Angle positioning device for assisting puncture and angle determining method

Abstract

The invention discloses an auxiliary puncture angle positioning device and an angle determining method.The auxiliary puncture angle positioning device comprises a puncture needle body and a positioning body, the positioning body comprises a shell and a circuit assembly arranged in the shell, and the puncture needle body is mechanically connected to the positioning body; the circuit assembly comprises a measurement control panel, an angle measurement module, a central processing unit and a wireless communication module which are arranged in the shell, an electronic display is arranged on the outer wall of the shell, the angle measurement module, the electronic display and the wireless communication module are respectively connected with the central processing unit, and the angle measurement module is used for feeding back the space angle of the puncture needle in real time. The electronic display is used for displaying the space angle of the positioning body. The invention also discloses an angle determination method thereof. The angle is accurately controlled in the puncture process, the safety and accuracy of clinical operation are improved, the path and depth of the puncture needle body entering the body can be more accurately controlled, the misoperation risk is reduced, and the success rate of puncture is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an angle positioning device for auxiliary puncture and an angle determination method. Background Art

[0002] CT-guided puncture technology is widely used in diagnosis and clinical treatment, including puncture biopsy and puncture ablation. The success of the puncture operation depends largely on the medical staff's accurate grasp of the insertion angle of the puncture needle. In the process of traditional medical diagnosis and treatment, medical staff mainly rely on their own experience and naked eye observation to determine the insertion angle of the puncture needle. This method has many shortcomings and the risk of operational errors is extremely high. Traditional CT-guided puncture is based on CT scan images. The puncture path is designed according to the experience of the puncture operator. The needle is inserted step by step through the skin by hand. Repeated CT scans are relied on to clarify the angle of the puncture needle. The needle path is constantly adjusted until the puncture is in place, and then further diagnosis and treatment operations are performed. The disadvantage of such puncture operation is that during the puncture process, the changes in the puncture target caused by the deviation of the operator's naked eye observation angle and depth, the patient's spontaneous breathing, and changes in body position will directly affect the accuracy of the puncture needle. When the lesion is close to important organs and blood vessels, the manual empirical puncture will not only increase the difficulty of puncture, but also damage important organs due to puncture errors, leading to serious complications.

[0003] In recent years, computed tomography (CT)-guided puncture has been widely used in clinical diagnosis and treatment fields such as biopsy, drainage, particle implantation and ablation. Accurate puncture site, angle and depth are important factors to ensure the success of CT-guided puncture and reduce the risk of complications in patients. Therefore, it is of great significance to study an auxiliary puncture device to improve the accuracy of puncture site, angle and depth. Summary of the invention

[0004] The purpose of the present invention is to provide an angle positioning device and angle determination method for assisting puncture. The present invention realizes precise control of the angle during the puncture process, which not only improves the safety and accuracy of clinical operation, but also can more accurately control the path and depth of the puncture needle entering the body, reduce the risk of misoperation, and improve the success rate of puncture. In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] According to one aspect of the present invention, there is provided an angle positioning device for auxiliary puncture, the angle positioning device comprises a puncture needle body and a positioning body, the positioning body comprises a shell and a circuit component arranged inside the shell, the puncture needle body is mechanically connected to the positioning body, the circuit component package comprises a measurement control board, an angle measurement module, a central processing unit and a wireless communication module arranged in the shell, an electronic display is arranged on the outer wall of the shell, the angle measurement module, the electronic display and the wireless communication module are respectively connected to the central processing unit, the angle measurement module is used to feed back the spatial angle of the puncture needle in real time, and the electronic display is used to display the spatial angle of the positioning body; as a preferred technical solution, the angle measurement module uses a gyroscope and an acceleration sensor through a data fusion algorithm to finally obtain the real-time feedback of the inclination angle data of the front, back and left and right mutually perpendicular axes of the puncture needle body; the electronic display is arranged on the top wall of the shell for the convenience of observation and operation by the operator, and the electronic display uses a micro OLED display screen to display the inclination angles of the puncture needle body in four mutually perpendicular directions of front, back, left and right in real time.

[0006] The above scheme of the present invention is further preferred, in which a connecting portion mechanically connected to the puncture needle body is provided on the shell, a power switch is provided on the outer wall of the shell, an irradiation hole along the puncture extension direction of the puncture needle body is provided on the lower wall of the shell, and a cross-line indicator light is provided in the irradiation hole for indicating the puncture direction of the puncture needle body (1).

[0007] The above scheme of the present invention is further preferred, wherein the puncture needle body is a coaxial puncture needle, a biopsy needle, an ablation needle or a drainage needle.

[0008] According to another aspect of the present invention, the present invention provides a method for determining an angle of auxiliary puncture, the method comprising the following steps:

[0009] Step 1: Before the puncture surgery, a CT scanning system is used to scan the patient's body to obtain a CT image, and the CT image is segmented and pre-processed to obtain the lesion location area in the pre-processed CT image;

[0010] Step 2: planning and marking the puncture path and puncture angle information in the lesion location area, and the CT scanning system sends the puncture path and puncture angle information to the angle positioning device;

[0011] Step 3, read the puncture path and puncture angle displayed on the electronic display through the angle positioning device, use the angle positioning device to perform the puncture operation according to the puncture path and puncture angle information, and the angle measurement module (obtains the preset state angle of the angle positioning device, compares the current state angle with the puncture angle to see if they match each other, if not, adjusts the current state angle to be consistent with the puncture angle, and then performs the puncture operation along the puncture path.

[0012] The above solution of the present invention is further preferred, wherein the segmentation and recognition processing of the CT image comprises the following steps:

[0013] Step 11, segmenting the CT image of the lesion into a transverse section, a coronal section, a sagittal section or an oblique section; setting an origin at the center of the lesion in the transverse section, the coronal section, the sagittal section or the oblique section, and continuously searching for a set of puncture paths between the origin and the body surface at the origin;

[0014] Step 12, filtering and eliminating all the searched puncture path sets, obtaining the puncture path set that can perform the puncture operation, then setting the puncture path constraint conditions, comparing and analyzing the puncture path set that performs the puncture operation, obtaining the optimal puncture path line between the body surface and the origin, and calculating the body surface puncture point and the tumor surface puncture point on the puncture path line as the puncture depth;

[0015] Step 13, plan a horizontal line with the center of the lesion location area as the origin, plan a vertical line perpendicular to the horizontal line at the puncture point, calculate the angle between the puncture path line and the vertical line, that is, the puncture angle, so that the angle positioning device and the puncture path are on the same axis and maintain the same puncture angle to complete the puncture operation.

[0016] The above scheme of the present invention is further preferred, and it is determined whether the puncture path line is located in the same transverse section or sagittal plane. If it is in the same transverse section or sagittal plane, the inclination angle of the puncture path in the transverse section or sagittal plane is calculated; if it is not in the same transverse section or sagittal plane, the projection inclination angle of the puncture path in the transverse section or sagittal plane is calculated.

[0017] The above scheme of the present invention is further preferred, wherein the puncture path constraint conditions include that the path cannot pass through important tissues, and the distance between the path and the important tissues is not greater than 3 mm.

[0018] In summary, the present invention adopts the above technical solution, and the present invention has the following technical effects:

[0019] (1) The present invention determines the projection angle of the puncture path in the transverse and sagittal planes through a CT multi-planar reconstruction system. After marking the puncture point on the body surface, the operator adjusts the puncture needle body and detects the angle of the puncture needle body in real time through an angle measurement module, so that the puncture angle in the transverse and sagittal planes displayed on the micro OLED display screen is consistent with the preset angle, and then puncture is performed along this angle until the preset depth is reached, thereby improving the accuracy of the puncture position, assisting the operator to more intuitively perceive and control the puncture direction, improving the accuracy in complex puncture situations, and reducing the risk of puncture failure or complications caused by position deviation.

[0020] (2) The present invention uses an angle measurement module to detect whether the angle between the puncture needle and the reference vertical line in the cross-section and sagittal plane of the CT image is consistent with the preset angle, and transmits the data to the micro OLED display for display, so that the operator can intuitively monitor the position of the puncture needle during the puncture process, observe the angle value of the micro OLED display in real time, and fine-tune the angle of the needle to achieve the preset ideal puncture angle; in this way, the operator can more accurately control the path and depth of the puncture needle entering the body, reduce the risk of misoperation, and improve the success rate of puncture, thereby achieving precise control of the angle during the puncture process, which not only improves the safety and accuracy of clinical operations, but also improves the patient experience. It has broad application prospects, provides operators with standardized operating procedures, reduces human errors, adapts to different clinical situations, and enhances the versatility of the technical solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present invention;

[0022] Figure 2 It is a schematic diagram of the internal structure of the positioning body of the first embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of a measurement circuit of an implementation example 1 of the present invention;

[0024] Figure 4 It is a schematic flow chart of a method for determining an angle of auxiliary puncture of the present invention;

[0025] Figure 5 is a cross-sectional schematic diagram of CT path planning before puncture in the second implementation case of the present invention;

[0026] Figure 6 A sagittal schematic diagram of CT path planning before puncture in Example 3 of the present invention;

[0027] In the accompanying drawings, there are a puncture needle body 1, a positioning body 2, a connecting part 3, an electronic display 20, a measurement control board 21, an angle measurement module 22, a central processing unit 23, an irradiation hole 24, a crosshair indicator light 25, a power switch 26, a wireless communication module 27, a connecting shell 30, a receiving cavity 31, a needle seat 101, a fixed connector 103, an annular connector 104, an annular groove 105, a puncture cannula needle 107, and a needle core 108. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0029] Embodiment 1, combined with Figure 1 , Figure 2 , Figure 3 As shown, according to an angle positioning device for auxiliary puncture of the present invention, the angle positioning device includes a puncture needle body 1 and a positioning body 2, the positioning body 2 includes a shell 2a and a circuit component arranged inside the shell 2a, the puncture needle body 1 is mechanically connected to the positioning body 2, and the head of the puncture needle body 1 is threadedly connected to the shell 2a, the circuit component includes a measurement control board 21, an angle measurement module 22, a central processing unit 23 and a wireless communication module 27 arranged in the shell 2a, and a micro OLED display screen 20 is arranged on the top outer wall of the shell 2a, the angle measurement module 22, the micro OLED display screen 20 and the wireless communication module 27 are respectively connected to the central processing unit 23, the angle measurement module is used to feed back the spatial angle of the puncture needle in real time, and the micro OLED display screen 20 is used to display the inclination angles of the positioning body 2 in four mutually perpendicular directions: front, back, left and right; in the present invention, the wireless communication module 2 7 is a Bluetooth communication module, and the central processor 23 is a single-chip processor. The mobile phone terminal or computer terminal is wirelessly connected to the positioning body 2 through the wireless communication module 27, and the Bluetooth communication mode is set by the mobile phone terminal or computer terminal to communicate with the body 2 to obtain puncture data. When performing a puncture operation, each operator in the operating room can receive and store the angle value data measured by the angle measurement module 22 in the body 2 through the mobile phone terminal. The angle value data processed by the central processor 23 is sent to the operator's mobile phone terminal or computer terminal through the wireless communication module 27. The puncture angle value during puncture can be detected in real time through the angle measurement module 22, and the puncture angle value is compared with the angle data measured by CT to see if they are consistent, so that the remote mobile phone terminal or computer terminal can obtain the puncture data in real time. For this reason, the puncture needle body of the present invention is more convenient to use, the puncture angle measurement is more accurate, and the work efficiency is higher.

[0030] In this implementation case, combined with Figure 1 , Figure 2 , Figure 3As shown, a connecting portion 3 mechanically connected to the puncture needle body 1 is provided on the shell 2a, and a power switch 26 is provided on the outer wall of the shell 2a. The power switch 26 is a toggle switch. An irradiation hole 24 along the puncture extension direction of the puncture needle body 1 is provided on the lower wall of the shell 2a and close to the side wall of the connecting portion 3. A cross-line indicator light 25 is provided in the irradiation hole 24 to indicate the puncture direction of the puncture needle body 1. The puncture needle body 1 is a coaxial puncture needle; the power switch 26 turns on and off the power output by the power module inside the shell 2a, and is used for the electronic display 20, the angle The measuring module 22, the central processing unit 23 and the cross-line indicator light 25 provide a stable working power supply; the cross-line indicator light 25 illuminates along the axial direction of the puncture needle body 1. When the illuminated light swings, the swinging direction of the puncture needle body 1 is sensed by the cross-line indicator light 25, and the orientation of the puncture needle body can be located and observed in real time. It is more convenient to use and simpler to operate. The central processing unit 23 is used to analyze and process the swinging angle of the puncture needle body 1 measured by the angle measuring module 22 during puncture, and the angle value collected by the angle measuring module 22 output by the central processing unit 23 is displayed in real time through the electronic display 20.

[0031] In this implementation case, combined with Figure 1 , Figure 2 , Figure 3 As shown, the puncture needle body 1 is a coaxial puncture needle, and a needle seat 101 is provided at the fixed end of the puncture needle body 1. The head of the puncture needle body 1 is vertically penetrated and arranged in the needle seat 101, so that the puncture needle body 1 can be fixed in the needle seat 101, and the needle seat 101 is threadedly connected with the connecting part 3 on the outer wall of the shell 2a. One side of the fixed end of the puncture needle body 1 has a fixed connecting head 103 sleeved in the needle seat 101. When the connecting part 3 is connected to the needle seat 101, the fixed connecting head 103 of the puncture needle body 1 can be accommodated in the connecting part 3 of the shell 2a; an annular connecting head 104 is vertically provided at the top of the needle seat 101, and a connecting shell 30 matching the annular connecting head 104 is provided at the lower end of the connecting part 3, and a vertically upward recessed portion is provided along the inside of the connecting part 3 and used to accommodate the connecting part 3. The receiving cavity 31 of the annular connector 104 can be threadedly connected in the connecting shell 30, and the puncture needle body 1 passes through the center hole of the needle seat 101 and is provided with an annular groove 105 on the top, so that a receiving space for threaded connection of the fixed connector 103 is formed between the side wall of the annular groove 105 and the center hole of the needle seat 101, and a limiting support platform 106 is formed between the inner wall of the annular connector 104 and the center hole of the needle seat 101, so that when the connecting part 3 at the lower end of the shell 2a and the annular connector 104 are connected to each other, the lower end of the fixed connector 103 is installed in the annular groove 105 of the needle seat 101, and the lower ends of the fixed connector 103 are respectively limited in the annular groove 105 and the annular connector 104, and the upper end of the fixed connector 103 is received in the receiving cavity 31.

[0032] In this implementation case, combined with Figure 1 As shown, the puncture needle body 1 also includes a puncture trocar 107 and a needle core 108 sleeved in the puncture trocar 107. The fixed end of the puncture trocar 107 vertically penetrates and is fixed in the center of the needle seat 101. The head of the needle core 108 passes through the upper end of the puncture trocar 107 and is connected to the connecting block 103. During the puncture operation, the fixed connector 103 can be removed from the needle seat 101, thereby pulling out the needle core 108 from the puncture trocar 107, so that the puncture operation can be performed quickly.

[0033] Combination Figure 1 According to another aspect of the present invention, the present invention provides a method for determining an angle of auxiliary puncture, the method comprising the following steps:

[0034] Step 1: Before the puncture surgery, a CT scanning system is used to scan the patient's body to obtain a CT image, and the CT image is segmented and identified preprocessed to obtain the lesion location area in the preprocessed CT image. In the embodiment of the present invention, the CT multi-planar reconstruction (MPR) system is used to set the same layer thickness and spacing (1 mm layer thickness and 0.5 mm spacing) for the scanned three-dimensional image, and then smoothing filtering, adjusting the pixel value of the CT image, binarization processing and enhancement processing are performed to remove image noise, improve image resolution and image quality; then the processed CT image is segmented and identified preprocessed; wherein, the segmentation and identification processing of the CT image includes the following steps:

[0035] Step 11, segment the CT image into a cross section, a coronal plane, a sagittal plane or an oblique plane; then pre-process the obtained cross section, coronal plane, sagittal plane or oblique plane respectively; use the medical image segmentation network U-Net to segment the CT image, obtain the corresponding cross section, coronal plane, sagittal plane or oblique plane respectively, and then perform convolution and global average pooling operations on the segmented images to obtain the global feature image of the CT image, normalize the global feature image, and obtain a significant attention image; The pre-processed transverse section, coronal plane, sagittal plane or oblique plane is used for identification, and the lesion location area is roughly outlined in the transverse section, coronal plane, sagittal plane or oblique plane for identification to determine whether there is a lesion location area; if there is a lesion location area, it is determined whether the lesion location area in the transverse section, coronal plane, sagittal plane or oblique plane is located in the same transverse section or sagittal plane; if they are in the same transverse section or sagittal plane, an origin is set with the lesion center of the transverse section, coronal plane, sagittal plane or oblique plane where the lesion location area is located;

[0036] Step 12, filtering and eliminating all the searched puncture path sets, obtaining the puncture path set that can perform the puncture operation, then setting the puncture path constraint conditions, comparing and analyzing the puncture path set that performs the puncture operation, obtaining the optimal puncture path line between the body surface and the origin, and calculating the body surface puncture points and tumor surface puncture points on the puncture path line as the puncture depth; filtering and eliminating all the searched puncture path sets, thereby removing the puncture path line segments passing through blood vessels, bones and other locations, obtaining the puncture path set that can perform the puncture operation, then setting the puncture path constraint conditions, gradually comparing and analyzing the puncture path set that performs the puncture operation, obtaining the optimal puncture path line between the body surface and the origin, and then calculating the body surface puncture points and tumor surface puncture points on the puncture path line as the puncture depth; the puncture path constraint conditions include that the path cannot pass through important tissues, and the spacing between the path and the important tissues is not greater than 3 mm, and the important tissues mainly include joints, bones, blood vessels, arteries, bronchi and other tissues;

[0037] Step 13, a horizontal line is planned with the center of the lesion location area as the origin, a vertical line perpendicular to the horizontal line is planned at the puncture point, and the angle between the puncture path line and the vertical line is calculated, which is the puncture angle, so that the angle positioning device and the puncture path are on the same axis and maintain the same puncture angle to complete the puncture operation;

[0038] Step 2: Plan and mark the puncture path and puncture angle information in the lesion location area, and the CT scanning system sends the puncture path and puncture angle information to the angle positioning device; the puncture path line and puncture angle can be quickly obtained through the above, thereby reducing the feature search space of the puncture path, improving the accuracy of the puncture path data, and improving the adaptability of image recognition of complex lesion cases and the accuracy of the puncture path; the embodiment of the present invention marks the intersection of the puncture path and the body surface, records the intersection as the puncture point, plans a horizontal line with the center of the lesion location area as the origin, plans a vertical line perpendicular to the horizontal line at the puncture point, and calculates the angle between the puncture path line and the vertical line, that is, the puncture angle, so that the angle The puncture operation is completed under the condition that the angle positioning device and the puncture path are on the same axis and maintain the same puncture angle; the distance between the puncture point on the body surface and the puncture point on the tumor surface on the puncture path line and the angle between the puncture path line and the vertical line are obtained to determine the puncture path in the lesion location area, so that during puncture, not only can the angle positioning device and the puncture path maintain the same puncture angle on the same axis, but also it can avoid touching important tissues of the human body when puncturing in the lesion location area, and the puncture operation can be successfully completed; in this implementation case, if the puncture path line is not in the same cross section or sagittal plane, the projection inclination angle of the puncture path in the cross section and sagittal plane is re-determined, and the inclination angle of the puncture path projected in the cross section and sagittal plane is determined by CT multi-planar reconstruction (MPR, MultiPlanar Reconstruction), and the angle positioning device adjusts the puncture angle according to the inclination angle of the puncture path projected in the cross section and sagittal plane respectively;

[0039] Step 3, read the puncture path and puncture angle displayed on the micro OLED display screen 20 through the angle positioning device, and use the angle positioning device to perform the puncture operation according to the puncture path and puncture angle information. The angle measurement module 22 obtains the preset state angle of the angle positioning device, and compares the current state angle with the puncture angle to see if they match each other. If they do not match, adjust the current state angle to be consistent with the puncture angle, and then perform the puncture operation along the puncture path. In the embodiment of the present invention, the puncture path and puncture angle information is obtained by the angle positioning device, and the puncture path and puncture angle are displayed on the micro OLED display screen. When the angle positioning device is used to perform the puncture operation, the angle measurement module of the angle positioning device 22. Obtain the current state angle of the puncture needle body 1 in real time, and compare the current state angle with the puncture angle to see if they match each other. If not, continuously adjust the current state angle to be consistent with the puncture angle, and then perform the puncture operation along the puncture path. During the puncture process, a Bluetooth connection can be established with the positioning body 2 through a mobile phone terminal, and the real-time angle data during the puncture process is transmitted to the mobile phone terminal through the wireless communication module, so that all operators in the operating room can receive and store these data. In this way, the puncture angle can be compared in real time with the preset angle measured by CT to see if they are consistent, realize real-time data sharing, improve team collaboration efficiency, facilitate postoperative data analysis and case records, and enhance monitoring and quality control of the surgical process.

[0040] Implementation case 2, in the present invention, combined with 1, Figure 2 and Figure 5, the process of determining the puncture angle is further described. When the angle positioning device is used for puncture operation, the patient's chest disease (such as lung tumor, pleural effusion, lung infection, etc.) is scanned by enhanced CT and reconstructed in the computer system to obtain the coronal plane, cross-section and sagittal plane, and the lesion position (tumor position) in the CT imaging is determined in the cross-section. A cross line is drawn on the body surface according to the laser light and positioning needle of the CT scanning system. The intersection point is the puncture point C, and the puncture surface point D on the tumor surface is selected to and determine the puncture point C on the body surface; if the selected puncture path CD is located in the cross section of the CT scan image, the puncture point C, puncture angle and puncture depth are preset through CT imaging (planning puncture path CD, CD is the puncture depth, and the puncture depth is 63.24mm), a horizontal line A is drawn in the cross section, and a vertical line B is drawn from the puncture point C to the horizontal line A. At this time, the angle between the puncture path CD and the vertical line B is the puncture angle (90°-69.08°=20.92°). During the puncture operation, a cross line of the cross section and the sagittal plane is drawn on the body surface according to the CT-guided laser light and the positioning needle, and the intersection is the puncture point C. During the puncture operation, the connecting housing 30 of the housing 2a is connected to the annular connector 104 at the top of the needle holder 101, and then the power switch 26 is turned on to start the micro OLED display screen 20 to light up, and then the needle holder 101 is held by hand to perform the puncture operation so that the needle tip is located at the puncture point ( Figure 5 The puncture needle body 1 and the positioning body 2 are perpendicular to the ground and rotated so that the cross light of the cross-line indicator 25 is parallel to the cross-line of the puncture point. At this time, the micro OLED display screen 20 displays the inclination angle in the cross section and sagittal plane. Adjust the inclination angle of the puncture needle body and the body in the cross section and sagittal plane so that the OLED display screen displays the sagittal inclination angle as 0° and the cross section inclination angle as the preset angle (such as Figure 5 Insert the puncture needle body 1 into the preset depth (such as Figure 5 63.24mm) directly reaches the lesion location and completes the puncture.

[0041] Embodiment 3, combined with 1, Figure 2 , Figure 3 and Figure 6As shown, in this implementation case, when the angled puncture needle is used for puncture, if the puncture point and the lesion are not located in the cross section of the CT scan image, but the CT multi-planar reconstruction system finds that the puncture point and the lesion are both located in the same sagittal plane, the puncture point C, puncture angle and puncture depth are preset by CT imaging (puncture path CD is planned, CD is the puncture depth, and the puncture depth is 85.31mm), a horizontal line A is drawn in the sagittal plane, and a vertical line B is drawn along the puncture point C to the horizontal line A. At this time, the angle between the puncture path CD and the vertical line B is the puncture angle (24.56°). When performing the puncture operation, a cross-section and sagittal plane cross-line is drawn on the body surface according to the CT-guided laser light and the positioning needle, and the intersection is the puncture point C. During the puncture operation, connect the connecting shell 30 of the shell 2a to the annular connector 104 at the top of the needle seat 101; then turn on the power switch 26 to start the micro OLED display screen, and then hold the needle seat 101 to perform the puncture operation, so that the needle tip is located at the puncture point C, and the puncture needle body and the positioning body 2 are perpendicular to the puncture point and rotated, so that the cross light of the cross-line indicator light 25 is parallel to the cross-line of the puncture point. At this time, the micro OLED display screen 20 displays the inclination angle in the cross section and sagittal plane. Adjust the inclination angle of the puncture needle body and the positioning body 2 in the cross section and sagittal plane so that the micro OLED display screen shows that the inclination angle in the cross section is 0°, and the inclination angle in the sagittal plane is a preset angle (such as Figure 6 Insert the puncture needle body 1 into the preset depth (such as Figure 6 85.31mm) directly reaches the lesion location and completes the puncture.

[0042] In the present invention, the needle body is placed at the puncture site for puncture, and the angle measurement module 22 detects the posture angle of the puncture needle body 1 in real time, sends the posture angle to the central processor for quantification and conversion into an actual inclination angle, and outputs the actual inclination angle value for display on the micro OLED display screen, observes the angle value displayed on the micro OLED display screen, and fine-tunes the angle of the puncture needle body 1 to achieve the preset ideal puncture angle. In this way, the operator can more accurately control the path and depth of the needle body entering the body, reduce the risk of misoperation, and improve the success rate of puncture; the angle measurement module 22 uses a high-precision angle sensor, which has the characteristics of small size, sensitive response, and high reliability, and can sense angle changes in real time. The central processor 23 uses a low-power and high-performance single-chip processor, which can quickly process the sensor data and ensure real-time display updates; the micro OLED display screen uses energy-saving and high-brightness technology to ensure clear visibility under various lighting conditions. The present invention realizes accurate control of the angle during puncture by integrating electronic angle measurement and angle value display in combination with the puncture needle body, which not only improves the safety and accuracy of clinical operation, but also improves the patient experience, and has a wide range of application prospects.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An angle positioning device for assisting puncture, characterized in that: The angle positioning device comprises a puncture needle body (1) and a positioning body (2); the positioning body (2) comprises a shell (2a) and a circuit assembly arranged inside the shell (2a); the puncture needle body (1) is mechanically connected to the positioning body (2); the circuit assembly comprises a measurement control board (21) arranged inside the shell (2a), an angle measurement module (22), a central processing unit (23) and a wireless communication module (27); an electronic display (20) is arranged on the outer wall of the shell (2a); the angle measurement module (22), the electronic display (20) and the wireless communication module (27) are respectively connected to the central processing unit (23); the angle measurement module is used to provide real-time feedback of the spatial angle of the puncture needle; and the electronic display is used to display the spatial angle of the positioning body (2).

2. The angle-measurable puncture needle according to claim 1, characterized in that: The housing (2a) is provided with a connecting portion (3) mechanically connected to the puncture needle body (1); the outer wall of the housing (2a) is provided with a power switch (26); the lower wall of the housing (2a) is provided with an irradiation hole (24) along the puncture extension direction of the puncture needle body (1); a cross-line indicator light (25) is provided in the irradiation hole (24) for indicating the puncture direction of the puncture needle body (1).

3. An angle positioning device for assisting puncture according to claim 1 or 2, characterized in that: The puncture needle body (1) is a coaxial puncture needle, a biopsy needle, an ablation needle or a drainage needle.

4. A method for determining an angle of auxiliary puncture, characterized in that: The angle determination method using the angle positioning device for auxiliary puncture according to any one of claims 1 to 3 comprises the following steps: Step 1: Before the puncture surgery, a CT scanning system is used to scan the patient's body to obtain a CT image, and the CT image is segmented and pre-processed to obtain the lesion location area in the pre-processed CT image; Step 2: planning and marking the puncture path and puncture angle information in the lesion location area, and the CT scanning system sends the puncture path and puncture angle information to the angle positioning device; Step 3, reading the puncture path and puncture angle displayed on the electronic display (20) through the angle positioning device, performing the puncture operation using the angle positioning device according to the puncture path and puncture angle information, the angle measurement module (22) obtains the preset state angle of the angle positioning device, compares the current state angle with the puncture angle to see if they match each other, and if not, adjusts the current state angle to be consistent with the puncture angle, and then performs the puncture operation along the puncture path.

5. The angle determination method according to claim 4, characterized in that: The segmentation and recognition processing of CT images includes the following steps: Step 11, segmenting the CT image of the lesion into a transverse section, a coronal section, a sagittal section or an oblique section; setting an origin at the center of the lesion in the transverse section, the coronal section, the sagittal section or the oblique section, and continuously searching for a set of puncture paths between the origin and the body surface at the origin; Step 12, filtering and eliminating all the searched puncture path sets, obtaining the puncture path set that can perform the puncture operation, then setting the puncture path constraint conditions, comparing and analyzing the puncture path set that performs the puncture operation, obtaining the optimal puncture path line between the body surface and the origin, and calculating the body surface puncture point and the tumor surface puncture point on the puncture path line as the puncture depth; Step 13, plan a horizontal line with the center of the lesion location area as the origin, plan a vertical line perpendicular to the horizontal line at the puncture point, calculate the angle between the puncture path line and the vertical line, that is, the puncture angle, so that the angle positioning device and the puncture path are on the same axis and maintain the same puncture angle to complete the puncture operation.

6. The angle determination method according to claim 5, characterized in that: Determine whether the puncture path line is in the same transverse section or sagittal plane. If so, calculate the inclination angle of the puncture path in the transverse section or sagittal plane. If not, calculate the projection inclination angle of the puncture path in the transverse section or sagittal plane.

7. The angle determination method according to claim 5, characterized in that: The puncture path constraint conditions include that the path cannot pass through important tissues, and the distance between the path and important tissues is no more than 3 mm.

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