A percutaneous puncture method and system

Abstract

The present application relates to the technical field of percutaneous puncture, and provides a percutaneous puncture method, comprising the following steps: performing rough puncture on a to-be-punctured object, and puncturing a puncture needle into a preset range of a puncture target position; acquiring puncture-in-process image data of the to-be-punctured object, and planning a puncture path for the puncture needle to continue performing based on puncture needle image position information and puncture target image position information on the puncture-in-process image data; judging a current position of the puncture needle at a preset time interval, and when the current position of the puncture needle coincides with the puncture needle in the puncture-in-process image data, puncturing the puncture needle to the puncture target position according to the puncture path. The problem that in minimally invasive surgery, due to the factors of the patient's autonomous breathing and heartbeat, the position of a surgical lesion is extremely likely to change and thus is difficult to track is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of percutaneous puncture, and in particular to a percutaneous puncture method and system. BACKGROUND

[0002] In a common thoraco-abdominal surgery, the main operator usually opens the thoraco-abdominal part of the patient completely, and perceives the position, size, shape, hardness and other information of the lesion to be treated by naked eyes or touch, so as to directly perform surgical treatment on the corresponding lesion.

[0003] However, this is not the case in a common minimally invasive surgery. In a common minimally invasive surgery, the main operator does not directly face the lesion by completely opening the thoraco-abdominal part of the patient, but indirectly observes the corresponding lesion by using auxiliary means such as laparoscope, CT, ultrasound, and nuclear magnetic resonance, and then uses some specific means to treat the lesion, so as to achieve the purpose of reducing surgical pain, reducing postoperative complications, and accelerating the healing of surgical wounds.

[0004] However, minimally invasive surgery also has its drawbacks. The biggest drawback is the indirectness of obtaining lesion information, so the main operator has various limitations when obtaining the corresponding lesion information during the operation. For example, in a CT-guided thoraco-abdominal tumor ablation puncture surgery, the main operator needs to insert the corresponding ablation needle into the specified position of the lesion under the guidance of CT images. However, since the tumor lesion is located in the thoraco-abdominal part, its position is easily affected by factors such as human respiration or heartbeats, and changes frequently. Moreover, since the CT images required for guided puncture are not real-time images, the reaction to the position of the patient's lesion also has a certain lag, so only a doctor with extremely rich experience and extremely good understanding of the patient's body and lesion information can complete the surgery.

[0005] In the prior art, in a CT-guided thoraco-abdominal tumor ablation puncture surgery, there are usually two solutions to cope with the problem of change in lesion position caused by respiration:

[0006] (1) During the puncture process, the doctor performs a CT scan every time the puncture distance is small enough to guide the puncture direction and depth with sufficient CT scan information. The disadvantages of this are obvious. The patient is often exposed to more X-rays harmful to the human body, which is not conducive to the patient. With the increase in the number of CT scans, the doctor often needs to frequently go back and forth between the operating room and outside, which greatly increases the workload of the doctor.

[0007] (2) using respiratory gating technology, pasting corresponding position sensors or pressure sensors on specific positions on the patient's body surface, then collecting the patient's respiratory phase information through CT scanning, at the same time, monitoring the pasted sensors through the respiratory phase monitoring program, so as to achieve the purpose of real-time monitoring of the patient's respiratory phase. During the operation, if the patient's respiratory phase reaches the same as the respiratory phase when the CT scan is performed, the doctor will perform puncture in the time period when the phases are consistent. The defect of this technology is also obvious, because the puncture target position can only be determined when the sensor phase and the respiratory phase when the CT scan is performed are consistent, and the target position is not known at other times, so this method puts forward quite high requirements on the puncture time grasping of the operating doctor. SUMMARY

[0008] In view of the above problems, the purpose of the present application is to provide a percutaneous puncture method and system to solve the problem that in minimally invasive surgery, due to the factors of the patient's autonomous respiration and heartbeat, the lesion position is prone to change and thus difficult to track.

[0009] The above invention purpose of the present application is realized by the following technical solutions:

[0010] A percutaneous puncture method, comprising the following steps:

[0011] Coarse puncture is performed on the object to be punctured, and the puncture needle is punctured into a preset range of the puncture target position;

[0012] Puncture-in-image data of the object to be punctured is acquired, and based on the puncture needle image position information and the puncture target image position information on the puncture-in-image data, a puncture path for the puncture needle to continue to execute is planned;

[0013] The current position of the puncture needle is judged at a preset time interval, and when the current position of the puncture needle coincides with the puncture needle in the puncture-in-image data, the puncture needle is punctured to the puncture target position according to the puncture path.

[0014] Further, before the coarse puncture is performed on the object to be punctured, further comprising:

[0015] A fixed platform capable of being photographed by an image shooting device is selected, and the object to be punctured is fixed on the fixed platform, and the pose and position of the object to be punctured remain relatively stationary with the fixed platform;

[0016] A first spatial positioning device is arranged based on a position of the object to be punctured that remains relatively stationary, a second spatial positioning device is arranged on the puncture needle, and a spatial observation device corresponding to the first spatial positioning device and the second spatial positioning device is arranged.

[0017] Further, the rough puncture is performed on the object to be punctured, in particular:

[0018] Obtaining pre-puncture image data of the object to be punctured, confirming the puncture target position based on the pre-puncture image data, and puncturing the puncture needle into a preset range of the puncture target position.

[0019] Further, before judging the current position of the puncture needle, the method further comprises: converting the puncture needle physical space position information into the coordinate system of the puncture image data, in particular:

[0020] Obtaining first space positioning physical space position information of the first space positioning device through the space observation device;

[0021] Obtaining first space positioning image position information of the first space positioning device in the puncture image data through the puncture image data;

[0022] Based on the first space positioning physical space position information and the first space positioning image position information, the coordinate mapping relationship between the physical space position and the image position is calculated.

[0023] Obtaining second space positioning physical space position information of the second space positioning device through the space observation device, and calculating the puncture needle physical space position information according to the fixed connection relationship between the second space positioning device and the puncture needle, and converting the puncture needle physical space position information into the coordinate system of the puncture image data according to the coordinate mapping relationship.

[0024] Further, the preset time interval is, in particular:

[0025] Obtaining a heartbeat period, and fitting the heartbeat period by a sine wave;

[0026] Calculating the movement time of the heartbeat from the midpoint of the position of the sine wave to the extreme point of the position, and taking half of the movement time as the preset time interval in consideration of the accuracy and system detection burden.

[0027] Further, judging whether the current position of the puncture needle coincides with the puncture needle in the puncture needle image data, in particular:

[0028] When the distance between the current needle tip position (x0, y0, z0) of the puncture needle and the needle tip position (x1, y1, z1) of the puncture needle in the puncture needle image data is less than 1 millimeter, and the current needle vector (x00, y00, z00) of the puncture needle and the needle vector (x11, y11, z11) of the puncture needle in the puncture needle image data is less than 5 degrees, it is determined that the current position of the puncture needle coincides with the puncture needle in the puncture needle image data.

[0029] A system for performing the percutaneous puncture method as described above, characterized in that it comprises:

[0030] A rough puncture module for rough puncturing a to-be-punctured object to puncture a puncture needle into a preset range of a puncture target position;

[0031] A path planning module for obtaining puncture-in-image data of the to-be-punctured object, and planning a puncture path for the puncture needle to continue performing based on puncture needle image position information and puncture target image position information on the puncture-in-image data;

[0032] A fine puncture module for judging a current position of the puncture needle at a preset time interval, and when the current position of the puncture needle coincides with the puncture needle in the puncture-in-image data, puncturing the puncture needle to the puncture target position according to the puncture path.

[0033] A system for performing the percutaneous puncture method as described above, characterized in that it comprises: an image shooting device, a fixed platform, a first spatial positioning device, a second spatial positioning device, a spatial observation device, an image analysis device, a puncture needle, a puncture execution mechanism, and a mechanical arm;

[0034] The image shooting device is used to shoot before rough puncturing a to-be-punctured object and after rough puncturing, to obtain pre-puncture image data and puncture-in-image data;

[0035] The fixed platform is used to fix the to-be-punctured object and place it within the field of view of the image shooting device, and the pose and position of the to-be-punctured object remain relatively static with the fixed platform;

[0036] The first spatial positioning device is used to observe the physical spatial position information of the to-be-punctured object and is arranged at a position on the to-be-punctured object that remains relatively static with the to-be-punctured object;

[0037] The second spatial positioning device is used to observe the physical spatial position of the puncture needle;

[0038] The spatial observation device is used to observe the position information of the first spatial positioning device and the second spatial positioning device.

[0039] The image analysis device is configured to analyze the pre-puncture image data and the intra-puncture image data, and plan a puncture path.

[0040] The puncture needle is configured to perform a puncture action, and is fixed to the mechanical arm through the puncture execution mechanism.

[0041] A computer device includes a memory and one or more processors, the memory stores computer code, and the computer code is executed by the one or more processors, so that the one or more processors execute the method as described above.

[0042] A computer readable storage medium stores computer code, and when the computer code is executed, the method as described above is executed.

[0043] Compared with the prior art, the present application has the following beneficial effects:

[0044] By providing a percutaneous puncture method, including the following steps: rough puncture is performed on a puncture object, and a puncture needle is punctured into a preset range of a puncture target position; intra-puncture image data of the puncture object is obtained, and based on puncture needle image position information and puncture target image position information on the intra-puncture image data, a puncture path for the puncture needle to continue to execute is planned; the current position of the puncture needle is judged at a preset time interval, and when the current position of the puncture needle coincides with the puncture needle in the intra-puncture image data, the puncture needle is punctured to the puncture target position according to the puncture path. The above technical solution first performs rough puncture on the puncture object, and after the rough puncture is completed, the path is planned based on the result of the rough puncture, and then the puncture needle is punctured to the target position according to the planned path, which can solve the problem that in minimally invasive surgery, due to the factors of patient's spontaneous breathing and heartbeat, the position of the surgical lesion is easily changed and difficult to track. At the same time, this technical solution can reduce the amount of harmful radiation received by the puncture object, reduce the workload of the doctor, and improve the puncture accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 It is a whole flow chart of the percutaneous puncture method in the first embodiment of the present application;

[0046] Figure 2 It is a schematic diagram of the image data information after rough puncture in the first embodiment of the present application;

[0047] Figure 3 It is a schematic diagram of the image data information after rough puncture in the first embodiment of the present application;

[0048] Figure 4Figure 2 is a schematic diagram of a percutaneous puncture system according to a second embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0050] It can be understood by those skilled in the art that, unless specifically stated, the singular forms "a", "an" and "the" used herein include plural referents. It should be further understood that the use of the term "including" in the specification of the present application means that the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0051] First Embodiment

[0052] As shown in Figure 1 , the present embodiment provides a percutaneous puncture method, specifically a simple puncture procedure method, which can reduce or even eliminate the problem that the puncture accuracy of the puncture operator is affected by the respiratory movement of the patient during the puncture procedure, comprising the following steps:

[0053] S1: Coarse puncture is performed on the puncture object, and the puncture needle is punctured into a preset range of the puncture target position.

[0054] Specifically, as shown in Figure 2As shown, due to the fact that in a puncture operation, such as an ablation puncture operation of the chest and abdomen, when the puncture needle punctures towards the designated position, since the designated lesion position (puncture target position) is not directly in front of the surgeon, the surgeon usually cannot puncture the puncture needle to the designated area at one time, so there will be a certain deviation between the position of the puncture needle tip and the puncture target position. However, if you want to puncture the puncture needle in place at one time, you will adopt the scheme in the background art, that is, the surgeon needs to perform an image scan once every time the puncture needle punctures a small distance during the puncture process, and enough image scan information is needed to guide the puncture direction and depth, which will cause the object to be punctured to receive too much harmful radiation to the human body during one puncture, and the surgeon also needs to frequently go back and forth between the operating room and outside, which will greatly increase the workload of the surgeon. Or adopt the respiratory gating technology, paste the corresponding position sensor or pressure sensor on the surface of the object to be punctured, and then collect the respiratory phase information of the object to be punctured through image scanning, at the same time, through the respiratory phase monitoring program to monitor the pasted sensor, so as to achieve the purpose of real-time monitoring of the respiratory phase of the patient. During the operation, if the respiratory phase of the patient reaches the same as the respiratory phase when the image is scanned, the surgeon will puncture in the time period when the phases are consistent. The defect of this technology is also very obvious, because only when the sensor phase and the respiratory phase when the image is scanned are consistent can the position of the puncture target be determined, and at other times the target position is not known, so this method puts quite high requirements on the puncture timing of the surgeon.

[0055] Therefore, based on the above problems, in the technical scheme of the present application, we adopt the method of first performing rough puncture, then planning the puncture path based on the results of rough puncture, and then puncturing the puncture needle to the puncture target position according to the puncture path. This method can reduce the amount of harmful radiation received by the object to be punctured, only needs to collect image data twice before and after rough puncture, greatly reduces the workload of the surgeon, also speeds up the puncture speed, and reduces the puncture time.

[0056] Further, before the rough puncture of the object to be punctured, that is, before the entire puncture operation is carried out, some preparations need to be made to facilitate the smooth progress of the puncture operation, specifically including: selecting a fixed platform that can be shot by an image shooting device, fixing the object to be punctured on the fixed platform, the pose and position of the object to be punctured remain relatively static with the fixed platform; selecting a position on the object to be punctured based on the relative static of the object to be punctured and ensuring that the position will not be affected by factors such as breathing and heartbeat, arranging a first spatial positioning device, arranging a second spatial positioning device on the puncture needle, and setting a spatial observation device corresponding to the first spatial positioning device and the second spatial positioning device. The image shooting device is generally a CT machine, and the fixed platform is generally a CT bed. During the puncture method of the present application, it must be ensured that the patient (object to be punctured) being monitored is fixed on the CT bed, and during the use of the method, the pose and position of the patient remain relatively static with the CT bed. At the same time, it must be ensured that the precise real-time position of the first spatial positioning device and the second spatial positioning device can be observed by the spatial observation device.

[0057] After the above preparations are completed, the object to be punctured is subjected to rough puncture, specifically: obtaining pre-puncture image data of the object to be punctured, confirming the puncture target position based on the pre-puncture image data, and puncturing the puncture needle into a preset range of the puncture target position. The rough puncture process does not require puncture to be in place, nor does it need to plan a preliminary path in the navigation system, but the doctor can puncture to the vicinity of the puncture target by relying on his own experience and cognition. For example, in the case of percutaneous ablation puncture surgery in cancer treatment, rough puncture may indeed face the risk of breaking the tumor and causing cancer cell spread, but if combined with the doctor's experience, the risk should be controllable. As for the depth limitation of rough puncture, the present application emphasizes puncturing to the vicinity of the puncture target rather than passing through the lesion, so there is no limitation on whether the depth should be greater than the actual depth from the puncture point to the puncture target during the rough puncture process. It is only necessary to move the needle tip of the puncture needle to the vicinity of the puncture target position within the controllable preset range that will not produce an image of the lesion. This controllable preset range can be completely controlled by the doctor based on experience and cognition.

[0058] S2: Obtain puncture image data of the object to be punctured, and based on the puncture needle image position information and the puncture target image position information on the puncture image data, plan a puncture path for the puncture needle to continue execution.

[0059] Specifically, after the rough puncture is completed, the puncture needle is punctured to the vicinity of the puncture target position of the object to be punctured, and then a CT scan of the object to be punctured is needed to obtain the puncture image data, so as to determine the position of the puncture target position, i.e., the position of the needle tip of the puncture needle, and the image analysis program processes the image data.

[0060] Based on the puncture image data, the image analysis program can easily segment the puncture needle staying in the object to be punctured in the image and obtain the position information of the puncture needle in the image. The position of the needle tip is recorded as (x0, y0, z0), and the normalized puncture needle vector is recorded as (x00, y00, z00).

[0061] Based on the puncture image data, the puncture needle image position information and the puncture target image position information in the image, the doctor can formulate the puncture path planning P which does not need to be corrected by reading the current puncture needle and can continue to be executed.

[0062] S3: According to a preset time interval, the current position of the puncture needle is judged, and when the current position of the puncture needle coincides with the puncture needle in the puncture image data, the puncture needle is punctured to the puncture target position according to the puncture path.

[0063] Specifically, in the final puncture stage, the current position of the puncture needle needs to be judged, and when the current position of the puncture needle coincides with the puncture needle in the puncture image data, the puncture needle is allowed to perform the final puncture. Because the puncture target position is affected by respiration and heartbeat, the position will change in the whole respiratory or heartbeat cycle. We need to find the time point when the puncture needle coincides with the image data in the time cycle of respiratory or heartbeat movement to perform puncture.

[0064] The time point when the puncture needle coincides with the image data in the time period of respiratory or heartbeat movement is obtained by the following method: taking the heartbeat factor with the shortest change period in the respiration and heartbeat into consideration, obtaining the heartbeat period, fitting the heartbeat period by a sine wave, calculating the movement time of the heartbeat from the midpoint of the position of the sine wave to the extreme point of the position, and taking half of the movement time as the preset time interval in consideration of the accuracy and system detection burden. For example, taking the human heartbeat frequency of 75 times / min and the respiration frequency of 15 times / min for calculation, taking the heartbeat factor with the shortest change period into consideration, each heartbeat period is about 0.8 seconds, and the movement process from the midpoint of the position to the extreme limit of the position is 1 / 4 period, about 0.2 seconds, and half of the data, i.e. 0.1 seconds, is taken as the preset time interval for each judgment in consideration of the accuracy and system detection burden. A judgment cycle is started, and the current position of the puncture needle is judged whether it coincides with the puncture needle in the image data in the puncture according to the calculated preset time interval in each preset time interval. If they coincide, the puncture operation is performed, the judgment cycle is ended, and if they do not coincide, the next cycle is waited.

[0065] Since the current position of the puncture needle is in the actual physical space, and the puncture needle in the image data in the puncture belongs to different coordinate systems, before the current position of the puncture needle is judged, the puncture needle physical space position information needs to be converted to the coordinate system of the image data in the puncture. Specifically, the first space positioning physical space position information of the first space positioning device is obtained by the space observation equipment, the first space positioning image position information of the first space positioning device in the image data in the puncture is obtained by the image data in the puncture, the coordinate mapping relationship between the physical space position and the image position is calculated based on the first space positioning physical space position information and the first space positioning image position information, the second space positioning physical space position information of the second space positioning device is obtained by the space observation equipment, and the puncture needle physical space position information is calculated according to the fixed connection relationship between the second space positioning device and the puncture needle. The puncture needle physical space position information is converted to the coordinate system of the image data in the puncture according to the coordinate mapping relationship.

[0066] For the calculation process of the coordinate mapping relationship, an example is described in this embodiment: assuming that there are four marker points on the first spatial positioning device attached to the surface of the human body, the four marker points can be visualized on the CT image, and the marker point positions can also be observed by the spatial observation device. Based on the CT image, the marker points are segmented, and the positions of the marker points on the image are (xi1, yi1, zi1), (xi2, yi2, zi2), (xi3, yi3, zi3), and (xi4, yi4, zi4), respectively. At the same time, the corresponding marker point spatial position coordinates obtained by the spatial observation device are (xr1, yr1, zr1), (xr2, yr2, zr2), (xr3, yr3, zr3), and (xr4, yr4, zr4). Based on the same points in the CT image data and the actual physical space, the coordinate mapping relationship between the CT image coordinates and the actual physical space coordinates can be easily calculated by using a simple Landmark coordinate matching algorithm. Through the spatial observation device, the position coordinates of the puncture needle in the actual physical space can also be easily obtained. Through the previously calculated coordinate mapping relationship between the actual physical space position and the image position, the position coordinates of the puncture needle in the actual physical space can be converted to the CT image data coordinates. The converted needle tip position is denoted as (x1, y1, z1), and the converted and normalized puncture needle vector is denoted as (x11, y11, z11).

[0067] After converting the coordinates of the puncture needle to the coordinates corresponding to the image data through the coordinate mapping relationship, the image analysis program determines whether the current position of the puncture needle coincides with the puncture needle in the puncture needle image data. Specifically, when the distance between the current needle tip position (x0, y0, z0) of the puncture needle and the needle tip position (x1, y1, z1) of the puncture needle in the puncture needle image data is less than 1 millimeter, and the current needle vector (x00, y00, z00) of the puncture needle and the needle vector (x11, y11, z11) of the puncture needle in the puncture needle image data is less than 5 degrees, it is determined that the current position of the puncture needle coincides with the puncture needle in the puncture needle image data. At this time, it can be considered that the breathing phase of the current puncture object is consistent with the breathing phase on the image data. The doctor adjusts the puncture needle to be consistent with the puncture path planning according to the prompt of the image analysis program, and punctures the puncture needle to the puncture target position.

[0068] Further, in order to facilitate a more thorough understanding of the invention points of the present application, as Figure 3As shown, in this embodiment, the superimposed information on the image data is described. In the puncture of CT scanning, the position of the puncture needle on the image is segmented out by the image segmentation function in the software. In addition, since there is a navigation positioning device on the puncture needle, based on the coordinate mapping relationship between the physical space coordinates and the image space coordinates, the real-time position of the puncture needle in the current physical space can also be superimposed on the image for display. At the same time, according to the image scanning information, the doctor will plan the subsequent puncture path, and the planned path will also be displayed on the image at the same time. Therefore, in the image navigation processing software, in addition to the currently scanned image data, three kinds of information are superimposed, which are: the puncture needle image position, the puncture needle real-time space physical position and the puncture planning path. Generally speaking, due to the respiratory motion image, the position of the puncture needle in the current physical space is real-time changing, therefore, the superimposed information reflected on the image is also constantly changing, and its position information will overlap with the puncture needle image position at a certain moment, but at other times, the puncture needle physical space position and the image position are not overlapped. Moreover, the path of the first puncture is not perfect in general, so the surgeon usually needs to modify the puncture path, so the subsequent puncture path and the puncture needle image position are not coincided. With the respiratory motion of the human body, the puncture target position corresponding to the puncture object is actually also real-time changing, and the position information displayed on the image can only represent its position in the human body at the time of image acquisition, and its specific spatial position cannot be captured by the image in real time. At this time, it can be simply considered that with the progress of the respiratory motion, when the puncture needle image position and the puncture needle real-time space physical position overlap on the image, at this moment, the respiratory phase of the human body is consistent with the respiratory phase at the time of image acquisition, and at the same time, the corresponding actual lesion position is also consistent with the lesion position reflected on the image, accordingly, the surgeon performing the puncture can adjust the puncture needle to be consistent with the puncture planning path at this moment and puncture the puncture needle to the position. By the method in step S3, the position of the puncture needle is judged, and then the puncture operation is performed.

[0069] Second embodiment

[0070] As Figure 4 shown, the present embodiment provides a system for performing the percutaneous puncture method as in the first embodiment, comprising:

[0071] The coarse puncture module 1 is used for coarse puncture of the puncture object, and the puncture needle is punctured into the preset range of the puncture target position.

[0072] The path planning module 2 is used for acquiring the puncture image data of the puncture object, and planning the puncture path of the puncture needle for continuous execution based on the puncture needle image position information and the puncture target image position information on the puncture image data.

[0073] a fine puncture module 3, configured to determine the current position of the puncture needle according to a preset time interval, and when the current position of the puncture needle coincides with the puncture needle in the puncture image data, puncture the puncture needle to the puncture target position according to the puncture path.

[0074] a third embodiment

[0075] The embodiment provides an actual device system for performing the percutaneous puncture method in the first embodiment, which comprises an image shooting device, a fixing platform, a first spatial positioning device, a second spatial positioning device, a spatial observation device, an image analysis device, a puncture needle, a puncture execution mechanism and a mechanical arm.

[0076] The image shooting device is configured to shoot before coarse puncture of a to-be-punctured object and after the coarse puncture, so as to obtain pre-puncture image data and puncture image data.

[0077] The fixing platform is configured to fix the to-be-punctured object and place the to-be-punctured object in a field of view of the image shooting device, so that the pose and position of the to-be-punctured object remain relatively static relative to the fixing platform.

[0078] The first spatial positioning device is configured to observe physical spatial position information of the to-be-punctured object and is arranged on the to-be-punctured object in a position that remains relatively static relative to the to-be-punctured object.

[0079] The second spatial positioning device is configured to observe the physical spatial position of the puncture needle.

[0080] The spatial observation device is configured to observe position information of the first spatial positioning device and the second spatial positioning device.

[0081] The image analysis device is configured to analyze the pre-puncture image data and the puncture image data and plan a puncture path.

[0082] The puncture needle is configured to perform a puncture action and is fixed by the puncture execution mechanism and the mechanical arm.

[0083] A computer readable storage medium stores computer code, when the computer code is executed, the above method is executed. Those skilled in the art can understand that all or part of the steps of the above method can be completed by a program instructing related hardware, and the program can be stored in a computer readable storage medium, and the storage medium can include a read only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0084] The above description is only preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical scheme falling within the concept of the present application shall be considered as falling within the protection scope of the present application. It should be noted that, for ordinary skilled in the art, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements shall be considered as falling within the protection scope of the present application.

[0085] The technical features of the above-described embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combinations of the technical features do not exist in contradiction, they shall be considered as falling within the scope of the present application.

[0086] It should be noted that the above-described embodiments can be freely combined as needed. The above description is only preferred embodiments of the present application, and it should be noted that, for ordinary skilled in the art, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements shall be considered as falling within the protection scope of the present application.

Claims

1. A percutaneous puncture system characterized by, The method comprises the following steps: a coarse puncture module is used to perform coarse puncture on a to-be-punctured object, and a puncture needle is punctured to a preset range of a puncture target position; a path planning module is used to acquire puncture-in-image data of the to-be-punctured object, and based on puncture needle image position information and puncture target image position information on the puncture-in-image data, a puncture path for the puncture needle to continue to perform is planned; a fine puncture module is used to judge a current position of the puncture needle at a preset time interval, and when the current position of the puncture needle coincides with the puncture needle in the puncture-in-image data, the puncture needle is punctured to the puncture target position according to the puncture path. In the coarse puncture module, before the coarse puncture is performed on the to-be-punctured object, the following steps are further included: a fixed platform capable of being shot by an image shooting device is selected, and the to-be-punctured object is fixed on the fixed platform, and a pose and a position of the to-be-punctured object remain relatively static with the fixed platform; a first spatial positioning device is arranged on the to-be-punctured object based on a position of the to-be-punctured object remaining relatively static, a second spatial positioning device is arranged on the puncture needle, and a spatial observation device corresponding to the first spatial positioning device and the second spatial positioning device is arranged.

2. The transcutaneous access system of claim 1, wherein, In the coarse puncture module, the coarse puncture is performed on the to-be-punctured object, and specifically the following steps are included: puncture-before-image data of the to-be-punctured object is acquired, the puncture target position is confirmed based on the puncture-before-image data, and the puncture needle is punctured to a preset range of the puncture target position.

3. The transdermal access system of claim 1, wherein, In the fine puncture module, before the current position of the puncture needle is judged, the following steps are further included: the puncture needle physical space position information of the puncture needle is converted into a coordinate system of the puncture-in-image data, and specifically the following steps are included: first spatial positioning physical space position information of the first spatial positioning device is acquired through the spatial observation device; first spatial positioning image position information of the first spatial positioning device in the puncture-in-image data is acquired through the puncture-in-image data; a coordinate mapping relationship between a physical space position and an image position is calculated based on the first spatial positioning physical space position information and the first spatial positioning image position information; second spatial positioning physical space position information of the second spatial positioning device is acquired through the spatial observation device, the puncture needle physical space position information is calculated according to a fixed connection relationship between the second spatial positioning device and the puncture needle, and the puncture needle physical space position information is converted into the coordinate system of the puncture-in-image data according to the coordinate mapping relationship.

4. The transdermal access system of claim 1, wherein, In the fine puncture module, the preset time interval is specifically as follows: a heartbeat period is acquired, and the heartbeat period is fitted through a sine wave; a movement time of the heartbeat from a position midpoint of the sine wave to a position extreme point is calculated, and half of the movement time is taken as the preset time interval in consideration of accuracy and system detection burden.

5. The transdermal piercing system of claim 1, wherein, In the fine puncture module, whether the current position of the puncture needle coincides with the puncture needle in the puncture-in-image data is judged, and specifically the following steps are included: When the distance between the current needle tip position (x0, y0, z0) of the puncture needle and the needle tip position (x1, y1, z1) of the puncture needle in the puncture needle image data is less than 1 mm, and the current needle vector (x00, y00, z00) of the puncture needle and the needle vector (x11, y11, z11) of the puncture needle in the puncture needle image data is less than 5 degrees, it is determined that the current position of the puncture needle coincides with the puncture needle in the puncture needle image data.

6. A hardware system corresponding to the transcutaneous puncture system according to any one of claims 1 to 5, characterized in that, Comprise: image shooting device, fixed platform, first spatial positioning device, second spatial positioning device, spatial observation device, image analysis device, puncture needle, puncture execution mechanism and mechanical arm; the image shooting device is used for shooting before rough puncture of the object to be punctured and after rough puncture, to obtain pre-puncture image data and intra-puncture image data; the fixed platform is used for fixing the object to be punctured and placing the object to be punctured in the field of view of the image shooting device, the pose and position of the object to be punctured being kept relatively static with the fixed platform; the first spatial positioning device is used for observing the physical space position information of the object to be punctured and is arranged on the object to be punctured in a position kept relatively static with the object to be punctured; the second spatial positioning device is used for observing the physical space position of the puncture needle; the spatial observation device is used for observing the position information of the first spatial positioning device and the second spatial positioning device; the image analysis device is used for analyzing the pre-puncture image data and the intra-puncture image data and planning a puncture path; the puncture needle is used for performing a puncture action and is fixed with the puncture execution mechanism and the mechanical arm.

Images