Intraspinal puncture path acquisition method and system based on magnetic navigation

Abstract

The invention relates to a method and a system for acquiring an intraspinal puncture path based on magnetic navigation. The method comprises the following steps: acquiring a CT image and an ultrasonic image of a patient to be operated; based on the CT image and the ultrasonic image, calculating to obtain a to-be-punctured path; establishing an external magnetic field, and acquiring three-dimensional coordinates of a puncture needle provided with a magnetic sensor and a probe based on the external magnetic field; puncturing the path to be punctured through the puncture needle, and monitoring and adjusting the puncture path of the puncture needle in real time through the three-dimensional coordinates and the probe, so as to complete the acquisition of the intraspinal puncture path based on magnetic navigation. The puncture path can be controlled more accurately, damage to surrounding tissue is reduced to the maximum extent, and the puncture success rate is increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical informatics, and in particular relates to a method and system for acquiring an intraspinal puncture path based on magnetic navigation. Background Art

[0002] In-plane lumbar epidural puncture based on ultrasound imaging is to identify the lumbar yellow ligament and dural sac on the ultrasound image, and provide anterior and posterior complex imaging of the patient's vertebral body through the intervertebral plate space with ultrasound. Through the in-plane puncture technology, the ultrasound probe guides the puncture needle in real time. When encountering bone or ligament obstruction, the direction of the puncture needle is adjusted for epidural puncture.

[0003] Ultrasound-guided intrathecal anesthesia has no significant advantages over traditional surface positioning puncture in terms of operation time and accuracy. The reason is that during spinal ultrasound positioning, due to the non-planar relationship between the spinous process and soft tissue, the spinal bone structure makes it difficult to image and fix the ultrasound probe. Summary of the invention

[0004] In view of the above deficiencies in the prior art, the object of the present invention is to provide a method and system for acquiring an intraspinal puncture path based on magnetic navigation.

[0005] The first aspect of the present invention provides a method for obtaining a spinal puncture path based on magnetic navigation, comprising:

[0006] S1: Acquire CT images and ultrasound images of the patient;

[0007] S2: Calculating and obtaining a proposed puncture path based on the CT image and the ultrasound image;

[0008] S3: establishing an external magnetic field, and collecting the three-dimensional coordinates of the puncture needle provided with a magnetic sensor and a probe based on the external magnetic field;

[0009] S4: Puncture the proposed puncture path through the puncture needle, and monitor and adjust the puncture path of the puncture needle in real time through the three-dimensional coordinates and the probe to complete the acquisition of the intraspinal puncture path based on magnetic navigation.

[0010] According to a method for acquiring a spinal puncture path based on magnetic navigation provided by the present invention, step S2 further comprises:

[0011] S21: inputting the CT image and the ultrasound image;

[0012] S22: fusing the CT image and the ultrasound image to obtain a fused image;

[0013] S23: Perform path planning based on the fused image to obtain a proposed puncture path.

[0014] According to a method for acquiring a spinal puncture path based on magnetic navigation provided by the present invention, step S22 further comprises:

[0015] S221: preprocessing the CT image and the ultrasound image to obtain a preprocessed CT image and a preprocessed ultrasound image;

[0016] S222: registering the preprocessed CT image and the preprocessed ultrasound image to obtain a registered CT image and a registered ultrasound image respectively;

[0017] S223: Perform pixel-level fusion on the registered CT image and the registered ultrasound image to obtain a fused image.

[0018] According to the method for acquiring an intraspinal puncture path based on magnetic navigation provided by the present invention, the preprocessing in step S221 includes denoising and artifact removal.

[0019] According to a method for acquiring a spinal puncture path based on magnetic navigation provided by the present invention, step S23 further comprises:

[0020] S231: pre-training a segmentation network, segmenting the fused image through the segmentation network to obtain a first key structure and a second key structure related to puncture;

[0021] S232: Based on the first key structure and the second key structure, a path planning is performed on the fused image by using an A* algorithm to obtain a proposed puncture path.

[0022] According to a method for acquiring an intraspinal puncture path based on magnetic navigation provided by the present invention, the first key structure in step S231 is a spinal column structure, and the second key structure in step S231 is a lumbar ligamentum flavum and a dura mater sac.

[0023] The spinal structure provides a clear guide for the puncture path. Doctors need to plan the puncture path based on the anatomical characteristics of the spine, such as the shape of the vertebrae and the location of the intervertebral disc. By accurately identifying the spinal structure, it can ensure that the puncture needle can accurately enter the spinal canal and avoid damaging the surrounding important tissues.

[0024] The spinal column has a complex structure, with many important blood vessels and nerves distributed around it. Improper puncture paths may lead to serious complications, such as spinal cord injury, bleeding, etc. Therefore, the present invention fully considers the characteristics of the spinal column structure when planning the puncture path to ensure the safety of the operation.

[0025] The yellow ligament is located in the spinal canal and connects the spinous processes of adjacent vertebrae. It is one of the important structures in the spinal canal. The yellow ligament has the function of limiting excessive flexion of the spine. It is also a barrier in the spinal canal, protecting the spinal cord and nerve roots from external damage. During the puncture process, it is necessary to avoid damaging the yellow ligament. Once the yellow ligament is damaged, it may lead to complications such as intraspinal bleeding and infection, and even affect the stability of the spine.

[0026] The dura mater sac is a tough membrane structure that wraps the spinal cord and nerve roots. It is located in the spinal canal. The dura mater sac protects the spinal cord and nerve roots from external compression or damage. Once the puncture needle penetrates the dura mater sac, it may cause cerebrospinal fluid leakage, spinal cord injury and other serious consequences. Therefore, the accuracy of the puncture path is crucial to avoid damaging the dura mater sac.

[0027] According to a method for acquiring a spinal puncture path based on magnetic navigation provided by the present invention, step S232 further comprises:

[0028] S2321: Setting a planned puncture area including a puncture starting point and a puncture target point;

[0029] S2322: converting the planned puncture area into a search space;

[0030] S2323: Perform a heuristic search on the search space to obtain a proposed puncture path.

[0031] According to a method for acquiring a spinal puncture path based on magnetic navigation provided by the present invention, step S3 further comprises:

[0032] S31: establishing an external magnetic field that radiates the intended puncture area;

[0033] S32: collecting a moving electrical signal of a magnetic sensor provided on the puncture needle;

[0034] S33: Convert the movement signal into three-dimensional coordinates through electromagnetic field simulation.

[0035] A second aspect of the present invention provides a system for acquiring a spinal puncture path based on magnetic navigation, which is used to execute a method for acquiring a spinal puncture path based on magnetic navigation as described in any one of the above, comprising:

[0036] An acquisition module is used to acquire CT images and ultrasound images of the patient to be operated on;

[0037] A path planning module, used for fusing the CT image and the ultrasound image, and calculating a proposed puncture path;

[0038] A sensing module, wherein the sensing module is arranged on the puncture needle, and the sensing module comprises a micro magnetic sensor and a micro camera, wherein the micro camera is used to collect a video signal when the puncture needle punctures the intended puncture path, and the micro magnetic sensor is used to output a position signal when the puncture needle punctures the intended puncture path based on an established external magnetic field;

[0039] The real-time monitoring module is used to collect the video signal and the position signal obtained by the sensor module, and perform spatial reconstruction through the three-dimensional coordinates corresponding to the position signal and the video signal to support the adjustment of the puncture path when the puncture target punctures the intended puncture path.

[0040] According to a magnetic navigation-based intraspinal puncture path acquisition system provided by the present invention, the real-time monitoring module comprises:

[0041] A signal input unit, used for receiving the video signal and the position signal;

[0042] A spatial positioning unit, used for performing three-dimensional spatial reconstruction of the intended puncture area, the intended puncture path and the puncture needle based on the established external magnetic field and the position model to obtain a three-dimensional model;

[0043] The path output unit is used to perform real-time puncture monitoring based on the three-dimensional model and the video signal to support adjustment of the puncture path when the puncture needle punctures the intended puncture path.

[0044] The present invention provides a method and system for acquiring an intraspinal puncture path based on magnetic navigation. By combining CT images and ultrasound images to calculate the proposed puncture path, the advantages of the two imaging technologies can be comprehensively utilized to improve the accuracy and reliability of path planning. Secondly, the external magnetic field and magnetic sensors are used to track the three-dimensional coordinates of the puncture needle in real time, so that the doctor can monitor and adjust the puncture path in real time during the puncture process, thereby significantly improving the accuracy of the puncture.

[0045] In addition, the present invention helps doctors to find and correct possible deviations in time by real-time monitoring of the position and path of the puncture needle, thereby greatly reducing surgical risks and enhancing surgical safety. In addition, the present invention can achieve fast and accurate puncture while reducing radiation exposure through magnetic navigation technology, thereby shortening the operation time. Since the present invention can provide the position information of the puncture needle, doctors can perform puncture operations more confidently, reduce the time wasted due to repeated adjustment of the path, and improve surgical efficiency.

[0046] Generally speaking, the present invention enables doctors to clearly see the position and trajectory of the probe relative to the target during the puncture operation, and visually monitor the path of the probe in real time to ensure that it accurately reaches the target position. By slightly adjusting the position of the probe, doctors can more accurately control the injection point of the drug, minimize damage to surrounding tissues, and improve the success rate of puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are only used to illustrate specific embodiments and are not considered to limit the present invention. In the entire drawings, the same reference symbols represent the same components. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0048] Figure 1 A flow chart of a method for acquiring a spinal puncture path based on magnetic navigation provided in an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of a system for acquiring an intraspinal puncture path based on magnetic navigation provided in an embodiment of the present invention.

[0050] Reference numerals:

[0051] 100, acquisition module; 200, path planning module; 300, sensor module; 400, real-time monitoring module.

[0052] 310. Micro magnetic sensor; 320. Micro camera. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work should fall within the scope of protection of the present invention.

[0054] Furthermore, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts disclosed in the present invention.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of methods and systems consistent with some aspects of the present invention as detailed in the appended claims.

[0057] In order to better understand the present invention, the background of the present invention is first described in detail below.

[0058] As a common anesthesia method for elderly hip fractures, spinal anesthesia has the advantages of reducing patient-related complications, reducing the incidence of postoperative delirium, and reducing postoperative pain. However, elderly patients often have scoliosis, calcification of the interspinous ligament and supraspinous ligament, and the accuracy of the traditional iliac crest highest point line positioning method is not only affected by the anesthesiologist's personal experience, but also related to the patient's body position, abdominal circumference, body mass index, age, gender and other factors.

[0059] Elderly patients are more likely to have comorbid cardiovascular and cerebrovascular diseases, and they often take oral anticoagulants before surgery. Multiple punctures not only increase the pain of patients during spinal anesthesia, but also increase the risk of epidural hematoma, back pain and paresthesia. Therefore, how to improve the success rate of spinal anesthesia puncture has become the research focus and difficulty of spinal anesthesia puncture in the elderly.

[0060] Ultrasound-assisted spinal puncture technology has the advantages of visualization, no ionizing radiation, and a wide range of applicable populations. Ultrasound-assisted positioning technology can measure the distance from the skin to the epidural space, guide the depth of needle insertion, reduce the incidence of puncture-related complications, reduce the number of punctures during spinal anesthesia puncture, and improve the success rate of puncture.

[0061] The difficulty of the currently used ultrasonic intrathecal puncture in predicting the intrathecal anesthesia puncture gap and puncture angle lies in how to properly fix the ultrasonic probe and plan the puncture path according to the patient's spinal morphology. The biggest problem solved by the present invention is to guide the puncture needle along the planned puncture path through the auxiliary positioning equipment and positioning scanning system of the fixed ultrasonic probe to form a stable guided puncture system.

[0062] Combine the following Figure 1 to Figure 2 Embodiments of the present invention are described.

[0063] like Figure 1 As shown, the present invention provides a method for obtaining a spinal puncture path based on magnetic navigation, comprising:

[0064] S1: Acquire CT images and ultrasound images of the patient.

[0065] Furthermore, CT equipment uses X-rays to scan the human body at multiple angles to generate cross-sectional images of the human body. During intraspinal puncture, CT images can clearly display structures such as vertebrae, intervertebral discs, and spinal cord, providing accurate anatomical information for intraspinal puncture. Ultrasound imaging equipment uses the reflection principle of ultrasonic waves to generate images of the human body, which helps to monitor the position and path of the puncture needle during the puncture process.

[0066] In addition, specifically speaking, the CT image of the patient is collected before the operation, while the ultrasound image is collected in real time. In this embodiment, in addition to the magnetic sensor and probe described below, the puncture needle is also provided with a miniature ultrasound sensor to provide real-time, radiation-free images.

[0067] S2: Calculate and obtain a proposed puncture path based on the CT image and the ultrasound image.

[0068] Wherein, step S2 further comprises:

[0069] S21: Input the CT image and the ultrasound image.

[0070] S22: Fusing the CT image and the ultrasound image to obtain a fused image.

[0071] Wherein, step S22 further comprises:

[0072] S221: Preprocess the CT image and the ultrasound image to obtain a preprocessed CT image and a preprocessed ultrasound image.

[0073] The preprocessing in step S221 includes denoising and artifact removal.

[0074] S222: Register the preprocessed CT image and the preprocessed ultrasound image to obtain a registered CT image and a registered ultrasound image, respectively.

[0075] S223: Perform pixel-level fusion on the registered CT image and the registered ultrasound image to obtain a fused image.

[0076] In the image fusion of steps S221 to S223, first, registration is performed as needed to ensure their spatial consistency. Based on the image registration, a fusion algorithm is subsequently used to fuse the CT image and the ultrasound image. The fusion algorithm can be selected according to specific clinical needs and image characteristics, such as pixel-level fusion, feature-level fusion, or decision-level fusion. The present embodiment adopts pixel-level fusion to obtain a fused image. The main purpose of image fusion is to integrate information from different imaging technologies to provide more comprehensive and accurate diagnostic information. Through fusion, the shortcomings of a single imaging technology can be compensated, and the contrast and resolution of the image can be improved, thereby making it easier to identify and analyze key structures.

[0077] S23: Perform path planning based on the fused image to obtain a proposed puncture path.

[0078] Wherein, step S23 further comprises:

[0079] S231: Pre-training a segmentation network, segmenting the fused image through the segmentation network to obtain a first key structure and a second key structure related to puncture.

[0080] Among them, the first key structure in step S231 is the spinal column structure, and the second key structure in step S231 is the lumbar ligamentum flavum and dura mater sac.

[0081] S232: Based on the first key structure and the second key structure, a path planning is performed on the fused image by using an A* algorithm to obtain a proposed puncture path.

[0082] Wherein, step S232 further includes:

[0083] S2321: Setting a planned puncture area including a puncture starting point and a puncture target point.

[0084] S2322: Convert the proposed puncture area into a search space.

[0085] S2323: Perform a heuristic search on the search space to obtain a proposed puncture path.

[0086] Specifically, when performing path planning, the identified anatomical structure is first converted into a search space, in which each point represents a possible puncture position, and then the starting point and target point of the puncture are set. The starting point is usually the location where the puncture needle enters the skin, and the target point is the location of the anatomical structure that needs to be reached.

[0087] The subsequent search is performed through a heuristic function, specifically taking the node with the smallest cost from the open list as the current node, checking whether the current node is the target point, if so, the search ends and the path is returned; if it is not the target point, the current node is expanded, all possible neighbor nodes are generated, and the cost of each neighbor node is calculated.

[0088] After searching, the neighbor nodes are added to the open list, and their costs and parent node information are updated, and the current node is added to the closed list to avoid repeated evaluation. When the target point is found, an optimal path is constructed from the target point to the starting point by backtracking the parent node information, which is the puncture path mentioned above.

[0089] S3: Establish an external magnetic field, and collect the three-dimensional coordinates of the puncture needle provided with a magnetic sensor and a probe based on the external magnetic field.

[0090] Wherein, step S3 further comprises:

[0091] S31: Establishing an external magnetic field to radiate the intended puncture area.

[0092] S32: Collecting the moving electrical signal of the magnetic sensor provided on the puncture needle.

[0093] S33: Convert the movement signal into three-dimensional coordinates through electromagnetic field simulation.

[0094] In order to ensure the accuracy of the collected three-dimensional coordinates of the puncture needle, it is necessary to ensure that the magnetic field is uniform within the active area of ​​the puncture needle. After the magnetic field is established, when the puncture needle moves in the external magnetic field, the magnetic sensor will sense the change in the magnetic field and generate a corresponding electrical signal. After collecting this signal, the magnetic field change information sensed by the magnetic sensor is combined with the magnetic field distribution model and parameters to calculate the three-dimensional coordinates of the puncture needle at its current position.

[0095] S4: Puncture the proposed puncture path through the puncture needle, and monitor and adjust the puncture path of the puncture needle in real time through the three-dimensional coordinates and the probe to complete the acquisition of the intraspinal puncture path based on magnetic navigation.

[0096] Furthermore, when performing a puncture, the ultrasound video signal is first input, and then the scan is started to obtain the probe spatial position information, and then the three-dimensional ultrasound volume data is reconstructed in combination with the collected probe spatial position information. After reconstruction, the spatial relationship is output, including the spinal model, the recommended puncture path, the ultrasound volume data, and the puncture needle model. Subsequently, the puncture needle spatial position information is input, and the corresponding ultrasound three-dimensional volume data section output is output, and the final ultrasound image output and the spatial position output of the puncture needle model can be obtained.

[0097] like Figure 2 As shown, the present invention also provides a system for acquiring a spinal puncture path based on magnetic navigation, comprising:

[0098] The acquisition module 100 is used to acquire CT images and ultrasound images of the patient;

[0099] A path planning module 200 is used to fuse the CT image and the ultrasound image and calculate a proposed puncture path;

[0100] The sensor module 300 is arranged on the puncture needle, and includes a micro magnetic sensor 310 and a micro camera 320. The micro camera 320 is used to collect a video signal when the puncture needle punctures the intended puncture path, and the micro magnetic sensor 310 is used to output a position signal of the puncture needle when puncturing the intended puncture path based on the established external magnetic field;

[0101] The real-time monitoring module 400 is used to collect the video signal and the position signal obtained by the sensor module 300, and perform spatial reconstruction through the three-dimensional coordinates corresponding to the position signal and the video signal to support adjustment of the puncture path when the puncture target is punctured along the intended puncture path.

[0102] Wherein, the real-time monitoring module includes:

[0103] A signal input unit, used for receiving the video signal and the position signal;

[0104] A spatial positioning unit, used for performing three-dimensional spatial reconstruction of the intended puncture area, the intended puncture path and the puncture needle based on the established external magnetic field and the position model to obtain a three-dimensional model;

[0105] The path output unit is used to perform real-time puncture monitoring based on the three-dimensional model and the video signal to support adjustment of the puncture path when the puncture needle punctures the intended puncture path.

[0106] The present invention also provides a method and system for acquiring an intraspinal puncture path based on magnetic navigation. Through magnetic navigation positioning, the problem of real-time guidance of the needle insertion trajectory is solved, the occurrence of complications is reduced, and the accuracy of prediction is improved. Through three-dimensional reconstruction of ultrasound images combined with CT images, multimodal fusion is performed, and on the premise of clearer display, guidance of key structures related to puncture is also provided. In addition, through the method and system of the present invention, in addition to pre-planning the needle insertion path to avoid erroneous information, the puncture path can also be adjusted according to real-time information to avoid repeated punctures caused by needle insertion route deviation.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed in the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for obtaining a spinal puncture path based on magnetic navigation, characterized in that: include: S1: Acquire CT images and ultrasound images of the patient; S2: Calculating and obtaining a proposed puncture path based on the CT image and the ultrasound image; S3: establishing an external magnetic field, and collecting the three-dimensional coordinates of the puncture needle provided with a magnetic sensor and a probe based on the external magnetic field; S4: Puncture the proposed puncture path through the puncture needle, and monitor and adjust the puncture path of the puncture needle in real time through the three-dimensional coordinates and the probe to complete the acquisition of the intraspinal puncture path based on magnetic navigation.

2. The method for obtaining a spinal puncture path based on magnetic navigation according to claim 1, characterized in that: Step S2 further comprises: S21: inputting the CT image and the ultrasound image; S22: fusing the CT image and the ultrasound image to obtain a fused image; S23: Perform path planning based on the fused image to obtain a proposed puncture path.

3. According to the method for obtaining a spinal puncture path based on magnetic navigation according to claim 2, step S22 further comprises: S221: preprocessing the CT image and the ultrasound image to obtain a preprocessed CT image and a preprocessed ultrasound image; S222: registering the preprocessed CT image and the preprocessed ultrasound image to obtain a registered CT image and a registered ultrasound image respectively; S223: Perform pixel-level fusion on the registered CT image and the registered ultrasound image to obtain a fused image.

4. According to the method for acquiring intraspinal puncture path based on magnetic navigation according to claim 3, the preprocessing in step S221 includes denoising and artifact removal.

5. According to the method for obtaining a spinal puncture path based on magnetic navigation as claimed in claim 2, step S23 further comprises: S231: pre-training a segmentation network, segmenting the fused image through the segmentation network to obtain a first key structure and a second key structure related to puncture; S232: Based on the first key structure and the second key structure, a path planning is performed on the fused image by using an A* algorithm to obtain a proposed puncture path.

6. According to the method for acquiring intraspinal puncture path based on magnetic navigation as described in claim 4, the first key structure in step S231 is the spinal column structure, and the second key structure in step S231 is the lumbar ligamentum flavum and dura mater sac.

7. According to the method for obtaining a spinal puncture path based on magnetic navigation as claimed in claim 4, step S232 further comprises: S2321: Setting a planned puncture area including a puncture starting point and a puncture target point; S2322: converting the planned puncture area into a search space; S2323: Perform a heuristic search on the search space to obtain a proposed puncture path.

8. According to the method for obtaining a spinal puncture path based on magnetic navigation as claimed in claim 1, step S3 further comprises: S31: establishing an external magnetic field that radiates the intended puncture area; S32: collecting a moving electrical signal of a magnetic sensor provided on the puncture needle; S33: Convert the movement signal into three-dimensional coordinates through electromagnetic field simulation.

9. A system for acquiring a spinal puncture path based on magnetic navigation, used to execute a method for acquiring a spinal puncture path based on magnetic navigation as claimed in any one of claims 1 to 8, characterized in that: include: An acquisition module is used to acquire CT images and ultrasound images of the patient to be operated on; A path planning module, used for fusing the CT image and the ultrasound image, and calculating a proposed puncture path; A sensing module, wherein the sensing module is arranged on the puncture needle, and the sensing module comprises a micro magnetic sensor and a micro camera, wherein the micro camera is used to collect a video signal when the puncture needle punctures the intended puncture path, and the micro magnetic sensor is used to output a position signal when the puncture needle punctures the intended puncture path based on an established external magnetic field; The real-time monitoring module is used to collect the video signal and the position signal obtained by the sensor module, and perform spatial reconstruction through the three-dimensional coordinates corresponding to the position signal and the video signal to support the adjustment of the puncture path when the puncture target punctures the intended puncture path.

10. The magnetic navigation-based intraspinal puncture path acquisition system according to claim 9, characterized in that: The real-time monitoring module includes: A signal input unit, used for receiving the video signal and the position signal; A spatial positioning unit, used for performing three-dimensional spatial reconstruction of the intended puncture area, the intended puncture path and the puncture needle based on the established external magnetic field and the position model to obtain a three-dimensional model; The path output unit is used to perform real-time puncture monitoring based on the three-dimensional model and the video signal to support adjustment of the puncture path when the puncture needle punctures the intended puncture path.

Images