A method and system for assisting in precise puncture

Abstract

The present invention relates to the field of assisted puncture technology and provides an assisted precision puncture method, comprising the following steps: S1: obtaining collimator spatial data of the center of the collimator sensor inside the collimator in the coordinate system of a tracking device, and obtaining puncture needle spatial data of the center of the puncture needle sensor inside the puncture needle in the coordinate system of the tracking device; S2: converting the puncture needle spatial data and the collimator spatial data into spatial distance parameters of the collimator coordinate system with the center of the collimator sensor as the coordinate origin, and calculating the distance parameter of the puncture needle sensor center in the collimator coordinate system; S3: comparing the calculated distance parameter of the puncture needle sensor center in the collimator coordinate system with the ideal distance parameter to obtain an installation distance deviation value. By installing position sensors on the puncture needle and collimator, position errors in various directions can be directly calculated.

Description

TECHNICAL FIELD

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

[0002] In the current assisted puncture surgery, in the process of automatic positioning of surgical navigation, after the doctor formulates the complete surgery path in the software, the moving parts including the mechanical arm will move the collimator to the spatial position corresponding to the puncture incision point of the puncture target site, and then the doctor manually installs the puncture needle on the collimator, and then uses the pushing function of the collimator to puncture the puncture needle to the target site.

[0003] However, since the puncture needle is manually installed by the doctor, the process of manually installing the puncture needle may cause deviation of the installation position of the puncture needle. At present, the measurement of the installation accuracy of the puncture needle mainly relies on the aid of measuring instruments and the naked eye observation of the person as the basis, and the error value cannot be accurately obtained.

[0004] The process of manually installing the puncture needle will reduce the final surgery accuracy, so how to accurately install the puncture needle on the collimator becomes particularly important. SUMMARY

[0005] In view of the above problems, the purpose of the present application is to provide an assisted precise puncture method and system, which directly calculates the position error in each direction and the angle deviation of the puncture needle by installing a position sensor on the puncture needle and the collimator.

[0006] The above invention purpose of the present application is realized by the following technical scheme:

[0007] An assisted precise puncture method, comprising the following steps:

[0008] S1: obtaining collimator space data of a collimator sensor center inside a collimator in a tracking device coordinate system, and obtaining puncture needle space data of a puncture needle sensor center inside a puncture needle in the tracking device coordinate system;

[0009] S2: converting the puncture needle space data and the collimator space data into a spatial distance parameter of a collimator coordinate system with the collimator sensor center as the coordinate origin, and calculating the distance parameter of the puncture needle sensor center in the collimator coordinate system;

[0010] S3: comparing the calculated distance parameter of the puncture needle sensor center in the collimator coordinate system with the ideal distance parameter to obtain an installation distance deviation value.

[0011] S4: calculating a rotation relationship of the puncture needle sensor center relative to the collimator sensor center, calculating a unit vector of the puncture needle orientation in the collimator coordinate system according to the rotation relationship, and calculating an included angle between the unit vector of the puncture needle orientation in the collimator coordinate system and an ideal unit vector in the collimator coordinate system as an installation angle deviation value;

[0012] S5: judging whether the installation distance deviation value and the installation angle deviation value are within a preset deviation range, performing a puncture operation if the installation distance deviation value and the installation angle deviation value are within the preset deviation range, and adjusting the installation position of the puncture needle on the collimator according to the installation distance deviation value and the installation angle deviation value if the installation distance deviation value and the installation angle deviation value are not within the preset deviation range, and re-entering step S1.

[0013] Further, in step S1, further comprising:

[0014] The collimator space data, specifically:

[0015]

[0016] wherein, is the collimator space data, , and , are components of x, y and z axes in the collimator sensor self-coordinate system on the x axis in the tracking device coordinate system, , and , are components of x, y and z axes in the collimator sensor self-coordinate system on the y axis in the tracking device coordinate system, , and , are components of x, y and z axes in the collimator sensor self-coordinate system on the z axis in the tracking device coordinate system, , and are three-axis distance values of the center position of the collimator sensor relative to the tracking device coordinate system, and [0 0 0 1] is a scaling ratio;

[0017] The puncture needle space data, specifically:

[0018]

[0019] wherein, is the puncture needle space data, , and , are components of x, y and z axes in the puncture needle sensor self-coordinate system on the x axis in the tracking device coordinate system,

[0020] Further, in step S2, the puncture needle space data and the collimator space data are converted into space distance parameters of the collimator coordinate system with the collimator sensor center as the coordinate origin, specifically:

[0021]

[0022]

[0023]

[0024] wherein, is the distance parameter of the collimator sensor center with the tracking device coordinate system origin as the center, each coordinate axis direction being consistent with the direction of the collimator coordinate system; is the distance parameter of the puncture needle sensor center with the tracking device coordinate system origin as the center, each coordinate axis direction being consistent with the direction of the collimator coordinate system; is the distance parameter of the puncture needle sensor center in the collimator coordinate system.

[0025] Further, in step S4, the rotation relationship of the puncture needle sensor center relative to the collimator sensor center is calculated, specifically:

[0026]

[0027] wherein, is the rotation relationship of the puncture needle sensor center relative to the collimator sensor center.

[0028] Further, in step S4, the unit vector of the puncture needle orientation in the collimator coordinate system is calculated according to the rotation relationship, specifically:

[0029] [ ​​​​​​​​​]

[0030] wherein, is a unit vector of the puncture needle orientation in the collimator coordinate system, is a unit vector of the puncture needle orientation in the collimator coordinate system.

[0031] Further, in step S4, an angle between the unit vector of the puncture needle orientation in the collimator coordinate system and an ideal unit vector in the collimator coordinate system is calculated as the installation angle deviation value, specifically:

[0032]

[0033] wherein, , and is an ideal unit vector in the collimator coordinate system, , , a unit vector in each direction in the collimator coordinate system, is the installation angle deviation value.

[0034] An auxiliary puncture system for assisting the puncture method as described above, comprising:

[0035] a spatial data acquisition module, configured to acquire collimator spatial data of a collimator sensor center inside a collimator in a tracking device coordinate system, and acquire puncture needle spatial data of a puncture needle sensor center inside a puncture needle in the tracking device coordinate system;

[0036] a distance parameter calculation module, configured to convert the puncture needle spatial data and the collimator spatial data into spatial distance parameters of a collimator coordinate system with the collimator sensor center as a coordinate origin, and calculate distance parameters of the puncture needle sensor center in the collimator coordinate system;

[0037] a distance deviation value calculation module, configured to compare the calculated distance parameters of the puncture needle sensor center in the collimator coordinate system with ideal distance parameters, and acquire an installation distance deviation value;

[0038] an angle deviation value calculation module, configured to calculate a rotation relationship of the puncture needle sensor center relative to the collimator sensor center, calculate a unit vector of the puncture needle orientation in the collimator coordinate system according to the rotation relationship, and calculate an angle between the unit vector of the puncture needle orientation in the collimator coordinate system and an ideal unit vector in the collimator coordinate system as an installation angle deviation value;

[0039] The puncture needle adjustment module is used for judging whether the installation distance deviation value and the installation angle deviation value are within a preset deviation range, if yes, performing a puncture operation, and if not, adjusting the installation position of the puncture needle on the collimator according to the installation distance deviation value and the installation angle deviation value, and re-entering the space data acquisition module.

[0040] A computer device includes a memory and one or more processors, the memory having computer code stored therein, the computer code, when executed by the one or more processors, causes the one or more processors to perform the method as described above.

[0041] A computer-readable storage medium stores computer code, when the computer code is executed, the method as described above is performed.

[0042] Compared with the prior art, the present application has the following beneficial effects:

[0043] By providing an auxiliary precise puncture method, comprising the following steps: S1: obtaining collimator space data of a collimator sensor center inside a collimator in a tracking device coordinate system, and obtaining puncture needle space data of a puncture needle sensor center inside a puncture needle in the tracking device coordinate system; S2: converting the puncture needle space data and the collimator space data into a spatial distance parameter of a collimator coordinate system with the collimator sensor center as the coordinate origin, and calculating the distance parameter of the puncture needle sensor center in the collimator coordinate system; S3: comparing the calculated distance parameter of the puncture needle sensor center in the collimator coordinate system with an ideal distance parameter to obtain an installation distance deviation value. S4: calculating the rotation relationship of the puncture needle sensor center relative to the collimator sensor center, calculating the unit vector of the puncture needle orientation in the collimator coordinate system according to the rotation relationship, and calculating the included angle between the unit vector of the puncture needle orientation in the collimator coordinate system and an ideal unit vector in the collimator coordinate system as an installation angle deviation value; S5: determining whether the installation distance deviation value and the installation angle deviation value are within a preset deviation range, if they are within the preset deviation range, performing a puncture operation, and if they are not within the preset deviation range, adjusting the installation position of the puncture needle on the collimator according to the installation distance deviation value and the installation angle deviation value, and re-entering step S1. Compared with the prior art, the error feedback is more accurate, and the doctor or user does not need to do additional work or use additional instruments. Only the puncture needle needs to be installed on the collimator to intuitively obtain the error result, and targeted adjustment can be made according to the error result. Moreover, the tediousness of multiple needle insertion due to large installation error and unsatisfactory puncture result is avoided, and the accuracy of the needle insertion process can be obtained according to the real-time data tracking to ensure smooth completion of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is a whole flow chart of an auxiliary precise puncture method in the first embodiment of the present application.

[0045] Figure 2 It is a whole structure diagram of an auxiliary precise puncture system in the third embodiment of the present application.

[0046] Figure 3 It is a whole structure diagram of an auxiliary precise puncture system in the fourth embodiment of the present application. DETAILED DESCRIPTION

[0047] 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. 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 protection scope of the present application.

[0048] Those skilled in the art can understand that the singular forms "a", "an" and "the" used herein include plural forms, unless specifically stated otherwise. It should be further understood that the use of the term "comprise" in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0049] The present application mainly solves the problem of inaccurate puncture position caused by puncture needle assembly error. The position and direction of the actually installed puncture needle and the error of the ideal installation result are calculated through the position sensor inside the puncture needle and the collimator, and adjustment suggestions can be given to improve the accuracy of the puncture needle.

[0050] First embodiment

[0051] As shown in Figure 1 , the present embodiment provides an auxiliary accurate puncture method, comprising the following steps:

[0052] S1: obtaining collimator space data of a collimator sensor center inside a collimator in a tracking device coordinate system, and obtaining puncture needle space data of a puncture needle sensor center inside a puncture needle in the tracking device coordinate system.

[0053] Specifically, in the present application, corresponding collimator sensors and puncture needle sensors are respectively fixedly arranged inside the collimator and the puncture needle, and a tracking device capable of capturing the space data of the collimator sensors and the puncture needle sensors is arranged, and a workstation computer connected with the tracking device is further configured to analyze the space data and calculate the puncture needle installation error.

[0054] After the puncture needle is installed on the collimator, the collimator space data of the collimator sensor center inside the collimator in the tracking device coordinate system and the puncture needle space data of the puncture needle sensor center inside the puncture needle in the tracking device coordinate system are respectively obtained by the tracking device, and are respectively recorded as and , and the specific input format is as follows:

[0055] The collimator space data is specifically:

[0056]

[0057] wherein, is the collimator spatial data, to is the rotation relationship of collimator sensor center relative to tracking device coordinate system, , and is the component of x, y and z axes in collimator sensor self coordinate system in x axis under tracking device coordinate system, , and is the component of x, y and z axes in collimator sensor self coordinate system in y axis under tracking device coordinate system, , and is the component of x, y and z axes in collimator sensor self coordinate system in z axis under tracking device coordinate system, , and is the three-axis distance value of the center position of the collimator sensor relative to the tracking device coordinate system, [0 0 0 1] is the scaling ratio, since the coordinate system scaling problem is not involved in the calculation, it is set to [0 0 0 1];

[0058] the puncture needle spatial data, specifically:

[0059]

[0060] wherein, is the puncture needle spatial data, to is the rotation relationship of collimator sensor center relative to tracking device coordinate system, , and is the component of x, y and z axes in collimator sensor self coordinate system in x axis under tracking device coordinate system, , and is the component of x, y and z axes in collimator sensor self coordinate system in y axis under tracking device coordinate system, , and is the component of x, y and z axes in collimator sensor self coordinate system in z axis under tracking device coordinate system, , and The distance value of the center position of the puncture needle sensor relative to the three-axis distance of the tracking device coordinate system is [0 0 0 1], and the scaling ratio is set to [0 0 0 1] because the coordinate system scaling problem is not involved in the calculation.

[0061] S2: The puncture needle space data and the collimator space data are converted into space distance parameters of the collimator coordinate system with the center of the collimator sensor as the coordinate origin, and the distance parameters of the puncture needle sensor center in the collimator coordinate system are calculated.

[0062] Specifically, the obtained sensor centers in the puncture needle and the collimator are converted into space distance parameters with the center of the collimator coordinate system as the coordinate origin based on the space data parameters in the tracking device coordinate system, and the calculation process is as follows:

[0063]

[0064]

[0065]

[0066] wherein, is the distance parameter of the converted collimator sensor center, and the value is: the distance parameter of the collimator sensor center with the tracking device coordinate system origin as the center, each coordinate axis direction consistent with the direction of the collimator coordinate system; is the distance parameter of the converted puncture needle sensor center, and the value is: the distance parameter of the puncture needle sensor center with the tracking device coordinate system origin as the center, each coordinate axis direction consistent with the direction of the collimator coordinate system; is the distance parameter of the puncture needle sensor center in the collimator coordinate system.

[0067] S3: The distance parameter of the puncture needle sensor center in the collimator coordinate system calculated in the step S2 is compared with the ideal distance parameter to obtain an installation distance deviation value.

[0068] Specifically, an ideal distance parameter is generally set for the puncture needle sensor, and if the deviation is within the ideal distance parameter, the puncture needle is installed correctly and can be punctured. In this step, the actual distance parameter of the puncture needle sensor center in the collimator coordinate system calculated in step S2 is compared with the ideal distance parameter, and the installation distance deviation value is calculated. Subsequently, whether the puncture needle is installed in place is determined according to the installation distance deviation value.

[0069] S4: calculate the rotation relationship of the puncture needle sensor center relative to the collimator sensor center, calculate the puncture needle orientation in the collimator coordinate system according to the rotation relationship, and calculate the angle between the puncture needle orientation in the collimator coordinate system and the ideal unit vector in the collimator coordinate system as the installation angle deviation value.

[0070] Specifically, after calculating the installation distance deviation value, the installation angle deviation value is further calculated. The process converts the rotation relationship of the puncture needle sensor and the collimator sensor relative to the tracking device coordinate system into the rotation relationship of the puncture needle sensor center relative to the collimator sensor, and the specific calculation is as follows:

[0071]

[0072] wherein, is the rotation relationship of the puncture needle sensor center relative to the collimator sensor center.

[0073] Further, the unit vector of the puncture needle orientation in the collimator coordinate system is obtained by combining the unit vector of the puncture needle orientation in the puncture needle sensor coordinate system and the in the above step. calculated

[0074] [ ]

[0075] wherein, is the unit vector of the puncture needle orientation in the puncture needle sensor internal coordinate system, is the unit vector of the puncture needle orientation in the collimator coordinate system.

[0076] Further, the angle between the obtained and the ideal unit vector in the collimator coordinate system is calculated as the installation angle deviation value, and the calculation process is as follows:

[0077]

[0078] wherein, , and is the ideal unit vector in the collimator coordinate system, , , is the unit vector in each direction in the collimator coordinate system, is the installation angle deviation value.

[0079] S5: judging whether the installation distance deviation value and the installation angle deviation value are within a preset deviation range, if yes, performing a puncture operation, if not, adjusting the installation position of the puncture needle on the collimator according to the installation distance deviation value and the installation angle deviation value, and re-entering step S1.

[0080] Second embodiment

[0081] This embodiment specifically illustrates the calculation process in the first embodiment by specific numerical values, which are as follows:

[0082] S1: obtaining collimator space data of a collimator sensor center in a collimator inside in a tracking device coordinate system, and obtaining puncture needle space data of a puncture needle sensor center in the puncture needle inside in the tracking device coordinate system.

[0083]

[0084]

[0085] S2: converting the puncture needle space data and the collimator space data into a space distance parameter of a collimator coordinate system with the collimator sensor center as a coordinate origin, and calculating a distance parameter of the puncture needle sensor center in the collimator coordinate system.

[0086]

[0087]

[0088]

[0089]

[0090]

[0091]

[0092]

[0093]

[0094] S3: comparing the calculated distance parameter of the puncture needle sensor center in the collimator coordinate system with an ideal distance parameter, and obtaining an installation distance deviation value.

[0095] ​​​​​​​S4: calculate the rotation relationship of the puncture needle sensor center relative to the collimator sensor center, calculate the puncture needle orientation in the collimator coordinate system according to the rotation relationship, and calculate the angle between the puncture needle orientation in the collimator coordinate system and the ideal unit vector in the collimator coordinate system as the installation angle deviation value.

[0096] Specifically, after calculating the installation distance deviation value, the installation angle deviation value is further calculated. The rotation relationship of the puncture needle sensor and the collimator sensor relative to the tracking device coordinate system is converted into the rotation relationship of the puncture needle sensor center relative to the collimator sensor, and the specific calculation is as follows:

[0097]

[0098] =

[0099] =

[0100] wherein, is the rotation relationship of the puncture needle sensor center relative to the collimator sensor center.

[0101] Further, the unit vector of the puncture needle orientation in the collimator coordinate system is obtained by combining the unit vector of the puncture needle orientation in the puncture needle sensor coordinate system and the calculated in the above step, and the calculation process is as follows:

[0102] [ ]

[0103] =

[0104] =

[0105] wherein, is the unit vector of the puncture needle orientation in the puncture needle sensor internal coordinate system, is the unit vector of the puncture needle orientation in the collimator coordinate system.

[0106] Further, the angle between the obtained and the ideal unit vector in the collimator coordinate system is calculated as the installation angle deviation value, and the calculation process is as follows:

[0107]

[0108] =

[0109] =

[0110] wherein, , and is an ideal unit vector in the collimator coordinate system, , , a unit vector in each direction in the collimator coordinate system, is the installation angle deviation value.

[0111] S5: judging whether the installation distance deviation value and the installation angle deviation value are within a preset deviation range, if yes, performing a puncture operation, if not, adjusting the installation position of the puncture needle on the collimator according to the installation distance deviation value and the installation angle deviation value, and re-entering step S1.

[0112] Third embodiment

[0113] As shown in Figure 2 , the embodiment provides an auxiliary accurate puncture system for executing a virtual module of an auxiliary accurate puncture method in the first embodiment or the second embodiment, comprising:

[0114] a spatial data acquisition module 1 configured to acquire collimator spatial data of a collimator sensor center in a collimator in a tracking device coordinate system, and acquire puncture needle spatial data of a puncture needle sensor center in a puncture needle in the tracking device coordinate system;

[0115] a distance parameter calculation module 2 configured to convert the puncture needle spatial data and the collimator spatial data into a spatial distance parameter of a collimator coordinate system with the collimator sensor center as a coordinate origin, and calculate a distance parameter of the puncture needle sensor center in the collimator coordinate system;

[0116] a distance deviation value calculation module 3 configured to compare the calculated distance parameter of the puncture needle sensor center in the collimator coordinate system with an ideal distance parameter, and acquire an installation distance deviation value;

[0117] an angle deviation value calculation module 4 configured to calculate a rotation relationship of the puncture needle sensor center relative to the collimator sensor center, calculate a unit vector of a puncture needle orientation in the collimator coordinate system according to the rotation relationship, calculate an included angle between the unit vector of the puncture needle orientation in the collimator coordinate system and an ideal unit vector in the collimator coordinate system as an installation angle deviation value;

[0118] The puncture needle adjustment module 5 is used for judging whether the installation distance deviation value and the installation angle deviation value are within a preset deviation range, and if yes, performing a puncture operation, and if not, adjusting the installation position of the puncture needle on the collimator according to the installation distance deviation value and the installation angle deviation value, and re-entering the space data acquisition module.

[0119] It should be noted that the specific calculation process of the embodiment is the same as that of the first embodiment, and will not be described in detail in this embodiment.

[0120] Fourth embodiment

[0121] As shown in Figure 3 The embodiment provides an entity module assisted accurate puncture system for performing the assisted accurate puncture method in the first embodiment or the second embodiment, and the entity module assisted accurate puncture system comprises:

[0122] The collimator sensor is fixedly arranged in the interior of the collimator and can be captured to a space data parameter by the tracking device;

[0123] The puncture needle sensor is fixedly arranged in the interior of the puncture needle and can be captured to a space data parameter by the tracking device;

[0124] The tracking device is arranged in a position range capable of simultaneously acquiring the space data parameters of the collimator sensor and the puncture needle sensor, captures the space data of the collimator sensor and the puncture needle sensor through the tracking device in the fixed stage of the puncture needle, and tracks the whole process of the puncture of the puncture needle through the tracking device in the puncture stage of the puncture needle;

[0125] The workstation is connected with the tracking device, analyzes the space data, calculates the installation error of the puncture needle, and displays the specific error on the display screen.

[0126] It should be noted that the specific calculation process of the embodiment is the same as that of the first embodiment, and will not be described in detail in this embodiment.

[0127] 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.

[0128] The above merely describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-described embodiments. Any technical scheme falling within the concept of the present application shall fall 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 also be considered as falling within the protection scope of the present application.

[0129] 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.

[0130] It should be noted that the above-described embodiments can be combined freely as needed. The above merely describes the 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 also be considered as falling within the protection scope of the present application.

Claims

1. An auxiliary precise puncture method, characterized in that: The following steps are involved: S1: Acquire collimator spatial data of the center of the collimator sensor inside the collimator in the coordinate system of the tracking device, and acquire puncture needle spatial data of the center of the puncture needle sensor inside the puncture needle in the coordinate system of the tracking device; S2: converting the puncture needle spatial data and the collimator spatial data into spatial distance parameters of a collimator coordinate system with the center of the collimator sensor as the coordinate origin, and calculating the distance parameter of the puncture needle sensor center in the collimator coordinate system; S3: Compare the calculated distance parameter of the puncture needle sensor center in the collimator coordinate system with the ideal distance parameter to obtain an installation distance deviation value; S4: Calculate the rotation relationship of the puncture needle sensor center relative to the collimator sensor center, calculate the unit vector of the puncture needle in the collimator coordinate system based on the rotation relationship, and calculate the angle between the unit vector of the puncture needle in the collimator coordinate system and the ideal unit vector in the collimator coordinate system as the installation angle deviation value; S5: Determine whether the installation distance deviation value and the installation angle deviation value are within a preset deviation range. If not, adjust the installation position of the puncture needle on the collimator according to the installation distance deviation value and the installation angle deviation value, and re-enter step S1.

2. The auxiliary precise puncture method according to claim 1, characterized in that: In step S1, it also includes: The collimator spatial data is specifically: in, is the collimator spatial data, , and , are the x-axis components of the x, y, and z axes in the collimator sensor's own coordinate system in the tracking device's coordinate system, , and , is the component of the x, y and z axes in the collimator sensor's own coordinate system on the y axis in the tracking device's coordinate system, , and , is the component of the x, y and z axes in the collimator sensor's own coordinate system on the z axis in the tracking device's coordinate system, , and is the three-axis distance value of the center position of the collimator sensor relative to the coordinate system of the tracking device, and [0 0 0 1] is the scaling ratio; The puncture needle space data is specifically: in, is the puncture needle space data, , and , is the x-axis component of the x, y, and z axes in the puncture needle sensor's own coordinate system in the tracking device's coordinate system, , and , is the component of the x, y and z axes in the puncture needle sensor's own coordinate system on the y axis in the tracking device's coordinate system, , and , is the component of the x, y and z axes in the puncture needle sensor's own coordinate system on the z axis in the tracking device's coordinate system, , and is the three-axis distance value of the center position of the puncture needle sensor relative to the coordinate system of the tracking device, and [0 0 0 1] is the scaling ratio.

3. The auxiliary precise puncture method according to claim 2, characterized in that: In step S2, the puncture needle spatial data and the collimator spatial data are converted into spatial distance parameters of the collimator coordinate system with the center of the collimator sensor as the coordinate origin, specifically: in, The distance parameter between the center of the collimator sensor and the origin of the tracking device coordinate system, where the directions of each coordinate axis are consistent with the direction of the collimator coordinate system; The distance parameter between the center of the puncture needle sensor and the origin of the tracking device coordinate system, where the directions of each coordinate axis are consistent with the directions of the collimator coordinate system; is the distance parameter to the center of the puncture needle sensor in the collimator coordinate system.

4. The auxiliary precise puncture method according to claim 2 or 3, characterized in that: In step S4, the rotation relationship of the puncture needle sensor center relative to the collimator sensor center is calculated, specifically: in, is the rotational relationship of the puncture needle sensor center relative to the collimator sensor center.

5. The auxiliary precise puncture method according to claim 4, characterized in that: In step S4, the unit vector of the puncture needle in the collimator coordinate system is calculated according to the rotation relationship, specifically: =[ ] in, is the unit vector of the puncture needle in the internal coordinate system of the puncture needle sensor, is the unit vector of the puncture needle in the collimator coordinate system.

6. The auxiliary precise puncture method according to claim 5, characterized in that: In step S4, the angle between the unit vector of the puncture needle in the collimator coordinate system and the ideal unit vector in the collimator coordinate system is calculated as the installation angle deviation value, specifically: in, , and is the ideal unit vector in the collimator coordinate system, , , The unit vector in each direction in the collimator coordinate system, is the installation angle deviation value.

7. An assisted precise puncture system for the assisted precise puncture method according to any one of claims 1 to 6, characterized in that: include: A spatial data acquisition module, configured to acquire collimator spatial data of a collimator sensor center inside the collimator in a tracking device coordinate system, and acquire puncture needle spatial data of a puncture needle sensor center inside the puncture needle in the tracking device coordinate system; a distance parameter calculation module, configured to convert the puncture needle spatial data and the collimator spatial data into spatial distance parameters of a collimator coordinate system with the center of the collimator sensor as the coordinate origin, and calculate the distance parameter of the puncture needle sensor center in the collimator coordinate system; a distance deviation value calculation module, configured to compare the calculated distance parameter of the puncture needle sensor center in the collimator coordinate system with the ideal distance parameter to obtain an installation distance deviation value; an angle deviation value calculation module, configured to calculate the rotational relationship of the puncture needle sensor center relative to the collimator sensor center, calculate the unit vector of the puncture needle in the collimator coordinate system based on the rotational relationship, and calculate the angle between the unit vector of the puncture needle in the collimator coordinate system and the ideal unit vector in the collimator coordinate system as the installation angle deviation value; The puncture needle adjustment module is used to determine whether the installation distance deviation value and the installation angle deviation value are within the preset deviation range. If they are within the preset deviation range, the puncture operation is performed; if they are not within the preset deviation range, the installation position of the puncture needle on the collimator is adjusted according to the installation distance deviation value and the installation angle deviation value, and the spatial data acquisition module is re-entered. 8 . A computer-readable storage medium storing computer code, wherein when the computer code is executed, the method according to claim 1 is performed.

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