82 is pasted on the bottom of the rubber disc 81. A positioning tube 83 is fixedly connected to the top of the rubber disc 81. A silicone plug 84 is clamped in the center of the positioning tube 83, and the needle tube 61 can pass through the silicone plug 84.

[0047] By setting the positioning structure 8 to be sleeved outside the needle tube 61 and sticking it to the body surface, the silicone plug 84 in the positioning structure 8 can apply resistance to the needle tube 61, which can prevent the needle tube 61 from accidentally slipping out after puncture, thereby ensuring stability during use.

[0048] See also Figure 7The outside of the puncture needle tube 2 is sleeved with an isolation cover 9, which includes a plastic tube 91, and the surface of the plastic tube 91 is evenly provided with hollow holes 92. The upper and lower ends of the plastic tube 91 are clamped with two spliced ​​semicircular covers 93, and each two spliced ​​semicircular covers 93 constitute a complete circular cover and are tightly sleeved on the outside of the puncture needle tube 2. The upper and lower ends of the outer side of the puncture needle tube 2 and the upper and lower ends of the inner side of the plastic tube 91 are integrally processed with a plurality of positioning protrusions 95. The inner and outer sides of the spliced ​​semicircular covers 93 are provided with annular grooves 94 that are engaged with the positioning protrusions 95. The positioning protrusions 95 are used to engage with the annular grooves 94 to achieve the positioning installation of the semicircular covers 93, and at the same time, the semicircular covers 93 are clamped with the isolation cover 9.

[0049] By arranging an isolation cover 9 on the outer side of the puncture needle barrel 2, a space is isolated from the outside thereof, so as to prevent steel surgical instruments from being adsorbed onto the surface of the puncture needle barrel 2 and causing collision when approaching, thereby preventing the puncture needle 6 from shaking, thereby also improving the safety of use. In addition, the isolation cover 9 is easy to disassemble and install, and is convenient to use.

[0050] See also Figure 1 and 8 The peristaltic pump 5 and the mechanical arm 1 are both mounted on the bracket 10. The main body of the bracket 10 is arched, and the two ends of the bottom are horizontally plate-shaped and fixed to the operating table. The sliding sleeve on the bracket 10 is provided with a suspension assembly 7 to suspend the puncture needle 2. The suspension assembly 7 includes a sliding sleeve 71 that is slidably sleeved on the outside of the arched part of the bracket 10, and a pull rope 73 is hung on the bottom of the sliding sleeve 71 through a hanging ring 72. One end of the pull rope 73 is bound to the curved hook trachea 3, and the other end of the pull rope 73 is folded in half and locked by a spring lock 74. The spring lock 74 is for clothing and shoes. The common push-type lock on the bracket 10 can release the drawstring 73 by pressing it, and the drawstring 73 will rebound and be fixed after releasing it. The top of the bracket 10 is evenly provided with corrugated grooves 101, and the inside of the sliding sleeve 71 is slidably connected with a slider 75, and the bottom of the slider 75 is provided with a corrugated protrusion 76 adapted to the corrugated groove 101. A spring 77 is crimped between the top of the slider 75 and the top of the inner surface of the sliding sleeve 71. The spring 77 squeezes the slider 75 to make the corrugated protrusion 76 fit into the corrugated groove 101, and a slight force is needed to slide the sliding sleeve 71.

[0051] By setting up the suspension component 7, the puncture needle 2 can be suspended on the bracket 10 to prevent the puncture needle 2 and the isolation cover 9 thereon from being too heavy as a whole and bending the mechanical arm 1, thereby ensuring the control accuracy of the mechanical arm 1 and reducing the shaking. At the same time, the suspension component 7 can slide on the bracket 10 to adjust the position and has a self-limiting function, which can adapt to the change of the position of the puncture needle 2 and has strong versatility.

[0052] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used.

[0053] When in use, first take a puncture needle 6, put two ferrules 231 on the outside of its needle head 62, then insert the ferrule 231 into the iron syringe 21 until it contacts the iron piston 22, and after the electromagnet in the mechanical arm 1 is energized, the iron fixing frame 24, the iron syringe 21 and the iron piston 22 are all magnetic, so that the iron piston 22 absorbs the ferrule 231, and then adjust the three-way valve 43 to close the main pipe 42 and open the side not connected to the pipe, and push the iron piston 22 to the top of the inner cavity of the puncture syringe 2 through the puncture needle 6, and then switch the three-way valve 43;

[0054] Then, the positioning structure 8 is put on the outside of the puncture needle 6, and the release paper at the bottom of the medical double-sided adhesive tape 82 is torn off. The robot arm 1 is controlled to move the puncture syringe 2 to the top of the puncture position, and the spring lock buckle 74 is pinched to release the drawstring 73, and then the sliding sleeve 71 is slid upward, and the tightness of the drawstring 73 is adjusted and the spring lock buckle 74 is released to fix the drawstring 73, so that the puncture syringe 2 can be suspended, and then the peristaltic pump 5 is started to squeeze the main pipe 42, and the air inside is slowly pressed into the iron syringe 21 through the branch pipe 41, and the iron piston 22 is pressed. Squeeze downward, and then press the puncture needle 6 down and pierce into the body through the iron puncture needle sleeve 23. The positioning structure 8 sticks to the skin after contacting it. Image tracking, positioning and shooting are performed during the puncture process until the puncture reaches the specified depth. Then the electromagnet is powered off, the iron piston 22 and the puncture syringe 2 lose their magnetic force, and then the iron syringe 21 is slowly and steadily pulled out until the sleeve 231 slides out of the iron syringe 21. The sleeve 231 loses its magnetic force and can be easily separated and removed. After that, the puncture syringe 2 is removed and subsequent surgical operations can be performed.

[0055] After the puncture needle 6 is pulled out, the positioning structure 8 is torn off, and the silicone plug 84 is taken out with tweezers for processing, and then the medical double-sided adhesive tape 82 is torn off, and the remaining structure can be recycled.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A medical puncture surgical needle insertion depth monitoring system based on real-time feature extraction, characterized by: It comprises a puncture needle (2) mounted on a mechanical arm (1), the top of the puncture needle (2) being fixedly connected to a curved hook air tube (3), one end of the curved hook air tube (3) being connected to an air filling pipeline (4), and a peristaltic pump (5) being sleeved on the air filling pipeline (4); The puncture needle cylinder (2) comprises an iron needle cylinder (21), and an iron piston (22) is slidably connected to the inside of the iron needle cylinder (21), and an iron puncture needle sleeve (23) is movably connected to the bottom of the iron piston (22), and the iron puncture needle sleeve (23) is detachably sleeved on the head of the puncture needle (6), and the iron needle cylinder (21) is installed on the movable end of the mechanical arm (1) through an iron fixing frame (24) fixedly sleeved on the outside, and an electromagnet connected to the iron fixing frame (24) is installed inside the movable end of the mechanical arm (1); The iron puncture needle sleeve (23) is in the form of a rectangular structure with chamfered edges, and its outer surface is slidably connected to the inner surface of the iron syringe (21). The iron puncture needle sleeve (23) comprises two half sleeves (231) of the same structure, and the inner side of the sleeve (231) is provided with a built-in groove (232) adapted to the head of the puncture needle (6). One side of the contacting surface of the two sleeves (231) is fixedly connected with two upper and lower plug blocks (233), and the other side of the contacting surface of the two sleeves (231) is provided with a slot (234) adapted to the plug block (233).

2. The medical puncture surgery puncture needle insertion depth monitoring system based on real-time feature extraction according to claim 1 is characterized by: The bottom of the movable end of the mechanical arm (1) is fixedly connected to a 2D camera (12) via a plastic metal hose (11); the puncture needle (6) comprises a needle tube (61) and a needle head (62) fixedly connected to the top end thereof; a plurality of rows of marking lines (63) are equidistantly provided on the surface of the needle tube (61); two adjacent rows of marking lines (63) are staggered and marked with different colors.

3. The medical puncture surgery puncture needle insertion depth monitoring system based on real-time feature extraction according to claim 2 is characterized by: The outer sleeve of the needle tube (61) is provided with a positioning structure (8), the positioning structure (8) comprises a rubber disk (81), and a medical double-sided adhesive tape (82) is adhered to the bottom of the rubber disk (81), a positioning cylinder (83) is fixedly connected to the top of the rubber disk (81), a silicone plug (84) is clamped at the center of the positioning cylinder (83), and the needle tube (61) can pass through the silicone plug (84).

4. The medical puncture surgery puncture needle insertion depth monitoring system based on real-time feature extraction according to claim 1 is characterized by: The exterior of the puncture needle barrel (2) is provided with an isolation cover (9), the isolation cover (9) comprising a plastic barrel (91), and the surface of the plastic barrel (91) is evenly provided with hollow holes (92), and the upper and lower ends of the plastic barrel (91) are both clamped with two spliced ​​semicircular covers (93), and each two spliced ​​semicircular covers (93) form a complete circular cover and are tightly sleeved on the exterior of the puncture needle barrel (2).

5. The medical puncture surgery puncture needle insertion depth monitoring system based on real-time feature extraction according to claim 4 is characterized in that: The upper and lower ends of the outer side of the puncture needle tube (2) and the upper and lower ends of the inner side of the plastic tube (91) are integrally processed with a plurality of positioning protrusions (95), and the inner and outer sides of the spliced ​​semicircular cover (93) are provided with annular grooves (94) that engage with the positioning protrusions (95).

6. The medical puncture surgery puncture needle insertion depth monitoring system based on real-time feature extraction according to claim 1 is characterized by: The peristaltic pump (5) and the mechanical arm (1) are both mounted on a bracket (10); the bracket (10) has an arched main body and two ends of the bottom in the form of horizontal plates fixed to the operating table; a suspension assembly (7) is provided on the sliding sleeve of the bracket (10) for suspending the puncture needle barrel (2).

7. The medical puncture surgery puncture needle insertion depth monitoring system based on real-time feature extraction according to claim 6 is characterized by: The suspension assembly (7) comprises a sliding sleeve (71) which is slidably mounted outside the arched portion of the bracket (10), and a pull rope (73) is hung on the bottom of the sliding sleeve (71) via a hanging ring (72), one end of the pull rope (73) is bound to the hook air pipe (3), and the other end of the pull rope (73) is folded in half and locked via a spring lock buckle (74).

8. The medical puncture surgery puncture needle insertion depth monitoring system based on real-time feature extraction according to claim 7 is characterized by: The top of the bracket (10) is evenly provided with wave-shaped grooves (101), the interior of the sliding sleeve (71) is slidably connected with a slider (75), and the bottom of the slider (75) is provided with a wave-shaped protrusion (76) adapted to the wave-shaped groove (101), and a spring (77) is pressed between the top of the slider (75) and the top of the inner surface of the sliding sleeve (71).

9. The medical puncture surgery puncture needle insertion depth monitoring system based on real-time feature extraction according to claim 6 is characterized by: The inflation pipeline (4) comprises a branch pipe (41) connected to one end of the hook air pipe (3) and a main pipe (42) penetrating the peristaltic pump (5), and the branch pipe (41) is connected to one end of the main pipe (42) via a three-way valve (43), the main pipe (42) is bound to the mechanical arm (1), a filter box (44) is fixedly connected to the left side of the bracket (10), and the other end of the main pipe (42) is connected to the right side of the filter box (44).

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