System and method for subcutaneous precise positioning of arterial infusion port

Abstract

The invention provides a system and a method for subcutaneous precise positioning of an arterial infusion port. The system is used for implanting an arterial port infusion catheter into the hepatic artery of a user, and comprises an image monitoring module used for monitoring the subcutaneous area of the hepatic artery; the micro-positioning module is arranged on the arterial infusion port catheter and used for monitoring real-time position information and real-time state information of the arterial infusion port catheter; the control module is used for acquiring initial image information monitored by the image monitoring module before the artery infusion port catheter is implanted, and acquiring initial position information of the hepatic artery and an initial implantation path corresponding to the initial position information according to the initial image information; when the artery port infusion catheter is implanted into the subcutaneous area according to the preliminary implantation path, real-time navigation information is generated according to the real-time position information and the real-time state information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module, and the artery port infusion catheter is adjusted to be implanted into the hepatic artery in the subcutaneous area according to the real-time navigation information.

Description

Technical Field

[0001] The present application relates to the field of biomedical engineering technology, and in particular to a system and method for precise subcutaneous positioning of an arterial infusion port. Background Art

[0002] Hepatic Arterial Infusion Chemotherapy (HAIC) is an effective treatment for liver tumors. By selectively injecting chemotherapy drugs into the hepatic artery, the drugs can be retained in the tumor tissue at high concentrations for a long time, thereby inhibiting tumor growth and improving the treatment effect. However, in traditional HAIC treatment, the implantation process of the arterial infusion port (Port-A) has some significant problems and limitations:

[0003] 1. Position accuracy: Traditional methods mainly rely on the operator's experience and manual operation, lack of real-time position feedback, and easily lead to improper catheter position, affecting the treatment effect.

[0004] 2. Risk of arterial injury: Multiple punctures and catheterizations may damage the arteries, increasing the risk of bleeding and thrombosis.

[0005] 3. The catheter is not firmly fixed: The traditional fixation method may not be firm enough, causing the infusion port to migrate under the skin, affecting the stability and safety of drug administration.

[0006] 4. User pain: Repeated arterial puncture and cannulation bring great pain and psychological burden to users.

[0007] 5. Insufficient postoperative monitoring: Lack of effective postoperative monitoring methods makes it difficult to detect and deal with problems such as changes in catheter position in a timely manner.

[0008] Therefore, there is an urgent need for a system for precise subcutaneous positioning of an arterial infusion port to solve at least one of the above problems. Summary of the invention

[0009] The present application provides a system and method for precise subcutaneous positioning of an arterial infusion port, aiming to solve some significant problems and limitations in the implantation process of the arterial infusion port (Port-A) in traditional HAIC treatment: positioning accuracy, risk of arterial injury, loose catheter fixation, user pain and insufficient postoperative monitoring.

[0010] In a first aspect, an embodiment of the present application provides a system for precise subcutaneous positioning of an arterial infusion port, which is used to implant an arterial infusion port catheter into a user's hepatic artery; the system comprises:

[0011] An image monitoring module, the image monitoring module is used to monitor the subcutaneous area of ​​the hepatic artery;

[0012] A micro-positioning module, which is disposed on the arterial infusion port catheter and is used to monitor the real-time position information and real-time status information of the arterial infusion port catheter;

[0013] A control module, wherein the control module obtains preliminary image information monitored by the image monitoring module before the arterial infusion port catheter is implanted, and obtains preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information based on the preliminary image information; when the arterial infusion port catheter is implanted into the subcutaneous area according to the preliminary implantation path, the control module generates real-time navigation information based on the real-time position information and real-time status information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module, so as to adjust the implantation of the arterial infusion port catheter into the hepatic artery in the subcutaneous area according to the real-time navigation information.

[0014] In some embodiments, the control module determines the optimal implantation position in the subcutaneous area according to the preliminary position information, and generates the preliminary implantation path according to the optimal implantation position and the preliminary position information; the system also includes: a skin marking module, which marks the optimal implantation position on the surface of the subcutaneous area based on non-invasive skin marking technology.

[0015] In some embodiments, the system further comprises: a fixing module, which is used to fix the arterial infusion port catheter and the arterial infusion port body after the arterial infusion port catheter is implanted in the hepatic artery to prevent the arterial infusion port catheter and the arterial infusion port body from migrating.

[0016] In some embodiments, the image monitoring module includes: a CT monitoring module for monitoring CT image information of the subcutaneous area; an MRI monitoring module for monitoring MRI image information of the subcutaneous area; an ultrasound monitoring module for monitoring ultrasound image information of the subcutaneous area; and the control module is used to generate the preliminary position information and the preliminary implantation path corresponding to the preliminary position information based on the CT image information, MRI image information and ultrasound image information corresponding to the preliminary image information.

[0017] Exemplarily, the control module performs image segmentation and feature extraction on the CT image information, MRI image information and ultrasound image information respectively to obtain anatomical structure information corresponding to the hepatic artery; and determines the preliminary position information in the subcutaneous area based on the anatomical structure information.

[0018] In some embodiments, the real-time position information includes real-time position and real-time direction; the micro-positioning module includes: an electromagnetic sensor, the electromagnetic sensor is used to measure the spatial direction information of the arterial infusion port catheter; an accelerometer, the accelerometer is used to measure the acceleration information of the arterial infusion port catheter; a gyroscope, the gyroscope is used to measure the rotation angle information and posture information of the arterial infusion port catheter; the control module confirms the real-time position according to the preliminary implantation path, spatial position information and acceleration information; the control module confirms the real-time direction according to the preliminary implantation path, spatial direction information and the rotation angle information; the control module confirms the real-time status information according to the acceleration information, rotation angle information and posture information.

[0019] In some embodiments, the real-time navigation information includes real-time direction information and real-time force information; the system also includes: an automatic adjustment module, which is connected to the arterial infusion port catheter and is used to control the implantation of the arterial infusion port catheter into the hepatic artery in the subcutaneous area according to the real-time direction information and real-time force information.

[0020] Exemplarily, the control module obtains the rigidity information, flexibility information of the arterial infusion port catheter and the target avoidance area corresponding to the subcutaneous area; the target avoidance area includes the areas corresponding to the target blood vessels and target organs that need to be avoided; the control module determines the real-time force information based on the rigidity information, flexibility information, the real-time image information and the real-time status information; the control module generates real-time direction information based on the target avoidance area, the real-time position information and the real-time image information.

[0021] It should be noted that, in some embodiments, the control module obtains the surrounding tissue information of the hepatic artery based on the preliminary image information and the real-time image information; and adjusts the real-time force information based on the surrounding tissue information to ensure that the arterial infusion port catheter does not cause damage to the surrounding tissue of the hepatic artery.

[0022] In a second aspect, the present application provides a method for precise subcutaneous positioning of an arterial infusion port, which is applied to a control module of a system for precise subcutaneous positioning of an arterial infusion port provided in any embodiment of the present application; the method comprises:

[0023] Obtain preliminary imaging information monitored by the imaging monitoring module before arterial infusion port catheter implantation;

[0024] Acquiring preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information according to the preliminary image information;

[0025] When the arterial port catheter is implanted into the subcutaneous area according to the preliminary implantation path, real-time navigation information is generated according to the real-time position information and real-time status information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module;

[0026] The arterial port catheter is adjusted in the subcutaneous region to be implanted in the hepatic artery based on the real-time navigation information.

[0027] In a third aspect, the present application provides a device for precise subcutaneous positioning of an arterial infusion port, which is applied to a control module of a system for precise subcutaneous positioning of an arterial infusion port provided in any embodiment of the present application; the device comprises:

[0028] An information acquisition unit, used to acquire preliminary image information monitored by the image monitoring module before the arterial infusion port catheter is implanted;

[0029] a path acquisition unit, configured to acquire preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information according to the preliminary image information;

[0030] a navigation generating unit, configured to generate real-time navigation information according to the real-time position information and real-time status information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module when the arterial infusion port catheter is implanted into the subcutaneous area according to the preliminary implantation path;

[0031] The catheter implantation unit is used for adjusting the implantation of the arterial port catheter into the hepatic artery in the subcutaneous region according to the real-time navigation information.

[0032] In a fourth aspect, an embodiment of the present application provides a control module, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program and implement a method provided in any embodiment of the present application when executing the computer program.

[0033] The present application provides a system and method for precise subcutaneous positioning of an arterial infusion port, which aims to improve the implantation accuracy and safety of an arterial infusion port catheter in the user's hepatic artery and solve various problems in traditional hepatic arterial infusion chemotherapy (HAIC) treatment. The system mainly includes the following three key modules:

[0034] 1. Image monitoring module: used to monitor the subcutaneous area of ​​the user's hepatic artery in real time and obtain preliminary image information and real-time image information. This information is mainly used to determine the preliminary location of the hepatic artery and the best implantation path.

[0035] 2. Micro-positioning module: It is installed on the arterial infusion port catheter to monitor the real-time position and status information of the catheter. This information is crucial for navigation and adjustment of the catheter implantation path.

[0036] 3. Control module: Integrates and processes the data provided by the image monitoring module and the micro-positioning module to generate real-time navigation information. During the catheter implantation process, the control module dynamically adjusts the position and path of the catheter based on the real-time navigation information to ensure that the catheter is accurately and safely implanted in the hepatic artery.

[0037] Then, preliminary image information is obtained through the image monitoring module to determine the preliminary position of the hepatic artery, thereby reducing position errors. During the catheter implantation process, the control module generates navigation information based on the real-time data of the micro-positioning module and the image monitoring module to ensure that the catheter reaches the predetermined position accurately. The real-time data of the micro-positioning module and the image monitoring module can help the operator to promptly detect the deviation of the catheter from the path, so as to quickly adjust it to avoid damage to the hepatic artery. The dynamic navigation function of the control module can adjust the path of the catheter in real time, reduce unnecessary punctures and movements, and thus reduce the risk of injury. Since the catheter can be implanted in the hepatic artery more accurately, it is more fixed and reduces the risk of the catheter moving or falling off after surgery. Real-time navigation and dynamic adjustment can reduce the number of attempts to implant the catheter, thereby reducing the number of punctures and pain for the user. Through precise navigation and positioning, the catheter implantation process is more minimally invasive, further alleviating the user's pain.

[0038] At the same time, the micro-positioning module can provide real-time status information of the catheter, which helps the operator to monitor the catheter after surgery and promptly detect and deal with potential problems. By improving the accuracy and safety of catheter implantation, intraoperative and postoperative complications can be significantly reduced, thereby improving treatment effectiveness. Accurate catheter positioning can ensure that drugs are more effectively delivered to the target area, improving treatment effectiveness.

[0039] In summary, the system integrates image monitoring, micro-positioning and control modules to achieve precise positioning and navigation of the arterial infusion port catheter in the subcutaneous area, significantly improving the accuracy and safety of catheter implantation, reducing intraoperative and postoperative complications, alleviating the user's pain, and optimizing the effect of drug delivery. These improvements not only improve the efficiency of medical operations, but also improve the user's overall treatment experience.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 It is a schematic block diagram of the structure of a system for precise subcutaneous positioning of an arterial infusion port provided by an embodiment of the present application;

[0043] Figure 2 It is a schematic flow chart of the steps of a method for precise subcutaneous positioning of an arterial infusion port provided by an embodiment of the present application;

[0044] Figure 3 It is a structural schematic diagram of a device for precise subcutaneous positioning of an arterial infusion port provided by an embodiment of the present application;

[0045] Figure 4 It is a schematic block diagram of the structure of a control module provided in one embodiment of the present application.

[0046] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0049] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the difference.

[0050] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0051] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0052] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0053] Hepatic Arterial Infusion Chemotherapy (HAIC) is an effective treatment for liver tumors. By selectively injecting chemotherapy drugs into the hepatic artery, the drugs can be retained in the tumor tissue at high concentrations for a long time, thereby inhibiting tumor growth and improving the treatment effect. However, in traditional HAIC treatment, the implantation process of the arterial infusion port (Port-A) has some significant problems and limitations:

[0054] 1. Position accuracy: Traditional methods mainly rely on the operator's experience and manual operation, lack of real-time position feedback, and easily lead to improper catheter position, affecting the treatment effect.

[0055] 2. Risk of arterial injury: Multiple punctures and catheterizations may damage the arteries, increasing the risk of bleeding and thrombosis.

[0056] 3. The catheter is not firmly fixed: The traditional fixation method may not be firm enough, causing the infusion port to migrate under the skin, affecting the stability and safety of drug administration.

[0057] 4. User pain: Repeated arterial puncture and cannulation bring great pain and psychological burden to users.

[0058] 5. Insufficient postoperative monitoring: Lack of effective postoperative monitoring methods makes it difficult to detect and deal with problems such as changes in catheter position in a timely manner.

[0059] Therefore, there is an urgent need for a system 10 for precise subcutaneous positioning of an arterial infusion port to solve at least one of the above problems.

[0060] To resolve the above, please refer to Figure 1The embodiment of the present application provides a system 10 for precise subcutaneous positioning of an arterial infusion port, which is used to implant an arterial infusion port catheter 20 into the hepatic artery of a user; the system 10 comprises: an image monitoring module 11, which is used to monitor the subcutaneous region 30 of the hepatic artery; a micro-positioning module 12, which is arranged on the arterial infusion port catheter 20, and is used to monitor the real-time position information and real-time status information of the arterial infusion port catheter 20; a control module 13, which obtains the image monitoring module 11 before the arterial infusion port catheter 20 is implanted. The control module 13 obtains preliminary image information monitored by the micro-positioning module 12, obtains preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information according to the preliminary image information; when the arterial infusion port catheter 20 is implanted into the subcutaneous area 30 according to the preliminary implantation path, the control module 13 generates real-time navigation information according to the real-time position information and real-time status information monitored by the micro-positioning module 12 and the real-time image information monitored by the image monitoring module 11, so as to adjust the implantation of the arterial infusion port catheter 20 into the hepatic artery in the subcutaneous area 30 according to the real-time navigation information.

[0061] Specifically, an embodiment of the present application provides a system 10 for precise subcutaneous positioning of an arterial infusion port, which aims to improve the therapeutic effect of hepatic arterial infusion chemotherapy (HAIC) and reduce the problems and limitations of traditional methods.

[0062] The image monitoring module 11 is used to monitor the subcutaneous region 30 of the user's hepatic artery in real time and obtain preliminary image information. Ultrasound, CT, MRI and other imaging technologies can be used to provide high-resolution image data.

[0063] The micro-positioning module 12 is disposed on the arterial infusion port catheter 20 (which may also be referred to as the catheter in this application specification) to monitor the real-time position information and status information of the catheter. Micro sensors or markers may be used to transmit the position and status data in real time through wireless communication technology.

[0064] The control module 13 generates real-time navigation information to guide the precise implantation of the catheter by integrating the data of the image monitoring module 11 and the micro-positioning module 12. The control module 13 can be an intelligent system 10 based on a computer algorithm, which processes the image data and position data through an algorithm, generates navigation information, and adjusts the path and position of the catheter in real time.

[0065] For example, suppose that during a HAIC treatment, an arterial port catheter 20 needs to be implanted into the user's hepatic artery. The process of using the system 10 can be as follows:

[0066] The user's hepatic artery is preliminarily scanned by using the image monitoring module 11 to obtain high-resolution image data. The control module 13 analyzes the preliminary image information to determine the preliminary position of the hepatic artery and the optimal implantation path.

[0067] The micro-positioning module 12 is installed on the arterial infusion port catheter 20, and the operator implants the catheter according to the preliminary implantation path provided by the control module 13. During the implantation process, the micro-positioning module 12 transmits the position and status information of the catheter to the control module 13 in real time. The control module 13 combines the real-time image information of the image monitoring module 11 and the real-time position information of the micro-positioning module 12 to generate real-time navigation information. The operator adjusts the direction and depth of the catheter in time according to the real-time navigation information to ensure that the catheter is accurately inserted into the hepatic artery.

[0068] After the catheter is implanted, the micro-positioning module 12 continues to monitor the position and status information of the catheter. The control module 13 can timely detect changes in the position of the catheter or other problems through this information and remind the operator to handle them.

[0069] Through the real-time data of the image monitoring module 11 and the micro-positioning module 12, the control module 13 can generate accurate navigation information to ensure that the catheter is accurately implanted in the hepatic artery and reduce the poor treatment effect caused by improper position. Real-time navigation information reduces the need for multiple punctures and cannulations, reduces the risk of damage to the artery, and reduces the possibility of bleeding and thrombosis. The control module 13 can provide real-time feedback to ensure that the catheter is firmly fixed during implantation, reduce the risk of subcutaneous migration, and improve the stability and safety of drug administration. A single puncture and cannulation reduces the user's pain and psychological burden and improves the user's treatment experience. After surgery, the micro-positioning module 12 continues to monitor the position and status of the catheter, promptly detects changes in the catheter position or other potential problems, and ensures the continued effectiveness of the treatment.

[0070] In summary, the system 10 solves multiple problems of catheter implantation in traditional HAIC treatment by integrating image monitoring, micro-positioning and intelligent control module 13, significantly improves the accuracy and safety of treatment, reduces the pain of users, and enhances postoperative monitoring capabilities. These improvements are of great significance to improving the treatment effect of liver tumors and the quality of life of users.

[0071] In some embodiments, the control module 13 determines the optimal implantation position in the subcutaneous area 30 according to the preliminary position information, and generates the preliminary implantation path according to the optimal implantation position and the preliminary position information; the system 10 also includes: a skin marking module, which marks the optimal implantation position on the surface of the subcutaneous area 30 based on non-invasive skin marking technology.

[0072] In this embodiment, the control module 13 of the system 10 further optimizes the location selection and path planning of the catheter implantation, and introduces a skin marking module to non-invasively mark the optimal implantation location on the user's skin surface.

[0073] The control module 13 obtains preliminary image information, analyzes the anatomical structure of the hepatic artery and the surrounding tissue conditions, and determines the specific position of the hepatic artery. The control module 13 selects the best implantation position in the subcutaneous area 30 based on the preliminary position information to ensure that the catheter can smoothly and accurately reach the hepatic artery. The control module 13 generates a preliminary implantation path from the skin surface to the best implantation position to guide the operator to perform catheter implantation.

[0074] The skin marking module is based on non-invasive skin marking technology to mark the best implantation location on the skin surface. Non-invasive technologies such as laser, ultraviolet light, infrared light, and fluorescent marking can be used.

[0075] The control module 13 transmits the coordinates of the optimal implantation position to the skin marking module. The skin marking module non-invasively marks the optimal implantation position on the user's skin surface to help the operator locate more accurately in actual operation.

[0076] The optimal implantation position is determined and a preliminary implantation path is generated by analyzing the preliminary image information by the control module 13, which greatly improves the accuracy of catheter implantation. The skin marking module non-invasively marks the optimal implantation position on the skin surface, providing an intuitive reference for the operator, further ensuring the correctness of catheter implantation.

[0077] Due to the precise determination of the optimal implantation position and preliminary path, the need for multiple punctures and cannulations is reduced, reducing the risk of damage to the artery. Non-invasive skin marking technology avoids the additional operations that may be caused by inaccurate marking in traditional methods, further reducing the possibility of arterial damage. The catheter is implanted under the guidance of the optimal position and path, reducing the problem of loose catheter fixation due to improper position and improving the stability of the catheter under the skin. Non-invasive skin marking technology reduces trauma to the skin surface and relieves pain for users. A single puncture and cannulation reduces the pain and psychological burden caused by multiple operations and improves the user's treatment experience.

[0078] In actual HAIC treatment, the operator first uses the image monitoring module 11 to perform a preliminary scan of the user's hepatic artery to obtain high-resolution image data. Then, the control module 13 analyzes this data to determine the optimal implantation position and preliminary path, and non-invasively marks the optimal implantation position on the user's skin surface through the skin marking module. The operator implants the catheter based on these marks and preliminary paths. During the implantation process, the micro-positioning module 12 transmits the position and status information of the catheter in real time, and the control module 13 generates real-time navigation information to guide the operator to make precise adjustments. After surgery, the micro-positioning module 12 continues to monitor the status of the catheter to ensure the continued effectiveness of the treatment.

[0079] In summary, by introducing the skin marking module and the path planning function of the optimization control module 13, the accuracy of catheter implantation is further improved, the risk of arterial injury is reduced, the user's pain is alleviated, and the postoperative monitoring capability is enhanced. These improvements make HAIC treatment safer, more effective, and user-friendly.

[0080] In some embodiments, the system 10 further comprises: a fixing module, which is used to fix the arterial infusion port catheter 20 and the arterial infusion port body after the arterial infusion port catheter 20 is implanted in the hepatic artery to prevent the arterial infusion port catheter 20 and the arterial infusion port body from migrating.

[0081] In this embodiment, the system 10 is added with a fixing module for fixing the arterial infusion port catheter 20 and the arterial infusion port body after the catheter 20 is implanted in the hepatic artery to prevent the catheter from moving in the body.

[0082] After the catheter is implanted in the hepatic artery, the fixation module fixes the catheter and the arterial infusion port to prevent it from moving in the body. A variety of fixation techniques can be used, such as mechanical fixation, adhesive fixation, tissue anchoring, etc.

[0083] The catheter and arterial port are fixed to the subcutaneous tissue using tiny clips or fixing devices. Medical bioadhesives can also be used to adhere the catheter and arterial port to the subcutaneous tissue. Biodegradable anchoring devices can also be used to fix the catheter and arterial port to the subcutaneous tissue. These anchoring devices are gradually absorbed by the body after implantation, reducing the side effects of long-term fixation. The three specific embodiments of the above three fixation modules (mechanical fixation, adhesive fixation, tissue anchoring) can be used alone or in combination.

[0084] The fixation module ensures that the catheter and arterial infusion port are fixed in the body through mechanical, adhesive or tissue anchoring technologies to avoid migration during use. The effective fixation of the fixation module reduces the poor treatment effect or the need for re-implantation due to loose catheters. The use of the fixation module reduces the movement of the catheter in the body and reduces the risk of infection and other complications caused by catheter movement. Ensure that the catheter and arterial infusion port are fixed in the optimal position to avoid hepatic artery damage or other side effects caused by improper positioning. The fixation module ensures that the catheter is always in the optimal position during treatment, improving the continued effectiveness of treatment. It avoids the need for re-implantation due to catheter migration, reduces the number of repeated operations, and improves the efficiency and effectiveness of the overall treatment. The use of the fixation module reduces the movement of the catheter in the body and reduces the user's discomfort caused by loose or moving catheters. Users feel more comfortable and at ease during treatment, which improves their satisfaction and cooperation with the treatment. The fixation module ensures the stability of the catheter and arterial infusion port, reducing the need for adjustment or repositioning after surgery.

[0085] Exemplarily, during a HAIC treatment, the operator first uses the CT, MRI and ultrasound monitoring modules in the image monitoring module 11 to perform a preliminary scan of the user's hepatic artery, and the control module 13 comprehensively analyzes these image data to determine the best implantation position and preliminary path. The operator implants the catheter according to the preliminary path, the micro-positioning module 12 transmits the position and status information of the catheter in real time, and the control module 13 generates real-time navigation information to guide the operator to make precise adjustments. After the catheter is successfully implanted in the hepatic artery, the fixation module plays a role to ensure that the catheter and the arterial infusion port are fixed in the subcutaneous area 30 to avoid migration. After the operation, the micro-positioning module 12 continues to monitor the status of the catheter to ensure the continued effectiveness of the treatment.

[0086] In summary, by adding a fixation module, the fixation stability of the arterial infusion port catheter 20 and the arterial infusion port body in the subcutaneous area 30 is further improved, the risk of complications is reduced, the treatment effect and user comfort are improved, and postoperative management is simplified. These improvements make HAIC treatment safer and more reliable, and significantly improve the quality of life of users.

[0087] In some embodiments, the image monitoring module 11 includes: a CT monitoring module for monitoring the CT image information of the subcutaneous area 30; an MRI monitoring module for monitoring the MRI image information of the subcutaneous area 30; an ultrasound monitoring module for monitoring the ultrasound image information of the subcutaneous area 30; the control module 13 is used to generate the preliminary position information and the preliminary implantation path corresponding to the preliminary position information based on the CT image information, MRI image information and ultrasound image information corresponding to the preliminary image information.

[0088] In this embodiment, the image monitoring module 11 is further refined to include a CT monitoring module, an MRI monitoring module and an ultrasound monitoring module, and provides more comprehensive and accurate preliminary image information through the comprehensive application of multiple imaging technologies. The control module 13 generates preliminary location information and preliminary implantation path based on these multiple imaging information.

[0089] The CT monitoring module monitors CT image information of the subcutaneous area 30. Using CT scanning technology, high-resolution anatomical structure images are provided, which are particularly suitable for displaying hard tissues such as bones and blood vessels.

[0090] The MRI monitoring module monitors MRI image information of the subcutaneous area 30. Using MRI scanning technology, high-contrast images of soft tissues are provided, which are particularly suitable for displaying detailed structures of the liver, arteries, and surrounding soft tissues.

[0091] Ultrasonic monitoring module: monitors the ultrasonic image information of the subcutaneous area 30. It uses ultrasonic imaging technology to provide real-time dynamic images, which is particularly suitable for real-time monitoring of the position and movement of the catheter.

[0092] The control module 13 integrates CT, MRI and ultrasound image information to generate preliminary position information and preliminary implant path. The intelligent system 10 based on computer algorithms comprehensively analyzes multiple image data to improve the accuracy of position and path.

[0093] The control module 13 obtains the preliminary image information provided by the CT monitoring module, the MRI monitoring module and the ultrasound monitoring module. The control module 13 performs a comprehensive analysis on the CT, MRI and ultrasound image information to determine the precise position of the hepatic artery and the optimal implantation path. The control module 13 generates preliminary position information of the hepatic artery based on the comprehensive analysis results. The control module 13 generates a preliminary implantation path from the skin surface to the optimal implantation position and provides it to the operator for reference.

[0094] The comprehensive application of multiple imaging technologies provides more comprehensive and accurate preliminary position information, especially in the case of complex anatomical structures, and can more accurately determine the position of the hepatic artery. The preliminary implantation path generated by the control module 13 based on CT, MRI and ultrasound image information is more detailed and reliable, reducing the poor treatment effect caused by improper position. Due to the accurate generation of preliminary position information and paths, operators can more confidently perform catheter implantation, reducing the need for multiple punctures and intubation, and reducing the risk of damage to the artery. Real-time monitoring of multiple imaging technologies allows operators to adjust the position and direction of the catheter at any time during the operation, further reducing the risk of injury. Through comprehensive analysis of multiple imaging technologies, the control module 13 can more accurately determine the optimal implantation position, reduce the problem of loose catheter fixation caused by improper position, and improve the stability of the catheter under the skin. One-time accurate implantation reduces the pain and psychological burden caused by multiple operations and improves the user's treatment experience. Real-time monitoring and adjustment of multiple imaging technologies make the operation more refined and reduce unnecessary trauma.

[0095] For example, during a HAIC treatment, the operator first uses the CT, MRI and ultrasound monitoring modules in the image monitoring module 11 to perform a preliminary scan of the user's hepatic artery. The control module 13 acquires and comprehensively analyzes these image data to determine the optimal implantation position and preliminary path. Then, the operator implants the catheter based on these path and position information, the micro-positioning module 12 transmits the position and status information of the catheter in real time, and the control module 13 generates real-time navigation information to guide the operator to make precise adjustments. After the operation, the micro-positioning module 12 continues to monitor the status of the catheter to ensure the continued effectiveness of the treatment.

[0096] In summary, by introducing CT, MRI and ultrasound monitoring modules, a comprehensive application of multiple imaging technologies is provided, which further improves the accuracy of catheter implantation, reduces the risk of arterial injury, relieves user pain, and enhances postoperative monitoring capabilities. These improvements make HAIC treatment safer, more effective and user-friendly, significantly improving the treatment effect and the user's quality of life.

[0097] Exemplarily, the control module 13 performs image segmentation and feature extraction on the CT image information, MRI image information and ultrasound image information respectively to obtain anatomical structure information corresponding to the hepatic artery; and determines the preliminary position information in the subcutaneous area 30 according to the anatomical structure information.

[0098] In this example, the control module 13 processes the CT image information, the MRI image information and the ultrasound image information respectively through image segmentation and feature extraction technology to obtain detailed anatomical structure information of the hepatic artery, and determines preliminary position information based on the information.

[0099] The control module 13 divides the CT, MRI and ultrasound image information into different anatomical regions. Use advanced image segmentation algorithms, such as a segmentation model based on deep learning, to separate different structural regions such as the hepatic artery and surrounding tissues in the image. Extract key features from the segmented anatomical regions, such as the diameter, direction, and branches of the hepatic artery. Use feature extraction algorithms, such as convolutional neural networks (CNN) and support vector machines (SVM), to extract important features in the image. Determine the optimal implantation position of the hepatic artery based on the extracted anatomical information. Based on the feature extraction results, the control module 13 comprehensively analyzes the anatomical structure of the hepatic artery and selects the optimal implantation position.

[0100] The control module 13 segments the area related to the hepatic artery in the CT image. The control module 13 segments the area related to the hepatic artery and the surrounding soft tissue in the MRI image. The control module 13 segments the dynamic area related to the hepatic artery and the catheter position in the ultrasound image. Through CT feature extraction, the hard tissue features such as the diameter, direction, and branches of the hepatic artery are extracted. Through MRI feature extraction, the detailed anatomical structure and features of the hepatic artery and its surrounding soft tissue are extracted. Through ultrasound feature extraction, the real-time dynamic features of the hepatic artery during catheter insertion, such as blood flow conditions, the relative position of the catheter and the surrounding tissue, etc., are extracted.

[0101] The control module 13 comprehensively analyzes the anatomical structure of the hepatic artery based on the feature extraction results of CT, MRI and ultrasound images. The control module 13 selects the best implantation position to ensure that the catheter can reach the hepatic artery smoothly and accurately. The control module 13 generates a preliminary implantation path from the skin surface to the best implantation position and provides it to the operator for reference.

[0102] The combined application of CT, MRI and ultrasound imaging technologies can provide more comprehensive and accurate information on the anatomical structure of the hepatic artery. Advanced image segmentation and feature extraction algorithms are used to improve the accuracy of anatomical information, ensuring that the catheter can be accurately implanted in the hepatic artery. The precise generation of preliminary position information and paths reduces the need for multiple punctures and cannulations, and reduces the risk of damage to the artery. Real-time monitoring of ultrasound images allows operators to adjust the position and direction of the catheter in a timely manner, further reducing the risk of damage. The detailed data provided by a variety of imaging technologies helps operators better understand the position and status of the catheter, and promptly detect and address changes in catheter position or other problems.

[0103] Exemplarily, during a HAIC treatment, the operator first uses CT, MRI and ultrasound monitoring modules to perform a preliminary scan of the user's hepatic artery. The control module 13 performs image segmentation and feature extraction on these image information to obtain detailed anatomical structure information of the hepatic artery. Then, the control module 13 determines the optimal implantation position and preliminary path based on this information. The operator implants the catheter based on these path and position information, the micro-positioning module 12 transmits the position and status information of the catheter in real time, and the control module 13 generates real-time navigation information to guide the operator to make precise adjustments. After surgery, the micro-positioning module 12 continues to monitor the status of the catheter to ensure the continued effectiveness of the treatment.

[0104] In summary, through image segmentation and feature extraction technology, the position accuracy of the hepatic artery infusion port catheter 20 implantation is further improved, the risk of arterial injury is reduced, the user's pain is alleviated, and the postoperative monitoring capability is enhanced. These improvements make HAIC treatment safer, more effective and user-friendly, significantly improving the treatment effect and the user's quality of life.

[0105] In some embodiments, the real-time position information includes real-time position and real-time direction; the micro-positioning module 12 includes: an electromagnetic sensor, the electromagnetic sensor is used to measure the and spatial direction information of the arterial infusion port catheter 20; an accelerometer, the accelerometer is used to measure the acceleration information of the arterial infusion port catheter 20; a gyroscope, the gyroscope is used to measure the rotation angle information and posture information of the arterial infusion port catheter 20; the control module 13 confirms the real-time position according to the preliminary implantation path, spatial position information and acceleration information; the control module 13 confirms the real-time direction according to the preliminary implantation path, spatial direction information and the rotation angle information; the control module 13 confirms the real-time status information according to the acceleration information, rotation angle information and posture information.

[0106] In this embodiment, the system 10 further improves the accuracy and detail of the real-time position information, including real-time position, real-time direction and real-time status information. The micro-positioning module 12 adds an electromagnetic sensor, an accelerometer and a gyroscope to measure the spatial position, acceleration, rotation angle and posture information of the catheter. The control module 13 confirms the real-time position, real-time direction and real-time status information of the catheter based on this information.

[0107] The electromagnetic sensor is used to measure the spatial position and orientation information of the arterial infusion port catheter 20. Using electromagnetic field positioning technology, through multiple receivers and transmitters, the position and orientation of the catheter in three-dimensional space are accurately measured.

[0108] The accelerometer is used to measure the acceleration information of the arterial infusion port catheter 20. A micro acceleration sensor is used to monitor the acceleration changes of the catheter movement in real time.

[0109] The gyroscope is used to measure the rotation angle information and posture information of the arterial infusion port catheter 20. The rotation angle and three-dimensional posture of the catheter are monitored in real time using a micro gyroscope sensor.

[0110] The control module 13 confirms the real-time position, real-time direction and real-time status information of the catheter according to the preliminary implantation path, spatial position information, acceleration information, rotation angle information and posture information, and uses computer algorithms to comprehensively process multiple sensor data.

[0111] For example, the control module 13 obtains the preliminary implantation path. The electromagnetic sensor provides the spatial position information of the catheter. The accelerometer provides the acceleration information of the catheter. The control module 13 combines the preliminary path, the spatial position information and the acceleration information to confirm the real-time position of the catheter.

[0112] The control module 13 obtains the preliminary implantation path. The electromagnetic sensor provides spatial direction information of the catheter. The gyroscope provides rotation angle information of the catheter. The control module 13 combines the preliminary path, spatial direction information and rotation angle information to confirm the real-time direction of the catheter.

[0113] The accelerometer provides acceleration information of the catheter. The gyroscope provides rotation angle information of the catheter. The gyroscope provides three-dimensional posture information of the catheter. The control module 13 combines the acceleration information, rotation angle information and posture information to confirm the real-time status information of the catheter, including the stability and movement of the catheter.

[0114] The combination of electromagnetic sensors, accelerometers and gyroscopes provides multi-dimensional real-time data, making the real-time position and direction information of the catheter more accurate. The operator can dynamically adjust the position and direction of the catheter based on the real-time position and direction information to ensure that it is always in the best condition.

[0115] The accelerometer can monitor the movement of the catheter in real time, and timely discover and deal with potential unstable factors. The gyroscope can provide three-dimensional posture information of the catheter, helping the operator to better understand the real-time status of the catheter and ensure that it is fixed in the optimal position and direction. The real-time navigation information generated by the control module 13 helps the operator to complete the catheter implantation more quickly and accurately, reducing the operation time. The real-time feedback of multi-sensor data makes the operator's operation more intuitive and simple, reducing the time waste caused by multiple adjustments. The real-time monitoring of electromagnetic sensors, accelerometers and gyroscopes ensures that the catheter is always in a stable state during and after implantation, reducing the risk of complications caused by catheter movement. The provision of real-time status information allows the operator to timely discover and adjust the position and direction of the catheter during the operation, avoiding hepatic artery damage or other problems caused by improper position. Accurate confirmation of real-time position and direction information ensures that the catheter can be accurately implanted in the hepatic artery, improving the treatment effect. Continuous monitoring of real-time status information ensures that the catheter is always in the best state during the treatment process, improving the continued effectiveness of the treatment. One-time accurate implantation reduces the pain and discomfort caused by multiple operations. Real-time monitoring and adjustment of the catheter during and after implantation reduces discomfort caused by catheter movement and improves the user's treatment experience.

[0116] Exemplarily, during a HAIC treatment, the operator first uses CT, MRI and ultrasound monitoring modules to perform a preliminary scan of the user's hepatic artery. The control module 13 comprehensively analyzes these image data to determine the optimal implantation position and preliminary path. The operator implants the catheter according to the preliminary path, and the electromagnetic sensor, accelerometer and gyroscope in the micro-positioning module 12 transmit the spatial position, acceleration, rotation angle and posture information of the catheter in real time. Based on this information, the control module 13 generates real-time navigation information to guide the operator to make precise adjustments. After the catheter is successfully implanted in the hepatic artery, the fixation module plays a role to ensure that the catheter and the arterial infusion port are fixed in the subcutaneous area 30 to avoid wandering. After the operation, the micro-positioning module 12 continues to monitor the status of the catheter to ensure the continued effectiveness of the treatment.

[0117] In summary, by adding electromagnetic sensors, accelerometers and gyroscopes, the accuracy of real-time position, real-time direction and real-time status information during the implantation of the arterial infusion port catheter 20 is further improved. These improvements make catheter implantation more precise, reduce operation time, reduce the risk of complications, improve treatment effects and user comfort, and significantly improve the overall safety and effectiveness of HAIC treatment.

[0118] In some embodiments, the real-time navigation information includes real-time direction information and real-time force information; the system 10 also includes: an automatic adjustment module, which is connected to the arterial infusion port catheter 20 and is used to control the arterial infusion port catheter 20 to be implanted into the hepatic artery in the subcutaneous area 30 according to the real-time direction information and real-time force information.

[0119] In this embodiment, the system 10 further integrates an automatic adjustment module for controlling the implantation of the arterial port catheter 20 in the subcutaneous area 30 according to the real-time direction information and the real-time force information.

[0120] The control module 13 generates a preliminary implantation path, real-time direction information and real-time status information, and confirms real-time navigation information based on the real-time direction information and real-time force information. A computer algorithm is used to comprehensively process multiple sensor data.

[0121] For example, the control module 13 generates real-time direction information based on the spatial direction information of the electromagnetic sensor and the rotation angle information of the gyroscope. The acceleration information provided by the accelerometer is combined with the spatial position information of the electromagnetic sensor to generate real-time force information. The control module 13 combines the real-time direction information and the real-time force information to generate real-time navigation information.

[0122] The automatic adjustment module is connected to the arterial infusion port catheter 20, and controls the implantation process of the catheter according to the real-time navigation information. The automatic adjustment module includes mechanical devices such as micro-motors and hydraulic systems 10 to adjust the direction and force of the catheter according to the real-time navigation information. The automatic adjustment module adjusts the implantation direction of the catheter according to the real-time direction information generated by the control module 13 to ensure that the catheter moves along the optimal path. The automatic adjustment module adjusts the implantation force of the catheter according to the real-time force information generated by the control module 13 to avoid excessive force causing arterial damage or too little force causing the catheter to fail to move forward smoothly.

[0123] The control module 13 performs image segmentation and feature extraction on CT, MRI and ultrasound image information to obtain detailed anatomical structure information of the hepatic artery. Based on the anatomical structure information, the control module 13 generates the best preliminary implantation path and preliminary position information. The electromagnetic sensor and gyroscope monitor the direction and rotation angle of the catheter in real time, and the control module 13 generates real-time direction information. The accelerometer and electromagnetic sensor monitor the acceleration and spatial position of the catheter in real time, and the control module 13 generates real-time force information. The control module 13 combines the real-time direction information and the real-time force information to generate real-time navigation information.

[0124] The automatic adjustment module adjusts the implantation direction of the catheter through the micromotor or hydraulic system 10 according to the real-time direction information. The automatic adjustment module controls the implantation force of the catheter by adjusting the thrust or pressure according to the real-time force information. The operator accurately implants the catheter into the hepatic artery according to the real-time navigation information and the adjustment of the automatic adjustment module. The micro-positioning module 12 continues to transmit the position and status information of the catheter in real time to ensure the accuracy and safety of the implantation process. After the catheter is successfully implanted into the hepatic artery, the fixing module plays a role to ensure that the catheter and the arterial infusion port are fixed in the subcutaneous area 30 to avoid wandering. The micro-positioning module 12 continues to monitor the real-time position and status of the catheter to provide postoperative management data support.

[0125] The automatic adjustment module dynamically adjusts the implantation direction of the catheter according to the real-time direction information to ensure that it always moves along the optimal path. The automatic adjustment module dynamically adjusts the implantation force of the catheter according to the real-time force information to ensure that the catheter reaches the target position smoothly and safely. The use of the automatic adjustment module reduces the difficulty of operation for operators and makes the implantation process simpler and more efficient. Automated assistance reduces errors caused by human operation and improves the success rate and accuracy of implantation.

[0126] Real-time force adjustment avoids arterial damage caused by excessive insertion force. Precise control of real-time direction and force information reduces the risk of catheter deviation or jamming during implantation. The combination of real-time navigation information and the automatic adjustment module ensures that the catheter is always in the best position during treatment, improving the continued effectiveness of treatment. One-time accurate implantation reduces the need for re-operation due to improper catheter position, improving the overall efficiency of treatment. One-time accurate implantation reduces the pain and discomfort caused by multiple operations. The use of the automatic adjustment module makes the implantation process more refined, reduces damage to surrounding tissues, and improves the user's treatment experience.

[0127] Exemplarily, during a HAIC treatment, the operator first uses the CT, MRI and ultrasound monitoring modules in the image monitoring module 11 to perform a preliminary scan of the user's hepatic artery. The control module 13 comprehensively analyzes these image data to generate the best preliminary implantation path and preliminary position information. The operator starts catheter implantation based on the preliminary path and position information, and the electromagnetic sensor, accelerometer and gyroscope in the micro-positioning module 12 transmit the spatial position, direction, acceleration and posture information of the catheter in real time. The control module 13 generates real-time navigation information based on this information, and the automatic adjustment module dynamically adjusts the direction and strength of the catheter based on the real-time navigation information to ensure that the catheter is smoothly and safely implanted into the hepatic artery. After the catheter is successfully implanted, the fixation module plays a role to ensure that the catheter and the arterial infusion port are fixed in the subcutaneous area 30 to avoid wandering. After surgery, the micro-positioning module 12 continues to monitor the status of the catheter and provide postoperative management data support.

[0128] In summary, by adding an automatic adjustment module, the accuracy and safety of the arterial infusion port catheter 20 implantation are further improved. The combination of real-time direction information and real-time force information makes the implantation of the catheter more controllable, reduces the difficulty of operation for operators and the pain of users, reduces the risk of complications, and improves the treatment effect and user comfort. These improvements make HAIC treatment more intelligent, safe and efficient, and significantly improve the quality of medical care.

[0129] Exemplarily, the control module 13 obtains the rigidity information, flexibility information of the arterial infusion port catheter 20 and the target avoidance area corresponding to the subcutaneous area 30; the target avoidance area includes the area corresponding to the target blood vessels and target organs that need to be avoided; the control module 13 determines the real-time force information based on the rigidity information, flexibility information, the real-time image information and the real-time status information; the control module 13 generates real-time direction information based on the target avoidance area, the real-time position information and the real-time image information.

[0130] The control module 13 further integrates the rigidity information and flexibility information of the arterial infusion port catheter 20 and the target avoidance area information corresponding to the subcutaneous area 30. The comprehensive processing of this information enables the control module 13 to more accurately generate real-time force information and real-time direction information, thereby further improving the accuracy and safety of catheter implantation.

[0131] The control module 13 obtains the rigidity information of the arterial infusion port catheter 20: such as the hardness and stiffness data of the catheter under different conditions. The flexibility information of the arterial infusion port catheter 20: such as the bending and flexibility data of the catheter under different conditions. The target avoidance area corresponding to the subcutaneous area 30: the area information of the target blood vessels and target organs that need to be avoided.

[0132] The control module 13 determines the real-time force information based on the rigidity information, flexibility information, real-time image information and real-time status information: Rigidity information: the hardness and stiffness data of the catheter, which is used to evaluate the insertion force requirements of the catheter under different conditions. Flexibility information: the bending and flexibility data of the catheter, which is used to evaluate the insertion force requirements of the catheter on a curved path. Real-time image information: real-time anatomical structure information provided by CT, MRI and ultrasound images, which is used to determine the current environment of the catheter. Real-time status information: catheter acceleration, rotation angle and posture information provided by the accelerometer and gyroscope, which is used to evaluate the stability and movement of the catheter. The control module 13 uses a comprehensive algorithm to generate real-time force information in combination with the above information, and guides the automatic adjustment module to adjust the appropriate thrust or pressure to ensure the smooth advancement of the catheter without causing damage to surrounding tissues.

[0133] The control module 13 generates real-time direction information based on the target avoidance area, real-time position information and real-time image information: Target avoidance area: regional information of target blood vessels and target organs that need to be avoided, ensuring that the catheter avoids these areas during the path. Real-time position information: spatial position information of the catheter provided by the electromagnetic sensor, used to monitor the current position of the catheter. Real-time image information: real-time anatomical structure information provided by CT, MRI and ultrasound images, used to dynamically adjust the path. The control module 13 uses a path planning algorithm to generate real-time direction information in combination with the above information, and guides the automatic adjustment module to adjust the implantation direction of the catheter to ensure that the catheter moves along the optimal path.

[0134] By acquiring the rigidity and flexibility information of the catheter, the control module 13 can more accurately evaluate the insertion force requirements of the catheter under different conditions, thereby generating more appropriate real-time force information to ensure smooth advancement of the catheter in complex paths. Combined with the target avoidance area, real-time position information and real-time image information, accurate real-time direction information is generated to prevent the catheter from mistakenly entering the target blood vessel or target organ area during implantation.

[0135] Precise control of real-time force information avoids arterial damage caused by excessive insertion force. Precise generation of real-time direction information ensures that the catheter avoids the target organ that needs to be avoided, reducing the risk of organ damage. The multi-dimensional fusion of rigidity information, flexibility information, real-time imaging information and real-time status information enables the control module 13 to more comprehensively evaluate and adjust the catheter implantation process, thereby improving safety. The dynamic generation of real-time direction information and real-time force information enables the catheter implantation process to be adjusted in real time according to actual conditions, avoiding problems caused by improper path or force.

[0136] Exemplarily, during a HAIC treatment, the operator first uses CT, MRI and ultrasound monitoring modules to perform a preliminary scan of the user's subcutaneous area 30 to obtain information on the target avoidance area, including target blood vessels and target organs that need to be avoided. The control module 13 comprehensively analyzes these image data to generate the best preliminary implantation path and preliminary position information. After the operator starts catheter implantation, the electromagnetic sensor, accelerometer and gyroscope in the micro-positioning module 12 transmit the spatial position, direction, acceleration and posture information of the catheter in real time. The control module 13 generates real-time force information based on the rigidity and flexibility information of the catheter, real-time image information and real-time status information, and guides the automatic adjustment module to adjust the appropriate thrust or pressure to ensure that the catheter is smoothly advanced without causing damage to the surrounding tissues. At the same time, the control module 13 generates real-time direction information based on the target avoidance area, real-time position information and real-time image information, and guides the automatic adjustment module to adjust the implantation direction of the catheter to avoid the catheter from mistakenly entering the target avoidance area. After the catheter is successfully implanted in the hepatic artery, the fixation module plays a role to ensure that the catheter and the arterial infusion port are fixed in the subcutaneous area 30 to avoid wandering. After surgery, the micro-positioning module 12 continues to monitor the status of the catheter and provide postoperative management data support.

[0137] In summary, by increasing the rigidity information, flexibility information and target avoidance area information of the catheter, the accuracy of generating real-time force information and real-time direction information is further improved. These improvements make the catheter implantation process more precise and safe, reduce the risk of complications, and improve the treatment effect and user comfort. The use of the automated control module 13 significantly simplifies the operator's operation, reduces human errors, and makes HAIC treatment more intelligent and efficient. These technological advances are of great significance to improving medical quality and user satisfaction.

[0138] It should be noted that, in some embodiments, the expression of real-time force information includes:

[0139]

[0140] Wherein, F(t) is the value of the real-time force information corresponding to time t, E is the value corresponding to the rigidity information, L is the length value of the catheter, R is the value corresponding to the flexibility information, D(t) is the real-time avoidance distance between the arterial infusion port catheter 20 and the target avoidance area determined by the control module 13 according to the real-time image information and the real-time status information, and k 1 , k 2 and k 3 They are the adjustable first coefficient, second coefficient and third coefficient respectively.

[0141] It should be noted that, in some embodiments, the expression of real-time direction information includes:

[0142]

[0143] Among them, θ(t) is the angle value of the real-time direction information corresponding to time t, E is the value corresponding to the rigidity information, R is the value corresponding to the flexibility information, (x 0 ,y 0 ) is the preliminary coordinate of the hepatic artery determined according to the preliminary position information, (x(t), y(t)) is the real-time coordinate of the arterial infusion port catheter 20 determined according to the real-time image information, D(t) is the real-time avoidance distance between the arterial infusion port catheter 20 and the target avoidance area determined by the control module 13 according to the real-time image information and the real-time status information, and D 0 is the preset recommended avoidance distance, k 4 and k 5 They are the adjustable fourth and fifth coefficients respectively.

[0144] It should be noted that, in some embodiments, the control module 13 obtains the surrounding tissue information of the hepatic artery based on the preliminary image information and the real-time image information; and adjusts the real-time force information based on the surrounding tissue information to ensure that the arterial infusion port catheter 20 does not cause damage to the surrounding tissue of the hepatic artery.

[0145] The processing logic of the control module 13 when generating real-time force information is further refined, especially how to make dynamic adjustments based on the surrounding tissue information of the hepatic artery, to ensure that the arterial infusion port catheter 20 does not cause damage to the surrounding tissue.

[0146] Preliminary image information: Detailed anatomical structure of the hepatic artery and its surrounding tissues obtained from the preliminary scan. Real-time image information: The dynamic anatomical structure of the hepatic artery and its surrounding tissues obtained in real time during catheter implantation. The control module 13 uses image analysis and machine learning algorithms to combine preliminary image information and real-time image information to generate detailed information about the surrounding tissues, including the type, location, and density of the tissues. Adjust the real-time force information according to the surrounding tissue information: Identify the type of surrounding tissues, such as blood vessels, nerves, muscles, etc. Determine the specific location and density of the surrounding tissues, and evaluate their impact on catheter implantation. The control module 13 dynamically adjusts the insertion force of the catheter based on the information about the surrounding tissues to ensure that the catheter does not cause damage to the surrounding tissues during advancement.

[0147] For example, the appropriate insertion force and thrust are evaluated according to the type and density of the surrounding tissue. The control module 13 generates adjusted real-time force information to guide the automatic adjustment module to adjust the thrust or pressure of the catheter.

[0148] By dynamically adjusting the insertion force, the control module 13 ensures that the catheter will not cause damage to surrounding blood vessels, nerves, muscles, and other tissues during the implantation process, significantly improving overall safety. The acquisition and processing of real-time image information enables each step of the catheter implantation process to be monitored, and potential risks can be discovered and avoided in a timely manner.

[0149] Exemplarily, during a HAIC treatment, the operator first uses CT, MRI and ultrasound monitoring modules to perform a preliminary scan of the user's subcutaneous area 30 to obtain preliminary anatomical information of the hepatic artery and its surrounding tissues. The preliminary image information is input into the control module 13 to generate preliminary implantation path and preliminary position information. After the operator starts catheter implantation, the real-time image monitoring module 11 continues to obtain real-time image information of the current position of the catheter and its surrounding environment. The control module 13 generates detailed information about the tissues around the hepatic artery based on the preliminary image information and real-time image information, including the type, location and density of the tissue. The control module 13 dynamically adjusts the insertion force of the catheter based on this information to ensure that the catheter does not cause damage to surrounding blood vessels, nerves or muscles during advancement. The automatic adjustment module adjusts the thrust or pressure of the catheter based on the real-time force information generated by the control module 13 to ensure that the catheter is implanted in the hepatic artery along the optimal path and within a safe force range. After the catheter is successfully implanted in the hepatic artery, the fixation module plays a role to ensure that the catheter and the arterial infusion port are fixed in the subcutaneous area 30 to avoid wandering. After surgery, the micro-positioning module 12 continues to monitor the status of the catheter and provide postoperative management data support.

[0150] In summary, by increasing the acquisition of surrounding tissue information and the dynamic adjustment of real-time force information, the safety and accuracy of arterial port catheter 20 implantation are further improved. These improvements significantly reduce the risk of complications, simplify the operation of operators, improve the treatment effect, and reduce the pain of users. The collaborative work of the control module 13 and the automatic adjustment module makes HAIC treatment more intelligent, safe and efficient, bringing important technological progress to the medical field.

[0151] Please refer to Figure 2 The present application provides a method for precise subcutaneous positioning of an arterial infusion port. The method for precise subcutaneous positioning of an arterial infusion port can be implemented by a control module of a system for precise subcutaneous positioning of an arterial infusion port provided in any embodiment of the present application, and the control module can be deployed on a single server or a server cluster. It can also be deployed on a handheld terminal, a control panel, a laptop computer, a wearable device, or a robot, etc.

[0152] It should be noted that the acquisition of any information mentioned in the provided method (such as preliminary image information and real-time image information) is in compliance with relevant regulations and is carried out with the consent of relevant users, and will not infringe on the user's privacy or violate relevant laws and regulations.

[0153] To solve the above problems, please refer to Figure 2 Specifically, Figure 2 As shown, the method provided for accurate subcutaneous positioning of an arterial infusion port includes steps S101 to S104. The details are as follows:

[0154] Step S101. Obtaining preliminary image information monitored by an image monitoring module before implantation of an arterial infusion port catheter.

[0155] Step S102: Acquire preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information according to the preliminary image information.

[0156] Step S103. When the arterial port catheter is implanted into the subcutaneous area according to the preliminary implantation path, real-time navigation information is generated according to the real-time position information and real-time status information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module.

[0157] Step S104: adjusting the arterial port catheter to be implanted into the hepatic artery in the subcutaneous region according to the real-time navigation information.

[0158] It should be noted that, those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the above-described method for precise subcutaneous positioning of an arterial infusion port and the specific working process of each step can refer to the corresponding contents in the above-mentioned embodiments of the system for precise subcutaneous positioning of an arterial infusion port, and will not be repeated here.

[0159] See also Figure 3 As shown, Figure 3 2 is a schematic diagram of the structure of the device 200 for precise subcutaneous positioning of an arterial infusion port provided in an embodiment of the present application. The device 200 for precise subcutaneous positioning of an arterial infusion port is used to perform the steps of the method for precise subcutaneous positioning of an arterial infusion port shown in the above embodiments. The device 200 for precise subcutaneous positioning of an arterial infusion port can be a single server or a server cluster, or the device 200 for precise subcutaneous positioning of an arterial infusion port can be a terminal, which can be a handheld terminal, a laptop computer, a wearable device, a robot, etc.

[0160] like Figure 3 As shown, the device 200 for precise subcutaneous positioning of an arterial infusion port comprises:

[0161] An information acquisition unit 201 is used to acquire preliminary image information monitored by an image monitoring module before the arterial infusion port catheter is implanted;

[0162] A path acquisition unit 202, configured to acquire preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information according to the preliminary image information;

[0163] A navigation generating unit 203, configured to generate real-time navigation information according to the real-time position information and real-time status information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module when the arterial infusion port catheter is implanted into the subcutaneous area according to the preliminary implantation path;

[0164] The catheter implantation unit 204 is configured to adjust the arterial port catheter to be implanted into the hepatic artery in the subcutaneous region according to the real-time navigation information.

[0165] It should be noted that, those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working processes of the device for precise subcutaneous positioning of an arterial infusion port and each module described above can refer to the corresponding processes in the method embodiments for precise subcutaneous positioning of an arterial infusion port described in the above embodiments, and will not be repeated here.

[0166] The above method for accurate subcutaneous positioning of an arterial infusion port can be implemented in the form of a computer program. The computer program can be used in Figure 3 Run on the device shown.

[0167] See also Figure 4 , Figure 4 : is a schematic block diagram of the structure of a control module provided in an embodiment of the present application. The control module includes a processor, a memory and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0168] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any method for accurate subcutaneous positioning of an arterial infusion port.

[0169] The processor is used to provide computing and control capabilities and support the operation of the entire control module.

[0170] The internal memory provides an environment for the operation of a computer program in a non-volatile storage medium. When the computer program is executed by a processor, the processor can execute any method for precise subcutaneous positioning of an arterial infusion port.

[0171] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific control module may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0172] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0173] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0174] Obtain preliminary imaging information monitored by the imaging monitoring module before arterial infusion port catheter implantation;

[0175] Acquiring preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information according to the preliminary image information;

[0176] When the arterial port catheter is implanted into the subcutaneous area according to the preliminary implantation path, real-time navigation information is generated according to the real-time position information and real-time status information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module;

[0177] The arterial port catheter is adjusted in the subcutaneous region to be implanted in the hepatic artery based on the real-time navigation information.

[0178] The present application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to implement the steps of a method for precise subcutaneous positioning of an arterial infusion port as provided in any embodiment of the present application.

[0179] The computer-readable storage medium may be an internal storage unit of the control module described in the above embodiment, such as a hard disk or memory of the control module. The computer-readable storage medium may also be an external storage device of the control module, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the control module.

[0180] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A system for precise subcutaneous positioning of an arterial infusion port, used for implanting an arterial infusion port catheter into a user's hepatic artery; characterized in that: The system comprises: An image monitoring module, the image monitoring module is used to monitor the subcutaneous area of ​​the hepatic artery; A micro-positioning module, which is disposed on the arterial infusion port catheter and is used to monitor the real-time position information and real-time status information of the arterial infusion port catheter; A control module, wherein the control module obtains preliminary image information monitored by the image monitoring module before the arterial infusion port catheter is implanted, and obtains preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information based on the preliminary image information; when the arterial infusion port catheter is implanted into the subcutaneous area according to the preliminary implantation path, the control module generates real-time navigation information based on the real-time position information and real-time status information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module, so as to adjust the implantation of the arterial infusion port catheter into the hepatic artery in the subcutaneous area according to the real-time navigation information.

2. The system according to claim 1, characterized in that The control module determines an optimal implantation position in the subcutaneous area according to the preliminary position information, and generates the preliminary implantation path according to the optimal implantation position and the preliminary position information; The system further comprises: A skin marking module is provided for marking the optimal implantation position on the surface of the subcutaneous area based on non-invasive skin marking technology.

3. The system according to claim 1, characterized in that The system further comprises: A fixing module is used to fix the arterial infusion port catheter and the arterial infusion port body after the arterial infusion port catheter is implanted in the hepatic artery to prevent the arterial infusion port catheter and the arterial infusion port body from moving.

4. The system according to claim 1, characterized in that The image monitoring module includes: A CT monitoring module, used for monitoring CT image information of the subcutaneous area; An MRI monitoring module, used for monitoring MRI image information of the subcutaneous area; An ultrasound monitoring module, used for monitoring ultrasound image information of the subcutaneous area; The control module is used to generate the preliminary position information and the preliminary implantation path corresponding to the preliminary position information according to the CT image information, MRI image information and ultrasound image information corresponding to the preliminary image information.

5. The system according to claim 4, characterized in that The control module performs image segmentation and feature extraction on the CT image information, MRI image information and ultrasound image information respectively to obtain anatomical structure information corresponding to the hepatic artery; and determines the preliminary position information in the subcutaneous area according to the anatomical structure information.

6. The system according to claim 1, characterized in that The real-time position information includes real-time position and real-time direction; the micro-positioning module includes: An electromagnetic sensor for measuring the position and spatial orientation information of the arterial port catheter; an accelerometer, the accelerometer being used to measure acceleration information of the arterial port catheter; A gyroscope, the gyroscope is used to measure the rotation angle information and posture information of the arterial infusion port catheter; The control module confirms the real-time position according to the preliminary implantation path, spatial position information and acceleration information; the control module confirms the real-time direction according to the preliminary implantation path, spatial direction information and the rotation angle information; the control module confirms the real-time status information according to the acceleration information, rotation angle information and posture information.

7. The system according to claim 1, characterized in that The real-time navigation information includes real-time direction information and real-time force information; the system also includes: An automatic adjustment module is connected to the arterial infusion port catheter and is used to control the arterial infusion port catheter to be implanted into the hepatic artery in the subcutaneous area according to the real-time direction information and the real-time force information.

8. The system according to claim 7, characterized in that The control module obtains the rigidity information, flexibility information and the target avoidance area corresponding to the subcutaneous area of ​​the arterial infusion port catheter; the target avoidance area includes the areas corresponding to the target blood vessels and target organs that need to be avoided; the control module determines the real-time force information based on the rigidity information, flexibility information, the real-time image information and the real-time status information; the control module generates real-time direction information based on the target avoidance area, real-time position information and the real-time image information.

9. The system according to claim 8, characterized in that The control module obtains the surrounding tissue information of the hepatic artery based on the preliminary image information and the real-time image information; and adjusts the real-time force information based on the surrounding tissue information to ensure that the arterial infusion port catheter does not cause damage to the surrounding tissue of the hepatic artery.

10. A method for precise subcutaneous positioning of an arterial infusion port, characterized in that: A control module for a system for precise subcutaneous positioning of an arterial infusion port as claimed in any one of claims 1 to 9; the method comprising: Obtain preliminary imaging information monitored by the imaging monitoring module before arterial infusion port catheter implantation; Acquiring preliminary position information of the hepatic artery and a preliminary implantation path corresponding to the preliminary position information according to the preliminary image information; When the arterial port catheter is implanted into the subcutaneous area according to the preliminary implantation path, real-time navigation information is generated according to the real-time position information and real-time status information monitored by the micro-positioning module and the real-time image information monitored by the image monitoring module; The arterial port catheter is adjusted in the subcutaneous region to be implanted in the hepatic artery based on the real-time navigation information.

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