Children venipuncture image analysis system and analysis method thereof

Abstract

The invention discloses a child venipuncture image analysis system and an analysis method thereof, a puncture track acquisition module is placed on the corresponding skin of a puncture object, the puncture object extends into the tissue of the puncture object, and then an image of the puncture object extending into the puncture object by the puncture object is acquired. The space value of the puncture object and the inner wall of the puncture object is calculated through the image calculation module according to the image, the distance between the puncture object and the tissue of the puncture object is obtained, the space value of the puncture object in the puncture object is compared with a preset value through the calculation processing module, and if the space value is smaller than the preset value, a stimulation signal is sent out. If the space value is greater than the preset value, the puncture work is normally carried out, after the pre-warning notification module receives the stimulation signal, the stimulation signal is amplified in the signal amplifier, and the stimulation signal is externally played through the display unit, so that the puncture accuracy of a doctor in the operation process is improved, and the phenomenon that the blood vessel wall is punctured in the operation process is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture image analysis, and particularly relates to a pediatric intravenous puncture image analysis system and its analysis method. Background Art

[0002] Pediatric intravenous puncture is a medical procedure for infusion or blood collection. Medical staff need to comfort the child first, select a suitable and prominent vein, usually on the back of the hand or forearm. After disinfection, a thin needle is inserted quickly and accurately with professional skills to ensure a successful puncture at the first attempt and reduce the child's pain.

[0003] Since children's blood vessels are relatively thinner and more mobile than those of adults, and children may move due to fear or discomfort, it increases the difficulty of accurate puncture. Existing equipment and technologies are difficult to display the position of the puncture needle in real time and accurately, resulting in easy misjudgment by doctors during the operation, increasing the risk of piercing the blood vessel wall. Once it occurs, it will not only bring additional physical pain to the child, but also may cause a series of complications, such as hematoma, infection, and even the need for further surgical intervention. Therefore, there is an urgent need to develop a new technology that can accurately guide the puncture needle and monitor the position of the needle tip in real time to improve puncture safety, reduce the occurrence of complications, and protect children's health. Summary of the Invention

[0004] The purpose of the present invention is to provide a slag removal device for septic tanks to solve the problems described in the background art.

[0005] The technical solution of the present invention is realized as follows:

[0006] On the one hand, a pediatric intravenous puncture image analysis system is provided, including: a puncture trajectory acquisition module for acquiring an image of a puncture object with a puncture object inserted into it;

[0007] An image calculation module for calculating the spatial value between the puncture object and the inner wall of the puncture object according to the image;

[0008] A calculation and processing module for comparing the spatial value of the puncture object inside the puncture object with a preset value, and if the spatial value is less than the preset value, sending a stimulation signal;

[0009] An early warning notification module for amplifying the stimulation signal in a signal amplifier and externally releasing the stimulation signal through a display unit.

[0010] A further technical solution is that the puncture trajectory image module includes:

[0011] An array imaging unit for acquiring real-time images of the position, diameter, and wall thickness of the vein inside the puncture object;

[0012] A data transmission unit that transmits the real-time image via a Wi-Fi network, where the real-time image includes first transmission image content and second transmission image content.

[0013] A further technical solution is that it further includes:

[0014] An image processing unit for receiving the first transmission image content and the second transmission image content, correcting the blurred value of the first transmission image content or the second transmission image content using a non-linear filtering method according to the blurred value of the first transmission image content or the second transmission image content, and transmitting the processed first transmission image content or second transmission image content to the computing and processing module.

[0015] A further technical solution is that the image calculation module includes:

[0016] An image receiving unit for receiving the transmission data of the puncture trajectory acquisition module;

[0017] A calculation and analysis unit for analyzing the transmission data received by the image receiving unit, where the spatial value of the transmission data is extracted using three-dimensional point cloud data, and the spatial value includes a first content value and a second content value.

[0018] A further technical solution is that the computing and processing module includes:

[0019] A numerical judgment unit for setting a preset value, comparing the preset value with the spatial value to obtain a first judgment signal and a second judgment signal, where the first judgment signal is that the spatial value is less than the preset value, and the second judgment signal is that the spatial value is greater than the preset value;

[0020] A signal triggering unit for activating the warning port of the warning notification module according to the first judgment signal, amplifying the first judgment signal through the signal amplifier, and externally releasing the stimulation signal through the display unit.

[0021] A further technical solution is that it further includes a teaching module, which is used to receive the data output by the computing and processing module and save it as a teaching collection, provide a training module according to the teaching collection, generate points according to the training results, and judge whether it is qualified according to the points.

[0022] On the other hand, a method for analyzing children's intravenous puncture images is provided, including the following steps:

[0023] Step S1: Collect an image of the puncture object with the puncture object inserted into it;

[0024] Step S2: calculating the spatial value between the puncture object and the inner wall of the puncture object according to the image;

[0025] Step S3: comparing the space value of the puncture object inside the puncture object with a preset value, and issuing a stimulation signal if the space value is smaller than the preset value;

[0026] Step S4: amplifying the stimulation signal in a signal amplifier, and displaying the stimulation signal externally through a display unit.

[0027] A further technical solution is that step S1 comprises:

[0028] Step S101: acquiring a real-time image of the position, diameter, wall thickness and blood flow state of the vein inside the puncture object;

[0029] Step S102: using a Wi-Fi network to transmit to the real-time image, wherein the real-time image includes a first transmission image content and a second transmission image content;

[0030] Step S103: Receive the first transmission image content and the second transmission image content, correct the blur value of the first transmission image content or the second transmission image content by a nonlinear filtering method according to the blur value of the first transmission image content or the second transmission image content, and transmit the processed first transmission image content or the second transmission image content to the calculation processing module.

[0031] A further technical solution is that step S2 comprises:

[0032] Step S201: receiving the transmission data of step S1;

[0033] Step S202: analyzing the transmission data received by the image receiving unit, wherein a spatial value of the transmission data is extracted using three-dimensional point cloud data, the spatial value having a first content value and a second content value;

[0034] Wherein, extracting the spatial value of the transmission data from the three-dimensional point cloud data comprises:

[0035] Step S2021: Initializing the initial value of the puncture object in the puncture object, and obtaining a first content value or a second content value according to a comparison between the reverberation value of the puncture object inserted into the puncture object and the initial value;

[0036] Step S2022: using the PointNet++ model to segment the first content value or the second content value to obtain the point cloud three-dimensional coordinates of the puncture object;

[0037] Step S2023: setting a simulated shape for the puncture object and determining the direct axis direction of the simulated shape;

[0038] Step S2024: deriving the angle at which the puncture object extends into the puncture object by subtracting the three-dimensional coordinates of the point cloud of the puncture object in step S2022 from the straight axis direction.

[0039] A further technical solution is that step S3 comprises:

[0040] Step S301: setting a preset value, and obtaining a first judgment signal and a second judgment signal according to comparing the preset value with the space value, wherein the first judgment signal indicates that the space value is less than the preset value, and the second judgment signal indicates that the space value is greater than the preset value;

[0041] Step S302: activating the warning port of the warning notification module according to the first judgment signal, the warning port amplifies the first judgment signal through the signal amplifier, and displays the stimulation signal through the display unit;

[0042] Step S303: receiving the data output by the calculation processing module and saving it into a teaching collection, providing a training module according to the teaching collection, the training module generating points according to the training results, and judging whether it is qualified according to the points.

[0043] The beneficial effects of the present invention are:

[0044] The puncture trajectory acquisition module is placed on the corresponding skin of the puncture object, and the puncture object is inserted into the puncture object tissue, and then the image of the puncture object with the puncture object inserted into it is collected. The image calculation module calculates the spatial value between the puncture object and the inner wall of the puncture object according to the image, and obtains the distance between the puncture object and the puncture object tissue. The calculation processing module compares the spatial value of the puncture object inside the puncture object with the preset value. If the spatial value is less than the preset value, a stimulation signal is issued. If the spatial value is greater than the preset value, the puncture work is carried out normally. After the early warning notification module receives the stimulation signal, the stimulation signal is amplified in the signal amplifier and the stimulation signal is externally displayed through the display unit, thereby solving the technical problem that the existing equipment and technology are difficult to display the position of the puncture needle in real time and accurately, which makes it easy for doctors to misjudge during the operation and increases the risk of puncturing the blood vessel wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a system block diagram of the present invention;

[0046] Figure 2 is a flow chart of the method of the present invention;

[0047] Figure 3is a specific method flow chart of step 1 of the present invention;

[0048] Figure 4 It is a specific method flow chart of step 2 of the present invention;

[0049] Figure 5 is a specific method flow chart of step 201 of the present invention;

[0050] Figure 6 This is a specific method flow chart of step 3 of the present invention. DETAILED DESCRIPTION

[0051] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0052] See also Figure 1 On the one hand, the present invention provides a pediatric venipuncture image analysis system, comprising: a puncture trajectory acquisition module, used to acquire an image of a puncture object with a puncture object extending into the interior thereof; an image calculation module, used to calculate the spatial value between the puncture object and the inner wall of the puncture object according to the image; a calculation processing module, used to compare the spatial value of the puncture object inside the puncture object with a preset value, and to issue a stimulation signal if the spatial value is less than the preset value; and an early warning notification module, used to amplify the stimulation signal in a signal amplifier and output the stimulation signal through a display unit.

[0053] It should be noted that the puncture object refers to the child. The puncture object refers to the puncture needle. During the puncture, the puncture needle penetrates into the child's body tissue, that is, the puncture needle extends into the child's blood vessel.

[0054] Specifically, the puncture trajectory acquisition module is placed on the corresponding skin of the puncture object, and the puncture object is inserted into the puncture object tissue, and then the image of the puncture object with the puncture object inserted into it is collected. The image calculation module calculates the spatial value between the puncture object and the inner wall of the puncture object according to the image, and obtains the distance between the puncture object and the puncture object tissue. The calculation processing module compares the spatial value of the puncture object inside the puncture object with the preset value. If the spatial value is less than the preset value, a stimulation signal is issued. If the spatial value is greater than the preset value, the puncture work is carried out normally. After the early warning notification module receives the stimulation signal, the stimulation signal is amplified in the signal amplifier, and the stimulation signal is externally displayed through the display unit, thereby solving the technical problem that the existing equipment and technology are difficult to display the position of the puncture needle in real time and accurately, which makes it easy for doctors to misjudge during the operation and increases the risk of puncturing the blood vessel wall.

[0055] In this embodiment, the puncture trajectory image module includes: an array imaging unit for collecting real-time images of the position, diameter, and wall thickness of veins inside the puncture object; a data transmission unit for transmitting the real-time images via a Wi-Fi network, where the real-time images include first transmission image content and second transmission image content.

[0056] The array imaging unit is composed of multiple ultrasonic probes. A gel is applied to the skin-contact end of each ultrasonic probe. This gel can help the ultrasonic probe better contact the skin and enable ultrasonic waves to propagate smoothly between the probe and the body. The ultrasonic probe can collect real-time images of the position, diameter, wall thickness, and blood flow state of the veins in children, facilitating later calculation and analysis. The real-time images are transmitted via a Wi-Fi network. Among them, the first transmission image content is the image of the puncture needle, and the second image content is the image of blood vessels and soft tissues. The Wi-Fi network can transmit the first transmission image content and the second transmission image content to the next node, improving the transmission efficiency.

[0057] Furthermore, it further includes an image processing unit for receiving the first transmission image content and the second transmission image content, correcting the blur value of the first transmission image content or the second transmission image content using a non-linear filtering method according to the blur value of the first transmission image content or the second transmission image content, and transmitting the processed first transmission image content or second transmission image content to the calculation and processing module.

[0058] After the image processing unit receives the first transmission image content and the second transmission image content, if there are speckle noises in the first transmission image content or the second transmission image content transmitted by the data transmission unit, and the edges and objects of the first transmission image content or the second transmission image content cannot be clearly seen, that is, lower than the preset blur value in the image processing unit, then the blurred first transmission image content or second transmission image content is corrected using a non-linear filtering method to make it clear, facilitating subsequent analysis by the image calculation module. When using the non-linear filtering method, a median filtering window size of 3×3 or 5×5 is used for the first transmission image content or the second transmission image content, which can better retain the edge information of the veins while removing the noises, making the blurred images of the first transmission image content or the second transmission image content clear.

[0059] In this embodiment, the image calculation module includes: an image receiving unit for receiving the transmission data of the puncture trajectory acquisition module; a calculation and analysis unit for analyzing the transmission data received by the image receiving unit, where the spatial values of the transmission data are extracted using three-dimensional point cloud data, and the spatial values include a first content value and a second content value.

[0060] After receiving the first transmitted image content and the second transmitted image content processed by the image processing unit, the image receiving unit can obtain clear image data. The calculation and analysis unit extracts point cloud data from the first transmitted image content and the second transmitted image content based on the first transmitted image content and the second transmitted image content.

[0061] In one example, according to the first transmitted image content, point cloud data is created for the puncture needle to obtain a first content value. First, the initial value of the puncture needle in the blood vessel is initialized, and this initial value is the threshold of the ultrasonic acquisition probe, set to 120. If the puncture needle obtains a reverberation value exceeding 120 through the ultrasonic probe in the blood vessel, then this position is determined as the position of the puncture needle, and the three-dimensional coordinates x 1 、y 1 、z 1 are assigned. Multiple three-dimensional coordinates are obtained based on multiple reverberation values, thereby determining the first content value inside the puncture needle. At the same time, a second content value is determined for the second transmitted image content. According to the above threshold, if it is less than 120, then x 2 、y 2 、z 2 of the first content value or the second content value. By using the PointNet++ model to segment the first content value and the second content value, it can better capture the local features and global features of the point cloud, thereby improving the accuracy of classification and segmentation. When distinguishing the puncture needle and blood vessel tissue, it can more carefully capture the local detail features of the puncture needle and its relationship with the blood vessel tissue. Then, in the first transmitted image content and the second transmitted image content, a cylindrical simulation shape is set for the puncture needle by the least squares method, and multiple coordinates of the first content value are determined. Using n coordinate points, the direction of the central axis of the cylinder is estimated. According to the direction of this central axis, the angle of the puncture needle in the blood vessel is determined. The minimum value of the x-axis represents the leftmost position of the puncture needle in the left-right direction of the human blood vessel, and the maximum value represents the rightmost position. Similarly, the y-axis and z-axis represent the distance in the front-back or up-down direction. Based on this calculation, the distance between the puncture needle and the inner wall of the blood vessel is set to 1 mm. If it is less than 1 mm, it exceeds the warning line, and a warning is sent to the warning notification module through a stimulation signal to issue an alarm to prevent the puncture needle from damaging the inner wall of the blood vessel.

[0062] In this embodiment, the calculation and processing module includes: a numerical judgment unit for setting a preset value and obtaining a first judgment signal and a second judgment signal according to the comparison between the preset value and the spatial value. The first judgment signal is that the spatial value is less than the preset value, and the second judgment signal is that the spatial value is greater than the preset value; a signal triggering unit for starting the warning port of the warning notification module according to the first judgment signal. The warning port is amplified through the signal amplifier according to the first judgment signal, and the stimulation signal is externally released through the display unit.

[0063] The preset value is that the distance between the stylet and the inner wall of the blood vessel is less than 1 mm, such as 0.5 mm. Then a first judgment signal is obtained, and the warning port of the warning notification module is triggered through the signal trigger unit. The warning notification module amplifies according to the first judgment signal through the signal amplifier, and the stimulation signal is externally emitted through the display unit, including sound prompts and flashing prompts.

[0064] In addition, when using point cloud technology to monitor the distance between the puncture needle and the blood vessel wall, through the coordinates of the second content value, the specific position and the size of the contact surface where the puncture needle contacts the nerve tissue can be observed, thereby preventing nerve injury complications.

[0065] In a preferred embodiment, it further includes a teaching module. The teaching module is used to receive the data output by the calculation and processing module and save it as a teaching collection. According to the teaching collection, a training module is provided. The training module generates points according to the training results, and judges whether it is qualified according to the points.

[0066] After the puncture is completed, the point cloud data can be replayed and analyzed in detail. This is very helpful for teaching and skill improvement. Novice doctors or interns can learn the correct puncture techniques and operation key points by observing the point cloud replay of the puncture process. In the teaching collection, multiple cases are formed through the images of actual punctures. The cases include the content of correct punctures, deviated punctures, and risky punctures, and novice doctors or interns complete puncture training according to the teaching collection. After the training cycle ends, novice doctors or interns accumulate points for the number of times of avoiding risky punctures and deviated punctures in the items trained in the teaching collection. The higher the points, the less the training cycle. At the same time, a full score of 100 is set in the training module, and getting 100 points is the standard. If it is 100 points, the training can be completed.

[0067] See Figures 1 to 2 , on the other hand, the present invention provides a method for analyzing children's intravenous puncture images, including the following steps:

[0068] Step S1: Collect an image of the punctured object extending into the puncture target;

[0069] Step S2: Calculate the spatial value between the puncture object and the inner wall of the puncture target according to the image;

[0070] Step S3: Compare the spatial value of the puncture object inside the puncture target with the preset value. If the spatial value is less than the preset value, a stimulation signal is emitted;

[0071] Step S4: Amplify the stimulation signal in the signal amplifier and externally emit the stimulation signal through the display unit.

[0072] In this method, the puncture trajectory acquisition module is placed on the corresponding skin of the puncture object, and the puncture object is inserted into the tissue of the puncture object, and then an image of the puncture object with the puncture object inserted into it is acquired. The image calculation module calculates the spatial value between the puncture object and the inner wall of the puncture object according to the image, obtains the distance between the puncture object and the tissue of the puncture object, and the calculation processing module compares the spatial value of the puncture object inside the puncture object with a preset value. If the spatial value is less than the preset value, a stimulation signal is issued. If the spatial value is greater than the preset value, the puncture work proceeds normally. After the warning notification module receives the stimulation signal, the stimulation signal is amplified in the signal amplifier, and the stimulation signal is externally emitted through the display unit, thus solving the technical problem that existing equipment and technologies are difficult to display the position of the puncture needle in real time and accurately, resulting in easy misjudgment by doctors during the operation process and increasing the risk of puncturing the blood vessel wall.

[0073] Preferably, the step S1 includes:

[0074] Step S101: Acquire real-time images of the position, diameter, wall thickness, and blood flow state of the vein inside the puncture object;

[0075] Step S102: Transmit the real-time images through a Wi-Fi network, where the real-time images include first transmission image content and second transmission image content;

[0076] Step S103: Receive the first transmission image content and the second transmission image content, correct the blurred value of the first transmission image content or the second transmission image content according to the blurred value of the first transmission image content or the second transmission image content by using a non-linear filtering method, and transmit the processed first transmission image content or second transmission image content to the calculation processing module.

[0077] Preferably, the step S2 includes:

[0078] Step S201: Receive the transmission data of the step S1;

[0079] Step S202: Analyze the transmission data received by the image receiving unit. Among them, the spatial value of the transmission data is extracted by using three-dimensional point cloud data, and the spatial value includes a first content value and a second content value;

[0080] Among them, the extraction of the spatial value of the transmission data by the three-dimensional point cloud data includes:

[0081] Step S2021: Initialize the initial value of the puncture object in the puncture object, and compare the echo value of the puncture object inserted into the puncture object with the initial value to obtain a first content value or a second content value;

[0082] Step S2022: using the PointNet++ model to segment the first content value or the second content value to obtain the point cloud three-dimensional coordinates of the puncture object;

[0083] Step S2023: setting a simulated shape for the puncture object and determining the direct axis direction of the simulated shape;

[0084] Step S2024: deriving the angle at which the puncture object extends into the puncture object by subtracting the three-dimensional coordinates of the point cloud of the puncture object in step S2022 from the straight axis direction.

[0085] Preferably, the step S3 comprises:

[0086] Step S301: setting a preset value, and obtaining a first judgment signal and a second judgment signal according to comparing the preset value with the space value, wherein the first judgment signal indicates that the space value is less than the preset value, and the second judgment signal indicates that the space value is greater than the preset value;

[0087] Step S302: activating the warning port of the warning notification module according to the first judgment signal, the warning port amplifies the first judgment signal through the signal amplifier, and displays the stimulation signal through the display unit;

[0088] Step S303: receiving the data output by the calculation processing module and saving it into a teaching collection, providing a training module according to the teaching collection, the training module generating points according to the training results, and judging whether it is qualified according to the points.

[0089] The principles of the steps of this method are consistent with those of the system, so in order to avoid repetition, they will not be described here.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pediatric venipuncture image analysis system, characterized in that: include: A puncture trajectory acquisition module is used to acquire an image of the puncture object with the puncture object extending into the interior thereof; An image calculation module, used for calculating the spatial value between the puncture object and the inner wall of the puncture object according to the image; A calculation processing module, configured to compare a spatial value of the puncture object inside the puncture object with a preset value, and to send a stimulation signal if the spatial value is smaller than the preset value; The early warning notification module is used to amplify the stimulation signal in a signal amplifier and display the stimulation signal externally through a display unit.

2. A pediatric venipuncture image analysis system according to claim 1, characterized in that: The puncture trajectory image module includes: An array camera unit, used to collect real-time images of the position, diameter, and wall thickness of the veins inside the puncture object; The data transmission unit adopts a Wi-Fi network to transmit to the real-time image, wherein the real-time image includes a first transmission image content and a second transmission image content.

3. A pediatric venipuncture image analysis system according to claim 2, characterized in that: Also includes: An image processing unit is used to receive the first transmission image content and the second transmission image content, correct the blur value of the first transmission image content or the second transmission image content by a nonlinear filtering method according to the blur value of the first transmission image content or the second transmission image content, and transmit the processed first transmission image content or the second transmission image content to the calculation processing module.

4. A pediatric venipuncture image analysis system according to claim 1 or 3, characterized in that: The image calculation module comprises: An image receiving unit, used for receiving the transmission data of the puncture trajectory acquisition module; The calculation and analysis unit is used to analyze the transmission data received by the image receiving unit, wherein the spatial value of the transmission data is extracted using three-dimensional point cloud data, and the spatial value has a first content value and a second content value.

5. A pediatric venipuncture image analysis system according to claim 1, characterized in that: The calculation processing module includes: a numerical judgment unit, used to set a preset value, and obtain a first judgment signal and a second judgment signal according to the comparison between the preset value and the space value, wherein the first judgment signal indicates that the space value is less than the preset value, and the second judgment signal indicates that the space value is greater than the preset value; A signal triggering unit is used to start the warning port of the warning notification module according to the first judgment signal, and the warning port amplifies the first judgment signal through the signal amplifier and outputs the stimulation signal through the display unit.

6. A pediatric venipuncture image analysis system according to claim 1, characterized in that: It also includes a teaching module, which is used to receive the data output by the calculation processing module and save it into a teaching collection, provide a training module based on the teaching collection, and generate points according to the training results to determine whether it is qualified based on the points.

7. A method for analyzing pediatric venipuncture images, characterized in that: The following steps are involved: Step S1: capturing an image of the puncture object with the puncture object extending into the interior thereof; Step S2: calculating the spatial value between the puncture object and the inner wall of the puncture object according to the image; Step S3: comparing the space value of the puncture object inside the puncture object with a preset value, and issuing a stimulation signal if the space value is smaller than the preset value; Step S4: amplifying the stimulation signal in a signal amplifier, and displaying the stimulation signal externally through a display unit.

8. The method according to claim 7, characterized in that The step S1 comprises: Step S101: acquiring a real-time image of the position, diameter, wall thickness and blood flow state of the vein inside the puncture object; Step S102: using a Wi-Fi network to transmit to the real-time image, wherein the real-time image includes a first transmission image content and a second transmission image content; Step S103: Receive the first transmission image content and the second transmission image content, correct the blur value of the first transmission image content or the second transmission image content by a nonlinear filtering method according to the blur value of the first transmission image content or the second transmission image content, and transmit the processed first transmission image content or the second transmission image content to the calculation processing module.

9. The method according to claim 7, characterized in that: The step S2 comprises: Step S201: receiving the transmission data of step S1; Step S202: analyzing the transmission data received by the image receiving unit, wherein a spatial value of the transmission data is extracted using three-dimensional point cloud data, the spatial value having a first content value and a second content value; Wherein, extracting the spatial value of the transmission data from the three-dimensional point cloud data comprises: Step S2021: Initializing the initial value of the puncture object in the puncture object, and obtaining a first content value or a second content value according to a comparison between the reverberation value of the puncture object inserted into the puncture object and the initial value; Step S2022: using the PointNet++ model to segment the first content value or the second content value to obtain the point cloud three-dimensional coordinates of the puncture object; Step S2023: setting a simulated shape for the puncture object and determining the direct axis direction of the simulated shape; Step S2024: deriving the angle at which the puncture object extends into the puncture object by subtracting the three-dimensional coordinates of the point cloud of the puncture object in step S2022 from the straight axis direction.

10. The method according to claim 7, characterized in that The step S3 comprises: Step S301: setting a preset value, and obtaining a first judgment signal and a second judgment signal according to comparing the preset value with the space value, wherein the first judgment signal indicates that the space value is less than the preset value, and the second judgment signal indicates that the space value is greater than the preset value; Step S302: activating the warning port of the warning notification module according to the first judgment signal, the warning port amplifies the first judgment signal through the signal amplifier, and displays the stimulation signal through the display unit; Step S303: receiving the data output by the calculation processing module and saving it into a teaching collection, providing a training module according to the teaching collection, the training module generating points according to the training results, and judging whether it is qualified according to the points.

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