Real-time image guiding device for tumor minimally invasive treatment

Abstract

The invention relates to the technical field of tumor minimally invasive treatment, in particular to a real-time image guiding device for tumor minimally invasive treatment, which comprises an image acquisition module used for acquiring image information in the body of a patient based on different imaging contrast modes for the body of the patient; the pose acquisition module is used for acquiring pose characteristics of the puncture needle; the processing module is used for performing three-dimensional reconstruction based on the acquired image information to generate three-dimensional data; the image display module is used for displaying a real-time three-dimensional model inside the body of the patient based on the three-dimensional data; the image acquisition module comprises an ultrasonic probe and a magnetic resonance device, the magnetic resonance device comprises a supporting column and a bed body, the top of the supporting column is fixedly connected with a supporting plate, the bottom of the supporting plate is fixedly connected with a multi-axis mechanical arm, and the hand of the multi-axis mechanical arm is in ball hinge connection with a magnetic resonance searchlighting plate. According to the invention, the pose of the magnetic resonance searchlighting plate can be adjusted based on the pose of the ultrasonic probe, so that the accuracy of the acquired three-dimensional reconstruction information is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive tumor treatment, and in particular to a real-time image-guided device for minimally invasive tumor treatment. Background Art

[0002] Tumors are new growths formed by the proliferation and abnormal differentiation of body cells under the action of various initiating and promoting factors. According to the growth characteristics of tumor cells and their effects on the body, tumors can be divided into two categories: benign tumors and malignant tumors. Malignant tumors, also known as cancer, refer to new growths formed in the body due to abnormal cell proliferation, which have the characteristics of infiltration and metastasis. According to tissue origin and biological behavior, malignant tumors can be divided into epithelial tissue tumors (such as lung cancer, breast cancer, etc.), mesenchymal tissue tumors (such as osteosarcoma, liposarcoma, etc.) and lymphohematopoietic tissue tumors (such as lymphoma, leukemia, etc.).

[0003] With the continuous development of medical technology, the treatment of tumors is also constantly improving. At present, the treatment methods of tumors mainly include surgical treatment, chemotherapy, radiotherapy, immunotherapy, targeted therapy and minimally invasive treatment. These methods have their own advantages and disadvantages, and the specific choice needs to be determined according to the patient's specific situation and the progression of the disease. Among them, minimally invasive treatment is a treatment method with less trauma and faster recovery, including radiofrequency ablation, laser, ultrasound focusing and other technologies, which are suitable for certain specific types of tumors. During minimally invasive tumor treatment surgery, in order to improve the accuracy of treatment, ensure the safety of surgery and improve the efficiency of surgery, some real-time image guidance devices are usually used to instantly display the location of the tumor in the patient's body and its relationship with surrounding tissues, helping doctors to accurately locate the tumor during the operation, which avoids the errors caused by the complex anatomical structure and difficulty in determining the location of the tumor in traditional surgery.

[0004] In actual minimally invasive tumor treatment surgery, three-dimensional reconstruction is performed by combining ultrasound, CT and other imaging technologies to generate corresponding real-time three-dimensional images, so that doctors can observe the movement trajectory of the puncture needle in the patient's body and the location of the lesion in real time during the operation; however, when the above-mentioned method is used for multiple image three-dimensional reconstruction, the CT irradiation direction is relatively fixed, and it is difficult to adjust its angle or distance, which reduces the accuracy of the examination of some hidden tumors, and the movement of the doctor's limbs or puncture needle during the operation may affect the accuracy of the image, which leads to a decrease in the accuracy of the three-dimensional image formed in combination with other imaging technologies (ultrasound imaging). Therefore, a real-time image guidance device for minimally invasive tumor treatment is proposed. Summary of the invention

[0005] To solve the above problems, the present invention provides a real-time image guidance device for minimally invasive tumor treatment, which is used to adjust the position of the magnetic resonance searchboard based on the position of the ultrasound probe during the minimally invasive tumor treatment surgery to ensure the accuracy of the collected three-dimensional reconstruction information.

[0006] In order to achieve the above-mentioned object, the technical solution of the present invention is as follows: a real-time image-guided device for minimally invasive treatment of tumors, comprising a preoperative image module, an image acquisition module, a posture acquisition module, a processing module and an image display module;

[0007] The preoperative image module is used to collect preoperative images of the patient's lesion location before surgery, and based on the preoperative images, obtain the specific size of the tumor volume. At the same time, based on the human judgment of the concealment of the patient's tumor location in the preoperative images, it is divided into three levels: simple, ordinary and difficult;

[0008] The image acquisition module is used to collect real-time image information of the patient's body during the operation based on different imaging methods of the patient's body.

[0009] The posture acquisition module is used to collect the posture characteristics and mechanical characteristics information of the puncture needle during minimally invasive surgical treatment of tumors; it is also used to collect the posture information of the image acquisition module.

[0010] The processing module is used to perform three-dimensional reconstruction of the patient's body based on the image information collected by the image acquisition module and the posture acquisition module, the posture of the puncture needle and the mechanical signal, and generate real-time three-dimensional model data.

[0011] The image display module is used to display a real-time three-dimensional model of the patient's body based on the real-time three-dimensional data generated by the processing module, and to display the relative position of the puncture needle and the patient's internal organs in the real-time three-dimensional model.

[0012] The image acquisition module includes an ultrasonic probe and a magnetic resonance device. The magnetic resonance device includes a support column and a bed. The support column is close to one side of the bed in the width direction. The top of the support column is fixedly connected to a support plate. The bottom of the support plate is fixedly connected to a multi-axis robotic arm. The hand of the multi-axis robotic arm is connected to a magnetic resonance search plate by a ball joint.

[0013] The processing module is also used to control the movement of the multi-axis robotic arm and adjust the search distance and angle between the magnetic resonance searchboard and the patient's body based on the position information of the ultrasound probe.

[0014] Furthermore, the posture acquisition module includes a six-degree-of-freedom mechanical sensor for acquiring the posture of the ultrasound probe and the puncture needle.

[0015] Furthermore, the processing module is also used to determine the source object of the image information used for three-dimensional reconstruction based on the patient's preoperative treatment strategy.

[0016] Furthermore, the preoperative treatment strategy includes:

[0017] Strategy 1: When the preoperative image level is simple or ordinary, the image information collected by the ultrasound probe is directly used to perform 3D reconstruction with the preoperative image; however, when the ultrasound image does not show a tumor within the preset time or the difference between the tumor size and the preoperative tumor size is greater than the preset error threshold, the preoperative image level is raised to difficult and Strategy 2 is implemented;

[0018] Strategy 2: When the preoperative image level is difficult, the image information collected by both the ultrasound probe and the magnetic resonance searchlight and the preoperative image are used together for three-dimensional reconstruction.

[0019] Furthermore, the image information source objects include ultrasound images detected by an ultrasound probe and magnetic resonance images detected by a magnetic resonance searchlight.

[0020] Furthermore, the processing module is also used to calculate a feasible path from the starting point to the end point based on the relative positions of the tumor and the puncture needle in the three-dimensional model and the positions of other normal organs by quickly searching the random tree algorithm, and generate the first treatment path information, which is updated in real time.

[0021] Furthermore, the image display module is also used to display the predicted moving route of the puncture needle in the three-dimensional model based on the first treatment path information.

[0022] Furthermore, the processing module is also used to calculate the offset distance between the actual position of the puncture needle tip in the three-dimensional model and the predicted moving route of the puncture needle. When the offset distance between the actual position of the needle tip and the predicted moving route is greater than a preset offset threshold, the processing module will generate a warning message and transmit it to the image display module.

[0023] Furthermore, the image display module is also used to generate a warning screen based on the warning information.

[0024] Furthermore, the image display module includes a controller, a display and an alarm for emitting sound, the controller is fixedly connected to the inside of the display, the controller is electrically connected to the display, the alarm is embedded in the surface of the display, and the alarm is electrically connected to the controller.

[0025] The technical principle of the above scheme is as follows: during minimally invasive treatment of tumors, three-dimensional reconstruction is performed by combining ultrasound images and magnetic resonance images to form a three-dimensional model of the patient's internal body, and then the posture information of the puncture needle is collected by a six-degree-of-freedom mechanical sensor to display the specific position of the puncture needle in the patient's body on the display; at the same time, a predetermined surgical route is generated on the display based on the lesion location, the posture of the puncture needle and the position of other normal organs, and the above predetermined surgical route is updated in real time according to the changes in the position of the patient's internal organs; based on the collected posture change information of the ultrasound probe and the posture change information of the puncture needle, the posture (position and posture) of the magnetic resonance searchboard is adjusted in real time, its search range and search angle are changed, and accurate data is provided for three-dimensional reconstruction in combination with ultrasound images.

[0026] The above scheme has the following beneficial effects:

[0027] 1. This solution can ensure the clearest and most accurate image information during the operation by adjusting the search distance and angle between the magnetic resonance searchboard and the patient's body in real time. Through precise image acquisition and real-time three-dimensional reconstruction, doctors can have a more comprehensive understanding of the patient's internal conditions, including the location, size, shape of the tumor, and its relationship with surrounding organs. It also helps doctors develop more scientific and reasonable surgical plans, reduce surgical risks, and improve surgical safety. And through the automated control of the multi-axis robotic arm, it not only reduces the operating burden of medical staff, but also improves the efficiency and consistency of the surgical process, thereby improving the overall quality of the operation;

[0028] 2. This solution displays the predicted moving route of the puncture needle in the three-dimensional model based on the first treatment path information. By displaying the predicted moving route of the puncture needle in real time in the three-dimensional model, the doctor can intuitively see the expected path of the puncture needle, thereby improving the visualization of the surgical process. In addition, the doctor can also clearly understand the position, direction and movement trajectory of the puncture needle in the patient's body, so as to make more accurate and safe surgical operations. The display of the predicted moving route can also help doctors to promptly discover and correct deviations during the operation. If the actual moving route of the puncture needle deviates greatly from the predicted route, the doctor can immediately adjust the surgical plan or take other remedial measures to avoid unnecessary harm to the patient, thereby reducing the risk of the operation and improving the safety of the operation. In addition, by displaying the predicted moving route, the doctor can locate the surgical target more quickly and reduce the time of groping and trial and error during the operation. At the same time, the doctor can also optimize the surgical process according to the predicted route, reduce unnecessary operating steps and waiting time, thereby improving the overall efficiency of the operation.

[0029] 3. This solution determines the source of image information used for three-dimensional reconstruction based on the patient's preoperative treatment strategy. By selecting the most suitable image information source according to the patient's specific situation and preoperative treatment strategy, the accuracy and personalization of three-dimensional reconstruction can be ensured. Different patients, different tumor types or locations may require different types of imaging methods (such as ultrasound, magnetic resonance imaging, etc.) to obtain the best image information. This personalized choice helps doctors to develop more accurate and effective surgical plans. At the same time, the rational selection of image information sources can optimize the use of resources. For example, for some tumors that are located in obvious locations and easy to identify, it may only be necessary to use an ultrasound probe for image acquisition without the use of a more expensive and more complicated magnetic resonance device. It also helps to reduce medical costs and improve the efficiency of resource use.

[0030] 4. In this solution, the design of the support plate can provide a solid support foundation for the fixed installation platform of the multi-axis robot arm and the magnetic resonance searchboard, ensure the precise position of the magnetic resonance searchboard during the scanning process, avoid image blur or distortion caused by vibration or instability, thereby improving the accuracy and reliability of image acquisition. At the same time, the multi-axis robot arm and the magnetic resonance searchboard can be easily installed and disassembled, which is convenient for daily maintenance and troubleshooting of the equipment.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of a flow chart of an embodiment of a real-time image-guided device for minimally invasive treatment of tumors according to the present invention;

[0033] Figure 2 An axonometric diagram of a magnetic resonance device according to an embodiment of the real-time image-guided device for minimally invasive tumor treatment of the present invention;

[0034] Figure 3 A schematic diagram of a patient detection of an embodiment of a real-time image-guided device for minimally invasive tumor treatment according to the present invention;

[0035] Figure 4 A schematic diagram of a puncture needle in an embodiment of a real-time image-guided device for minimally invasive tumor treatment according to the present invention.

[0036] The figure marks in the drawings of the specification include: 1. support column; 2. support plate; 3. robotic arm; 4. magnetic resonance searchboard; 5. bed; 6. ultrasonic probe; 7. six-degree-of-freedom mechanical sensor; 8. puncture needle; 9. human body. DETAILED DESCRIPTION

[0037] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, 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 the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] The following is further described in detail through specific implementation methods:

[0041] Embodiment 1:

[0042] As attached Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown: A real-time image-guided device for minimally invasive treatment of tumors, comprising a preoperative image module, an image acquisition module, a posture acquisition module, a processing module and an image display module;

[0043] The preoperative image module is used to collect preoperative images of the patient's lesion location before surgery, and based on the preoperative images, obtain the specific size of the tumor volume. At the same time, based on the human judgment of the concealment of the patient's tumor location in the preoperative images, it is divided into three levels: simple, ordinary and difficult;

[0044] An image acquisition module, used to acquire image information of the inside of the patient's body in real time during the operation based on different imaging methods of the patient's body;

[0045] The posture acquisition module is used to acquire the posture characteristics and mechanical characteristics information of the puncture needle 8 during minimally invasive tumor surgery; it is also used to acquire the posture information of the image acquisition module;

[0046] The posture acquisition module includes a six-degree-of-freedom mechanical sensor 7 for acquiring the posture 8 of the ultrasound probe 6 and the puncture needle.

[0047] The processing module is used to perform three-dimensional reconstruction of the patient's body based on the image information collected by the image acquisition module and the posture acquisition module, the posture of the puncture needle 8, and the mechanical signal, and generate real-time three-dimensional model data.

[0048] The image display module is used to display a real-time three-dimensional model of the patient's body based on the real-time three-dimensional data generated by the processing module, and to display the relative position of the puncture needle 8 and the patient's internal organs in the real-time three-dimensional model.

[0049] The image display module includes a controller, a display and an alarm for emitting sound. The controller is fixedly connected to the inside of the display and is electrically connected to the display. The alarm is embedded in the surface of the display and is electrically connected to the controller.

[0050] The image acquisition module includes an ultrasonic probe 6 and a magnetic resonance device. The magnetic resonance device includes a support column 1 and a bed 5. The support column 1 is close to one side of the bed 5 in the width direction. A support plate 2 is integrally formed on the top of the support column 1. A multi-axis robotic arm 3 is bolted to the bottom of the support plate 2. The multi-axis robotic arm 3 is connected to a magnetic resonance searchboard 4 at the hand ball joint.

[0051] The processing module is also used to control the movement of the multi-axis robotic arm 3 based on the position information of the ultrasound probe 6, and adjust the search distance and angle between the magnetic resonance search plate 4 and the patient's body.

[0052] The specific implementation process is as follows: First, the ultrasonic probe 6 and the magnetic resonance searchlight 4 are used to capture detailed image information of the patient's organs and tissues in real time during the operation, providing reliable data for subsequent three-dimensional reconstruction. When the doctor operates the puncture needle 8 to enter the patient's body, the six-degree-of-freedom mechanical sensor will capture the three-dimensional spatial position of the puncture needle 8, monitor the pressure and force it applies to the tissue, and ensure the accuracy and safety of the operation. The post-processing module performs a series of complex image information processing steps based on the two image data of ultrasound image and magnetic resonance image, such as image calibration (the acquired image may have distortion, artifacts and other problems, and the calibration step is required to ensure the consistency and accuracy of the image. The calibration process may include noise removal, contrast enhancement, correction of geometric distortion, etc.), image registration (using the HAMMER algorithm, comprehensively considering the elastic registration of image grayscale and geometric structure features, which can maintain the consistency of anatomical structure during deformation), fusion algorithm (based on the fusion algorithm of magnetic microbubble contrast agent to improve the contrast of the two images to optimize the fusion effect), so as to convert the two-dimensional image data into three-dimensional model data; then, the controller in the image display module analyzes and processes the above three-dimensional model data, and clearly displays the real-time three-dimensional model of the patient's body on its display, providing doctors with an intuitive view of the internal structure to ensure the real-time and accuracy of the operation. At the same time, the display can show the position relationship of the puncture needle 8 relative to the patient's internal organs, providing doctors with accurate navigation.

[0053] When the doctor controls the ultrasound probe 6 to move on the human body 9, the six-degree-of-freedom mechanical sensor 7 on the ultrasound probe 6 will transmit its position information to the processing module, and then the processing module controls the movement of the robotic arm 3 based on this information, thereby controlling the position of the magnetic resonance searchboard 4, thereby ensuring the imaging quality by accurately controlling the search distance and angle between the magnetic resonance searchboard 4 and the patient's body, thereby providing reliable data support for subsequent three-dimensional reconstruction, providing the doctor with a clear surgical field of view, and improving the safety and reliability of the operation.

[0054] Embodiment 2:

[0055] As attached Figure 1 As shown, the difference from Example 1 is that the processing module is also used to determine the source object of the image information used for three-dimensional reconstruction based on the patient's preoperative treatment strategy.

[0056] The preoperative treatment strategy includes:

[0057] Strategy 1: when the preoperative image level is simple or ordinary, the image information collected by the ultrasound probe 6 is directly used to perform three-dimensional reconstruction with the preoperative image; however, when the ultrasound image does not show a tumor within a preset time or the difference between the tumor size and the tumor size obtained before the operation is greater than a preset error threshold, the preoperative image level is raised to difficult, and Strategy 2 is executed;

[0058] Strategy 2: When the preoperative image level is difficult, the image information collected by both the ultrasound probe 6 and the magnetic resonance searchlight 4 and the preoperative image are used together for three-dimensional reconstruction.

[0059] The image information source objects include the ultrasound image detected by the ultrasound probe 6 and the magnetic resonance image detected by the magnetic resonance search plate 4 .

[0060] The specific implementation process is as follows: In the formulation of the preoperative treatment strategy, the specific location of the patient's tumor is first considered. When the tumor is located in a more obvious position, that is, when the preoperative image level is simple and ordinary, strategy one is given priority. In this case, the image information collected by the ultrasound probe 6 is an ideal choice for three-dimensional reconstruction due to its high resolution and real-time performance. Through the ultrasound probe 6, the doctor can obtain the precise location, size and morphology of the tumor, which provides a detailed basis for subsequent treatment, and helps to reduce medical costs and improve the efficiency of the use of medical resources. In addition, in the event of an error in the preoperative judgment, the execution strategy can be adjusted in time to ensure the safety and efficiency of the operation.

[0061] However, when the tumor is relatively hidden, that is, the preoperative image level is difficult, such as when it is located deep inside the body or blocked by other tissues, strategy 2 is more appropriate. In this case, the image information collected by both the ultrasound probe 6 and the magnetic resonance searchlight 4 is used together with the preoperative image for three-dimensional reconstruction to ensure the comprehensiveness and accuracy of the reconstructed image, supplement the shortcomings of ultrasound imaging, and provide doctors with more comprehensive tumor information.

[0062] Ultrasound imaging has good real-time and convenience, while magnetic resonance imaging has the characteristics of high contrast and high resolution. The combination of the two technologies enables doctors to obtain more comprehensive and accurate information about patients' conditions, thereby developing more scientific and personalized treatment plans.

[0063] Embodiment 3:

[0064] As attached Figure 1As shown, the difference from Example 2 is that the processing module is also used to calculate a feasible path from the starting point to the end point based on the relative positions of the tumor and the puncture needle 8 in the three-dimensional model and the positions of other normal organs by quickly searching the random tree algorithm, and generate the first treatment path information, and update it in real time. The image display module is also used to display the predicted movement route of the puncture needle 8 in the three-dimensional model based on the first treatment path information. The processing module is also used to calculate the offset distance between the actual position of the needle head of the puncture needle 8 in the three-dimensional model and the predicted movement route of the puncture needle 8. When the offset distance between the actual position of the needle head and the predicted movement route is greater than the preset offset threshold, the processing module will generate an early warning message and transmit it to the image display module. The image display module is also used to generate an early warning screen based on the early warning information.

[0065] The specific implementation process is as follows: During minimally invasive tumor treatment surgery, the processing module accurately analyzes the relative position of the tumor and the puncture needle 8 in the three-dimensional space model, and can carefully consider the precise layout of other normal organs, thereby generating an initial feasible treatment path information, and this process is dynamic, the processing module will continuously monitor and update the path information in real time to ensure the accuracy and timeliness of the treatment plan. During the puncture process, the processing module also has the function of real-time monitoring of the actual path of the puncture needle 8, and accurately calculates the deviation between the two by comparing and analyzing it with the predicted moving path. Once it is found that the offset error between the actual path and the expected path exceeds the set threshold, the processing module will immediately activate the early warning mechanism and generate corresponding early warning information to ensure the safety and accuracy of the puncture process. For example, when the doctor operates the puncture needle to perform minimally invasive treatment of the tumor, he can clearly know the current movement of the puncture needle and the direction of subsequent movement of the puncture needle based on the real-time predicted movement route of the puncture needle and the real-time position of the puncture needle displayed on the display. When the doctor operates the puncture needle to deviate from the predicted movement route by a distance exceeding the preset deviation threshold, the processing module sends a warning signal to the controller, and the controller controls the display to display the corresponding warning screen information. At the same time, it also controls the alarm device to produce a warning sound to remind the doctor, thereby improving the safety and reliability of the entire medical operation, thereby ensuring the accuracy of the medical operation and the safety of the patient.

[0066] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A real-time image-guided device for minimally invasive treatment of tumors, characterized in that: It includes a preoperative image module, an image acquisition module, a posture acquisition module, a processing module and an image display module; The preoperative image module is used to collect preoperative images of the patient's lesion location before surgery, and based on the preoperative images, obtain the specific size of the tumor volume. At the same time, based on the human judgment of the concealment of the patient's tumor location in the preoperative images, it is divided into three levels: simple, ordinary and difficult; An image acquisition module, used to acquire image information of the inside of the patient's body in real time during the operation based on different imaging methods of the patient's body; A posture acquisition module, used to acquire posture characteristics and mechanical characteristics information of the puncture needle (8) during minimally invasive tumor surgery; and also used to acquire posture information of the image acquisition module; A processing module, used for performing three-dimensional reconstruction of the interior of the patient's body based on the image information collected by the image collection module and the posture collection module, the posture of the puncture needle (8) and the mechanical signal, and generating real-time three-dimensional model data; An image display module, used to display a real-time three-dimensional model of the patient's body based on the real-time three-dimensional data generated by the processing module, and to display the relative position of the puncture needle (8) and the internal organs of the patient's body in the real-time three-dimensional model; The image acquisition module comprises an ultrasonic probe (6) and a magnetic resonance device, the magnetic resonance device comprises a support column (1) and a bed (5), the support column (1) is close to one side of the bed (5) in the width direction, the top of the support column (1) is fixedly connected to a support plate (2), the bottom of the support plate (2) is fixedly connected to a multi-axis mechanical arm (3), and the hand of the multi-axis mechanical arm (3) is connected to a magnetic resonance search plate (4) by a ball joint; The processing module is also used to control the movement of the multi-axis mechanical arm (3) and adjust the search distance and angle between the magnetic resonance search plate (4) and the patient's body based on the position information of the ultrasonic probe (6).

2. The real-time image-guided device for minimally invasive tumor treatment according to claim 1, characterized in that: The posture acquisition module comprises a six-degree-of-freedom mechanical sensor (7) for acquiring the posture of an ultrasonic probe (6) and a puncture needle (8).

3. The real-time image-guided device for minimally invasive tumor treatment according to claim 1, characterized in that: The processing module is also used to determine the source object of the image information used for three-dimensional reconstruction based on the patient's preoperative treatment strategy.

4. The real-time image-guided device for minimally invasive tumor treatment according to claim 3, characterized in that: The preoperative treatment strategy includes: Strategy 1: when the preoperative image level is simple or ordinary, the image information collected by the ultrasound probe (6) is directly used to perform three-dimensional reconstruction with the preoperative image; however, when the ultrasound image does not show a tumor within a preset time or the difference between the tumor size and the tumor size obtained before the operation is greater than a preset error threshold, the preoperative image level is raised to difficult, and strategy 2 is executed; Strategy 2: When the preoperative image level is difficult, the image information collected by both the ultrasound probe (6) and the magnetic resonance searchlight (4) and the preoperative image are used together to perform three-dimensional reconstruction.

5. The real-time image-guided device for minimally invasive tumor treatment according to claim 3, characterized in that: The image information source objects include ultrasonic images detected by an ultrasonic probe (6) and magnetic resonance images detected by a magnetic resonance searchboard (4).

6. The real-time image-guided device for minimally invasive tumor treatment according to claim 1, characterized in that: The processing module is also used to calculate a feasible path from the starting point to the end point based on the relative positions of the tumor and the puncture needle (8) in the three-dimensional model and the positions of other normal organs by quickly searching a random tree algorithm, and generate first treatment path information, which is updated in real time.

7. The real-time image-guided device for minimally invasive tumor treatment according to claim 6, characterized in that: The image display module is also used to display the predicted movement route of the puncture needle (8) in the three-dimensional model based on the first treatment path information.

8. The real-time image-guided device for minimally invasive tumor treatment according to claim 7, characterized in that: The processing module is also used to calculate the offset distance between the actual position of the needle tip of the puncture needle (8) in the three-dimensional model and the predicted movement route of the puncture needle (8). When the offset distance between the actual position of the needle tip and the predicted movement route is greater than a preset offset threshold, the processing module will generate a warning message and transmit it to the image display module.

9. The real-time image-guided device for minimally invasive tumor treatment according to claim 8, characterized in that: The image display module is also used to generate a warning screen based on the warning information.

10. The real-time image-guided device for minimally invasive tumor treatment according to claim 9, characterized in that: The image display module includes a controller, a display and an alarm for emitting sound. The controller is fixedly connected to the inside of the display and is electrically connected to the display. The alarm is embedded in the surface of the display and is electrically connected to the controller.

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