Automatic puncture pneumoperitoneum establishing device guided by artificial intelligence

Abstract

The invention provides an automatic puncture pneumoperitoneum establishing device guided by artificial intelligence. The automatic puncture pneumoperitoneum establishing device comprises an ultrasonic detection unit, an automatic puncture guide system for a terminal, an automatic puncture guide system for a server and an automatic pneumoperitoneum puncture device, the automatic pneumoperitoneum puncture device comprises a first driving unit, a second driving unit, a third driving unit and a control unit, the automatic puncture guide system for the terminal is in interactive communication with the control unit; the automatic puncture guide system for the server and the automatic puncture guide system for the terminal perform interactive communication; the ultrasonic detection unit is used for acquiring an ultrasonic image of a target area of the abdomen of a patient and sending the ultrasonic image to the automatic puncture guide system for the terminal; the control unit controls the first driving unit to adjust the needle insertion point position of the pneumoperitoneum needle, the second driving unit to drive the pneumoperitoneum needle to execute the needle insertion action and the third driving unit to adjust the puncture angle of the pneumoperitoneum needle according to the received interaction information; the control unit also controls each driving unit to stop executing actions; the automatic puncture guide system for the terminal also directly displays information about successful puncture. Semi-automatic or automatic pneumoperitoneum establishment can be achieved, and the injury risk caused by abdominal cavity puncture during pneumoperitoneum establishment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of establishing pneumoperitoneum, and in particular to an automatic puncture pneumoperitoneum establishing device guided by artificial intelligence. Background Art

[0002] Existing laparoscopic surgery and robot-assisted laparoscopic surgery both require the establishment of artificial pneumoperitoneum first, and then the insertion of a Trocar (laparoscopic puncture device) to establish a channel before the surgical instruments can be inserted. At present, the general method of establishing pneumoperitoneum is to lift the skin first, then puncture the abdomen with a pneumoperitoneum needle without guidance, and then inject gas into the abdominal cavity through the pneumoperitoneum needle to achieve the establishment of pneumoperitoneum. However, this method has a certain risk of damaging abdominal organs, has high technical requirements for the operator, and cannot be automatically and remotely operated. Ultrasound-guided puncture technology has been used in clinical practice, but there are no reports on its application in the establishment of pneumoperitoneum. Therefore, we need to develop an automatic method for establishing pneumoperitoneum to solve the defects of the existing method of establishing pneumoperitoneum. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first object of the present invention is to provide an automatic puncture guidance system for a terminal.

[0005] A second object of the present invention is to provide an automatic puncture guidance system for a server.

[0006] The third purpose of the present invention is to provide an artificial intelligence-guided automatic puncture pneumoperitoneum establishment device.

[0007] In order to achieve the above-mentioned purpose, the technical solution of the first aspect of the present invention provides an automatic puncture guidance system for a terminal, and the automatic puncture guidance system for a terminal comprises: an ultrasound image receiving unit, which is used to receive an ultrasound image of a target area of ​​a patient's abdomen acquired by an ultrasound detection unit; a needle point position receiving unit, which is used to receive an instruction of needle point position information of a Veress needle; wherein the needle point position is within the target area of ​​the patient's abdomen; and a needle point position sending unit, which is used to send the needle point position information of the Veress needle to a server, so that the server can adjust the needle point according to the needle point position information of the Veress needle. The device can locate the peritoneum and various organs in the abdominal cavity at the point position; the display unit is used to display the prompt information of whether to perform puncture when receiving the prompt information of whether to perform puncture sent by the server; the puncture instruction receiving unit is used to receive the puncture instruction of the operator; the needle insertion point position sending unit is also used to send the needle insertion point position information of the pneumoperitoneum needle to the control unit of the automatic pneumoperitoneum puncture device, so that the control unit can control the first driving unit to adjust the needle insertion point position of the pneumoperitoneum needle according to the needle insertion point position information of the pneumoperitoneum needle; the needle insertion point position receiving unit is also used to receive the information sent by the control unit that the pneumoperitoneum needle reaches the pneumoperitoneum. The device includes a first drive unit, a second drive unit, a second drive unit, a second drive unit for driving the veress needle ... The device is used to send the puncture angle of the Veress needle calculated in real time by the server to the control unit of the automatic pneumoperitoneum puncture device, so that the control unit can control the third drive unit to adjust the puncture angle of the Veress needle according to the puncture angle; the Veress needle information sending unit is also used to send information that the Veress needle stops moving to the control unit when the path of the needle tip of the Veress needle reaches the puncture distance, so that the control unit can control the first drive unit, the second drive unit, and the third drive unit to stop executing the action; the display unit is also used to directly display the information that the puncture is successful when the control unit receives the information that the pneumoperitoneum machine detects negative pressure.

[0008] Preferably, the needle entry point position receiving unit is further used to re-receive the instruction of the needle entry point position information of the Veress needle when receiving the prompt information for re-receiving the needle entry point position information of the Veress needle, until the display unit directly displays the prompt information on whether to perform puncture.

[0009] Preferably, the automatic puncture guidance system for the terminal further includes: a Veress needle information receiving unit; the display unit is further used to display a prompt message for the operator to fully retract the Veress needle or place the Veress needle in a semi-retracted needle position when the control unit receives information that the Veress machine does not detect negative pressure; the Veress needle information receiving unit is used to receive an instruction to fully retract the Veress needle or place the Veress needle in a semi-retracted needle position, and the Veress needle information sending unit is further used to send information that the Veress needle is fully retracted or placed in a semi-retracted needle position to the control unit, so that the control unit controls the second drive unit to fully retract the Veress needle or place the Veress needle in a semi-retracted needle position; the needle insertion instruction sending unit is further used to resend the needle insertion path, puncture distance, and the Veress needle insertion instruction to the control unit, so that the control unit controls the second drive unit to drive the Veress needle to perform the needle insertion action again.

[0010] Preferably, the automatic puncture guidance system for the terminal also includes: an insertion logic setting unit; the insertion logic setting unit is used to set the value of the puncture target point corresponding to the first puncture of the pneumoperitoneum to a first preset value, and to set the average needle insertion rate of the puncture target point corresponding to the first puncture to a second preset value; the insertion logic setting unit is also used to set the value of the puncture target point corresponding to the second puncture of the pneumoperitoneum to a third preset value, and to set the average needle insertion rate of the puncture target point corresponding to the second puncture to a fourth preset value; the insertion logic setting unit is also used to set the average needle insertion rate of the puncture target point corresponding to the semi-retracted needle position when the pneumoperitoneum is placed to a fifth preset value.

[0011] Preferably, the first preset value is 0.5 cm, the second preset value is 50 mm / s; the third preset value is 0.8 cm, the fourth preset value is 20 mm / s; and the fifth preset value is 20 mm / s.

[0012] The technical solution of the second aspect of the present invention also provides an automatic puncture guidance system for a server, which includes: a positioning unit, which is used to receive the insertion point position information of the Veress needle sent by the terminal, and locate the peritoneum and various organs in the abdominal cavity at the insertion point position according to the insertion point position information; a segmentation unit, which segments the located peritoneum and various organs in the abdominal cavity to obtain the boundaries of the peritoneum and various organs in the abdominal cavity; a determination unit, which is used to automatically determine and mark the insertion path of the Veress needle according to the boundaries of the peritoneum and various organs in the abdominal cavity; wherein the starting point of the needle insertion path is the insertion point position of the Veress needle, and the end point of the needle insertion path is the center point of the target area of ​​the patient's abdomen; a puncture distance calculation unit, which calculates the puncture distance according to the needle insertion path; wherein the puncture distance is The length of the needle insertion path; a judgment unit, which judges whether the vertical distance between the needle insertion path and the boundaries of each organ in the abdominal cavity is not less than a sixth preset value; a prompt information sending unit, which is used to send prompt information on whether to perform puncture to the terminal when the judgment result of the judgment unit is yes, so that the terminal can display the prompt information on whether to perform puncture; the needle insertion path sending unit, which is also used to send the needle insertion path and puncture distance to the terminal, so that the terminal can send the needle insertion path and puncture distance to the automatic pneumoperitoneum puncture device; a puncture angle calculation unit, which is used to receive the actual puncture trajectory of the pneumoperitoneum needle, and calculate the puncture angle of the pneumoperitoneum needle in real time according to the actual puncture trajectory; a second angle sending unit, which is used to send the puncture angle of the pneumoperitoneum needle to the terminal, so that the terminal can send the puncture angle of the pneumoperitoneum needle to the automatic pneumoperitoneum puncture device.

[0013] Preferably, the prompt information sending unit is also used to send a prompt information to the terminal for re-receiving the insertion point position information of the Veress needle when the judgment result of the judgment unit is no, so that the terminal can re-send the insertion point position information of the Veress needle to the positioning unit until the judgment result of the judgment unit is yes.

[0014] Preferably, the sixth preset value is 1 cm.

[0015] The technical solution of the third aspect of the present invention also provides an artificial intelligence-guided automatic puncture pneumoperitoneum establishment device, which includes: an ultrasonic detection unit, the automatic puncture guidance system for the terminal described in any of the above technical solutions, the automatic puncture guidance system for the server described in any of the above technical solutions, and an automatic pneumoperitoneum puncture device; the automatic pneumoperitoneum puncture device includes: a first drive unit, a second drive unit, a third drive unit, and a control unit; the first drive unit, the second drive unit, and the third drive unit are all connected to the pneumoperitoneum needle; the automatic puncture guidance system for the terminal interacts with the control unit; the automatic puncture guidance system for the server interacts with the automatic puncture guidance system for the terminal; the ultrasonic detection unit is used to obtain the target abdomen of the patient The control unit is used to control the first drive unit to adjust the insertion point of the Veress needle, the second drive unit to drive the Veress needle to perform the insertion action, and the third drive unit to adjust the puncture angle of the Veress needle according to each interactive information sent by the automatic puncture guidance system for the terminal; the control unit is also used to control the first drive unit, the second drive unit, and the third drive unit to stop executing the action; when the pneumoperitoneum machine detects negative pressure information, the pneumoperitoneum machine starts to inject gas into the patient's abdominal cavity through the Veress needle until the pressure value displayed on the pneumoperitoneum machine reaches a preset pressure value, and the automatic puncture guidance system for the terminal is also used to directly display the information of successful puncture when the control unit receives the information that the pneumoperitoneum machine detects negative pressure.

[0016] Preferably, the control unit is also used to send the information that the pneumoperitoneum machine has not detected negative pressure to the automatic puncture guidance system for the terminal when receiving the information that the pneumoperitoneum machine has not detected negative pressure; the control unit is also used to receive the information that the pneumoperitoneum needle is fully retracted or placed in a semi-retracted needle position sent by the automatic puncture guidance system for the terminal, and control the second drive unit to fully retract the pneumoperitoneum needle 2 or place the pneumoperitoneum needle in a semi-retracted needle position; the control unit is also used to re-receive the needle insertion path, puncture distance, and needle insertion instruction of the pneumoperitoneum needle sent by the automatic puncture guidance system for the terminal, and control the second drive unit to drive the pneumoperitoneum needle to perform the needle insertion action again.

[0017] Beneficial effects of the present invention:

[0018] The artificial intelligence-guided automatic puncture pneumoperitoneum establishment device provided by the present invention connects the ultrasonic detection unit to the automatic puncture guidance system for the terminal, and based on the ultrasonic image of the target area of ​​the patient's abdomen obtained by ultrasound, after artificial intelligence analysis of the automatic puncture guidance system for the server, it can find the appropriate needle insertion point, automatically determine and mark the needle insertion path of the pneumoperitoneum needle, and then automatically calculate the puncture distance, guide the automatic puncture of the pneumoperitoneum needle, and capture the actual puncture trajectory of the pneumoperitoneum needle in real time during the puncture process, and then through the auxiliary guidance of artificial intelligence, the peritoneum at the needle insertion point and various organs in the abdominal cavity are located, so as to achieve the purpose of automatically identifying important blood vessels and intestinal tracts in the abdominal cavity, and ensure the safety of the puncture. After the artificial intelligence determines that the puncture is successful, gas is injected into the patient's abdominal cavity through the pneumoperitoneum needle until the pressure value displayed on the pneumoperitoneum machine reaches the preset pressure value, and the establishment of pneumoperitoneum is automatically completed at this time.

[0019] The artificial intelligence-guided automatic puncture pneumoperitoneum establishment device provided by the present invention can achieve semi-automatic or automatic pneumoperitoneum establishment, reducing the risk of injury caused by puncturing the abdominal cavity during pneumoperitoneum establishment. At the same time, it can also be used in conjunction with a laparoscopic surgery robot to provide the possibility of remote surgery. Therefore, the artificial intelligence-guided automatic puncture pneumoperitoneum establishment device provided by the present invention has an unsurpassed technical advantage in the relevant pneumoperitoneum establishment technology.

[0020] Additional aspects and advantages of the invention will become apparent from the following description, or may be learned by practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic block diagram showing an automatic puncture guidance system for a terminal according to an embodiment of the present invention;

[0022] Figure 2 A schematic block diagram of an automatic puncture guidance system for a server according to an embodiment of the present invention is shown;

[0023] Figure 3 A schematic block diagram showing an artificial intelligence-guided automatic puncture pneumoperitoneum establishment device according to an embodiment of the present invention;

[0024] Figure 4 A schematic diagram showing the needle insertion route of the Veress needle and some organs in the abdominal cavity according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, Figures 1 to 4 As shown, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementations. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0027] like Figure 1 and Figure 3As shown, an automatic puncture guidance system 12 for a terminal according to an embodiment of the present invention comprises: an ultrasound image receiving unit 1201, for receiving an ultrasound image of a target area of ​​a patient's abdomen acquired by an ultrasound detection unit 11; a needle point position receiving unit 1202, for receiving an instruction of needle point position information of a Veress needle 2; wherein the needle point position is within the target area of ​​the patient's abdomen; a needle point position sending unit 1203, for sending the needle point position information of the Veress needle 2 to a server, so that the server can locate the peritoneum and various organs in the abdominal cavity at the needle point position according to the needle point position information of the Veress needle 2; and a display unit 120 4, used for displaying the prompt information of whether to perform puncture when receiving the prompt information of whether to perform puncture sent by the server; the puncture instruction receiving unit 1205, used for receiving the puncture instruction of the operator; the needle point position sending unit 1203, also used for sending the needle point position information of the Veress needle 2 to the control unit of the automatic pneumoperitoneum puncture device 13, so that the control unit can control the first driving unit 131 to adjust the needle point position of the Veress needle 2 according to the needle point position information of the Veress needle 2; the needle point position receiving unit 1202, also used for receiving the information of the Veress needle 2 reaching the needle point position of the Veress needle 2 sent by the control unit; the needle path receiving unit The unit 1206 is used to receive the needle insertion path and puncture distance sent by the server; the needle insertion instruction sending unit 1207 is used to send the needle insertion path, the puncture distance, and the needle insertion instruction of the Veress needle 2 to the control unit, so that the control unit controls the second driving unit 132 to drive the Veress needle 2 to perform the needle insertion action; the puncture angle tracking unit 1208 is used to capture the actual puncture trajectory of the Veress needle 2 in real time, and send the actual puncture trajectory of the Veress needle 2 captured in real time to the server, so that the server can calculate the puncture angle of the Veress needle 2 in real time according to the actual puncture trajectory; the first angle sending unit 1209 is also used to send the puncture angle calculated by the server in real time to the server. The puncture angle of the needle 2 is sent to the control unit of the automatic pneumoperitoneum puncture device 13, so that the control unit controls the third drive unit 133 to adjust the puncture angle of the pneumoperitoneum needle 2 according to the puncture angle; the pneumoperitoneum needle information sending unit 1210 is also used to send the information that the pneumoperitoneum needle 2 stops moving to the control unit when the path of the needle tip of the pneumoperitoneum needle 2 reaches the puncture distance, so that the control unit controls the first drive unit 131, the second drive unit 132, and the third drive unit 133 to stop executing the action; the display unit 1204 is also used to directly display the information that the puncture is successful when the control unit 134 receives the information that the pneumoperitoneum machine 3 detects negative pressure. In a specific embodiment, the various organs in the abdominal cavity include: intestinal tract, and / or blood vessels.

[0028] In this embodiment, the automatic puncture guidance system 12 for a terminal provided by the present invention obtains an ultrasonic image of a target area of ​​the patient's abdomen through the ultrasonic detection unit 11, and then automatically receives an instruction on the position information of the needle insertion point of the pneumoperitoneum needle 2. After receiving the prompt information sent by the server on whether to perform puncture, the control unit 134 of the automatic pneumoperitoneum puncture device 13 controls the first drive unit 131 to adjust the position of the needle insertion point of the pneumoperitoneum needle 2 according to the position information of the needle insertion point of the pneumoperitoneum needle 2, and after receiving the needle insertion path and puncture distance sent by the server, sends the needle insertion path, puncture distance, and the needle insertion instruction of the pneumoperitoneum needle 2 to the control unit 134, and the control unit 134 of the automatic pneumoperitoneum puncture device 13 controls the second drive unit 132 to drive the pneumoperitoneum needle 2 to perform the needle insertion action, and then captures the actual puncture trajectory of the pneumoperitoneum needle 2 in real time, and sends the actual puncture trajectory of the pneumoperitoneum needle 2 captured in real time to the server, so that the server can perform the puncture according to the actual puncture. The trajectory calculates the puncture angle of the Veress needle 2 in real time, and then sends the puncture angle of the Veress needle 2 calculated in real time by the server to the control unit 134 of the automatic pneumoperitoneum puncture device 13, so that the control unit 134 controls the third driving unit 133 to adjust the puncture angle of the Veress needle 2 according to the puncture angle, and then sends the information that the Veress needle 2 stops moving to the control unit 134 when the path where the needle tip of the Veress needle 2 travels reaches the puncture distance, so that the control unit 134 controls the first driving unit 131, the second driving unit 132, and the third driving unit 133 to stop executing the action. Finally, when the control unit 134 receives the information that the Veress machine 3 detects negative pressure, that is, when the needle of the Veress needle 2 breaks through the peritoneum and enters the abdominal cavity, the Veress machine 3 connected to the Veress needle 2 will detect the negative pressure and inject gas into the abdominal cavity, and the gas flow count begins to change, indicating that the needle of the Veress needle 2 has been correctly placed. At this time, the automatic puncture of the Veress needle 2 is achieved by directly displaying the information that the puncture is successful.

[0029] In one embodiment of the present invention, Figure 1 As shown, the needle entry point position receiving unit 1202 is also used to re-receive the instruction of the needle entry point position information of the Veress needle 2 when receiving the prompt information of re-receiving the needle entry point position information of the Veress needle 2, until the display unit 1204 directly displays the prompt information of whether to perform puncture.

[0030] In one embodiment of the present invention, Figure 1 and Figure 3As shown, the automatic puncture guidance system 12 for the terminal also includes: a Veress needle information receiving unit 1211; a display unit 1204, which is also used to display a prompt message for the operator to fully retract the Veress needle 2 or place the Veress needle 2 in a semi-retracted needle position when the control unit receives information that the Veress machine 3 does not detect negative pressure; the Veress needle information receiving unit 1211 is used to receive an instruction to fully retract the Veress needle 2 or place the Veress needle 2 in a semi-retracted needle position, and the Veress needle information sending unit 1210 is also used to send information that the Veress needle 2 is fully retracted or placed in a semi-retracted needle position to the control unit, so that the control unit controls the second drive unit 132 to fully retract the Veress needle 2 or place the Veress needle 2 in a semi-retracted needle position; the needle insertion instruction sending unit 1207 is also used to resend the needle insertion path, puncture distance, and the needle insertion instruction of the Veress needle 2 to the control unit, so that the control unit controls the second drive unit 132 to drive the Veress needle 2 to perform the needle insertion action again.

[0031] In this embodiment, if the pneumoperitoneum machine 3 still fails to detect negative pressure and inject gas at the end of the puncture process, the display screen will prompt the operator to press the puncture button to retract the pneumoperitoneum needle 2. The system will reset and the puncture process can be repeated. Multiple puncture operations can be performed within 1 minute to ensure successful puncture.

[0032] In one embodiment of the present invention, Figure 1 and Figure 3 As shown, the automatic puncture guidance system 12 for the terminal also includes: an insertion logic setting unit 1212; the insertion logic setting unit 1212 is used to set the value of the puncture target point corresponding to the first puncture of the pneumoperitoneum to the first preset value, and to set the average needle insertion rate of the puncture target point corresponding to the first puncture to the second preset value; the insertion logic setting unit 1212 is also used to set the value of the puncture target point corresponding to the second puncture of the pneumoperitoneum to the third preset value, and to set the average needle insertion rate of the puncture target point corresponding to the second puncture to the fourth preset value; the insertion logic setting unit 1212 is also used to set the average needle insertion rate of the puncture target point corresponding to the pneumoperitoneum to the fifth preset value.

[0033] In this embodiment, the needle insertion logic is developed to solve the two problems of needle insertion device recoil and abdominal wall compression causing concave deformation. When the needle of the pneumoperitoneum needle 2 penetrates the skin forcefully, the device recoils, generating a reaction force that may change the device positioning and affect the insertion accuracy. The initial insertion speed is selected to minimize recoil while keeping the operation time short to prevent the operator from redirecting the device during the puncture. "Depression" refers to the abdominal wall being pushed inward by the advancing pneumoperitoneum needle 2, resulting in an increase in the puncture distance. In order to solve the problem of abdominal wall compression depression, the pneumoperitoneum needle 2 is inserted beyond the estimated puncture point, but not into the surrounding organs. If the prompt has reached the puncture position, but the pneumoperitoneum machine 3 does not detect negative pressure for gas injection, the needle of the pneumoperitoneum needle 2 will retreat and try puncture again. These movements and corresponding needle speeds are described in detail as a series of insertion path points in Table 1 below. The slower speed of the semi-retracted needle is selected in order to automatically detect the pressure of the needle tip of the Veress needle 2. For a patient with a 5-cm thick abdominal wall, the entire puncture process is completed in a maximum of about 5 seconds.

[0034] In one embodiment of the present invention, the first preset value is 0.5 cm, the second preset value is 50 mm / s; the third preset value is 0.8 cm, the fourth preset value is 20 mm / s; and the fifth preset value is 20 mm / s.

[0035] In this embodiment, the two problems of needle insertion device recoil and abdominal wall compression causing concave deformation are solved by setting the first preset value to 0.5 cm, the second preset value to 50 mm / s, the third preset value to 0.8 cm, the fourth preset value to 20 mm / s, and the fifth preset value to 20 mm / s. The puncture needle insertion logic of this embodiment is shown in Table 1.

[0036] Table 1 Needle insertion logic

[0037]

[0038] like Figure 2 and Figure 3As shown, an automatic puncture guidance system 14 for a server of an embodiment of the present invention comprises: a positioning unit 1401, which is used to receive the insertion point position information of the Veress needle 2 sent by the terminal, and locate the peritoneum and various organs in the abdominal cavity at the insertion point position according to the insertion point position information; a segmentation unit 1402, which segments the located peritoneum and various organs in the abdominal cavity to obtain the boundaries of the peritoneum and various organs in the abdominal cavity; a determination unit 1403, which is used to automatically determine and mark the insertion path of the Veress needle 2 according to the boundaries of the peritoneum and various organs in the abdominal cavity; wherein the starting point of the insertion path is the insertion point position of the Veress needle 2, and the end point of the insertion path is the center point of the target area of ​​the patient's abdomen; a puncture distance calculation unit 1404, which calculates the puncture distance according to the insertion path; wherein the puncture distance is the length of the insertion path; a judgment unit 140 5, judging whether the vertical distance between the needle insertion path and the boundary of each organ in the abdominal cavity is not less than a sixth preset value; a prompt information sending unit 1406, used for sending a prompt information of whether to perform puncture to the terminal when the judgment result of the judgment unit 1405 is yes, so that the terminal can display the prompt information of whether to perform puncture; a needle insertion path sending unit 1407, further used for sending the needle insertion path and puncture distance to the terminal, so that the terminal can send the needle insertion path and puncture distance to the automatic pneumoperitoneum puncture device 13; a puncture angle calculation unit 1408, used for receiving the actual puncture trajectory of the pneumoperitoneum needle 2, and calculating the puncture angle of the pneumoperitoneum needle 2 in real time according to the actual puncture trajectory; a second angle sending unit 1409, used for sending the puncture angle of the pneumoperitoneum needle 2 to the terminal, so that the terminal can send the puncture angle of the pneumoperitoneum needle 2 to the automatic pneumoperitoneum puncture device 13.

[0039] In a specific embodiment, a sector scan image of a B-mode ultrasound image is used to detect, classify and locate the peritoneal position and the intestinal tract or abdominal large blood vessels. Specifically, the YOLO v10 algorithm is used to detect and calculate the boundaries of the peritoneum, intestinal tract and large blood vessels. First, the YOLO weighted model is trained with the ImageNet database. The database contains millions of natural images. In order to adapt YOLO to ultrasound, we perform transfer learning by retraining the weights using a self-built database consisting of 20,000 annotated ultrasound images of the abdominal region. We use transfer learning to build a high-precision model, so there is no need to train the model on a very large ultrasound image dataset. As the ultrasound database is collected, we iteratively apply the active learning framework to reduce annotation time and cost. This process first uses a YOLO network trained on a small number of clinician-labeled images to automatically annotate a set of ultrasound images. Then, an expert in the field of ultrasound reviews the annotations generated by the algorithm and corrects errors when necessary. The artificial intelligence model is retrained with precise annotations, and then the model is used to classify new datasets available in subsequent studies. After 7 dataset iterations, the burden of manual labeling was reduced to less than 10% for each new dataset. To improve the generalization performance, data augmentation techniques are applied at each training epoch to create image variations with random intensities and affine transformations.

[0040] Further, after the peritoneum is detected, the peritoneal boundary and abdominal organs are segmented using a contour fitting algorithm. Our method follows the morphological operations and spoke fitting in the contour fitting algorithm, but adds a grayscale threshold to generate the original binary image. The grayscale threshold is selected as the optimal threshold by a discriminant criterion, that is, to maximize the separability of the resulting classes in grayscale. The procedure uses the zero-order and first-order cumulative moments of the grayscale histogram.

[0041] In one embodiment of the present invention, Figure 2 and Figure 3 As shown, the prompt information sending unit 1406 is also used to send a prompt information of re-receiving the insertion point position information of the Veress needle 2 to the terminal when the judgment result of the judgment unit 1405 is no, so that the terminal can re-send the insertion point position information of the Veress needle 2 to the positioning unit 1401 until the judgment result of the judgment unit 1405 is yes.

[0042] In one embodiment of the present invention, the sixth preset value is 1 cm.

[0043] In this embodiment, once the boundaries of the peritoneum and various organs in the abdominal cavity are calculated, safety logic is applied to identify whether an intestinal tube or blood vessel is inserted between the device and the target area, that is, an unsafe configuration of the deployment of the Veress needle 2. When this happens, it is usually caused by abdominal adhesions caused by a history of abdominal surgery or peritonitis in the patient. In this case, the device will guide the user to continue scanning to the head and / or tail until a clear path to the abdominal cavity can be achieved. Finally, before allowing the user to start the insertion of the Veress needle 2, the AI ​​logic sets the distance between the puncture target point and the surrounding organs to no less than 1 cm, that is, the sixth preset value is set to 1 cm.

[0044] like Figure 3 As shown, an artificial intelligence-guided automatic puncture and pneumoperitoneum establishment device 1 of an embodiment of the present invention comprises: an ultrasonic detection unit 11, an automatic puncture guidance system 12 for a terminal in any of the above technical solutions, an automatic puncture guidance system 14 for a server in any of the above technical solutions, and an automatic pneumoperitoneum puncture device 13; the automatic pneumoperitoneum puncture device 13 comprises: a first drive unit 131, a second drive unit 132, a third drive unit 133, and a control unit 134; the first drive unit 131, the second drive unit 132, and the third drive unit 133 are all connected to the pneumoperitoneum needle 2; the automatic puncture guidance system 12 for the terminal interacts with the control unit 134; the automatic puncture guidance system 14 for the server interacts with the automatic puncture guidance system 12 for the terminal; the ultrasonic detection unit 11 is used to obtain an ultrasonic image of a target area of ​​the patient's abdomen, and the ultrasonic The acoustic image is sent to the automatic puncture guidance system 12 for the terminal; the control unit 134 is used to control the first drive unit 131 to adjust the insertion point position of the pneumoperitoneum needle 2, the second drive unit 132 to drive the pneumoperitoneum needle 2 to perform the insertion action, and the third drive unit 133 to adjust the puncture angle of the pneumoperitoneum needle 2 according to the various interactive information sent by the automatic puncture guidance system 12 for the terminal; the control unit 134 is also used to control the first drive unit 131, the second drive unit 132, and the third drive unit 133 to stop executing the action; when the pneumoperitoneum machine 3 detects the information of negative pressure, the pneumoperitoneum machine 3 starts to inject gas into the patient's abdominal cavity through the pneumoperitoneum needle 2 until the pressure value displayed on the pneumoperitoneum machine 3 reaches the preset pressure value, and the automatic puncture guidance system 12 for the terminal is also used to directly display the information of successful puncture when the control unit 134 receives the information that the pneumoperitoneum machine 3 detects the negative pressure. In a specific embodiment, the various organs in the abdominal cavity include: intestinal tract, and / or blood vessels. The terminal is a desktop computer. The ultrasonic detection unit 11 is a high-frequency ultrasonic probe. The first driving unit 131, the second driving unit 132, and the third driving unit 133 are all motors.

[0045] The artificial intelligence-guided automatic puncture pneumoperitoneum establishment device 1 provided by the present invention connects the ultrasonic detection unit 11 to the automatic puncture guidance system 12 for the terminal, and based on the ultrasonic image of the target area of ​​the patient's abdomen obtained by ultrasound, after artificial intelligence analysis of the automatic puncture guidance system 14 for the server, the appropriate needle insertion point position can be found, the needle insertion path of the pneumoperitoneum needle 2 can be automatically determined and marked, and then the puncture distance can be automatically calculated to guide the automatic puncture of the pneumoperitoneum needle 2, and the actual puncture trajectory of the pneumoperitoneum needle 2 can be captured in real time during the puncture process, and then the peritoneum at the needle insertion point position and various organs in the abdominal cavity can be located by using artificial intelligence auxiliary guidance, so as to achieve the purpose of automatically identifying important blood vessels and intestinal tracts in the abdominal cavity, and ensure the safety of puncture. After the artificial intelligence determines that the puncture is successful, gas is injected into the patient's abdominal cavity through the pneumoperitoneum needle 2 until the pressure value displayed on the pneumoperitoneum machine 3 reaches the preset pressure value, and the establishment of pneumoperitoneum is automatically completed at this time.

[0046] The artificial intelligence-guided automatic puncture pneumoperitoneum establishment device 1 provided by the present invention can achieve semi-automatic or automatic pneumoperitoneum establishment, reducing the risk of injury caused by puncturing the abdominal cavity during pneumoperitoneum establishment. At the same time, it can also be used in conjunction with a laparoscopic surgery robot to provide the possibility of remote surgery. Therefore, the artificial intelligence-guided automatic puncture pneumoperitoneum establishment device 1 provided by the present invention has an unsurpassed technical advantage in the relevant pneumoperitoneum establishment technology.

[0047] like Figure 4 As shown, this is an abdominal ultrasound image of a patient, which shows the needle insertion route (the white dotted route indicated by the arrow) and some abdominal organs, which is convenient for better understanding the working process of the artificial intelligence-guided automatic puncture pneumoperitoneum establishment device 1 of the present invention.

[0048] In one embodiment of the present invention, Figure 3 As shown, the control unit 134 is also used to send the information that the pneumoperitoneum machine 3 has not detected the negative pressure to the automatic puncture guidance system 12 for the terminal when receiving the information that the pneumoperitoneum machine 3 has not detected the negative pressure; the control unit 134 is also used to receive the information that the pneumoperitoneum needle 2 is fully retracted or the pneumoperitoneum needle 2 is placed in the semi-retracted needle position sent by the automatic puncture guidance system 12 for the terminal, and control the second drive unit 132 to fully retract the pneumoperitoneum needle 2 or place the pneumoperitoneum needle 2 in the semi-retracted needle position; the control unit 134 is also used to re-receive the needle insertion path, puncture distance, and needle insertion instruction of the pneumoperitoneum needle 2 sent by the automatic puncture guidance system 12 for the terminal, and control the second drive unit 132 to drive the pneumoperitoneum needle 2 to perform the needle insertion action again.

[0049] In a specific embodiment, the terminal is a desktop computer. The ultrasonic detection unit 11 is a high-frequency ultrasonic probe. The first driving unit 131, the second driving unit 132, and the third driving unit 133 are all motors.

[0050] In a specific embodiment, the automatic puncture guidance system 12 for the terminal and the automatic puncture guidance system 14 for the server are both equivalent to an AI software. Specifically, through these two AI software, the ultrasound image of the target area of ​​the patient's abdomen can be automatically obtained, and the peritoneum and various organs in the abdominal cavity can be segmented in real time, thereby obtaining the boundaries of the peritoneum and various organs in the abdominal cavity. The position information of each organ in the abdominal cavity is processed by the AI ​​software to guide the operator to move the Veress needle 2 to the optimal puncture position, and automatically adjust the angle of the Veress needle 2 according to the information provided by the ultrasound image and calculate the puncture distance at the same time.

[0051] The user should first place the ultrasonic detection unit 11 of the automatic puncture pneumoperitoneum establishment device 1 guided by artificial intelligence on the abdominal area of ​​a supine patient, aiming the center at 1-2 cm below the navel (or other specific target areas), and move from the head side to the tail side or from the center to the sides (this process can be completed with the assistance of a mechanical arm or manually). When a safe puncture area appears in the ultrasound image, the system will ask the operator whether to perform a puncture. The operator reads the needle insertion path and the positional relationship with the surrounding organs marked by the AI ​​from the display. After confirming safety, the system sends a puncture instruction. Once the puncture instruction is received, the pneumoperitoneum needle 2 punctures the target area coordinates calculated by the AI ​​software under the drive of the motor, and automatically stops after reaching it. Once the needle tip of the pneumoperitoneum needle 2 penetrates the peritoneum and enters the abdominal cavity, the pneumoperitoneum machine 3 connected to it will detect negative pressure and start to inject gas into the abdominal cavity. The pressure and flow readings on the pneumoperitoneum machine 3 begin to change until the preset pressure value (such as 15 cm water column) is reached. This process is similar to the manual establishment of pneumoperitoneum process. If the pneumoperitoneum machine 3 does not detect negative pressure or cannot inject gas into the abdominal cavity, the operator can choose to retract the pneumoperitoneum needle 2 to the subcutaneous area (semi-retracted needle state) and then insert the needle again, or choose to automatically retract the pneumoperitoneum needle 2, change the insertion point, and try puncture again until successful.

[0052] In summary, the artificial intelligence-guided automatic puncture pneumoperitoneum establishment device 1 of the present invention simulates the various thinking processes of expert clinicians in real time, and realizes the automatic and safe insertion of the pneumoperitoneum needle 2 into the abdominal cavity, which is similar to the idea of ​​doctors ensuring the success of puncture by observing the puncture needle tip under ultrasound guidance in clinical practice. The present invention realizes the automatic establishment of pneumoperitoneum, and even medical personnel with no puncture experience can complete the automatic establishment of pneumoperitoneum according to the guidance provided by the artificial intelligence-guided automatic puncture pneumoperitoneum establishment device 1 of the present invention.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic puncture guidance system for a terminal, characterized in that: include: An ultrasound image receiving unit, used to receive an ultrasound image of a target area of ​​the patient's abdomen acquired by the ultrasound detection unit; A needle insertion point position receiving unit, used to receive instructions for needle insertion point position information of the Veress needle; wherein the needle insertion point position is within a target area of ​​the patient's abdomen; a needle insertion point position sending unit, used to send the needle insertion point position information of the Veress needle to the server, so that the server can locate the peritoneum and various organs in the abdominal cavity at the needle insertion point according to the needle insertion point position information of the Veress needle; A display unit, configured to display a prompt message of whether to perform puncture when receiving a prompt message of whether to perform puncture sent by the server; A puncture instruction receiving unit, used for receiving a puncture instruction from an operator; The needle insertion point position sending unit is further used to send the needle insertion point position information of the Veress needle to the control unit of the automatic pneumoperitoneum puncture device, so that the control unit controls the first driving unit to adjust the needle insertion point position of the Veress needle according to the needle insertion point position information of the Veress needle; The needle insertion point position receiving unit is further used to receive information sent by the control unit that the Veress needle has reached the needle insertion point position of the Veress needle; A needle insertion path receiving unit, used for receiving the needle insertion path and puncture distance sent by the server; a needle insertion instruction sending unit, used for sending the needle insertion path, the puncture distance, and the needle insertion instruction of the Veress needle to the control unit, so that the control unit controls the second driving unit to drive the Veress needle to perform the needle insertion action; A puncture angle tracking unit, used for capturing the actual puncture trajectory of the Veress needle in real time, and sending the actual puncture trajectory of the Veress needle captured in real time to a server, so that the server can calculate the puncture angle of the Veress needle in real time according to the actual puncture trajectory; The first angle sending unit is further used to send the puncture angle of the Veress needle calculated in real time by the server to the control unit of the automatic pneumoperitoneum puncture device, so that the control unit controls the third driving unit to adjust the puncture angle of the Veress needle according to the puncture angle; The Veress needle information sending unit is further used to send information that the Veress needle stops moving to the control unit when the path of the Veress needle tip reaches the puncture distance, so that the control unit can control the first drive unit, the second drive unit, and the third drive unit to stop performing actions; The display unit is also used to directly display the information of successful puncture when the control unit receives the information that the pneumoperitoneum machine detects negative pressure.

2. The automatic puncture guiding system according to claim 1, characterized in that: The needle entry point position receiving unit is also used to re-receive the instruction of the needle entry point position information of the Veress needle when receiving the prompt information of re-receiving the needle entry point position information of the Veress needle, until the display unit directly displays the prompt information of whether to perform puncture.

3. The automatic puncture guiding system according to claim 1, characterized in that: Also includes: Veress needle information receiving unit; The display unit is further used to display a prompt message for the operator to fully retract the Veress needle or place the Veress needle in a half-retracted needle position when the control unit receives information that the Veress needle machine does not detect negative pressure; The Veress needle information receiving unit is used to receive an instruction to fully retract the Veress needle or to place the Veress needle in a half-retracted needle position, and The Veress needle information sending unit is further used to send information that the Veress needle is fully retracted or placed in a semi-retracted needle position to the control unit, so that the control unit can control the second driving unit to fully retract the Veress needle or place the Veress needle in a semi-retracted needle position; The needle insertion instruction sending unit is also used to resend the needle insertion path, puncture distance, and the needle insertion instruction of the Veress needle to the control unit, so that the control unit controls the second driving unit to drive the Veress needle to perform the needle insertion action again.

4. The automatic puncture guiding system according to claim 1, characterized in that: Also includes: Insert the logic setting unit; The insertion logic setting unit is used to set the value of the peritoneum penetration of the puncture target point corresponding to the first puncture of the Veress needle to a first preset value, and to set the average needle insertion rate of the puncture target point corresponding to the first puncture to a second preset value; The insertion logic setting unit is further used to set the value of the peritoneum penetration of the puncture target point corresponding to the secondary puncture of the Veress needle to a third preset value, and to set the average needle insertion rate of the puncture target point corresponding to the secondary puncture to a fourth preset value; The insertion logic setting unit is further used to set the average needle insertion rate of the puncture target point corresponding to the semi-retracted needle position of the Veress needle to a fifth preset value.

5. The automatic puncture guiding system according to claim 1, characterized in that: The first preset value is 0.5 cm, the second preset value is 50 mm / s; the third preset value is 0.8 cm, the fourth preset value is 20 mm / s; and the fifth preset value is 20 mm / s.

6. An automatic puncture guidance system for a server, characterized in that: include: A positioning unit, used to receive the insertion point position information of the Veress needle sent by the terminal, and locate the peritoneum and various organs in the abdominal cavity at the insertion point according to the insertion point position information; A segmentation unit, which segments the located peritoneum and various organs in the abdominal cavity to obtain boundaries of the peritoneum and various organs in the abdominal cavity; A determination unit, used to automatically determine and mark the insertion path of the Veress needle according to the peritoneum and the boundaries of each organ in the abdominal cavity; wherein the starting point of the insertion path is the insertion point of the Veress needle, and the end point of the insertion path is the center point of the target area of ​​the patient's abdomen; a puncture distance calculation unit, which calculates the puncture distance according to the needle insertion path; wherein the puncture distance is the length of the needle insertion path; a judging unit, for judging whether a vertical distance between the needle insertion path and the boundaries of each organ in the abdominal cavity is not less than a sixth preset value; a prompt information sending unit, configured to send prompt information on whether to perform puncture to the terminal when the judgment result of the judgment unit is yes, so that the terminal can display the prompt information on whether to perform puncture; The needle insertion path sending unit is further used to send the needle insertion path and puncture distance to the terminal, so that the terminal sends the needle insertion path and puncture distance to the automatic pneumoperitoneum puncture device; a puncture angle calculation unit, configured to receive the actual puncture trajectory of the Veress needle and calculate the puncture angle of the Veress needle in real time according to the actual puncture trajectory; The second angle sending unit is used to send the puncture angle of the Veress needle to the terminal, so that the terminal can send the puncture angle of the Veress needle to the automatic pneumoperitoneum puncture device.

7. The automatic puncture guiding system according to claim 6, characterized in that: The prompt information sending unit is also used to send a prompt message to the terminal to re-receive the insertion point position information of the Veress needle when the judgment result of the judgment unit is no, so that the terminal can re-send the insertion point position information of the Veress needle to the positioning unit until the judgment result of the judgment unit is yes.

8. The automatic puncture guiding system according to claim 6, characterized in that: The sixth preset value is 1 cm.

9. An artificial intelligence-guided automatic puncture pneumoperitoneum establishment device, characterized in that: include: An ultrasonic detection unit, an automatic puncture guidance system for a terminal according to any one of claims 1 to 5, an automatic puncture guidance system for a server according to any one of claims 6 to 8, and an automatic pneumoperitoneum puncture device; The automatic pneumoperitoneum puncture device comprises: a first drive unit, a second drive unit, a third drive unit, and a control unit; the first drive unit, the second drive unit, and the third drive unit are all connected to the pneumoperitoneum needle; the automatic puncture guidance system for the terminal communicates interactively with the control unit; the automatic puncture guidance system for the server communicates interactively with the automatic puncture guidance system for the terminal; An ultrasonic detection unit, used for acquiring an ultrasonic image of a target area of ​​the patient's abdomen, and sending the ultrasonic image to the automatic puncture guidance system for the terminal; The control unit is used to control the first driving unit to adjust the insertion point of the Veress needle, the second driving unit to drive the Veress needle to perform the insertion action, and the third driving unit to adjust the puncture angle of the Veress needle according to each interactive information sent by the automatic puncture guidance system for the terminal; The control unit is further used to control the first drive unit, the second drive unit, and the third drive unit to stop performing actions; When the pneumoperitoneum machine detects negative pressure, it starts to inject gas into the patient's abdominal cavity through the pneumoperitoneum needle until the pressure value displayed on the pneumoperitoneum machine reaches the preset pressure value, and The automatic puncture guidance system for the terminal is also used to directly display the information of successful puncture when the control unit receives the information that the pneumoperitoneum machine detects negative pressure.

10. The automatic pneumoperitoneum establishment device according to claim 9, characterized in that: The control unit is further configured to send the information that the pneumoperitoneum machine has not detected negative pressure to the automatic puncture guidance system for the terminal when receiving the information that the pneumoperitoneum machine has not detected negative pressure; The control unit is further used to receive information sent by the automatic puncture guidance system for the terminal that the Veress needle is fully retracted or placed in a semi-retracted needle position, and control the second drive unit to fully retract the Veress needle or place the Veress needle in a semi-retracted needle position; The control unit is also used to re-receive the needle insertion path, puncture distance, and the insertion instruction of the Veress needle sent by the automatic puncture guidance system for the terminal, and control the second driving unit to drive the Veress needle to perform the needle insertion action again.

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