A puncture operation monitoring method and device and a storage medium

Abstract

The application provides a puncture operation monitoring method, comprising: collecting a CT image of a patient after a puncture needle is inserted into the patient; determining a deviation between a puncture path and a planned path according to a spatial position of the puncture path in a first CT image and a spatial position of the planned path in a second CT image; wherein the puncture path is used to identify an actual puncture position of the puncture needle in the first CT image; the second CT image is a CT image of the patient collected before the puncture operation; and the planned path is used to identify a puncture position of the puncture needle planned in the second CT image. The above technical solution can ensure that the puncture needle can accurately reach a target puncture region by monitoring the deviation between the puncture path and the planned path in the puncture operation and determining the deviation between a needle tip point and a target region, thereby improving the safety and accuracy of the puncture operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of computers, and particularly relates to a puncture operation monitoring method and device and a storage medium. BACKGROUND

[0002] Current puncture operations have important applications in diagnosis and treatment. Puncture biopsy, as a common diagnostic method, can obtain clear pathology for doctors to develop subsequent treatment plans. Puncture ablation treatment can also provide tumor ablation opportunities for a large number of surgical patients who are not tolerant.

[0003] In the current clinical process, after the doctor inserts the operation needle into the patient's body, the doctor needs to scan the CT image multiple times and determine the final puncture path according to the CT image. The doctor needs to use graphic software to determine whether the needle tip point reaches the tumor position within the expected range, but this way the doctor cannot guarantee that the puncture path is consistent with the planned path, and cannot determine the accuracy of the path, thereby affecting the safety and accuracy of the operation. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a puncture operation monitoring method, device and storage medium, which can improve the safety and accuracy of the puncture operation.

[0005] To solve the above technical problem, the present application provides a puncture operation monitoring method, comprising:

[0006] After the needle insertion operation of the puncture needle in the patient's body is completed, a first computed tomography (CT) image of the patient is collected;

[0007] According to the spatial position of the puncture path in the first CT image and the spatial position of the planned path in the second CT image, the deviation between the puncture path and the planned path is determined.

[0008] The puncture path is used to identify the actual puncture position of the puncture needle in the first CT image. The second CT image is a CT image of the patient collected before the current puncture operation, and the planned path is used to identify the puncture position of the puncture needle planned in the second CT image.

[0009] The present application also provides a puncture operation monitoring device, comprising a memory and a processor.

[0010] The memory is used to save a program for puncture operation monitoring.

[0011] The processor is used to read the program for puncture operation monitoring and execute the puncture operation monitoring method described above.

[0012] This application also provides a non-transient computer-readable storage medium storing a computer program, wherein the computer program is configured to execute any of the aforementioned puncture surgery monitoring methods at runtime.

[0013] This application provides a method for monitoring puncture surgery, comprising: after the insertion of a puncture needle into the patient's body, acquiring a first computed tomography (CT) image of the patient; determining the deviation between the puncture path and the planned path based on the spatial position of the puncture path in the first CT image and the spatial position of the planned path in a second CT image; wherein the puncture path is used to identify the actual puncture position of the puncture needle in the first CT image; the second CT image is a CT image of the patient acquired before the puncture surgery, and the planned path is used to identify the planned puncture position of the puncture needle in the second CT image. The above technical solution, by monitoring the deviation between the puncture path and the planned path during the puncture surgery, determines the deviation between the needle tip and the target area, ensuring that the puncture needle can accurately reach the target puncture area, thereby improving the safety and accuracy of the puncture surgery. Attached Figure Description

[0014] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0015] Figure 1 This is a first flowchart of the puncture surgery monitoring method according to an embodiment of this application;

[0016] Figure 2 This is a second flowchart of the puncture surgery monitoring method according to an embodiment of this application;

[0017] Figure 3 This is a third flowchart of the puncture surgery monitoring method according to an embodiment of this application;

[0018] Figure 4 This is a schematic diagram of a puncture surgery monitoring device according to an embodiment of this application;

[0019] Figure 5 This is a schematic diagram of the puncture surgery monitoring interface according to an embodiment of this application. Detailed Implementation

[0020] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0021] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0022] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0023] like Figure 1 As shown, this embodiment provides a method for monitoring puncture surgery, including:

[0024] Step S101: After the needle insertion operation in the patient's body is completed, the patient's first CT (Computed Tomography) image is acquired.

[0025] Step S102: Determine the deviation between the puncture path and the planned path based on the spatial position of the puncture path in the first CT image and the spatial position of the planned path in the second CT image;

[0026] The puncture path is used to identify the actual puncture position of the puncture needle in the first CT image; the second CT image is a CT image of the patient acquired before this puncture operation, and the planned path is used to identify the planned puncture position of the puncture needle in the second CT image.

[0027] The above-mentioned technical solution can ensure that the puncture needle can accurately reach the target puncture area by monitoring the deviation between the puncture path and the planned path during the puncture surgery, thereby improving the accuracy of the puncture surgery.

[0028] In one exemplary embodiment, determining the deviation between the puncture path and the planned path based on the spatial location of the puncture path in the first CT image and the spatial location of the planned path in the second CT image includes:

[0029] Load the first CT image and the second CT image and display them on the same interface;

[0030] Based on the first CT image, determine the spatial location of the first needle insertion point and the spatial location of the first needle tip on the puncture path;

[0031] The needle insertion point deviation is determined based on the spatial position of the first needle insertion point on the puncture path and the spatial position of the second needle insertion point on the planned path; and / or, the needle tip deviation is determined based on the spatial position of the first needle tip on the puncture path and the spatial position of the second needle tip on the planned path.

[0032] Wherein, the first needle entry point is the intersection of the puncture needle and the patient's skin after the needle insertion operation is completed, the first needle tip point is the position of the needle tip of the puncture needle after the needle insertion operation is completed, the second needle entry point is the intersection of the planned path and the patient's skin in the second CT image, and the second needle tip point is the target position of the planned path in the second CT image.

[0033] Current medical equipment software supports reading data from a single image, but cannot display two different CT images simultaneously on the same screen. This prevents doctors from viewing multiple CT images at the same time, making it difficult to determine whether the puncture path matches the planned path, which is detrimental to diagnosis and decision-making. The aforementioned technical solution, however, can display two CT images of the patient before and after the puncture on the same screen, allowing for a direct assessment of any deviation between the puncture path and the planned path. This facilitates diagnosis and decision-making, thereby improving the success rate of the procedure.

[0034] In one exemplary embodiment, determining the spatial location of the first needle insertion point and the spatial location of the first needle tip on the puncture path based on the first CT image includes:

[0035] Receive input commands related to the needle insertion point, display a first mark representing the first needle insertion point on the interface, move the first mark to the needle insertion point determined in the first CT image, and take the position of the first mark as the spatial position of the first needle insertion point.

[0036] The system receives input commands related to the needle tip, displays a second marker representing the first needle tip on the interface, moves the second marker to the needle tip determined in the first CT image, and uses the location of the second marker as the spatial location of the first needle tip; the second marker is different from the first marker.

[0037] In this embodiment, buttons for marking the needle insertion point and the needle tip can be set on the interface. Doctors can click the buttons to mark the corresponding points on the CT images in the interface, allowing doctors to conveniently and intuitively view the positions of different points.

[0038] In an exemplary embodiment, determining the needle insertion point deviation based on the spatial position of the first needle insertion point on the puncture path and the spatial position of the second needle insertion point on the planned path includes:

[0039] Determine the spatial coordinates (x, y, z) of the first needle insertion point in the first CT image;

[0040] Determine the spatial coordinates (x, y, z) of the second needle insertion point in the second CT image;

[0041] The distance between the first needle insertion point and the second needle insertion point is calculated based on Enterpoint(x,y,z) and Skinpoint(x,y,z), and this distance is used as the needle insertion point deviation.

[0042] In one exemplary embodiment, determining the needle tip deviation based on the position of the first needle tip on the puncture path and the position of the second needle tip on the planned path includes:

[0043] Determine the spatial coordinates (Endpoint(x,y,z) of the first needle tip point in the first CT image;

[0044] Determine the spatial coordinates Targetpoint(x,y,z) of the second needle tip point in the second CT image;

[0045] The distance between the first needle tip and the second needle tip is calculated based on Endpoint(x,y,z) and Targetpoint(x,y,z), and this distance is used as the needle tip deviation.

[0046] The above technical solution can determine the deviation between the puncture path and the planned path, thereby further determining whether the puncture surgery meets the puncture requirements.

[0047] like Figure 2 As shown, in one exemplary embodiment, the method further includes:

[0048] Step S103: Determine whether the puncture procedure has met the predetermined puncture requirements based on the deviation of the needle insertion point and / or the deviation of the needle tip.

[0049] In one exemplary embodiment, determining whether the puncture procedure has met the predetermined puncture requirements based on the needle insertion point deviation and the needle tip deviation includes:

[0050] If the deviation of the needle insertion point is less than or equal to the set first threshold, and the deviation of the needle tip is less than or equal to the set second threshold, then it is determined that the puncture operation has met the predetermined puncture requirements, and the remaining operations after the needle insertion operation can be performed.

[0051] If the deviation of the needle insertion point is greater than the set first threshold, or the deviation of the needle tip is greater than the set second threshold, it is determined that the puncture operation has not met the predetermined puncture requirements, and the needle insertion operation is instructed to be performed again.

[0052] In this embodiment, the order of determining the needle entry point deviation and the needle tip deviation can be arbitrary. Alternatively, both the needle entry point deviation and the needle tip deviation can be determined, or one deviation can be determined first, and then the result of that deviation can be used to determine whether the other deviation needs to be further determined.

[0053] For example, first determine the needle insertion point deviation. If the needle insertion point deviation is greater than a set first threshold, it is determined that the puncture procedure has not achieved the intended result, and in this case, it is not necessary to determine the needle tip deviation. If the needle insertion point deviation is less than or equal to the set first threshold, then the needle tip deviation is further determined.

[0054] Alternatively, the needle tip deviation can be determined first. If the needle tip deviation is greater than the set second threshold, the puncture procedure is considered to have failed to meet the predetermined puncture requirements, and in this case, it is not necessary to determine the needle insertion point deviation. If the needle tip deviation is less than or equal to the set second threshold, then the needle insertion point deviation is further determined.

[0055] Alternatively, the deviation of the needle insertion point and the deviation of the needle tip can be determined, and then the relationship between the deviation of the needle insertion point and the deviation of the needle tip and the corresponding threshold can be judged. Only when the deviation of the needle insertion point is less than or equal to the set first threshold and the deviation of the needle tip is less than or equal to the set second threshold, it is determined that the puncture operation has met the predetermined puncture requirements and the remaining operations after the needle insertion operation can be performed.

[0056] like Figure 3 As shown, in one exemplary embodiment, the method further includes:

[0057] Step S104: Determine the planned path for the puncture surgery based on the acquired second CT image, and record the spatial position of the second needle insertion point and the spatial position of the second needle tip on the planned path.

[0058] Step S105: According to the planned path in the second CT image, insert the puncture needle into the patient's body and complete the needle insertion operation.

[0059] In this embodiment, the needle insertion operation is performed on the patient according to a pre-set planned path. After the puncture needle enters the patient's body from the insertion point, it continues to advance until the needle tip reaches the planned second needle tip point, at which point the needle insertion operation stops. Then, a first CT image is acquired on the patient with the puncture needle in their body.

[0060] In the prior art, patients need to have CT images collected multiple times during the needle insertion procedure when undergoing puncture surgery. However, in this embodiment, patients only need to have CT images collected when the needle insertion procedure is completed, avoiding multiple CT image collections during the needle insertion process. This not only reduces the operation time but also reduces the impact of CT images on the patient's health.

[0061] In one exemplary embodiment, the method further includes:

[0062] When the slice position of one of the first CT image and the second CT image displayed on the interface is changed according to the input command, the slice position of the other image displayed on the interface is automatically changed synchronously.

[0063] For example, when the displayed first CT image switches from the 100th cross section to the 150th cross section, the displayed second CT image also switches from the 100th cross section to the 150th cross section. When the displayed second CT image switches from the 90th cross section to the 100th cross section, the displayed first CT image also switches from the 90th cross section to the 100th cross section.

[0064] The same applies to operations such as rotating and scaling CT images. For example, when the first CT image is rotated 30 degrees to the right, the second CT image is also rotated 30 degrees to the right; when the second CT image is rotated 100 degrees to the left, the first CT image is also rotated 100 degrees to the left; when the second CT image is magnified to 200%, the first CT image is also magnified to 200%; when the first CT image is reduced to 50%, the second CT image is also reduced to 50%.

[0065] like Figure 4 As shown, this embodiment also provides a puncture surgery monitoring device, including: a memory 10 and a processor 11;

[0066] The memory 10 is used to store programs for monitoring puncture surgery;

[0067] The processor 11 is used to read the program for monitoring puncture surgery and execute any of the aforementioned puncture surgery monitoring methods.

[0068] This embodiment also provides a non-transient computer-readable storage medium storing a computer program, wherein the computer program is configured to execute any of the aforementioned puncture surgery monitoring methods at runtime.

[0069] The following section further illustrates the puncture surgery monitoring method of this application using specific scenarios:

[0070] To more clearly illustrate the technical solution of this application, the meanings of the superscripts are explained below, but in practical applications, they are not limited to these:

[0071] CT images are composed of multiple two-dimensional CT images superimposed to form a three-dimensional CT image.

[0072] To determine the position of each pixel in a CT image, a three-dimensional spatial coordinate system is established for the CT image. This coordinate system is typically established with the scanning center of the CT scanner as the origin and consists of the origin, X-axis, Y-axis, and Z-axis. Each pixel in the CT image has corresponding position data, which can then be used to map it to real physical space.

[0073] Slice Position: Denoted as SlicePosition; In order to describe the position of a two-dimensional CT slice image, a relative position is established for each CT slice image, and the relative position is the slice position.

[0074] Planning starting point: denoted as StartPoint, its coordinate values ​​in the CT image coordinate system can be represented as: (StartPoint(x),StartPoint(y),StartPoint(z)). The planning starting point is the point where the planned puncture needle begins to pierce the skin, and the planning starting point is the point away from the skin.

[0075] The planned target point (same as the second needle tip point above): denoted as TargetPoint, its coordinates in the CT image coordinate system can be expressed as: (TargetPoint(x), TargetPoint(y), TargetPoint(z)), which is equivalent to Targetpoint(x,y,z) above. The planned target point is the point planned to reach the target area, which is the point on the part of the patient's body where the puncture surgery is to be performed.

[0076] Skin point (same as the second needle entry point above): denoted as SkinPoint, its coordinates in the CT image coordinate system can be expressed as: (SkinPoint(x), SkinPoint(y), SkinPoint(z)), equivalent to Skinpoint(x,y,z) above. The skin point is the intersection of the line connecting the planning start point and the planning target point with the skin. Once the planning start point and the planning target point are determined, the skin points on the planning path are determined accordingly.

[0077] The needle insertion point (same as the first needle insertion point mentioned above) is denoted as EnterPoint. Its coordinates in the CT image coordinate system can be expressed as: (EnterPoint(x), EnterPoint(y), EnterPoint(z)), which is equivalent to Enterpoint(x,y,z) mentioned above. The needle insertion point is the intersection of the puncture needle and the patient's skin during the actual puncture surgery.

[0078] The needle tip (same as the first needle tip mentioned above), denoted as EndPoint, can be represented by the coordinates of (EndPoint(x), EndPoint(y), EndPoint(z)) in the CT image coordinate system, which is equivalent to Endpoint(x,y,z) mentioned above. The needle tip is the position of the needle tip after the needle insertion operation is completed in the actual puncture surgery.

[0079] The following will provide further explanation using specific scenarios.

[0080] Before the patient's puncture procedure, a CT image of the patient is acquired (hereinafter referred to as the surgical planning map). Then, a planned path (referred to as RoutePlan) for the puncture procedure is set on this CT image. The CT image marked with the puncture path is called the surgical planning map (corresponding to the second CT image mentioned above). The planned path in the surgical planning map is equivalent to simulating the path of the puncture needle entering the body. The planned path consists of a starting point and a target point (corresponding to the second needle tip point mentioned above). The line segment connecting the starting point and the target point constitutes the planned path. The starting point is a point away from the skin, and the intersection of the planned path with the human skin surface on the surgical planning map is the skin point. During the patient's puncture procedure, the doctor can load the surgical planning map onto the interface and view the patient's planned path. The puncture needle is guided to perform the insertion operation based on the starting point, planned skin point, and planned target point on the planned path.

[0081] The needle insertion procedure involves a single, targeted insertion to the intended point. No CT images are taken of the patient until the needle tip reaches the target point. Once the insertion is complete, and the needle tip has reached the target point, a CT image is taken of the patient with the needle inserted, generating a surgical puncture image (corresponding to the first CT image mentioned above). Because the needle is inside the patient, the surgical puncture image clearly shows its actual position within the body. The physician can then load the puncture image into a database such as... Figure 5 On the interface, two CT images are displayed simultaneously on one screen: the left side is the surgical planning diagram, and the right side is the surgical puncture diagram.

[0082] To monitor whether the puncture procedure meets the requirements, the doctor can click... Figure 5 Click the "Surgical Assessment" button, and then you can click the "Insertion Point" and "Needle Tip Point" buttons. When you click the "Insertion Point" button, the location of the insertion point will be marked in the puncture diagram on the right (e.g., ...). Figure 5 (Displayed as a circle in the image), when the needle tip button is clicked, the location of the needle tip will be marked on the puncture diagram on the right (e.g., ...). Figure 5 (Displayed as circles in the middle), the circle corresponding to the needle entry point and the circle corresponding to the needle tip point can be displayed in two different colors. For example, the needle entry point is displayed in red and the needle tip point is displayed in blue.

[0083] In this embodiment, the requirements for the puncture surgery may include the following: 0° ≤ puncture angle ≤ 40°, distance from the needle insertion point to the needle tip ≤ 148mm, 20mm ≤ distance from the needle insertion point to the needle tip ≤ 25mm. The puncture point is the point where the puncture needle begins to penetrate the skin during the actual puncture surgery, and the puncture point is the point furthest from the skin. When all needle insertion points and needle tip points are selected in the puncture diagram, the system will automatically calculate the deviation based on the needle insertion points and needle tip points in the surgical planning diagram. This can be achieved in the following way:

[0084] Read the z-coordinate value (i.e., TargetPoint(z)) of the target point of the surgical planning path, calculate the slice image corresponding to the SlicePosition that is closest to the z-coordinate value in the surgical puncture image based on the z-coordinate value, and jump the surgical puncture image to the corresponding slice position.

[0085] The slice position value of the skin point on the surgical planning diagram is synchronized with the slice position value of the needle insertion point on the surgical puncture diagram.

[0086] The deviations of the needle entry point and the needle tip can be calculated based on the CT spatial coordinates of the needle entry point and the needle tip in the surgical planning diagram and surgical puncture diagram, respectively. For example, the following formula can be used for calculation, but it is not limited to this in practical applications:

[0087] The error between the puncture needle insertion point and the planned skin point is denoted as EnterError, and the calculation formula is as follows:

[0088]

[0089] The error between the puncture needle tip and the planned target point is denoted as EndError, and the calculation formula is as follows:

[0090]

[0091] The above-described method allows for monitoring of the needle insertion accuracy during puncture surgery, ensuring that the needle accurately reaches the target puncture area, thereby improving the precision of the procedure. Simultaneously, the interface displays both the surgical planning diagram and the puncture diagram, facilitating doctor operation and review, aiding in diagnosis and decision-making, and ultimately ensuring a higher success rate.

[0092] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A method for monitoring puncture surgery, comprising: After the needle insertion operation is completed in the patient's body, the patient's first computed tomography (CT) image is acquired. The deviation between the puncture path and the planned path is determined based on the spatial position of the puncture path in the first CT image and the spatial position of the planned path in the second CT image. This includes: loading the first CT image and the second CT image and displaying them on the same interface; determining the spatial position of the first needle insertion point and the spatial position of the first needle tip on the puncture path based on the first CT image; determining the needle insertion point deviation based on the spatial position of the first needle insertion point on the puncture path and the spatial position of the second needle insertion point on the planned path; and determining the needle tip deviation based on the spatial position of the first needle tip on the puncture path and the spatial position of the second needle tip on the planned path. Determining whether the puncture procedure has met the predetermined puncture requirements based on the needle entry point deviation and the needle tip deviation includes: if the needle entry point deviation is less than or equal to a set first threshold and the needle tip deviation is less than or equal to a set second threshold, then the puncture procedure is determined to have met the predetermined puncture requirements, and the remaining operations after the needle insertion operation can be performed; if the needle entry point deviation is greater than the set first threshold, or the needle tip deviation is greater than the set second threshold, then the puncture procedure is determined to have not met the predetermined puncture requirements, and the needle insertion operation is instructed to be performed again. The puncture path is used to identify the actual puncture position of the puncture needle in the first CT image; the second CT image is a CT image of the patient acquired before this puncture operation, and the planned path is used to identify the planned puncture position of the puncture needle in the second CT image. The first needle insertion point is the intersection of the puncture needle and the patient's skin after the needle insertion operation is completed. The first needle tip is the position of the needle tip after the needle insertion operation is completed. The second needle insertion point is the intersection of the planned path and the patient's skin in the second CT image. The second needle tip is the target position of the planned path in the second CT image.

2. The method for monitoring puncture surgery as described in claim 1, characterized in that, The step of determining the spatial location of the first needle insertion point and the spatial location of the first needle tip on the puncture path based on the first CT image includes: Receive input commands related to the needle insertion point, display a first mark representing the first needle insertion point on the interface, move the first mark to the needle insertion point determined in the first CT image, and take the position of the first mark as the spatial position of the first needle insertion point. The system receives input commands related to the needle tip, displays a second marker representing the first needle tip on the interface, moves the second marker to the needle tip determined in the first CT image, and uses the location of the second marker as the spatial location of the first needle tip; the second marker is different from the first marker.

3. The method for monitoring puncture surgery as described in claim 1, characterized in that, The step of determining the needle insertion point deviation based on the spatial position of the first needle insertion point on the puncture path and the spatial position of the second needle insertion point on the planned path includes: Determine the spatial coordinates of the first needle insertion point in the first CT image. Enterpoint(x,y,z) ; Determine the spatial coordinates of the second needle insertion point in the second CT image. Skinpoint(x,y,z) ; according to Enterpoint(x,y,z) and Skinpoint(x,y,z) Calculate the distance between the first needle insertion point and the second needle insertion point, and use this distance as the needle insertion point deviation.

4. The method for monitoring puncture surgery as described in claim 1, characterized in that, The step of determining the needle tip deviation based on the spatial position of the first needle tip on the puncture path and the spatial position of the second needle tip on the planned path includes: Determine the spatial coordinates of the first needle tip in the first CT image. Endpoint(x,y,z) ; Determine the spatial coordinates of the second needle tip in the second CT image. Targetpoint(x,y,z) ; according to Endpoint(x,y,z) and Targetpoint(x,y,z) Calculate the distance between the first needle tip and the second needle tip, and use this distance as the needle tip deviation.

5. The method for monitoring puncture surgery as described in any one of claims 1 to 4, characterized in that, The method further includes: The planned path for the puncture surgery is determined based on the acquired second CT image, and the spatial position of the second needle insertion point and the spatial position of the second needle tip point on the planned path are recorded. According to the planned path in the second CT image, the puncture needle is inserted into the patient's body and the needle insertion operation is completed.

6. The method for monitoring puncture surgery as described in any one of claims 1 to 4, characterized in that, The method further includes: When the slice position of one of the first CT image and the second CT image displayed on the interface is changed according to the input command, the slice position of the other image displayed on the interface is automatically changed synchronously.

7. A puncture surgery monitoring device, comprising: Memory and processor; characterized in that: The memory is used to store programs for monitoring puncture procedures; The processor is configured to read the program for monitoring puncture surgery and execute the puncture surgery monitoring method as described in any one of claims 1 to 6.

8. A non-transient computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the puncture surgery monitoring method according to any one of claims 1 to 6 when it is run.

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